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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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#include <hpp/fcl/BV/kDOP.h> |
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#include <limits> |
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#include <iostream> |
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#include <hpp/fcl/collision_data.h> |
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namespace hpp { |
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namespace fcl { |
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/// @brief Find the smaller and larger one of two values |
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inline void minmax(FCL_REAL a, FCL_REAL b, FCL_REAL& minv, FCL_REAL& maxv) { |
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if (a > b) { |
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minv = b; |
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maxv = a; |
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} else { |
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minv = a; |
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maxv = b; |
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} |
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} |
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/// @brief Merge the interval [minv, maxv] and value p/ |
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90674648 |
inline void minmax(FCL_REAL p, FCL_REAL& minv, FCL_REAL& maxv) { |
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✓✓ |
90674648 |
if (p > maxv) maxv = p; |
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✓✓ |
90674648 |
if (p < minv) minv = p; |
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90674648 |
} |
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/// @brief Compute the distances to planes with normals from KDOP vectors except |
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/// those of AABB face planes |
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template <short N> |
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void getDistances(const Vec3f& /*p*/, FCL_REAL* /*d*/) {} |
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/// @brief Specification of getDistances |
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template <> |
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3126712 |
inline void getDistances<5>(const Vec3f& p, FCL_REAL* d) { |
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3126712 |
d[0] = p[0] + p[1]; |
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3126712 |
d[1] = p[0] + p[2]; |
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3126712 |
d[2] = p[1] + p[2]; |
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3126712 |
d[3] = p[0] - p[1]; |
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3126712 |
d[4] = p[0] - p[2]; |
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3126712 |
} |
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template <> |
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3126712 |
inline void getDistances<6>(const Vec3f& p, FCL_REAL* d) { |
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3126712 |
d[0] = p[0] + p[1]; |
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3126712 |
d[1] = p[0] + p[2]; |
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3126712 |
d[2] = p[1] + p[2]; |
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3126712 |
d[3] = p[0] - p[1]; |
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3126712 |
d[4] = p[0] - p[2]; |
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3126712 |
d[5] = p[1] - p[2]; |
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3126712 |
} |
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template <> |
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3126712 |
inline void getDistances<9>(const Vec3f& p, FCL_REAL* d) { |
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d[0] = p[0] + p[1]; |
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d[1] = p[0] + p[2]; |
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3126712 |
d[2] = p[1] + p[2]; |
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3126712 |
d[3] = p[0] - p[1]; |
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3126712 |
d[4] = p[0] - p[2]; |
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d[5] = p[1] - p[2]; |
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d[6] = p[0] + p[1] - p[2]; |
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d[7] = p[0] + p[2] - p[1]; |
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d[8] = p[1] + p[2] - p[0]; |
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3126712 |
} |
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template <short N> |
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KDOP<N>::KDOP() { |
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FCL_REAL real_max = (std::numeric_limits<FCL_REAL>::max)(); |
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✓✗✓✗
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dist_.template head<N / 2>().setConstant(real_max); |
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dist_.template tail<N / 2>().setConstant(-real_max); |
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} |
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template <short N> |
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KDOP<N>::KDOP(const Vec3f& v) { |
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for (short i = 0; i < 3; ++i) { |
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dist_[i] = dist_[N / 2 + i] = v[i]; |
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} |
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FCL_REAL d[(N - 6) / 2]; |
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getDistances<(N - 6) / 2>(v, d); |
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for (short i = 0; i < (N - 6) / 2; ++i) { |
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dist_[3 + i] = dist_[3 + i + N / 2] = d[i]; |
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} |
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} |
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template <short N> |
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KDOP<N>::KDOP(const Vec3f& a, const Vec3f& b) { |
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for (short i = 0; i < 3; ++i) { |
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minmax(a[i], b[i], dist_[i], dist_[i + N / 2]); |
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} |
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FCL_REAL ad[(N - 6) / 2], bd[(N - 6) / 2]; |
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getDistances<(N - 6) / 2>(a, ad); |
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getDistances<(N - 6) / 2>(b, bd); |
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for (short i = 0; i < (N - 6) / 2; ++i) { |
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minmax(ad[i], bd[i], dist_[3 + i], dist_[3 + i + N / 2]); |
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} |
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} |
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template <short N> |
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bool KDOP<N>::overlap(const KDOP<N>& other) const { |
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if ((dist_.template head<N / 2>() > other.dist_.template tail<N / 2>()).any()) |
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return false; |
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if ((dist_.template tail<N / 2>() < other.dist_.template head<N / 2>()).any()) |
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return false; |
