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test_fcl_utility.h
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test_fcl_utility.h
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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, 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 TEST_FCL_UTILITY_H
#define TEST_FCL_UTILITY_H
#include <array>
#include <fstream>
#include <iostream>
#include "fcl/common/unused.h"
#include "fcl/math/constants.h"
#include "fcl/math/triangle.h"
#include "fcl/geometry/shape/box.h"
#include "fcl/geometry/shape/sphere.h"
#include "fcl/geometry/shape/cylinder.h"
#include "fcl/geometry/bvh/BVH_model.h"
#include "fcl/geometry/octree/octree.h"
#include "fcl/narrowphase/collision.h"
#include "fcl/narrowphase/distance.h"
#include "fcl/narrowphase/collision_object.h"
#include "fcl/narrowphase/collision_result.h"
#include "fcl/narrowphase/continuous_collision_object.h"
#include "fcl/narrowphase/continuous_collision_request.h"
#include "fcl/narrowphase/continuous_collision_result.h"
#ifdef _WIN32
#define NOMINMAX // required to avoid compilation errors with Visual Studio 2010
#include <windows.h>
#else
#include <sys/time.h>
#endif
namespace fcl
{
namespace test
{
class Timer
{
public:
Timer();
~Timer();
void start(); ///< start timer
void stop(); ///< stop the timer
double getElapsedTime(); ///< get elapsed time in milli-second
double getElapsedTimeInSec(); ///< get elapsed time in second (same as getElapsedTime)
double getElapsedTimeInMilliSec(); ///< get elapsed time in milli-second
double getElapsedTimeInMicroSec(); ///< get elapsed time in micro-second
private:
double startTimeInMicroSec; ///< starting time in micro-second
double endTimeInMicroSec; ///< ending time in micro-second
int stopped; ///< stop flag
#ifdef _WIN32
LARGE_INTEGER frequency; ///< ticks per second
LARGE_INTEGER startCount;
LARGE_INTEGER endCount;
#else
timeval startCount;
timeval endCount;
#endif
};
struct TStruct
{
std::vector<double> records;
double overall_time;
TStruct() { overall_time = 0; }
void push_back(double t)
{
records.push_back(t);
overall_time += t;
}
};
/// @brief Load an obj mesh file
template <typename S>
void loadOBJFile(const char* filename, std::vector<Vector3<S>>& points, std::vector<Triangle>& triangles);
template <typename S>
void saveOBJFile(const char* filename, std::vector<Vector3<S>>& points, std::vector<Triangle>& triangles);
template <typename S>
S rand_interval(S rmin, S rmax);
template <typename S>
void eulerToMatrix(S a, S b, S c, Matrix3<S>& R);
/// @brief Generate one random transform whose translation is constrained by extents and rotation without constraints.
/// The translation is (x, y, z), and extents[0] <= x <= extents[3], extents[1] <= y <= extents[4], extents[2] <= z <= extents[5]
template <typename S>
void generateRandomTransform(S extents[6], Transform3<S>& transform);
/// @brief Generate n random transforms whose translations are constrained by extents.
template <typename S>
void generateRandomTransforms(S extents[6], aligned_vector<Transform3<S>>& transforms, std::size_t n);
/// @brief Generate n random transforms whose translations are constrained by extents. Also generate another transforms2 which have additional random translation & rotation to the transforms generated.
template <typename S>
void generateRandomTransforms(S extents[6], S delta_trans[3], S delta_rot, aligned_vector<Transform3<S>>& transforms, aligned_vector<Transform3<S>>& transforms2, std::size_t n);
/// @brief Generate n random tranforms and transform2 with addtional random translation/rotation. The transforms and transform2 are used as initial and goal configurations for the first mesh. The second mesh is in I. This is used for continuous collision detection checking.
