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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	include/hpp/fcl/BV/kIOS.h	Lines:	15	26	57.7 %
Date:	2024-02-09 12:57:42	Branches:	14	40	35.0 %


/*
 * 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 HPP_FCL_KIOS_H
#define HPP_FCL_KIOS_H

#include <hpp/fcl/BV/OBB.h>

namespace hpp {
namespace fcl {

struct CollisionRequest;

/// @addtogroup Bounding_Volume
/// @{

/// @brief A class describing the kIOS collision structure, which is a set of
/// spheres.
class HPP_FCL_DLLAPI kIOS {
  /// @brief One sphere in kIOS
  struct HPP_FCL_DLLAPI kIOS_Sphere {
    Vec3f o;
    FCL_REAL r;

    bool operator==(const kIOS_Sphere& other) const {
      return o == other.o && r == other.r;
    }

    bool operator!=(const kIOS_Sphere& other) const {
      return !(*this == other);
    }
  };

  /// @brief generate one sphere enclosing two spheres
  static kIOS_Sphere encloseSphere(const kIOS_Sphere& s0,
                                   const kIOS_Sphere& s1) {
    Vec3f d = s1.o - s0.o;
    FCL_REAL dist2 = d.squaredNorm();
    FCL_REAL diff_r = s1.r - s0.r;

    /** The sphere with the larger radius encloses the other */
    if (diff_r * diff_r >= dist2) {
      if (s1.r > s0.r)
        return s1;
      else
        return s0;
    } else /** spheres partially overlapping or disjoint */
    {
      float dist = (float)std::sqrt(dist2);
      kIOS_Sphere s;
      s.r = dist + s0.r + s1.r;
      if (dist > 0)
        s.o = s0.o + d * ((s.r - s0.r) / dist);
      else
        s.o = s0.o;
      return s;
    }
  }

 public:
  /// @brief Equality operator
  bool operator==(const kIOS& other) const {
    bool res = obb == other.obb && num_spheres == other.num_spheres;
    if (!res) return false;

    for (size_t k = 0; k < num_spheres; ++k) {
      if (spheres[k] != other.spheres[k]) return false;
    }

    return true;
  }

  /// @brief Difference operator
  bool operator!=(const kIOS& other) const { return !(*this == other); }

  /// @brief The (at most) five spheres for intersection
  kIOS_Sphere spheres[5];

  /// @brief The number of spheres, no larger than 5
  unsigned int num_spheres;

  /// @ OBB related with kIOS
  OBB obb;

  /// @brief Check whether the kIOS contains a point
  bool contain(const Vec3f& p) const;

  /// @brief Check collision between two kIOS
  bool overlap(const kIOS& other) const;

  /// @brief Check collision between two kIOS
  bool overlap(const kIOS& other, const CollisionRequest&,
               FCL_REAL& sqrDistLowerBound) const;

  /// @brief The distance between two kIOS
  FCL_REAL distance(const kIOS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;

  /// @brief A simple way to merge the kIOS and a point
  kIOS& operator+=(const Vec3f& p);

  /// @brief Merge the kIOS and another kIOS
  kIOS& operator+=(const kIOS& other) {
    *this = *this + other;
    return *this;
  }

  /// @brief Return the merged kIOS of current kIOS and the other one
  kIOS operator+(const kIOS& other) const;

  /// @brief size of the kIOS (used in BV_Splitter to order two kIOSs)
  FCL_REAL size() const;

  /// @brief Center of the kIOS
  const Vec3f& center() const { return spheres[0].o; }

  /// @brief Width of the kIOS
  FCL_REAL width() const;

  /// @brief Height of the kIOS
  FCL_REAL height() const;

  /// @brief Depth of the kIOS
  FCL_REAL depth() const;

  /// @brief Volume of the kIOS
  FCL_REAL volume() const;
};

/// @brief Translate the kIOS BV
HPP_FCL_DLLAPI kIOS translate(const kIOS& bv, const Vec3f& t);

/// @brief Check collision between two kIOSs, b1 is in configuration (R0, T0)
/// and b2 is in identity.
/// @todo Not efficient
HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const kIOS& b1,
                            const kIOS& b2);

/// @brief Check collision between two kIOSs, b1 is in configuration (R0, T0)
/// and b2 is in identity.
/// @todo Not efficient
HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const kIOS& b1,
                            const kIOS& b2, const CollisionRequest& request,
                            FCL_REAL& sqrDistLowerBound);

/// @brief Approximate distance between two kIOS bounding volumes
/// @todo P and Q is not returned, need implementation
HPP_FCL_DLLAPI FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0,
                                 const kIOS& b1, const kIOS& b2,
                                 Vec3f* P = NULL, Vec3f* Q = NULL);

}  // namespace fcl

}  // namespace hpp

#endif


Generated by: GCOVR (Version 4.2)

