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/** \author Florent Lamiraux <florent@laas.fr> */
#define BOOST_TEST_MODULE FCL_OCTREE
#define BOOST_TEST_DYN_LINK
#include <fstream>
#include <boost/test/unit_test.hpp>
#include <boost/filesystem.hpp>
#include <hpp/fcl/BVH/BVH_model.h>
#include <hpp/fcl/collision.h>
#include <hpp/fcl/distance.h>
#include <hpp/fcl/shape/geometric_shapes.h>
#include <hpp/fcl/internal/BV_splitter.h>
#include "utility.h"
#include "fcl_resources/config.h"
namespace utf = boost::unit_test::framework;
using hpp::fcl::Vec3f;
using hpp::fcl::Triangle;
using hpp::fcl::OBBRSS;
using hpp::fcl::BVHModel;
using hpp::fcl::BVSplitter;
using hpp::fcl::OcTree;
using hpp::fcl::FCL_REAL;
using hpp::fcl::Transform3f;
using hpp::fcl::CollisionRequest;
using hpp::fcl::CollisionResult;
void makeMesh (const std::vector<Vec3f>& vertices,
const std::vector<Triangle>& triangles, BVHModel<OBBRSS>& model)
{
hpp::fcl::SplitMethodType split_method (hpp::fcl::SPLIT_METHOD_MEAN);
model.bv_splitter.reset(new BVSplitter<OBBRSS>(split_method));
model.bv_splitter.reset(new BVSplitter<OBBRSS>(split_method));
model.beginModel();
model.addSubModel(vertices, triangles);
model.endModel();
}
hpp::fcl::OcTree makeOctree (const BVHModel <OBBRSS>& mesh,
const FCL_REAL& resolution)
{
std::ofstream file;
file.open ("./env.octree");
Eigen::IOFormat csv (Eigen::FullPrecision, Eigen::DontAlignCols, "",
", ", "", "", "", "");
Vec3f m (mesh.aabb_local.min_);
Vec3f M (mesh.aabb_local.max_);
hpp::fcl::Box box (resolution, resolution, resolution);
CollisionRequest request (hpp::fcl::CONTACT | hpp::fcl::DISTANCE_LOWER_BOUND, 1);
CollisionResult result;
Transform3f tfBox;
octomap::OcTreePtr_t octree (new octomap::OcTree (resolution));
for (FCL_REAL x = resolution * floor (m [0]/resolution); x <= M [0];
x += resolution) {
for (FCL_REAL y = resolution * floor (m [1]/resolution); y <= M [1];
y += resolution) {
for (FCL_REAL z = resolution * floor (m [2]/resolution); z <= M [2];
z += resolution) {
Vec3f center (x + .5*resolution, y + .5*resolution, z + .5*resolution);
tfBox.setTranslation (center);
hpp::fcl::collide (&box, tfBox, &mesh, Transform3f (), request, result);
if (result.isCollision ()) {
octomap::point3d p
((float) center [0], (float) center [1], (float) center [2]);
octree->updateNode (p, true);
file << center.format (csv) << std::endl;
result.clear ();
}
}
}
}
octree->updateInnerOccupancy();
file.close ();
return OcTree (octree);
}
BOOST_AUTO_TEST_CASE (OCTREE)
{
Eigen::IOFormat tuple (Eigen::FullPrecision, Eigen::DontAlignCols, "",
", ", "", "", "(", ")");
FCL_REAL resolution (10.);
std::vector<Vec3f> pRob, pEnv;
std::vector<Triangle> tRob, tEnv;
boost::filesystem::path path(TEST_RESOURCES_DIR);
loadOBJFile((path / "rob.obj").string().c_str(), pRob, tRob);
loadOBJFile((path / "env.obj").string().c_str(), pEnv, tEnv);
BVHModel <OBBRSS> robMesh, envMesh;
// Build meshes with robot and environment
makeMesh (pRob, tRob, robMesh);
makeMesh (pEnv, tEnv, envMesh);
// Build octomap with environment
envMesh.computeLocalAABB ();
// Load octree built from envMesh by makeOctree
OcTree envOctree
(hpp::fcl::loadOctreeFile ((path / "env.octree").string().c_str(), resolution));
std::cout << "Finished loading octree." << std::endl;
std::vector<Transform3f> transforms;
FCL_REAL extents[] = {-2000, -2000, 0, 2000, 2000, 2000};
#ifndef NDEBUG // if debug mode
std::size_t N = 100;
#else
std::size_t N = 10000;
#endif
N = hpp::fcl::getNbRun(utf::master_test_suite().argc, utf::master_test_suite().argv, N);
generateRandomTransforms(extents, transforms, 2*N);
CollisionRequest request (hpp::fcl::CONTACT | hpp::fcl::DISTANCE_LOWER_BOUND, 1);
for (std::size_t i=0; i<N; ++i) {
CollisionResult resultMesh;
CollisionResult resultOctree;
Transform3f tf1 (transforms [2*i]);
Transform3f tf2 (transforms [2*i+1]);;
// Test collision between meshes with random transform for robot.
hpp::fcl::collide (&robMesh, tf1, &envMesh, tf2, request, resultMesh);
// Test collision between mesh and octree for the same transform.
hpp::fcl::collide (&robMesh, tf1, &envOctree, tf2, request, resultOctree);
bool resMesh (resultMesh.isCollision ());
bool resOctree (resultOctree.isCollision ());
BOOST_CHECK (!resMesh || resOctree);
if (!resMesh && resOctree) {
hpp::fcl::DistanceRequest dreq;
hpp::fcl::DistanceResult dres;
hpp::fcl::distance (&robMesh, tf1, &envMesh, tf2, dreq, dres);
std::cout << "distance mesh mesh: " << dres.min_distance
<< std::endl;
BOOST_CHECK (dres.min_distance < sqrt (2.) * resolution);
}
}
}