template <typename S>
void generateRandomTransforms_ccd(S extents[6], aligned_vector<Transform3<S>>& transforms, aligned_vector<Transform3<S>>& transforms2, S delta_trans[3], S delta_rot, std::size_t n,
const std::vector<Vector3<S>>& vertices1, const std::vector<Triangle>& triangles1,
const std::vector<Vector3<S>>& vertices2, const std::vector<Triangle>& triangles2);
/// @brief Generate environment with 3 * n objects: n boxes, n spheres and n cylinders.
template <typename S>
void generateEnvironments(std::vector<CollisionObject<S>*>& env, S env_scale, std::size_t n);
/// @brief Generate environment with 3 * n objects, but all in meshes.
template <typename S>
void generateEnvironmentsMesh(std::vector<CollisionObject<S>*>& env, S env_scale, std::size_t n);
/// @brief Structure for minimum distance between two meshes and the corresponding nearest point pair
template <typename S>
struct DistanceRes
{
S distance;
Vector3<S> p1;
Vector3<S> p2;
};
std::string getNodeTypeName(NODE_TYPE node_type);
std::string getGJKSolverName(GJKSolverType solver_type);
#if FCL_HAVE_OCTOMAP
/// @brief Generate boxes from the octomap
template <typename S>
void generateBoxesFromOctomap(std::vector<CollisionObject<S>*>& env, OcTree<S>& tree);
/// @brief Generate boxes from the octomap
template <typename S>
void generateBoxesFromOctomapMesh(std::vector<CollisionObject<S>*>& env, OcTree<S>& tree);
/// @brief Generate an octree
octomap::OcTree* generateOcTree(double resolution = 0.1);
#endif
//============================================================================//
// //
// Implementations //
// //
//============================================================================//
//==============================================================================
template <typename S>
void loadOBJFile(const char* filename, std::vector<Vector3<S>>& points, std::vector<Triangle>& triangles)
{
FILE* file = fopen(filename, "rb");
if(!file)
{
std::cerr << "file not exist" << std::endl;
return;
}
bool has_normal = false;
bool has_texture = false;
char line_buffer[2000];
while(fgets(line_buffer, 2000, file))
{
char* first_token = strtok(line_buffer, "\r\n\t ");
if(!first_token || first_token[0] == '#' || first_token[0] == 0)
continue;
switch(first_token[0])
{
case 'v':
{
if(first_token[1] == 'n')
{
strtok(nullptr, "\t ");
strtok(nullptr, "\t ");
strtok(nullptr, "\t ");
has_normal = true;
}
else if(first_token[1] == 't')
{
strtok(nullptr, "\t ");
strtok(nullptr, "\t ");
has_texture = true;
}
else
{
S x = (S)atof(strtok(nullptr, "\t "));
S y = (S)atof(strtok(nullptr, "\t "));
S z = (S)atof(strtok(nullptr, "\t "));
points.emplace_back(x, y, z);
}
}
break;
case 'f':
{
Triangle tri;
char* data[30];
int n = 0;
while((data[n] = strtok(nullptr, "\t \r\n")) != nullptr)
{
if(strlen(data[n]))
n++;
}
for(int t = 0; t < (n - 2); ++t)
{
if((!has_texture) && (!has_normal))
{
tri[0] = atoi(data[0]) - 1;
tri[1] = atoi(data[1]) - 1;
tri[2] = atoi(data[2]) - 1;
}
else
{
const char *v1;
for(int i = 0; i < 3; i++)
{
// vertex ID
if(i == 0)
v1 = data[0];
else
v1 = data[t + i];
tri[i] = atoi(v1) - 1;
}
}
triangles.push_back(tri);
}
}
}
}
}
//==============================================================================
template <typename S>
void saveOBJFile(const char* filename, std::vector<Vector3<S>>& points, std::vector<Triangle>& triangles)
{
std::ofstream os(filename);