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return true; |
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} |
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template <short N> |
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bool KDOP<N>::overlap(const KDOP<N>& other, const CollisionRequest& request, |
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FCL_REAL& sqrDistLowerBound) const { |
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const FCL_REAL breakDistance(request.break_distance + |
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request.security_margin); |
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✓✗✓✗
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41454528 |
FCL_REAL a = |
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41454528 |
(dist_.template head<N / 2>() - other.dist_.template tail<N / 2>()) |
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.minCoeff(); |
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✓✓ |
41454528 |
if (a > breakDistance) { |
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17488 |
sqrDistLowerBound = a * a; |
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return false; |
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} |
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✓✗✓✗
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41437040 |
FCL_REAL b = |
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(other.dist_.template head<N / 2>() - dist_.template tail<N / 2>()) |
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.minCoeff(); |
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✓✓ |
41437040 |
if (b > breakDistance) { |
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sqrDistLowerBound = b * b; |
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return false; |
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} |
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sqrDistLowerBound = std::min(a, b); |
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41404810 |
return true; |
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} |
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template <short N> |
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bool KDOP<N>::inside(const Vec3f& p) const { |
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if ((p.array() < dist_.template head<3>()).any()) return false; |
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if ((p.array() > dist_.template segment<3>(N / 2)).any()) return false; |
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enum { P = ((N - 6) / 2) }; |
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Eigen::Array<FCL_REAL, P, 1> d; |
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getDistances<P>(p, d.data()); |
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if ((d < dist_.template segment<P>(3)).any()) return false; |
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if ((d > dist_.template segment<P>(3 + N / 2)).any()) return false; |
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return true; |
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} |
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template <short N> |
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18760272 |
KDOP<N>& KDOP<N>::operator+=(const Vec3f& p) { |
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✓✓ |
75041088 |
for (short i = 0; i < 3; ++i) { |
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✓✗✓✗
✓✗ |
56280816 |
minmax(p[i], dist_[i], dist_[N / 2 + i]); |
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} |
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FCL_REAL pd[(N - 6) / 2]; |
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✓✗ |
18760272 |
getDistances<(N - 6) / 2>(p, pd); |
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for (short i = 0; i < (N - 6) / 2; ++i) { |
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minmax(pd[i], dist_[3 + i], dist_[3 + N / 2 + i]); |
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} |
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18760272 |
return *this; |
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} |
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template <short N> |
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KDOP<N>& KDOP<N>::operator+=(const KDOP<N>& other) { |
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✓✓ |
418368 |
for (short i = 0; i < N / 2; ++i) { |
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dist_[i] = std::min(other.dist_[i], dist_[i]); |
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dist_[i + N / 2] = std::max(other.dist_[i + N / 2], dist_[i + N / 2]); |
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} |
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39222 |
return *this; |
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} |
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template <short N> |
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KDOP<N> KDOP<N>::operator+(const KDOP<N>& other) const { |
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✓✗ |
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KDOP<N> res(*this); |
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return res += other; |
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} |
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template <short N> |
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FCL_REAL KDOP<N>::distance(const KDOP<N>& /*other*/, Vec3f* /*P*/, |
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Vec3f* /*Q*/) const { |
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std::cerr << "KDOP distance not implemented!" << std::endl; |
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return 0.0; |
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} |
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template <short N> |
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KDOP<N> translate(const KDOP<N>& bv, const Vec3f& t) { |
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KDOP<N> res(bv); |
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for (short i = 0; i < 3; ++i) { |
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res.dist(i) += t[i]; |
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res.dist(short(N / 2 + i)) += t[i]; |
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} |
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FCL_REAL d[(N - 6) / 2]; |
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getDistances<(N - 6) / 2>(t, d); |
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for (short i = 0; i < (N - 6) / 2; ++i) { |
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res.dist(short(3 + i)) += d[i]; |
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res.dist(short(3 + i + N / 2)) += d[i]; |
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} |
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return res; |
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} |
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template class KDOP<16>; |
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template class KDOP<18>; |
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template class KDOP<24>; |
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template KDOP<16> translate<16>(const KDOP<16>&, const Vec3f&); |
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template KDOP<18> translate<18>(const KDOP<18>&, const Vec3f&); |
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template KDOP<24> translate<24>(const KDOP<24>&, const Vec3f&); |
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} // namespace fcl |
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} // namespace hpp |