GCC Code Coverage Report

Directory:	./
File:	include/coal/BV/kDOP.h
Date:	2025-06-03 17:15:40

	Exec	Total	Coverage
Lines:	7	14	50.0%
Functions:	15	30	50.0%
Branches:	5	18	27.8%

  
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      Branch
      Exec
      Source
    
      /*
    
       * Software License Agreement (BSD License)
    
       *
    
       *  Copyright (c) 2011-2014, Willow Garage, Inc.
    
       *  Copyright (c) 2014-2015, Open Source Robotics Foundation
    
       *  All rights reserved.
    
       *
    
       *  Redistribution and use in source and binary forms, with or without
    
       *  modification, are permitted provided that the following conditions
    
       *  are met:
    
       *
    
       *   * Redistributions of source code must retain the above copyright
    
       *     notice, this list of conditions and the following disclaimer.
    
       *   * Redistributions in binary form must reproduce the above
    
       *     copyright notice, this list of conditions and the following
    
       *     disclaimer in the documentation and/or other materials provided
    
       *     with the distribution.
    
       *   * Neither the name of Open Source Robotics Foundation nor the names of its
    
       *     contributors may be used to endorse or promote products derived
    
       *     from this software without specific prior written permission.
    
       *
    
       *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    
       *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
    
       *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
    
       *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
    
       *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
    
       *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
    
       *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    
       *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
    
       *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
    
       *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
    
       *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    
       *  POSSIBILITY OF SUCH DAMAGE.
    
       */
    
      /** \author Jia Pan */
    
      #ifndef COAL_KDOP_H
    
      #define COAL_KDOP_H
    
      #include "coal/fwd.hh"
    
      #include "coal/data_types.h"
    
      namespace coal {
    
      struct CollisionRequest;
    
      /// @addtogroup Bounding_Volume
    
      /// @{
    
      /// @brief KDOP class describes the KDOP collision structures. K is set as the
    
      /// template parameter, which should be 16, 18, or 24
    
      ///  The KDOP structure is defined by some pairs of parallel planes defined by
    
      ///  some axes.
    
      /// For K = 16, the planes are 6 AABB planes and 10 diagonal planes that cut off
    
      /// some space of the edges:
    
      /// (-1,0,0) and (1,0,0)  -> indices 0 and 8
    
      /// (0,-1,0) and (0,1,0)  -> indices 1 and 9
    
      /// (0,0,-1) and (0,0,1)  -> indices 2 and 10
    
      /// (-1,-1,0) and (1,1,0) -> indices 3 and 11
    
      /// (-1,0,-1) and (1,0,1) -> indices 4 and 12
    
      /// (0,-1,-1) and (0,1,1) -> indices 5 and 13
    
      /// (-1,1,0) and (1,-1,0) -> indices 6 and 14
    
      /// (-1,0,1) and (1,0,-1) -> indices 7 and 15
    
      /// For K = 18, the planes are 6 AABB planes and 12 diagonal planes that cut off
    
      /// some space of the edges:
    
      /// (-1,0,0) and (1,0,0)  -> indices 0 and 9
    
      /// (0,-1,0) and (0,1,0)  -> indices 1 and 10
    
      /// (0,0,-1) and (0,0,1)  -> indices 2 and 11
    
      /// (-1,-1,0) and (1,1,0) -> indices 3 and 12
    
      /// (-1,0,-1) and (1,0,1) -> indices 4 and 13
    
      /// (0,-1,-1) and (0,1,1) -> indices 5 and 14
    
      /// (-1,1,0) and (1,-1,0) -> indices 6 and 15
    
      /// (-1,0,1) and (1,0,-1) -> indices 7 and 16
    
      /// (0,-1,1) and (0,1,-1) -> indices 8 and 17
    
      /// For K = 18, the planes are 6 AABB planes and 18 diagonal planes that cut off
    
      /// some space of the edges:
    
