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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	include/hpp/fcl/internal/traversal_node_shapes.h	Lines:	8	10	80.0 %
Date:	2024-02-09 12:57:42	Branches:	5	10	50.0 %


/*
 * 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_TRAVERSAL_NODE_SHAPES_H
#define HPP_FCL_TRAVERSAL_NODE_SHAPES_H

/// @cond INTERNAL

#include <hpp/fcl/collision_data.h>
#include <hpp/fcl/narrowphase/narrowphase.h>
#include <hpp/fcl/BV/BV.h>
#include <hpp/fcl/shape/geometric_shapes_utility.h>
#include <hpp/fcl/internal/traversal_node_base.h>

namespace hpp {
namespace fcl {

/// @addtogroup Traversal_For_Collision
/// @{

/// @brief Traversal node for collision between two shapes
template <typename S1, typename S2>
class HPP_FCL_DLLAPI ShapeCollisionTraversalNode
    : public CollisionTraversalNodeBase {
 public:
  ShapeCollisionTraversalNode(const CollisionRequest& request)
      : CollisionTraversalNodeBase(request) {
    model1 = NULL;
    model2 = NULL;

    nsolver = NULL;
  }

  /// @brief BV culling test in one BVTT node
  bool BVDisjoints(int, int, FCL_REAL&) const {
    HPP_FCL_THROW_PRETTY("Not implemented", std::runtime_error);
  }

  /// @brief Intersection testing between leaves (two shapes)
  void leafCollides(int, int, FCL_REAL&) const {
    FCL_REAL distance;
    if (request.enable_contact &&
        request.num_max_contacts > result->numContacts()) {
      Vec3f contact_point, normal;
      if (nsolver->shapeIntersect(*model1, tf1, *model2, tf2, distance, true,
                                  &contact_point, &normal)) {
        result->addContact(Contact(model1, model2, Contact::NONE, Contact::NONE,
                                   contact_point, normal, distance));
      }
    } else {
      bool res = nsolver->shapeIntersect(*model1, tf1, *model2, tf2, distance,
                                         request.enable_distance_lower_bound,
                                         NULL, NULL);
      if (request.enable_distance_lower_bound)
        result->updateDistanceLowerBound(distance);
      if (res) {
        if (request.num_max_contacts > result->numContacts())
          result->addContact(
              Contact(model1, model2, Contact::NONE, Contact::NONE));
      }
    }
  }

  const S1* model1;
  const S2* model2;

  const GJKSolver* nsolver;
};

/// @}

/// @addtogroup Traversal_For_Distance
/// @{

/// @brief Traversal node for distance between two shapes
template <typename S1, typename S2>
class HPP_FCL_DLLAPI ShapeDistanceTraversalNode
    : public DistanceTraversalNodeBase {
 public:
  ShapeDistanceTraversalNode() : DistanceTraversalNodeBase() {
    model1 = NULL;
    model2 = NULL;

    nsolver = NULL;
  }

  /// @brief BV culling test in one BVTT node
  FCL_REAL BVDistanceLowerBound(unsigned int, unsigned int) const {
    return -1;  // should not be used
  }

  /// @brief Distance testing between leaves (two shapes)
  void leafComputeDistance(unsigned int, unsigned int) const {
    FCL_REAL distance;
    Vec3f closest_p1, closest_p2, normal;
    nsolver->shapeDistance(*model1, tf1, *model2, tf2, distance, closest_p1,
                           closest_p2, normal);
    result->update(distance, model1, model2, DistanceResult::NONE,
                   DistanceResult::NONE, closest_p1, closest_p2, normal);
  }

  const S1* model1;
  const S2* model2;

  const GJKSolver* nsolver;
};

