GCC Code Coverage Report


Directory: ./
File: include/coal/BV/kIOS.h
Date: 2025-04-01 09:23:31
Exec Total Coverage
Lines: 15 26 57.7%
Branches: 14 40 35.0%

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 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
97
98 /// @brief Equality operator
99 bool operator==(const kIOS& other) const {
100 bool res = obb == other.obb && num_spheres == other.num_spheres;
101 if (!res) return false;
102
103 for (size_t k = 0; k < num_spheres; ++k) {
104 if (spheres[k] != other.spheres[k]) return false;
105 }
106
107 return true;
108 }
109
110 /// @brief Difference operator
111 bool operator!=(const kIOS& other) const { return !(*this == other); }
112
113 static constexpr size_t max_num_spheres = 5;
114
115 /// @brief The (at most) five spheres for intersection
116 kIOS_Sphere spheres[max_num_spheres];
117
118 /// @brief The number of spheres, no larger than 5
119 unsigned int num_spheres;
120
121 /// @ OBB related with kIOS
122 OBB obb;
123
124 /// @brief Check whether the kIOS contains a point
125 bool contain(const Vec3s& p) const;
126
127 /// @brief Check collision between two kIOS
128 bool overlap(const kIOS& other) const;
129
130 /// @brief Check collision between two kIOS
131 bool overlap(const kIOS& other, const CollisionRequest&,
132 Scalar& sqrDistLowerBound) const;
133
134 /// @brief The distance between two kIOS
135 Scalar distance(const kIOS& other, Vec3s* P = NULL, Vec3s* Q = NULL) const;
136
137 /// @brief A simple way to merge the kIOS and a point
138 kIOS& operator+=(const Vec3s& p);
139
140 /// @brief Merge the kIOS and another kIOS
141 kIOS& operator+=(const kIOS& other) {
142 *this = *this + other;
143 return *this;
144 }
145
146 /// @brief Return the merged kIOS of current kIOS and the other one
147 kIOS operator+(const kIOS& other) const;
148
149 /// @brief size of the kIOS (used in BV_Splitter to order two kIOSs)
150 Scalar size() const;
151
152 /// @brief Center of the kIOS
153 42248 const Vec3s& center() const { return spheres[0].o; }
154
155 /// @brief Width of the kIOS
156 Scalar width() const;
157
158 /// @brief Height of the kIOS
159 Scalar height() const;
160
161 /// @brief Depth of the kIOS
162 Scalar depth() const;
163
164 /// @brief Volume of the kIOS
165 Scalar volume() const;
166 };
167
168 /// @brief Translate the kIOS BV
169 COAL_DLLAPI kIOS translate(const kIOS& bv, const Vec3s& t);
170
171 /// @brief Check collision between two kIOSs, b1 is in configuration (R0, T0)
172 /// and b2 is in identity.
173 /// @todo Not efficient
174 COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const kIOS& b1,
175 const kIOS& b2);
176
177 /// @brief Check collision between two kIOSs, b1 is in configuration (R0, T0)
178 /// and b2 is in identity.
179 /// @todo Not efficient
180 COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const kIOS& b1,
181 const kIOS& b2, const CollisionRequest& request,
182 Scalar& sqrDistLowerBound);
183
184 /// @brief Approximate distance between two kIOS bounding volumes
185 /// @todo P and Q is not returned, need implementation
186 COAL_DLLAPI Scalar distance(const Matrix3s& R0, const Vec3s& T0, const kIOS& b1,
187 const kIOS& b2, Vec3s* P = NULL, Vec3s* Q = NULL);
188
189 } // namespace coal
190
191 #endif
192