      /// (-1,0,0) and (1,0,0)  -> indices 0 and 12
    
      /// (0,-1,0) and (0,1,0)  -> indices 1 and 13
    
      /// (0,0,-1) and (0,0,1)  -> indices 2 and 14
    
      /// (-1,-1,0) and (1,1,0) -> indices 3 and 15
    
      /// (-1,0,-1) and (1,0,1) -> indices 4 and 16
    
      /// (0,-1,-1) and (0,1,1) -> indices 5 and 17
    
      /// (-1,1,0) and (1,-1,0) -> indices 6 and 18
    
      /// (-1,0,1) and (1,0,-1) -> indices 7 and 19
    
      /// (0,-1,1) and (0,1,-1) -> indices 8 and 20
    
      /// (-1, -1, 1) and (1, 1, -1) --> indices 9 and 21
    
      /// (-1, 1, -1) and (1, -1, 1) --> indices 10 and 22
    
      /// (1, -1, -1) and (-1, 1, 1) --> indices 11 and 23
    
      template <short N>
    
      class COAL_DLLAPI KDOP {
    
       protected:
    
        /// @brief Origin's distances to N KDOP planes
    
        Eigen::Array<Scalar, N, 1> dist_;
    
       public:
    
        /// @brief Creating kDOP containing nothing
    
        KDOP();
    
        /// @brief Creating kDOP containing only one point
    
        KDOP(const Vec3s& v);
    
        /// @brief Creating kDOP containing two points
    
        KDOP(const Vec3s& a, const Vec3s& b);
    
        /// @brief Equality operator
    
      ✗
        bool operator==(const KDOP& other) const {
    
      ✗
          return (dist_ == other.dist_).all();
    
        }
    
        /// @brief Difference operator
    
      ✗
        bool operator!=(const KDOP& other) const {
    
      ✗
          return (dist_ != other.dist_).any();
    
        }
    
        /// @brief Check whether two KDOPs overlap.
    
        bool overlap(const KDOP& other) const;
    
        /// @brief Check whether two KDOPs overlap.
    
        /// @return true if collision happens.
    
        /// @retval sqrDistLowerBound squared lower bound on distance between boxes if
    
        ///         they do not overlap.
    
        bool overlap(const KDOP& other, const CollisionRequest& request,
    
                     Scalar& sqrDistLowerBound) const;
    
        /// @brief The distance between two KDOP, Not implemented.
    
        Scalar distance(const KDOP& other, Vec3s* P = NULL, Vec3s* Q = NULL) const;
    
        /// @brief Merge the point and the KDOP
    
        KDOP& operator+=(const Vec3s& p);
    
        /// @brief Merge two KDOPs
    
        KDOP& operator+=(const KDOP& other);
    
        /// @brief Create a KDOP by mergin two KDOPs
    
        KDOP<N> operator+(const KDOP& other) const;
    
        /// @brief Size of the kDOP (used in BV_Splitter to order two kDOPs)
    
      82809620
        inline Scalar size() const {
    
      82809620
          return width() * width() + height() * height() + depth() * depth();
    
        }
    
        /// @brief The (AABB) center
    
      253488
        inline Vec3s center() const {
    
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      506976
          return (dist_.template head<3>() + dist_.template segment<3>(N / 2)) / 2;
    
        }
    
        /// @brief The (AABB) width
    
      167461054
        inline Scalar width() const { return dist_[N / 2] - dist_[0]; }
    
        /// @brief The (AABB) height
    
      167437564
        inline Scalar height() const { return dist_[N / 2 + 1] - dist_[1]; }
    
        /// @brief The (AABB) depth
    
      166441546
        inline Scalar depth() const { return dist_[N / 2 + 2] - dist_[2]; }
    
        /// @brief The (AABB) volume
    
      ✗
        inline Scalar volume() const { return width() * height() * depth(); }
    
      ✗
        inline Scalar dist(short i) const { return dist_[i]; }
    
      ✗
        inline Scalar& dist(short i) { return dist_[i]; }
    
        //// @brief Check whether one point is inside the KDOP
    
        bool inside(const Vec3s& p) const;
    
       public:
    
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    
      };
    
