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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	test/gjk_convergence_criterion.cpp	Lines:	70	72	97.2 %
Date:	2024-02-09 12:57:42	Branches:	249	497	50.1 %


/*
 *  Software License Agreement (BSD License)
 *
 *  Copyright (c) 2022, INRIA
 *  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 Willow Garage, Inc. 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 Louis Montaut */

#include "hpp/fcl/data_types.h"
#include <boost/test/tools/old/interface.hpp>
#define BOOST_TEST_MODULE FCL_NESTEROV_GJK
#include <boost/test/included/unit_test.hpp>

#include <Eigen/Geometry>
#include <hpp/fcl/narrowphase/narrowphase.h>
#include <hpp/fcl/shape/geometric_shapes.h>
#include <hpp/fcl/internal/tools.h>

#include "utility.h"

using hpp::fcl::Box;
using hpp::fcl::FCL_REAL;
using hpp::fcl::GJKConvergenceCriterion;
using hpp::fcl::GJKConvergenceCriterionType;
using hpp::fcl::GJKSolver;
using hpp::fcl::ShapeBase;
using hpp::fcl::support_func_guess_t;
using hpp::fcl::Transform3f;
using hpp::fcl::Vec3f;
using hpp::fcl::details::GJK;
using hpp::fcl::details::MinkowskiDiff;
using std::size_t;

BOOST_AUTO_TEST_CASE(set_cv_criterion) {
  GJKSolver solver;
  GJK gjk(128, 1e-6);

  // Checking defaults
  BOOST_CHECK(solver.gjk_convergence_criterion == GJKConvergenceCriterion::VDB);
  BOOST_CHECK(solver.gjk_convergence_criterion_type ==
              GJKConvergenceCriterionType::Relative);

  BOOST_CHECK(gjk.convergence_criterion == GJKConvergenceCriterion::VDB);
  BOOST_CHECK(gjk.convergence_criterion_type ==
              GJKConvergenceCriterionType::Relative);

  // Checking set
  solver.gjk_convergence_criterion = GJKConvergenceCriterion::DualityGap;
  gjk.convergence_criterion = GJKConvergenceCriterion::DualityGap;
  solver.gjk_convergence_criterion_type = GJKConvergenceCriterionType::Absolute;
  gjk.convergence_criterion_type = GJKConvergenceCriterionType::Absolute;

  BOOST_CHECK(solver.gjk_convergence_criterion ==
              GJKConvergenceCriterion::DualityGap);
  BOOST_CHECK(solver.gjk_convergence_criterion_type ==
              GJKConvergenceCriterionType::Absolute);

  BOOST_CHECK(gjk.convergence_criterion == GJKConvergenceCriterion::DualityGap);
  BOOST_CHECK(gjk.convergence_criterion_type ==
              GJKConvergenceCriterionType::Absolute);
}

void test_gjk_cv_criterion(const ShapeBase& shape0, const ShapeBase& shape1,
                           const GJKConvergenceCriterionType cv_type) {
  // Solvers
  unsigned int max_iterations = 128;
  // by default GJK uses the VDB convergence criterion, which is relative.
  GJK gjk1(max_iterations, 1e-6);

  FCL_REAL tol;
  switch (cv_type) {
    // need to lower the tolerance when absolute
    case GJKConvergenceCriterionType::Absolute:
      tol = 1e-8;
      break;
    case GJKConvergenceCriterionType::Relative:
      tol = 1e-6;
      break;
    default:
      throw std::logic_error("Wrong convergence criterion type");
  }

  GJK gjk2(max_iterations, tol);
  gjk2.convergence_criterion = GJKConvergenceCriterion::DualityGap;
  gjk2.convergence_criterion_type = cv_type;

  GJK gjk3(max_iterations, tol);
  gjk3.convergence_criterion = GJKConvergenceCriterion::Hybrid;
  gjk3.convergence_criterion_type = cv_type;

  // Minkowski difference
  MinkowskiDiff mink_diff;

  // Generate random transforms
  size_t n = 1000;
  FCL_REAL extents[] = {-3., -3., 0, 3., 3., 3.};
  std::vector<Transform3f> transforms;
  generateRandomTransforms(extents, transforms, n);
  Transform3f identity = Transform3f::Identity();

  // Same init for both solvers
  Vec3f init_guess = Vec3f(1, 0, 0);
  support_func_guess_t init_support_guess;
  init_support_guess.setZero();

  // Run for 3 different cv criterions
  for (size_t i = 0; i < n; ++i) {
    mink_diff.set(&shape0, &shape1, identity, transforms[i]);

    GJK::Status res1 = gjk1.evaluate(mink_diff, init_guess, init_support_guess);
    BOOST_CHECK(gjk1.getIterations() <= max_iterations);
    Vec3f ray1 = gjk1.ray;
    res1 = gjk1.evaluate(mink_diff, init_guess, init_support_guess);
    BOOST_CHECK(res1 != GJK::Status::Failed);
    EIGEN_VECTOR_IS_APPROX(gjk1.ray, ray1, 1e-8);

