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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2011-2014, Willow Garage, Inc. |
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* Copyright (c) 2014-2015, Open Source Robotics Foundation |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of Open Source Robotics Foundation nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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/** \author Jia Pan */ |
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#ifndef TEST_COAL_UTILITY_H |
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#define TEST_COAL_UTILITY_H |
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#include "coal/math/transform.h" |
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#include "coal/collision_data.h" |
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#include "coal/collision_object.h" |
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#include "coal/broadphase/default_broadphase_callbacks.h" |
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#include "coal/shape/convex.h" |
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#ifdef COAL_HAS_OCTOMAP |
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#include "coal/octree.h" |
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#endif |
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#ifdef _WIN32 |
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#include <windows.h> |
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#else |
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#include <sys/time.h> |
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#endif |
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#define EIGEN_VECTOR_IS_APPROX(Va, Vb, precision) \ |
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BOOST_CHECK_MESSAGE(((Va) - (Vb)).isZero(precision), \ |
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"check " #Va ".isApprox(" #Vb ") failed at precision " \ |
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<< precision << " [\n" \ |
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<< (Va).transpose() << "\n!=\n" \ |
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<< (Vb).transpose() << "\n]") |
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#define EIGEN_MATRIX_IS_APPROX(Va, Vb, precision) \ |
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BOOST_CHECK_MESSAGE(((Va) - (Vb)).isZero(precision), \ |
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"check " #Va ".isApprox(" #Vb ") failed at precision " \ |
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<< precision << " [\n" \ |
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<< (Va) << "\n!=\n" \ |
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<< (Vb) << "\n]") |
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#define Scalar_IS_APPROX(Va, Vb, precision) \ |
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BOOST_CHECK_MESSAGE(std::abs((Va) - (Vb)) < precision, \ |
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"check " #Va ".isApprox(" #Vb ") failed at precision " \ |
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<< precision << " [\n" \ |
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<< Va << "\n!=\n" \ |
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<< Vb << "\n]") |
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namespace octomap { |
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#ifdef COAL_HAS_OCTOMAP |
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typedef coal::shared_ptr<octomap::OcTree> OcTreePtr_t; |
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#endif |
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} // namespace octomap |
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namespace coal { |
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class BenchTimer { |
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public: |
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BenchTimer(); |
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~BenchTimer(); |
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void start(); ///< start timer |
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void stop(); ///< stop the timer |
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double getElapsedTime(); ///< get elapsed time in milli-second |
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double getElapsedTimeInSec(); ///< get elapsed time in second (same as |
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///< getElapsedTime) |
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double getElapsedTimeInMilliSec(); ///< get elapsed time in milli-second |
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double getElapsedTimeInMicroSec(); ///< get elapsed time in micro-second |
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private: |
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double startTimeInMicroSec; ///< starting time in micro-second |
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double endTimeInMicroSec; ///< ending time in micro-second |
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int stopped; ///< stop flag |
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#ifdef _WIN32 |
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LARGE_INTEGER frequency; ///< ticks per second |
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LARGE_INTEGER startCount; |
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LARGE_INTEGER endCount; |
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#else |
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timeval startCount; |
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timeval endCount; |
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#endif |
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}; |
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struct TStruct { |
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std::vector<double> records; |
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double overall_time; |
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TStruct() { overall_time = 0; } |
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void push_back(double t) { |
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records.push_back(t); |
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overall_time += t; |
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} |
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}; |
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extern const Eigen::IOFormat vfmt; |
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extern const Eigen::IOFormat pyfmt; |
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typedef Eigen::AngleAxis<Scalar> AngleAxis; |
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extern const Vec3s UnitX; |
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extern const Vec3s UnitY; |
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extern const Vec3s UnitZ; |
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/// @brief Load an obj mesh file |
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void loadOBJFile(const char* filename, std::vector<Vec3s>& points, |
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std::vector<Triangle>& triangles); |
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void saveOBJFile(const char* filename, std::vector<Vec3s>& points, |
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std::vector<Triangle>& triangles); |