      /** @} */  // end of Bounding_Volume
    
      template <short N>
    
      bool overlap(const Matrix3s& /*R0*/, const Vec3s& /*T0*/, const KDOP<N>& /*b1*/,
    
                   const KDOP<N>& /*b2*/) {
    
        COAL_THROW_PRETTY("not implemented", std::logic_error);
    
      }
    
      template <short N>
    
      bool overlap(const Matrix3s& /*R0*/, const Vec3s& /*T0*/, const KDOP<N>& /*b1*/,
    
                   const KDOP<N>& /*b2*/, const CollisionRequest& /*request*/,
    
                   Scalar& /*sqrDistLowerBound*/) {
    
        COAL_THROW_PRETTY("not implemented", std::logic_error);
    
      }
    
      /// @brief translate the KDOP BV
    
      template <short N>
    
      COAL_DLLAPI KDOP<N> translate(const KDOP<N>& bv, const Vec3s& t);
    
      }  // namespace coal
    
      #endif

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
3			*
4			* Copyright (c) 2011-2014, Willow Garage, Inc.
5			* Copyright (c) 2014-2015, Open Source Robotics Foundation
6			* All rights reserved.
7			*
8			* Redistribution and use in source and binary forms, with or without
9			* modification, are permitted provided that the following conditions
10			* are met:
11			*
12			* * Redistributions of source code must retain the above copyright
13			* notice, this list of conditions and the following disclaimer.
14			* * Redistributions in binary form must reproduce the above
15			* copyright notice, this list of conditions and the following
16			* disclaimer in the documentation and/or other materials provided
17			* with the distribution.
18			* * Neither the name of Open Source Robotics Foundation nor the names of its
19			* contributors may be used to endorse or promote products derived
20			* from this software without specific prior written permission.
21			*
22			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23			* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24			* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25			* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26			* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27			* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28			* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29			* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30			* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31			* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32			* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33			* POSSIBILITY OF SUCH DAMAGE.
34			*/
35
36			/** \author Jia Pan */
37
38			#ifndef COAL_KDOP_H
39			#define COAL_KDOP_H
40
41			#include "coal/fwd.hh"
42			#include "coal/data_types.h"
43
44			namespace coal {
45
46			struct CollisionRequest;
47
48			/// @addtogroup Bounding_Volume
49			/// @{
50
51			/// @brief KDOP class describes the KDOP collision structures. K is set as the
52			/// template parameter, which should be 16, 18, or 24
53			/// The KDOP structure is defined by some pairs of parallel planes defined by
54			/// some axes.
55			/// For K = 16, the planes are 6 AABB planes and 10 diagonal planes that cut off
56			/// some space of the edges:
57			/// (-1,0,0) and (1,0,0) -> indices 0 and 8
58			/// (0,-1,0) and (0,1,0) -> indices 1 and 9
59			/// (0,0,-1) and (0,0,1) -> indices 2 and 10
60			/// (-1,-1,0) and (1,1,0) -> indices 3 and 11
61			/// (-1,0,-1) and (1,0,1) -> indices 4 and 12
62			/// (0,-1,-1) and (0,1,1) -> indices 5 and 13
63			/// (-1,1,0) and (1,-1,0) -> indices 6 and 14
64			/// (-1,0,1) and (1,0,-1) -> indices 7 and 15
65			/// For K = 18, the planes are 6 AABB planes and 12 diagonal planes that cut off
66			/// some space of the edges:
67			/// (-1,0,0) and (1,0,0) -> indices 0 and 9
68			/// (0,-1,0) and (0,1,0) -> indices 1 and 10
69			/// (0,0,-1) and (0,0,1) -> indices 2 and 11
70			/// (-1,-1,0) and (1,1,0) -> indices 3 and 12
71			/// (-1,0,-1) and (1,0,1) -> indices 4 and 13
72			/// (0,-1,-1) and (0,1,1) -> indices 5 and 14
73			/// (-1,1,0) and (1,-1,0) -> indices 6 and 15
74			/// (-1,0,1) and (1,0,-1) -> indices 7 and 16
75			/// (0,-1,1) and (0,1,-1) -> indices 8 and 17