    GJK::Status res2 = gjk2.evaluate(mink_diff, init_guess, init_support_guess);
    BOOST_CHECK(gjk2.getIterations() <= max_iterations);
    Vec3f ray2 = gjk2.ray;
    res2 = gjk2.evaluate(mink_diff, init_guess, init_support_guess);
    BOOST_CHECK(res2 != GJK::Status::Failed);
    EIGEN_VECTOR_IS_APPROX(gjk2.ray, ray2, 1e-8);

    GJK::Status res3 = gjk3.evaluate(mink_diff, init_guess, init_support_guess);
    BOOST_CHECK(gjk3.getIterations() <= max_iterations);
    Vec3f ray3 = gjk3.ray;
    res3 = gjk3.evaluate(mink_diff, init_guess, init_support_guess);
    BOOST_CHECK(res3 != GJK::Status::Failed);
    EIGEN_VECTOR_IS_APPROX(gjk3.ray, ray3, 1e-8);

    // check that solutions are close enough
    EIGEN_VECTOR_IS_APPROX(gjk1.ray, gjk2.ray, 1e-4);
    EIGEN_VECTOR_IS_APPROX(gjk1.ray, gjk3.ray, 1e-4);
  }
}

BOOST_AUTO_TEST_CASE(cv_criterion_same_solution) {
  Box box0 = Box(0.1, 0.2, 0.3);
  Box box1 = Box(1.1, 1.2, 1.3);
  test_gjk_cv_criterion(box0, box1, GJKConvergenceCriterionType::Absolute);
  test_gjk_cv_criterion(box0, box1, GJKConvergenceCriterionType::Relative);
}


