GCC Code Coverage Report

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_KIOS_H
39			#define COAL_KIOS_H
40
41			#include "coal/BV/OBB.h"
42
43			namespace coal {
44
45			struct CollisionRequest;
46
47			/// @addtogroup Bounding_Volume
48			/// @{
49
50			/// @brief A class describing the kIOS collision structure, which is a set of
51			/// spheres.
52			class COAL_DLLAPI kIOS {
53			/// @brief One sphere in kIOS
54			struct COAL_DLLAPI kIOS_Sphere {
55			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
56
57			Vec3s o;
58			Scalar r;
59
60		✗	bool operator==(const kIOS_Sphere& other) const {
61		✗	return o == other.o && r == other.r;
62			}
63
64		✗	bool operator!=(const kIOS_Sphere& other) const {
65		✗	return !(*this == other);
66			}
67			};
68
69			/// @brief generate one sphere enclosing two spheres
70		19611	static kIOS_Sphere encloseSphere(const kIOS_Sphere& s0,
71			const kIOS_Sphere& s1) {
72	2/4 ✓ Branch 1 taken 19611 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 19611 times. ✗ Branch 5 not taken.	19611	Vec3s d = s1.o - s0.o;
73	1/2 ✓ Branch 1 taken 19611 times. ✗ Branch 2 not taken.	19611	Scalar dist2 = d.squaredNorm();
74		19611	Scalar diff_r = s1.r - s0.r;
75
76			/** The sphere with the larger radius encloses the other */
77	2/2 ✓ Branch 0 taken 2533 times. ✓ Branch 1 taken 17078 times.	19611	if (diff_r * diff_r >= dist2) {
78	2/2 ✓ Branch 0 taken 1224 times. ✓ Branch 1 taken 1309 times.	2533	if (s1.r > s0.r)
79	1/2 ✓ Branch 1 taken 1224 times. ✗ Branch 2 not taken.	1224	return s1;
80			else
81	1/2 ✓ Branch 1 taken 1309 times. ✗ Branch 2 not taken.	1309	return s0;
82			} else /** spheres partially overlapping or disjoint */
83			{
84		17078	float dist = (float)std::sqrt(dist2);
85	1/2 ✓ Branch 1 taken 17078 times. ✗ Branch 2 not taken.	17078	kIOS_Sphere s;
86		17078	s.r = dist + s0.r + s1.r;
87	1/2 ✓ Branch 0 taken 17078 times. ✗ Branch 1 not taken.	17078	if (dist > 0)
88	3/6 ✓ Branch 1 taken 17078 times. ✗ Branch 2 not taken. ✓ Branch 4 taken 17078 times. ✗ Branch 5 not taken. ✓ Branch 7 taken 17078 times. ✗ Branch 8 not taken.	17078	s.o = s0.o + d * ((s.r - s0.r) / dist);
89			else
90		✗	s.o = s0.o;
91		17078	return s;
92			}
93			}
94
95			public:
96			/// @brief Equality operator
97		✗	bool operator==(const kIOS& other) const {
98		✗	bool res = obb == other.obb && num_spheres == other.num_spheres;
99		✗	if (!res) return false;
100
101		✗	for (size_t k = 0; k < num_spheres; ++k) {
102		✗	if (spheres[k] != other.spheres[k]) return false;
103			}
104
105		✗	return true;
106			}
107
108			/// @brief Difference operator
109			bool operator!=(const kIOS& other) const { return !(*this == other); }
110
111			static constexpr size_t max_num_spheres = 5;
112
113			/// @brief The (at most) five spheres for intersection
114			kIOS_Sphere spheres[max_num_spheres];
115
116			/// @brief The number of spheres, no larger than 5
117			unsigned int num_spheres;
118
119			/// @ OBB related with kIOS
120			OBB obb;
121
122			/// @brief Check whether the kIOS contains a point
123			bool contain(const Vec3s& p) const;
124
125			/// @brief Check collision between two kIOS
126			bool overlap(const kIOS& other) const;
127
128			/// @brief Check collision between two kIOS
129			bool overlap(const kIOS& other, const CollisionRequest&,
130			Scalar& sqrDistLowerBound) const;
131
132			/// @brief The distance between two kIOS
133			Scalar distance(const kIOS& other, Vec3s* P = NULL, Vec3s* Q = NULL) const;
134
135			/// @brief A simple way to merge the kIOS and a point
136			kIOS& operator+=(const Vec3s& p);
137
138			/// @brief Merge the kIOS and another kIOS
139			kIOS& operator+=(const kIOS& other) {
140			this = this + other;
141			return *this;
142			}
143
144			/// @brief Return the merged kIOS of current kIOS and the other one
145			kIOS operator+(const kIOS& other) const;
146
147			/// @brief size of the kIOS (used in BV_Splitter to order two kIOSs)
148			Scalar size() const;
149
150			/// @brief Center of the kIOS
151		42248	const Vec3s& center() const { return spheres[0].o; }
152
153			/// @brief Width of the kIOS
154			Scalar width() const;
155
156			/// @brief Height of the kIOS
157			Scalar height() const;
158
159			/// @brief Depth of the kIOS
160			Scalar depth() const;
161
162			/// @brief Volume of the kIOS
163			Scalar volume() const;
164
165			public:
166			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
167			};
168
169			/** @} */ // end of Bounding_Volume
170
171			/// @brief Translate the kIOS BV
172			COAL_DLLAPI kIOS translate(const kIOS& bv, const Vec3s& t);
173
174			/// @brief Check collision between two kIOSs, b1 is in configuration (R0, T0)
175			/// and b2 is in identity.
176			/// @todo Not efficient
177			COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const kIOS& b1,
178			const kIOS& b2);
179
180			/// @brief Check collision between two kIOSs, b1 is in configuration (R0, T0)
181			/// and b2 is in identity.
182			/// @todo Not efficient
183			COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const kIOS& b1,
184			const kIOS& b2, const CollisionRequest& request,
185			Scalar& sqrDistLowerBound);
186
187			/// @brief Approximate distance between two kIOS bounding volumes
188			/// @todo P and Q is not returned, need implementation
189			COAL_DLLAPI Scalar distance(const Matrix3s& R0, const Vec3s& T0, const kIOS& b1,
190			const kIOS& b2, Vec3s* P = NULL, Vec3s* Q = NULL);
191
192			} // namespace coal
193
194			#endif
195