76			/// For K = 18, the planes are 6 AABB planes and 18 diagonal planes that cut off
77			/// some space of the edges:
78			/// (-1,0,0) and (1,0,0) -> indices 0 and 12
79			/// (0,-1,0) and (0,1,0) -> indices 1 and 13
80			/// (0,0,-1) and (0,0,1) -> indices 2 and 14
81			/// (-1,-1,0) and (1,1,0) -> indices 3 and 15
82			/// (-1,0,-1) and (1,0,1) -> indices 4 and 16
83			/// (0,-1,-1) and (0,1,1) -> indices 5 and 17
84			/// (-1,1,0) and (1,-1,0) -> indices 6 and 18
85			/// (-1,0,1) and (1,0,-1) -> indices 7 and 19
86			/// (0,-1,1) and (0,1,-1) -> indices 8 and 20
87			/// (-1, -1, 1) and (1, 1, -1) --> indices 9 and 21
88			/// (-1, 1, -1) and (1, -1, 1) --> indices 10 and 22
89			/// (1, -1, -1) and (-1, 1, 1) --> indices 11 and 23
90			template <short N>
91			class COAL_DLLAPI KDOP {
92			protected:
93			/// @brief Origin's distances to N KDOP planes
94			Eigen::Array<Scalar, N, 1> dist_;
95
96			public:
97			/// @brief Creating kDOP containing nothing
98			KDOP();
99
100			/// @brief Creating kDOP containing only one point
101			KDOP(const Vec3s& v);
102
103			/// @brief Creating kDOP containing two points
104			KDOP(const Vec3s& a, const Vec3s& b);
105
106			/// @brief Equality operator
107		✗	bool operator==(const KDOP& other) const {
108		✗	return (dist_ == other.dist_).all();
109			}
110
111			/// @brief Difference operator
112		✗	bool operator!=(const KDOP& other) const {
113		✗	return (dist_ != other.dist_).any();
114			}
115
116			/// @brief Check whether two KDOPs overlap.
117			bool overlap(const KDOP& other) const;
118
119			/// @brief Check whether two KDOPs overlap.
120			/// @return true if collision happens.
121			/// @retval sqrDistLowerBound squared lower bound on distance between boxes if
122			/// they do not overlap.
123			bool overlap(const KDOP& other, const CollisionRequest& request,
124			Scalar& sqrDistLowerBound) const;
125
126			/// @brief The distance between two KDOP, Not implemented.
127			Scalar distance(const KDOP& other, Vec3s* P = NULL, Vec3s* Q = NULL) const;
128
129			/// @brief Merge the point and the KDOP
130			KDOP& operator+=(const Vec3s& p);
131
132			/// @brief Merge two KDOPs
133			KDOP& operator+=(const KDOP& other);
134
135			/// @brief Create a KDOP by mergin two KDOPs
136			KDOP<N> operator+(const KDOP& other) const;
137
138			/// @brief Size of the kDOP (used in BV_Splitter to order two kDOPs)
139		82809620	inline Scalar size() const {
140		82809620	return width() * width() + height() * height() + depth() * depth();
141			}
142
143			/// @brief The (AABB) center
144		253488	inline Vec3s center() const {
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146			}
147
148			/// @brief The (AABB) width
149		167461054	inline Scalar width() const { return dist_[N / 2] - dist_[0]; }
150
151			/// @brief The (AABB) height
152		167437564	inline Scalar height() const { return dist_[N / 2 + 1] - dist_[1]; }
153
154			/// @brief The (AABB) depth
155		166441546	inline Scalar depth() const { return dist_[N / 2 + 2] - dist_[2]; }
156
157			/// @brief The (AABB) volume
158		✗	inline Scalar volume() const { return width() * height() * depth(); }
159
160		✗	inline Scalar dist(short i) const { return dist_[i]; }
161
162		✗	inline Scalar& dist(short i) { return dist_[i]; }
163
164			//// @brief Check whether one point is inside the KDOP
165			bool inside(const Vec3s& p) const;
166
167			public:
168			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
169			};
170
171			/** @} */ // end of Bounding_Volume
172
173			template <short N>
174			bool overlap(const Matrix3s& /R0/, const Vec3s& /T0/, const KDOP<N>& /b1/,
175			const KDOP<N>& /b2/) {
176			COAL_THROW_PRETTY("not implemented", std::logic_error);
177			}
178
179			template <short N>
180			bool overlap(const Matrix3s& /R0/, const Vec3s& /T0/, const KDOP<N>& /b1/,
181			const KDOP<N>& /b2/, const CollisionRequest& /request/,
182			Scalar& /sqrDistLowerBound/) {
183			COAL_THROW_PRETTY("not implemented", std::logic_error);
184			}
185
186			/// @brief translate the KDOP BV
187			template <short N>
188			COAL_DLLAPI KDOP<N> translate(const KDOP<N>& bv, const Vec3s& t);
189
190			} // namespace coal
191
192			#endif
193

