From bc304f1e76db205c4a50e56d78fd73318000a186 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 10 May 2017 13:31:39 +0200
Subject: [PATCH] Add profile test.
---
test/CMakeLists.txt | 2 +
test/test_fcl_profiling.cpp | 178 ++++++++++++++++++++++++++++++++++++
2 files changed, 180 insertions(+)
create mode 100644 test/test_fcl_profiling.cpp
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 9e44dc97..65aac2e7 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -43,6 +43,8 @@ add_fcl_test(test_fcl_capsule_box_2 test_fcl_capsule_box_2.cpp test_fcl_utility.
add_fcl_test(test_fcl_bvh_models test_fcl_bvh_models.cpp test_fcl_utility.cpp)
+add_fcl_test(test_fcl_profiling test_fcl_profiling.cpp test_fcl_utility.cpp)
+
if (FCL_HAVE_OCTOMAP)
add_fcl_test(test_fcl_octomap test_fcl_octomap.cpp test_fcl_utility.cpp)
PKG_CONFIG_USE_DEPENDENCY(test_fcl_octomap octomap)
diff --git a/test/test_fcl_profiling.cpp b/test/test_fcl_profiling.cpp
new file mode 100644
index 00000000..9cff1f8c
--- /dev/null
+++ b/test/test_fcl_profiling.cpp
@@ -0,0 +1,178 @@
+// Copyright (c) 2017, Joseph Mirabel
+// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+//
+// This file is part of hpp-fcl.
+// hpp-fcl is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// hpp-fcl is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// hpp-fcl. If not, see <http://www.gnu.org/licenses/>.
+
+
+#include <boost/shared_ptr.hpp>
+#include <boost/filesystem.hpp>
+
+#include <hpp/fcl/fwd.hh>
+#include <hpp/fcl/collision.h>
+#include <hpp/fcl/BVH/BVH_model.h>
+#include <hpp/fcl/shape/geometric_shapes.h>
+#include <hpp/fcl/collision_func_matrix.h>
+#include <hpp/fcl/narrowphase/narrowphase.h>
+#include "test_fcl_utility.h"
+#include "fcl_resources/config.h"
+
+using namespace fcl;
+
+CollisionFunctionMatrix<GJKSolver_indep> lookupTable;
+bool supportedPair(const CollisionGeometry* o1, const CollisionGeometry* o2)
+{
+ OBJECT_TYPE object_type1 = o1->getObjectType();
+ OBJECT_TYPE object_type2 = o2->getObjectType();
+ NODE_TYPE node_type1 = o1->getNodeType();
+ NODE_TYPE node_type2 = o2->getNodeType();
+
+ if(object_type1 == OT_GEOM && object_type2 == OT_BVH)
+ return (lookupTable.collision_matrix[node_type2][node_type1] != NULL);
+ else
+ return (lookupTable.collision_matrix[node_type1][node_type2] != NULL);
+}
+
+template <typename BV/*, SplitMethodType split_method*/>
+CollisionGeometryPtr_t objToGeom (const std::string& filename)
+{
+ std::vector<Vec3f> pt;
+ std::vector<Triangle> tri;
+ loadOBJFile(filename.c_str(), pt, tri);
+
+ BVHModel<BV>* model (new BVHModel<BV>());
+ // model->bv_splitter.reset(new BVSplitter<BV>(split_method));
+
+ model->beginModel();
+ model->addSubModel(pt, tri);
+ model->endModel();
+
+ return CollisionGeometryPtr_t (model);
+}
+
+struct Geometry {
+ std::string type;
+ CollisionGeometryPtr_t o;
+
+ Geometry (const std::string& t, CollisionGeometry* ob) :
+ type(t), o(ob)
+ {}
+ Geometry (const std::string& t, const CollisionGeometryPtr_t& ob) :
+ type(t), o(ob)
+ {}
+};
+
+// struct Result {
+ // CollisionResult r;
+ // double time_us;
+// };
+
+struct Results {
+ std::vector<CollisionResult> rs;
+ Eigen::VectorXd times; // micro-seconds
+
+ Results (int i) : rs(i), times(i) {}
+};
+
+void collide(const std::vector<Transform3f>& tf,
+ const CollisionGeometry* o1,
+ const CollisionGeometry* o2,
+ const CollisionRequest& request,
+ Results& results)
+{
+ Transform3f Id;
+ Timer timer;
+ for (std::size_t i = 0; i < tf.size(); ++i) {
+ timer.start();
