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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	src/BV/AABB.cpp	Lines:	38	69	55.1 %
Date:	2024-02-09 12:57:42	Branches:	29	74	39.2 %


/*
 * 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 */

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

#include <limits>
#include <hpp/fcl/collision_data.h>

namespace hpp {
namespace fcl {

AABB::AABB()
    : min_(Vec3f::Constant((std::numeric_limits<FCL_REAL>::max)())),
      max_(Vec3f::Constant(-(std::numeric_limits<FCL_REAL>::max)())) {}

bool AABB::overlap(const AABB& other, const CollisionRequest& request,
                   FCL_REAL& sqrDistLowerBound) const {
  const FCL_REAL break_distance_squared =
      request.break_distance * request.break_distance;

  sqrDistLowerBound =
      (min_ - other.max_ - Vec3f::Constant(request.security_margin))
          .array()
          .max(FCL_REAL(0))
          .matrix()
          .squaredNorm();
  if (sqrDistLowerBound > break_distance_squared) return false;

  sqrDistLowerBound =
      (other.min_ - max_ - Vec3f::Constant(request.security_margin))
          .array()
          .max(FCL_REAL(0))
          .matrix()
          .squaredNorm();
  if (sqrDistLowerBound > break_distance_squared) return false;

  return true;
}

FCL_REAL AABB::distance(const AABB& other, Vec3f* P, Vec3f* Q) const {
  FCL_REAL result = 0;
  for (Eigen::DenseIndex i = 0; i < 3; ++i) {
    const FCL_REAL& amin = min_[i];
    const FCL_REAL& amax = max_[i];
    const FCL_REAL& bmin = other.min_[i];
    const FCL_REAL& bmax = other.max_[i];

    if (amin > bmax) {
      FCL_REAL delta = bmax - amin;
      result += delta * delta;
      if (P && Q) {
        (*P)[i] = amin;
        (*Q)[i] = bmax;
      }
    } else if (bmin > amax) {
      FCL_REAL delta = amax - bmin;
      result += delta * delta;
      if (P && Q) {
        (*P)[i] = amax;
        (*Q)[i] = bmin;
      }
    } else {
      if (P && Q) {
        if (bmin >= amin) {
          FCL_REAL t = 0.5 * (amax + bmin);
          (*P)[i] = t;
          (*Q)[i] = t;
        } else {
          FCL_REAL t = 0.5 * (amin + bmax);
          (*P)[i] = t;
          (*Q)[i] = t;
        }
      }
    }
  }

  return std::sqrt(result);
}

FCL_REAL AABB::distance(const AABB& other) const {
  FCL_REAL result = 0;
  for (Eigen::DenseIndex i = 0; i < 3; ++i) {
    const FCL_REAL& amin = min_[i];
    const FCL_REAL& amax = max_[i];
    const FCL_REAL& bmin = other.min_[i];
    const FCL_REAL& bmax = other.max_[i];

    if (amin > bmax) {
      FCL_REAL delta = bmax - amin;
      result += delta * delta;
    } else if (bmin > amax) {
      FCL_REAL delta = amax - bmin;
      result += delta * delta;
    }
  }

  return std::sqrt(result);
}

bool overlap(const Matrix3f& R0, const Vec3f& T0, const AABB& b1,
             const AABB& b2) {
  AABB bb1(translate(rotate(b1, R0), T0));
  return bb1.overlap(b2);
}

bool overlap(const Matrix3f& R0, const Vec3f& T0, const AABB& b1,
             const AABB& b2, const CollisionRequest& request,
             FCL_REAL& sqrDistLowerBound) {
  AABB bb1(translate(rotate(b1, R0), T0));
  return bb1.overlap(b2, request, sqrDistLowerBound);
}