if(!os)
{
std::cerr << "file not exist" << std::endl;
return;
}
for(std::size_t i = 0; i < points.size(); ++i)
{
os << "v " << points[i][0] << " " << points[i][1] << " " << points[i][2] << std::endl;
}
for(std::size_t i = 0; i < triangles.size(); ++i)
{
os << "f " << triangles[i][0] + 1 << " " << triangles[i][1] + 1 << " " << triangles[i][2] + 1 << std::endl;
}
os.close();
}
//==============================================================================
template <typename S>
S rand_interval(S rmin, S rmax)
{
S t = rand() / ((S)RAND_MAX + 1);
return (t * (rmax - rmin) + rmin);
}
//==============================================================================
template <typename S>
void eulerToMatrix(S a, S b, S c, Matrix3<S>& R)
{
auto c1 = std::cos(a);
auto c2 = std::cos(b);
auto c3 = std::cos(c);
auto s1 = std::sin(a);
auto s2 = std::sin(b);
auto s3 = std::sin(c);
R << c1 * c2, - c2 * s1, s2,
c3 * s1 + c1 * s2 * s3, c1 * c3 - s1 * s2 * s3, - c2 * s3,
s1 * s3 - c1 * c3 * s2, c3 * s1 * s2 + c1 * s3, c2 * c3;
}
//==============================================================================
template <typename S>
void generateRandomTransform(const std::array<S, 6>& extents, Transform3<S>& transform)
{
auto x = rand_interval(extents[0], extents[3]);
auto y = rand_interval(extents[1], extents[4]);
auto z = rand_interval(extents[2], extents[5]);
const auto pi = constants<S>::pi();
auto a = rand_interval((S)0, 2 * pi);
auto b = rand_interval((S)0, 2 * pi);
auto c = rand_interval((S)0, 2 * pi);
Matrix3<S> R;
eulerToMatrix(a, b, c, R);
Vector3<S> T(x, y, z);
transform.linear() = R;
transform.translation() = T;
}
//==============================================================================
template <typename S>
void generateRandomTransforms(S extents[6], aligned_vector<Transform3<S>>& transforms, std::size_t n)
{
transforms.resize(n);
for(std::size_t i = 0; i < n; ++i)
{
auto x = rand_interval(extents[0], extents[3]);
auto y = rand_interval(extents[1], extents[4]);
auto z = rand_interval(extents[2], extents[5]);
const auto pi = constants<S>::pi();
auto a = rand_interval((S)0, 2 * pi);
auto b = rand_interval((S)0, 2 * pi);
auto c = rand_interval((S)0, 2 * pi);
{
Matrix3<S> R;
eulerToMatrix(a, b, c, R);
Vector3<S> T(x, y, z);
transforms[i].setIdentity();
transforms[i].linear() = R;
transforms[i].translation() = T;
}
}
}
//==============================================================================
template <typename S>
void generateRandomTransforms(S extents[6], S delta_trans[3], S delta_rot, aligned_vector<Transform3<S>>& transforms, aligned_vector<Transform3<S>>& transforms2, std::size_t n)
{
transforms.resize(n);
transforms2.resize(n);
for(std::size_t i = 0; i < n; ++i)
{
auto x = rand_interval(extents[0], extents[3]);
auto y = rand_interval(extents[1], extents[4]);
auto z = rand_interval(extents[2], extents[5]);
const auto pi = constants<S>::pi();
auto a = rand_interval((S)0, 2 * pi);
auto b = rand_interval((S)0, 2 * pi);
auto c = rand_interval((S)0, 2 * pi);
{
Matrix3<S> R;
eulerToMatrix(a, b, c, R);
Vector3<S> T(x, y, z);
transforms[i].setIdentity();
transforms[i].linear() = R;
transforms[i].translation() = T;
}
auto deltax = rand_interval(-delta_trans[0], delta_trans[0]);
auto deltay = rand_interval(-delta_trans[1], delta_trans[1]);
auto deltaz = rand_interval(-delta_trans[2], delta_trans[2]);
auto deltaa = rand_interval(-delta_rot, delta_rot);