/// @}

}  // namespace fcl

}  // namespace hpp

/// @endcond

#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_TRAVERSAL_NODE_SHAPES_H
39			#define HPP_FCL_TRAVERSAL_NODE_SHAPES_H
40
41			/// @cond INTERNAL
42
43			#include <hpp/fcl/collision_data.h>
44			#include <hpp/fcl/narrowphase/narrowphase.h>
45			#include <hpp/fcl/BV/BV.h>
46			#include <hpp/fcl/shape/geometric_shapes_utility.h>
47			#include <hpp/fcl/internal/traversal_node_base.h>
48
49			namespace hpp {
50			namespace fcl {
51
52			/// @addtogroup Traversal_For_Collision
53			/// @{
54
55			/// @brief Traversal node for collision between two shapes
56			template <typename S1, typename S2>
57			class HPP_FCL_DLLAPI ShapeCollisionTraversalNode
58			: public CollisionTraversalNodeBase {
59			public:
60			ShapeCollisionTraversalNode(const CollisionRequest& request)
61			: CollisionTraversalNodeBase(request) {
62			model1 = NULL;
63			model2 = NULL;
64
65			nsolver = NULL;
66			}
67
68			/// @brief BV culling test in one BVTT node
69			bool BVDisjoints(int, int, FCL_REAL&) const {
70			HPP_FCL_THROW_PRETTY("Not implemented", std::runtime_error);
71			}
72
73			/// @brief Intersection testing between leaves (two shapes)
74			void leafCollides(int, int, FCL_REAL&) const {
75			FCL_REAL distance;
76			if (request.enable_contact &&
77			request.num_max_contacts > result->numContacts()) {
78			Vec3f contact_point, normal;
79			if (nsolver->shapeIntersect(model1, tf1, model2, tf2, distance, true,
80			&contact_point, &normal)) {
81			result->addContact(Contact(model1, model2, Contact::NONE, Contact::NONE,
82			contact_point, normal, distance));
83			}
84			} else {
85			bool res = nsolver->shapeIntersect(model1, tf1, model2, tf2, distance,
86			request.enable_distance_lower_bound,
87			NULL, NULL);
88			if (request.enable_distance_lower_bound)
89			result->updateDistanceLowerBound(distance);
90			if (res) {
91			if (request.num_max_contacts > result->numContacts())
92			result->addContact(
93			Contact(model1, model2, Contact::NONE, Contact::NONE));
94			}
95			}
96			}
97
98			const S1* model1;
99			const S2* model2;
100
101			const GJKSolver* nsolver;
102			};
103
104			/// @}
105
106			/// @addtogroup Traversal_For_Distance
107			/// @{
108
109			/// @brief Traversal node for distance between two shapes
110			template <typename S1, typename S2>
111			class HPP_FCL_DLLAPI ShapeDistanceTraversalNode
112			: public DistanceTraversalNodeBase {
113			public:
114		1432192	ShapeDistanceTraversalNode() : DistanceTraversalNodeBase() {
115		1432192	model1 = NULL;
116		1432192	model2 = NULL;
117
118		1432192	nsolver = NULL;
119			}
120
121			/// @brief BV culling test in one BVTT node
122			FCL_REAL BVDistanceLowerBound(unsigned int, unsigned int) const {
123			return -1; // should not be used
124			}
125
126			/// @brief Distance testing between leaves (two shapes)
127		1432192	void leafComputeDistance(unsigned int, unsigned int) const {
128			FCL_REAL distance;
129	✓✗✓✗ ✓✗	1432192	Vec3f closest_p1, closest_p2, normal;
130	✓✗	1432192	nsolver->shapeDistance(model1, tf1, model2, tf2, distance, closest_p1,
131			closest_p2, normal);
132	✓✗	1432192	result->update(distance, model1, model2, DistanceResult::NONE,
133			DistanceResult::NONE, closest_p1, closest_p2, normal);
134			}
135
136			const S1* model1;
137			const S2* model2;
138
139			const GJKSolver* nsolver;
140			};
141
142			/// @}
143
144			} // namespace fcl
145
146			} // namespace hpp
147
148			/// @endcond
149
150			#endif