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
3			*
4			* Copyright (c) 2022, INRIA
5			* All rights reserved.
6			*
7			* Redistribution and use in source and binary forms, with or without
8			* modification, are permitted provided that the following conditions
9			* are met:
10			*
11			* * Redistributions of source code must retain the above copyright
12			* notice, this list of conditions and the following disclaimer.
13			* * Redistributions in binary form must reproduce the above
14			* copyright notice, this list of conditions and the following
15			* disclaimer in the documentation and/or other materials provided
16			* with the distribution.
17			* * Neither the name of Willow Garage, Inc. nor the names of its
18			* contributors may be used to endorse or promote products derived
19			* from this software without specific prior written permission.
20			*
21			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22			* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23			* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24			* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25			* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26			* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27			* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28			* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29			* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30			* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31			* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32			* POSSIBILITY OF SUCH DAMAGE.
33			*/
34
35			/** \author Louis Montaut */
36
37			#include "hpp/fcl/data_types.h"
38			#include <boost/test/tools/old/interface.hpp>
39			#define BOOST_TEST_MODULE FCL_NESTEROV_GJK
40			#include <boost/test/included/unit_test.hpp>
41
42			#include <Eigen/Geometry>
43			#include <hpp/fcl/narrowphase/narrowphase.h>
44			#include <hpp/fcl/shape/geometric_shapes.h>
45			#include <hpp/fcl/internal/tools.h>
46
47			#include "utility.h"
48
49			using hpp::fcl::Box;
50			using hpp::fcl::FCL_REAL;
51			using hpp::fcl::GJKConvergenceCriterion;
52			using hpp::fcl::GJKConvergenceCriterionType;
53			using hpp::fcl::GJKSolver;
54			using hpp::fcl::ShapeBase;
55			using hpp::fcl::support_func_guess_t;
56			using hpp::fcl::Transform3f;
57			using hpp::fcl::Vec3f;
58			using hpp::fcl::details::GJK;
59			using hpp::fcl::details::MinkowskiDiff;
60			using std::size_t;
61
62	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(set_cv_criterion) {
63	✓✗	2	GJKSolver solver;
64	✓✗	2	GJK gjk(128, 1e-6);
65
66			// Checking defaults
67	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(solver.gjk_convergence_criterion == GJKConvergenceCriterion::VDB);
68	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(solver.gjk_convergence_criterion_type ==
69			GJKConvergenceCriterionType::Relative);
70
71	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(gjk.convergence_criterion == GJKConvergenceCriterion::VDB);
72	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(gjk.convergence_criterion_type ==
73			GJKConvergenceCriterionType::Relative);
74
75			// Checking set
76		2	solver.gjk_convergence_criterion = GJKConvergenceCriterion::DualityGap;
77		2	gjk.convergence_criterion = GJKConvergenceCriterion::DualityGap;
78		2	solver.gjk_convergence_criterion_type = GJKConvergenceCriterionType::Absolute;
79		2	gjk.convergence_criterion_type = GJKConvergenceCriterionType::Absolute;
80
81	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(solver.gjk_convergence_criterion ==
82			GJKConvergenceCriterion::DualityGap);
83	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(solver.gjk_convergence_criterion_type ==
84			GJKConvergenceCriterionType::Absolute);
85
86	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(gjk.convergence_criterion == GJKConvergenceCriterion::DualityGap);
87	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2	BOOST_CHECK(gjk.convergence_criterion_type ==
88			GJKConvergenceCriterionType::Absolute);
89		2	}
90
91		2	void test_gjk_cv_criterion(const ShapeBase& shape0, const ShapeBase& shape1,
92			const GJKConvergenceCriterionType cv_type) {
93			// Solvers
94		2	unsigned int max_iterations = 128;
95			// by default GJK uses the VDB convergence criterion, which is relative.
96	✓✗	2	GJK gjk1(max_iterations, 1e-6);
97
98			FCL_REAL tol;
99	✓✓✗	2	switch (cv_type) {
100			// need to lower the tolerance when absolute
101		1	case GJKConvergenceCriterionType::Absolute:
102		1	tol = 1e-8;
103		1	break;
104		1	case GJKConvergenceCriterionType::Relative:
105		1	tol = 1e-6;
106		1	break;
107			default:
108			throw std::logic_error("Wrong convergence criterion type");
109			}
110
111	✓✗	2	GJK gjk2(max_iterations, tol);
112		2	gjk2.convergence_criterion = GJKConvergenceCriterion::DualityGap;
113		2	gjk2.convergence_criterion_type = cv_type;
114
115	✓✗	2	GJK gjk3(max_iterations, tol);
116		2	gjk3.convergence_criterion = GJKConvergenceCriterion::Hybrid;
117		2	gjk3.convergence_criterion_type = cv_type;
118
119			// Minkowski difference
120	✓✗	4	MinkowskiDiff mink_diff;
121
122			// Generate random transforms
123		2	size_t n = 1000;
124		2	FCL_REAL extents[] = {-3., -3., 0, 3., 3., 3.};
125		4	std::vector<Transform3f> transforms;
126	✓✗	2	generateRandomTransforms(extents, transforms, n);
127	✓✗	2	Transform3f identity = Transform3f::Identity();
128
129			// Same init for both solvers
130	✓✗	2	Vec3f init_guess = Vec3f(1, 0, 0);
131	✓✗	2	support_func_guess_t init_support_guess;
132	✓✗	2	init_support_guess.setZero();
133
134			// Run for 3 different cv criterions
135	✓✓	2002	for (size_t i = 0; i < n; ++i) {
136	✓✗	2000	mink_diff.set(&shape0, &shape1, identity, transforms[i]);
137
138	✓✗	2000	GJK::Status res1 = gjk1.evaluate(mink_diff, init_guess, init_support_guess);
139	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2000	BOOST_CHECK(gjk1.getIterations() <= max_iterations);
140	✓✗	2000	Vec3f ray1 = gjk1.ray;
141	✓✗	2000	res1 = gjk1.evaluate(mink_diff, init_guess, init_support_guess);
142	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2000	BOOST_CHECK(res1 != GJK::Status::Failed);
143	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2000	EIGEN_VECTOR_IS_APPROX(gjk1.ray, ray1, 1e-8);
144
145	✓✗	2000	GJK::Status res2 = gjk2.evaluate(mink_diff, init_guess, init_support_guess);
146	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2000	BOOST_CHECK(gjk2.getIterations() <= max_iterations);
147	✓✗	2000	Vec3f ray2 = gjk2.ray;
148	✓✗	2000	res2 = gjk2.evaluate(mink_diff, init_guess, init_support_guess);
149	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2000	BOOST_CHECK(res2 != GJK::Status::Failed);
150	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2000	EIGEN_VECTOR_IS_APPROX(gjk2.ray, ray2, 1e-8);
151
152	✓✗	2000	GJK::Status res3 = gjk3.evaluate(mink_diff, init_guess, init_support_guess);
153	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2000	BOOST_CHECK(gjk3.getIterations() <= max_iterations);
154	✓✗	2000	Vec3f ray3 = gjk3.ray;
155	✓✗	2000	res3 = gjk3.evaluate(mink_diff, init_guess, init_support_guess);
156	✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2000	BOOST_CHECK(res3 != GJK::Status::Failed);
157	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2000	EIGEN_VECTOR_IS_APPROX(gjk3.ray, ray3, 1e-8);
158
159			// check that solutions are close enough
160	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2000	EIGEN_VECTOR_IS_APPROX(gjk1.ray, gjk2.ray, 1e-4);
161	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓	2000	EIGEN_VECTOR_IS_APPROX(gjk1.ray, gjk3.ray, 1e-4);
162			}
163		2	}
164
165	✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗	4	BOOST_AUTO_TEST_CASE(cv_criterion_same_solution) {
166	✓✗	4	Box box0 = Box(0.1, 0.2, 0.3);
167	✓✗	4	Box box1 = Box(1.1, 1.2, 1.3);
168	✓✗	2	test_gjk_cv_criterion(box0, box1, GJKConvergenceCriterionType::Absolute);
169	✓✗	2	test_gjk_cv_criterion(box0, box1, GJKConvergenceCriterionType::Relative);
170		2	}