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 HPP_FCL_KIOS_H
39			#define HPP_FCL_KIOS_H
40
41			#include <hpp/fcl/BV/OBB.h>
42
43			namespace hpp {
44			namespace fcl {
45
46			struct CollisionRequest;
47
48			/// @addtogroup Bounding_Volume
49			/// @{
50
51			/// @brief A class describing the kIOS collision structure, which is a set of
52			/// spheres.
53			class HPP_FCL_DLLAPI kIOS {
54			/// @brief One sphere in kIOS
55			struct HPP_FCL_DLLAPI kIOS_Sphere {
56			Vec3f o;
57			FCL_REAL r;
58
59			bool operator==(const kIOS_Sphere& other) const {
60			return o == other.o && r == other.r;
61			}
62
63			bool operator!=(const kIOS_Sphere& other) const {
64			return !(*this == other);
65			}
66			};
67
68			/// @brief generate one sphere enclosing two spheres
69		19611	static kIOS_Sphere encloseSphere(const kIOS_Sphere& s0,
70			const kIOS_Sphere& s1) {
71	✓✗✓✗	19611	Vec3f d = s1.o - s0.o;
72	✓✗	19611	FCL_REAL dist2 = d.squaredNorm();
73		19611	FCL_REAL diff_r = s1.r - s0.r;
74
75			/** The sphere with the larger radius encloses the other */
76	✓✓	19611	if (diff_r * diff_r >= dist2) {
77	✓✓	2533	if (s1.r > s0.r)
78	✓✗	1224	return s1;
79			else
80	✓✗	1309	return s0;
81			} else /** spheres partially overlapping or disjoint */
82			{
83		17078	float dist = (float)std::sqrt(dist2);
84	✓✗	17078	kIOS_Sphere s;
85		17078	s.r = dist + s0.r + s1.r;
86	✓✗	17078	if (dist > 0)
87	✓✗✓✗ ✓✗	17078	s.o = s0.o + d * ((s.r - s0.r) / dist);
88			else
89			s.o = s0.o;
90		17078	return s;
91			}
92			}
93
94			public:
95			/// @brief Equality operator
96			bool operator==(const kIOS& other) const {
97			bool res = obb == other.obb && num_spheres == other.num_spheres;
98			if (!res) return false;
99
100			for (size_t k = 0; k < num_spheres; ++k) {
101			if (spheres[k] != other.spheres[k]) return false;
102			}
103
104			return true;
105			}
106
107			/// @brief Difference operator
108			bool operator!=(const kIOS& other) const { return !(*this == other); }
109
110			/// @brief The (at most) five spheres for intersection
111			kIOS_Sphere spheres[5];
112
113			/// @brief The number of spheres, no larger than 5
114			unsigned int num_spheres;
115
116			/// @ OBB related with kIOS
117			OBB obb;
118
119			/// @brief Check whether the kIOS contains a point
120			bool contain(const Vec3f& p) const;
121
122			/// @brief Check collision between two kIOS
123			bool overlap(const kIOS& other) const;
124
125			/// @brief Check collision between two kIOS
126			bool overlap(const kIOS& other, const CollisionRequest&,
127			FCL_REAL& sqrDistLowerBound) const;
128
129			/// @brief The distance between two kIOS
130			FCL_REAL distance(const kIOS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
131
132			/// @brief A simple way to merge the kIOS and a point
133			kIOS& operator+=(const Vec3f& p);
134
135			/// @brief Merge the kIOS and another kIOS
136			kIOS& operator+=(const kIOS& other) {
137			this = this + other;
138			return *this;
139			}
140
141			/// @brief Return the merged kIOS of current kIOS and the other one
142			kIOS operator+(const kIOS& other) const;
143
144			/// @brief size of the kIOS (used in BV_Splitter to order two kIOSs)
145			FCL_REAL size() const;
146
147			/// @brief Center of the kIOS
148		42248	const Vec3f& center() const { return spheres[0].o; }
149
150			/// @brief Width of the kIOS
151			FCL_REAL width() const;
152
153			/// @brief Height of the kIOS
154			FCL_REAL height() const;
155
156			/// @brief Depth of the kIOS
157			FCL_REAL depth() const;
158
159			/// @brief Volume of the kIOS
160			FCL_REAL volume() const;
161			};
162
163			/// @brief Translate the kIOS BV
164			HPP_FCL_DLLAPI kIOS translate(const kIOS& bv, const Vec3f& t);
165
166			/// @brief Check collision between two kIOSs, b1 is in configuration (R0, T0)
167			/// and b2 is in identity.
168			/// @todo Not efficient
169			HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const kIOS& b1,
170			const kIOS& b2);
171
172			/// @brief Check collision between two kIOSs, b1 is in configuration (R0, T0)
173			/// and b2 is in identity.
174			/// @todo Not efficient
175			HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const kIOS& b1,
176			const kIOS& b2, const CollisionRequest& request,
177			FCL_REAL& sqrDistLowerBound);
178
179			/// @brief Approximate distance between two kIOS bounding volumes
180			/// @todo P and Q is not returned, need implementation
181			HPP_FCL_DLLAPI FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0,
182			const kIOS& b1, const kIOS& b2,
183			Vec3f* P = NULL, Vec3f* Q = NULL);
184
185			} // namespace fcl
186
187			} // namespace hpp
188
189			#endif