}  // namespace fcl

}  // namespace hpp


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			#include <hpp/fcl/BV/AABB.h>
39
40			#include <limits>
41			#include <hpp/fcl/collision_data.h>
42
43			namespace hpp {
44			namespace fcl {
45
46		117500521	AABB::AABB()
47	✓✗	117500521	: min_(Vec3f::Constant((std::numeric_limits<FCL_REAL>::max)())),
48	✓✗✓✗ ✓✗	235001042	max_(Vec3f::Constant(-(std::numeric_limits<FCL_REAL>::max)())) {}
49
50		55997	bool AABB::overlap(const AABB& other, const CollisionRequest& request,
51			FCL_REAL& sqrDistLowerBound) const {
52		55997	const FCL_REAL break_distance_squared =
53		55997	request.break_distance * request.break_distance;
54
55		55997	sqrDistLowerBound =
56	✓✗✓✗	55997	(min_ - other.max_ - Vec3f::Constant(request.security_margin))
57	✓✗	55997	.array()
58	✓✗	55997	.max(FCL_REAL(0))
59	✓✗	55997	.matrix()
60	✓✗	55997	.squaredNorm();
61	✓✓	55997	if (sqrDistLowerBound > break_distance_squared) return false;
62
63		54170	sqrDistLowerBound =
64	✓✗✓✗	54170	(other.min_ - max_ - Vec3f::Constant(request.security_margin))
65	✓✗	54170	.array()
66	✓✗	54170	.max(FCL_REAL(0))
67	✓✗	54170	.matrix()
68	✓✗	54170	.squaredNorm();
69	✓✓	54170	if (sqrDistLowerBound > break_distance_squared) return false;
70
71		51409	return true;
72			}
73
74			FCL_REAL AABB::distance(const AABB& other, Vec3f* P, Vec3f* Q) const {
75			FCL_REAL result = 0;
76			for (Eigen::DenseIndex i = 0; i < 3; ++i) {
77			const FCL_REAL& amin = min_[i];
78			const FCL_REAL& amax = max_[i];
79			const FCL_REAL& bmin = other.min_[i];
80			const FCL_REAL& bmax = other.max_[i];
81
82			if (amin > bmax) {
83			FCL_REAL delta = bmax - amin;
84			result += delta * delta;
85			if (P && Q) {
86			(*P)[i] = amin;
87			(*Q)[i] = bmax;
88			}
89			} else if (bmin > amax) {
90			FCL_REAL delta = amax - bmin;
91			result += delta * delta;
92			if (P && Q) {
93			(*P)[i] = amax;
94			(*Q)[i] = bmin;
95			}
96			} else {
97			if (P && Q) {
98			if (bmin >= amin) {
99			FCL_REAL t = 0.5 * (amax + bmin);
100			(*P)[i] = t;
101			(*Q)[i] = t;
102			} else {
103			FCL_REAL t = 0.5 * (amin + bmax);
104			(*P)[i] = t;
105			(*Q)[i] = t;
106			}
107			}
108			}
109			}
110
111			return std::sqrt(result);
112			}
113
114		2689383	FCL_REAL AABB::distance(const AABB& other) const {
115		2689383	FCL_REAL result = 0;
116	✓✓	10757532	for (Eigen::DenseIndex i = 0; i < 3; ++i) {
117		8068149	const FCL_REAL& amin = min_[i];
118		8068149	const FCL_REAL& amax = max_[i];
119		8068149	const FCL_REAL& bmin = other.min_[i];
120		8068149	const FCL_REAL& bmax = other.max_[i];
121
122	✓✓	8068149	if (amin > bmax) {
123		3832303	FCL_REAL delta = bmax - amin;
124		3832303	result += delta * delta;
125	✓✓	4235846	} else if (bmin > amax) {
126		3925951	FCL_REAL delta = amax - bmin;
127		3925951	result += delta * delta;
128			}
129			}
130
131		2689383	return std::sqrt(result);
132			}
133
134			bool overlap(const Matrix3f& R0, const Vec3f& T0, const AABB& b1,
135			const AABB& b2) {
136			AABB bb1(translate(rotate(b1, R0), T0));
137			return bb1.overlap(b2);
138			}
139
140		28474	bool overlap(const Matrix3f& R0, const Vec3f& T0, const AABB& b1,
141			const AABB& b2, const CollisionRequest& request,
142			FCL_REAL& sqrDistLowerBound) {
143	✓✗✓✗	28474	AABB bb1(translate(rotate(b1, R0), T0));
144	✓✗	56948	return bb1.overlap(b2, request, sqrDistLowerBound);
145			}
146
147			} // namespace fcl
148
149			} // namespace hpp