auto deltab = rand_interval(-delta_rot, delta_rot);
auto deltac = rand_interval(-delta_rot, delta_rot);
{
Matrix3<S> R;
eulerToMatrix(a + deltaa, b + deltab, c + deltac, R);
Vector3<S> T(x + deltax, y + deltay, z + deltaz);
transforms2[i].setIdentity();
transforms2[i].linear() = R;
transforms2[i].translation() = T;
}
}
}
//==============================================================================
template <typename S>
void generateRandomTransforms_ccd(S extents[6], aligned_vector<Transform3<S>>& transforms, aligned_vector<Transform3<S>>& transforms2, S delta_trans[3], S delta_rot, std::size_t n,
const std::vector<Vector3<S>>& vertices1, const std::vector<Triangle>& triangles1,
const std::vector<Vector3<S>>& vertices2, const std::vector<Triangle>& triangles2)
{
FCL_UNUSED(vertices1);
FCL_UNUSED(triangles1);
FCL_UNUSED(vertices2);
FCL_UNUSED(triangles2);
transforms.resize(n);
transforms2.resize(n);
for(std::size_t i = 0; i < n;)
{
auto x = rand_interval(extents[0], extents[3]);
auto y = rand_interval(extents[1], extents[4]);
auto z = rand_interval(extents[2], extents[5]);
const auto pi = constants<S>::pi();
auto a = rand_interval(0, 2 * pi);
auto b = rand_interval(0, 2 * pi);
auto c = rand_interval(0, 2 * pi);
Matrix3<S> R;
eulerToMatrix(a, b, c, R);
Vector3<S> T(x, y, z);
Transform3<S> tf(Transform3<S>::Identity());
tf.linear() = R;
tf.translation() = T;
std::vector<std::pair<int, int> > results;
{
transforms[i] = tf;
auto deltax = rand_interval(-delta_trans[0], delta_trans[0]);
auto deltay = rand_interval(-delta_trans[1], delta_trans[1]);
auto deltaz = rand_interval(-delta_trans[2], delta_trans[2]);
auto deltaa = rand_interval(-delta_rot, delta_rot);
auto deltab = rand_interval(-delta_rot, delta_rot);
auto deltac = rand_interval(-delta_rot, delta_rot);
Matrix3<S> R2;
eulerToMatrix(a + deltaa, b + deltab, c + deltac, R2);
Vector3<S> T2(x + deltax, y + deltay, z + deltaz);
transforms2[i].linear() = R2;
transforms2[i].translation() = T2;
++i;
}
}
}
//==============================================================================
template <typename S>
void generateEnvironments(std::vector<CollisionObject<S>*>& env, S env_scale, std::size_t n)
{
S extents[] = {-env_scale, env_scale, -env_scale, env_scale, -env_scale, env_scale};
aligned_vector<Transform3<S>> transforms;
generateRandomTransforms(extents, transforms, n);
for(std::size_t i = 0; i < n; ++i)
{
Box<S>* box = new Box<S>(5, 10, 20);
env.push_back(new CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>(box), transforms[i]));
}
generateRandomTransforms(extents, transforms, n);
for(std::size_t i = 0; i < n; ++i)
{
Sphere<S>* sphere = new Sphere<S>(30);
env.push_back(new CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>(sphere), transforms[i]));
}
generateRandomTransforms(extents, transforms, n);
for(std::size_t i = 0; i < n; ++i)
{
Cylinder<S>* cylinder = new Cylinder<S>(10, 40);
env.push_back(new CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>(cylinder), transforms[i]));
}
}
//==============================================================================
template <typename S>
void generateEnvironmentsMesh(std::vector<CollisionObject<S>*>& env, S env_scale, std::size_t n)
{
S extents[] = {-env_scale, env_scale, -env_scale, env_scale, -env_scale, env_scale};
aligned_vector<Transform3<S>> transforms;
generateRandomTransforms(extents, transforms, n);