Function (Line)	Call count	Block coverage
coal::KDOP<(short)16>::center() const (line 144)	called 42248 times, returned 42248 times	69.0%
coal::KDOP<(short)16>::depth() const (line 155)	called 27088647 times, returned 27088647 times	100.0%
coal::KDOP<(short)16>::dist(short) (line 162)	not called	0.0%
coal::KDOP<(short)16>::dist(short) const (line 160)	not called	0.0%
coal::KDOP<(short)16>::height() const (line 152)	called 27254650 times, returned 27254650 times	100.0%
coal::KDOP<(short)16>::operator!=(coal::KDOP<(short)16> const&) const (line 112)	not called	0.0%
coal::KDOP<(short)16>::operator==(coal::KDOP<(short)16> const&) const (line 107)	not called	0.0%
coal::KDOP<(short)16>::size() const (line 139)	called 13475798 times, returned 13475798 times	100.0%
coal::KDOP<(short)16>::volume() const (line 158)	not called	0.0%
coal::KDOP<(short)16>::width() const (line 149)	called 27258565 times, returned 27258565 times	100.0%
coal::KDOP<(short)18>::center() const (line 144)	called 42248 times, returned 42248 times	69.0%
coal::KDOP<(short)18>::depth() const (line 155)	called 27948891 times, returned 27948891 times	100.0%
coal::KDOP<(short)18>::dist(short) (line 162)	not called	0.0%
coal::KDOP<(short)18>::dist(short) const (line 160)	not called	0.0%
coal::KDOP<(short)18>::height() const (line 152)	called 28114894 times, returned 28114894 times	100.0%
coal::KDOP<(short)18>::operator!=(coal::KDOP<(short)18> const&) const (line 112)	not called	0.0%
coal::KDOP<(short)18>::operator==(coal::KDOP<(short)18> const&) const (line 107)	not called	0.0%
coal::KDOP<(short)18>::size() const (line 139)	called 13905920 times, returned 13905920 times	100.0%
coal::KDOP<(short)18>::volume() const (line 158)	not called	0.0%
coal::KDOP<(short)18>::width() const (line 149)	called 28118809 times, returned 28118809 times	100.0%
coal::KDOP<(short)24>::center() const (line 144)	called 42248 times, returned 42248 times	69.0%
coal::KDOP<(short)24>::depth() const (line 155)	called 28183235 times, returned 28183235 times	100.0%
coal::KDOP<(short)24>::dist(short) (line 162)	not called	0.0%
coal::KDOP<(short)24>::dist(short) const (line 160)	not called	0.0%
coal::KDOP<(short)24>::height() const (line 152)	called 28349238 times, returned 28349238 times	100.0%
coal::KDOP<(short)24>::operator!=(coal::KDOP<(short)24> const&) const (line 112)	not called	0.0%
coal::KDOP<(short)24>::operator==(coal::KDOP<(short)24> const&) const (line 107)	not called	0.0%
coal::KDOP<(short)24>::size() const (line 139)	called 14023092 times, returned 14023092 times	100.0%
coal::KDOP<(short)24>::volume() const (line 158)	not called	0.0%
coal::KDOP<(short)24>::width() const (line 149)	called 28353153 times, returned 28353153 times	100.0%