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#ifdef COAL_HAS_OCTOMAP |
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coal::OcTree loadOctreeFile(const std::string& filename, |
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const Scalar& resolution); |
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#endif |
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/// @brief Generate one random transform whose translation is constrained by |
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/// extents and rotation without constraints. The translation is (x, y, z), and |
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/// extents[0] <= x <= extents[3], extents[1] <= y <= extents[4], extents[2] <= |
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/// z <= extents[5] |
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void generateRandomTransform(Scalar extents[6], Transform3s& transform); |
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/// @brief Generate n random transforms whose translations are constrained by |
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/// extents. |
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void generateRandomTransforms(Scalar extents[6], |
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std::vector<Transform3s>& transforms, |
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std::size_t n); |
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/// @brief Generate n random transforms whose translations are constrained by |
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/// extents. Also generate another transforms2 which have additional random |
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/// translation & rotation to the transforms generated. |
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void generateRandomTransforms(Scalar extents[6], Scalar delta_trans[3], |
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Scalar delta_rot, |
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std::vector<Transform3s>& transforms, |
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std::vector<Transform3s>& transforms2, |
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std::size_t n); |
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/// @ brief Structure for minimum distance between two meshes and the |
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/// corresponding nearest point pair |
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struct DistanceRes { |
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Scalar distance; |
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Vec3s p1; |
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Vec3s p2; |
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}; |
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/// @brief Default collision callback for two objects o1 and o2 in broad phase. |
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/// return value means whether the broad phase can stop now. |
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bool defaultCollisionFunction(CollisionObject* o1, CollisionObject* o2, |
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void* cdata); |
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/// @brief Default distance callback for two objects o1 and o2 in broad phase. |
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/// return value means whether the broad phase can stop now. also return dist, |
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/// i.e. the bmin distance till now |
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bool defaultDistanceFunction(CollisionObject* o1, CollisionObject* o2, |
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void* cdata, Scalar& dist); |
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std::string getNodeTypeName(NODE_TYPE node_type); |
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Quats makeQuat(Scalar w, Scalar x, Scalar y, Scalar z); |
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std::ostream& operator<<(std::ostream& os, const Transform3s& tf); |
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/// Get the argument --nb-run from argv |
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std::size_t getNbRun(const int& argc, char const* const* argv, |
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std::size_t defaultValue); |
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void generateEnvironments(std::vector<CollisionObject*>& env, Scalar env_scale, |
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std::size_t n); |
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void generateEnvironmentsMesh(std::vector<CollisionObject*>& env, |
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Scalar env_scale, std::size_t n); |
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/// @brief Constructs a box with halfsides (l, w, d), centered around 0. |
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/// The box is 2*l wide on the x-axis, 2*w wide on the y-axis and 2*d wide on |
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/// the z-axis. |
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Convex<Quadrilateral> buildBox(Scalar l, Scalar w, Scalar d); |
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/// @brief We give an ellipsoid as input. The output is a 20 faces polytope |
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/// which vertices belong to the original ellipsoid surface. The procedure is |
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/// simple: we construct a icosahedron, see |
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/// https://sinestesia.co/blog/tutorials/python-icospheres/ . We then apply an |
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/// ellipsoid tranformation to each vertex of the icosahedron. |
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Convex<Triangle> constructPolytopeFromEllipsoid(const Ellipsoid& ellipsoid); |
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Box makeRandomBox(Scalar min_size, Scalar max_size); |
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Sphere makeRandomSphere(Scalar min_size, Scalar max_size); |
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Ellipsoid makeRandomEllipsoid(Scalar min_size, Scalar max_size); |
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Capsule makeRandomCapsule(std::array<Scalar, 2> min_size, |
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std::array<Scalar, 2> max_size); |
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Cone makeRandomCone(std::array<Scalar, 2> min_size, |
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std::array<Scalar, 2> max_size); |
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Cylinder makeRandomCylinder(std::array<Scalar, 2> min_size, |
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std::array<Scalar, 2> max_size); |
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Convex<Triangle> makeRandomConvex(Scalar min_size, Scalar max_size); |
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Plane makeRandomPlane(Scalar min_size, Scalar max_size); |
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Halfspace makeRandomHalfspace(Scalar min_size, Scalar max_size); |
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std::shared_ptr<ShapeBase> makeRandomGeometry(NODE_TYPE node_type); |
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} // namespace coal |
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#endif |
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