Box<S> box(5, 10, 20);
for(std::size_t i = 0; i < n; ++i)
{
BVHModel<OBBRSS<S>>* model = new BVHModel<OBBRSS<S>>();
generateBVHModel(*model, box, Transform3<S>::Identity());
env.push_back(new CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>(model), transforms[i]));
}
generateRandomTransforms(extents, transforms, n);
Sphere<S> sphere(30);
for(std::size_t i = 0; i < n; ++i)
{
BVHModel<OBBRSS<S>>* model = new BVHModel<OBBRSS<S>>();
generateBVHModel(*model, sphere, Transform3<S>::Identity(), 16, 16);
env.push_back(new CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>(model), transforms[i]));
}
generateRandomTransforms(extents, transforms, n);
Cylinder<S> cylinder(10, 40);
for(std::size_t i = 0; i < n; ++i)
{
BVHModel<OBBRSS<S>>* model = new BVHModel<OBBRSS<S>>();
generateBVHModel(*model, cylinder, Transform3<S>::Identity(), 16, 16);
env.push_back(new CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>(model), transforms[i]));
}
}
#if FCL_HAVE_OCTOMAP
//==============================================================================
template <typename S>
void generateBoxesFromOctomap(std::vector<CollisionObject<S>*>& boxes, OcTree<S>& tree)
{
std::vector<std::array<S, 6> > boxes_ = tree.toBoxes();
for(std::size_t i = 0; i < boxes_.size(); ++i)
{
S x = boxes_[i][0];
S y = boxes_[i][1];
S z = boxes_[i][2];
S size = boxes_[i][3];
S cost = boxes_[i][4];
S threshold = boxes_[i][5];
Box<S>* box = new Box<S>(size, size, size);
box->cost_density = cost;
box->threshold_occupied = threshold;
CollisionObject<S>* obj = new CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>(box), Transform3<S>(Translation3<S>(Vector3<S>(x, y, z))));
boxes.push_back(obj);
}
std::cout << "boxes size: " << boxes.size() << std::endl;
}
//==============================================================================
template <typename S>
void generateBoxesFromOctomapMesh(std::vector<CollisionObject<S>*>& boxes, OcTree<S>& tree)
{
std::vector<std::array<S, 6> > boxes_ = tree.toBoxes();
for(std::size_t i = 0; i < boxes_.size(); ++i)
{
S x = boxes_[i][0];
S y = boxes_[i][1];
S z = boxes_[i][2];
S size = boxes_[i][3];
S cost = boxes_[i][4];
S threshold = boxes_[i][5];
Box<S> box(size, size, size);
BVHModel<OBBRSS<S>>* model = new BVHModel<OBBRSS<S>>();
generateBVHModel(*model, box, Transform3<S>::Identity());
model->cost_density = cost;
model->threshold_occupied = threshold;
CollisionObject<S>* obj = new CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>(model), Transform3<S>(Translation3<S>(Vector3<S>(x, y, z))));
boxes.push_back(obj);
}
std::cout << "boxes size: " << boxes.size() << std::endl;
}
//==============================================================================
inline octomap::OcTree* generateOcTree(double resolution)
{
octomap::OcTree* tree = new octomap::OcTree(resolution);
// insert some measurements of occupied cells
for(int x = -20; x < 20; x++)
{
for(int y = -20; y < 20; y++)
{
for(int z = -20; z < 20; z++)
{
tree->updateNode(octomap::point3d(x * 0.05, y * 0.05, z * 0.05), true);
}
}
}
// insert some measurements of free cells
for(int x = -30; x < 30; x++)
{
for(int y = -30; y < 30; y++)
{
for(int z = -30; z < 30; z++)
{
tree->updateNode(octomap::point3d(x*0.02 -1.0, y*0.02-1.0, z*0.02-1.0), false);
}
}
}
return tree;
}
#endif // FCL_HAVE_OCTOMAP
} // namespace test
} // namespace fcl
#endif