+ /* int num_contact = */
+ collide (o1, tf[i], o2, Id, request, results.rs[i]);
+ timer.stop();
+ results.times[i] = timer.getElapsedTimeInMicroSec();
+ }
+}
+
+const char* sep = ", ";
+
+void printResultHeaders ()
+{
+ std::cout << "Type 1" << sep << "Type 2" << sep << "mean time" << sep << "time std dev" << sep << "min time" << sep << "max time" << std::endl;
+}
+
+void printResults (const Geometry& g1, const Geometry& g2, const Results& rs)
+{
+ double mean = rs.times.mean();
+ double var = rs.times.cwiseAbs2().mean() - mean*mean;
+ std::cout << g1.type << sep << g2.type << sep << mean << sep << std::sqrt(var) << sep << rs.times.minCoeff() << sep << rs.times.maxCoeff() << std::endl;
+}
+
+// int main(int argc, char** argv)
+int main(int, char**)
+{
+ boost::filesystem::path path(TEST_RESOURCES_DIR);
+
+ std::vector<Geometry> geoms;
+// | | box | sphere | capsule | cone | cylinder | plane | half-space | triangle |
+ geoms.push_back(Geometry ("Box" , new Box (1, 2, 3) ));
+ geoms.push_back(Geometry ("Sphere" , new Sphere (2) ));
+ geoms.push_back(Geometry ("Capsule" , new Capsule (2, 1) ));
+ geoms.push_back(Geometry ("Cone" , new Cone (2, 1) ));
+ geoms.push_back(Geometry ("Cylinder" , new Cylinder (2, 1) ));
+ geoms.push_back(Geometry ("Plane" , new Plane (Vec3f(1,1,1).normalized(), 0) ));
+ geoms.push_back(Geometry ("Halfspace" , new Halfspace (Vec3f(1,1,1).normalized(), 0) ));
+ // not implemented // geoms.push_back(Geometry ("TriangleP" , new TriangleP (Vec3f(0,1,0), Vec3f(0,0,1), Vec3f(-1,0,0)) ));
+
+ geoms.push_back(Geometry ("rob BVHModel<OBB>" , objToGeom<OBB> ((path / "rob.obj").string())));
+ // geoms.push_back(Geometry ("rob BVHModel<RSS>" , objToGeom<RSS> ((path / "rob.obj").string())));
+ // geoms.push_back(Geometry ("rob BVHModel<kIOS>" , objToGeom<kIOS> ((path / "rob.obj").string())));
+ geoms.push_back(Geometry ("rob BVHModel<OBBRSS>", objToGeom<OBBRSS>((path / "rob.obj").string())));
+
+ geoms.push_back(Geometry ("env BVHModel<OBB>" , objToGeom<OBB> ((path / "env.obj").string())));
+ // geoms.push_back(Geometry ("env BVHModel<RSS>" , objToGeom<RSS> ((path / "env.obj").string())));
+ // geoms.push_back(Geometry ("env BVHModel<kIOS>" , objToGeom<kIOS> ((path / "env.obj").string())));
+ geoms.push_back(Geometry ("env BVHModel<OBBRSS>", objToGeom<OBBRSS>((path / "env.obj").string())));
+
+ std::vector<Transform3f> transforms;
+ FCL_REAL extents[] = {-20, -20, 0, 20, 20, 20};
+ std::size_t n = 100;
+ // bool verbose = false;
+
+ generateRandomTransforms(extents, transforms, n);
+
+ printResultHeaders();
+
+ // collision
+ CollisionRequest request;
+ // request.num_max_contacts = 1;
+ // request.enable_contact = false;
+ // request.enable_distance_lower_bound = false;
+ // request.num_max_cost_sources = 1;
+ // request.enable_cost = false;
+ // request.use_approximate_cost = true;
+ // request.gjk_solver_type = GST_INDEP;
+ for(std::size_t i = 0; i < geoms.size(); ++i) {
+ for (std::size_t j = i; j < geoms.size(); ++j) {
+ if (!supportedPair(geoms[i].o.get(), geoms[j].o.get())) continue;
+ Results results (n);
+ collide(transforms, geoms[i].o.get(), geoms[j].o.get(), request, results);
+ printResults(geoms[i], geoms[j], results);
+ }
+ }
+
+ // request.enable_distance_lower_bound = true;
+ // for(std::size_t i = 0; i < geoms.size(); ++i)
+ // {
+ // Results results (n);
+ // selfCollide(transforms, geoms[i].o.get(), request, results);
+ // printResults(geoms[i], results);
+ // }
+}
--
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