From bb6a5c239df86fe44cf2ea5a3169b96cdf9d81bf Mon Sep 17 00:00:00 2001 From: Martin Felis Date: Sun, 23 Dec 2018 11:20:54 +0100 Subject: [PATCH] Added libccd and FCL --- 3rdparty/fcl/.appveyor.yml | 60 + 3rdparty/fcl/.clang-format | 40 + 3rdparty/fcl/.clang-tidy | 36 + .../fcl/.deprecated/articulated_model/joint.h | 375 + .../articulated_model/joint_config.h | 189 + .../fcl/.deprecated/articulated_model/link.h | 145 + .../fcl/.deprecated/articulated_model/model.h | 237 + .../articulated_model/model_config.h | 137 + .../fcl/.deprecated/learning/classifier.h | 260 + .../interpolation/interpolation.cpp | 76 + .../interpolation/interpolation.h | 91 + .../interpolation/interpolation_factory.cpp | 72 + .../interpolation/interpolation_factory.h | 82 + .../interpolation/interpolation_linear.cpp | 92 + .../interpolation/interpolation_linear.h | 77 + .../narrowphase/penetration_depth_request.h | 87 + .../narrowphase/penetration_depth_result.h | 60 + .../fcl/.deprecated/simd/math_simd_details.h | 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@@ -0,0 +1,60 @@ +# AppVeyor file +# http://www.appveyor.com/docs/appveyor-yml + +version: "{build}" +os: Visual Studio 2015 + +clone_folder: C:\projects\fcl +shallow_clone: true + +# build platform, i.e. Win32 (instead of x86), x64, Any CPU. This setting is optional. +platform: + - Win32 + - x64 + +environment: + CTEST_OUTPUT_ON_FAILURE: 1 + +cache: + - C:\Program Files\libccd -> .appveyor.yml + +configuration: + - Debug + - Release + +before_build: + - cmd: if "%platform%"=="Win32" set CMAKE_GENERATOR_NAME=Visual Studio 14 2015 + - cmd: if "%platform%"=="x64" set CMAKE_GENERATOR_NAME=Visual Studio 14 2015 Win64 + - cmd: if "%platform%"=="Win32" set PROGRAM_FILES_PATH=Program Files (x86) + - cmd: if "%platform%"=="x64" set PROGRAM_FILES_PATH=Program Files + - cmd: if not exist C:\"Program Files"\libccd\lib\ccd.lib ( + curl -L -o libccd-2.0.tar.gz https://github.com/danfis/libccd/archive/v2.0.tar.gz && + cmake -E tar zxf libccd-2.0.tar.gz && + cd libccd-2.0 && + mkdir build && + cd build && + cmake -G "%CMAKE_GENERATOR_NAME%" -DCMAKE_BUILD_TYPE=%Configuration% -DCCD_DOUBLE=True .. && + cmake --build . --target install --config %Configuration% && + cd ..\.. + ) else (echo Using cached libccd) + - cmd: if not exist C:\"Program Files"\Eigen\include\eigen3\Eigen\Core ( + curl -L -o eigen-eigen-dc6cfdf9bcec.tar.gz https://bitbucket.org/eigen/eigen/get/3.2.9.tar.gz && + cmake -E tar zxf eigen-eigen-dc6cfdf9bcec.tar.gz && + cd eigen-eigen-dc6cfdf9bcec && + mkdir build && + cd build && + cmake -G "%CMAKE_GENERATOR_NAME%" -DCMAKE_BUILD_TYPE=%Configuration% .. && + cmake --build . --target install --config %Configuration% && + cd ..\.. + ) else (echo Using cached Eigen3) + - cmd: set + - cmd: mkdir build + - cmd: cd build + - cmd: cmake -G "%CMAKE_GENERATOR_NAME%" -DCMAKE_BUILD_TYPE=%Configuration% -DCCD_INCLUDE_DIR="C:\%PROGRAM_FILES_PATH%\libccd\include" -DCCD_LIBRARY="C:\%PROGRAM_FILES_PATH%\libccd\lib\ccd.lib" -DEIGEN3_INCLUDE_DIR="C:\%PROGRAM_FILES_PATH%\Eigen\include\eigen3" .. + +build: + project: C:\projects\fcl\build\fcl.sln + parallel: true + +test_script: + - cmd: ctest -C %Configuration% diff --git a/3rdparty/fcl/.clang-format b/3rdparty/fcl/.clang-format new file mode 100644 index 0000000..5e53779 --- /dev/null +++ b/3rdparty/fcl/.clang-format @@ -0,0 +1,40 @@ +# -*- mode: yaml -*- +# vi: set ft=yaml : + +# Copyright (c) 2018, Toyota Research Institute, Inc. +# 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 the copyright holder 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 HOLDER 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: Jamie Snape, Kitware, Inc. + +--- +BasedOnStyle: Google +--- +Language: Cpp +DerivePointerAlignment: false +PointerAlignment: Left diff --git a/3rdparty/fcl/.clang-tidy b/3rdparty/fcl/.clang-tidy new file mode 100644 index 0000000..1fe616b --- /dev/null +++ b/3rdparty/fcl/.clang-tidy @@ -0,0 +1,36 @@ +# -*- mode: yaml -*- +# vi: set ft=yaml : + +# Copyright (c) 2018, Toyota Research Institute, Inc. +# 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 the copyright holder 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 HOLDER 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: Jamie Snape, Kitware, Inc. + +--- +Checks: 'clang-analyzer-*,clang-diagnostic-*,cppcoreguidelines-*,google-*,modernize-*,performance-*,readability-*' diff --git a/3rdparty/fcl/.deprecated/articulated_model/joint.h b/3rdparty/fcl/.deprecated/articulated_model/joint.h new file mode 100644 index 0000000..3d92d2a --- /dev/null +++ b/3rdparty/fcl/.deprecated/articulated_model/joint.h @@ -0,0 +1,375 @@ +/* + * 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 Dalibor Matura, Jia Pan */ + +#ifndef FCL_ARTICULATED_MODEL_JOINT_H +#define FCL_ARTICULATED_MODEL_JOINT_H + +#include "fcl/common/data_types.h" + +#include +#include +#include +#include +#include + +namespace fcl +{ + +class JointConfig; +class Link; + +enum JointType {JT_UNKNOWN, JT_PRISMATIC, JT_REVOLUTE, JT_BALLEULER}; + +/// @brief Base Joint +template +class Joint +{ +public: + + Joint(const std::shared_ptr& link_parent, const std::shared_ptr& link_child, + const Transform3& transform_to_parent, + const std::string& name); + + Joint(const std::string& name); + + virtual ~Joint() {} + + const std::string& getName() const; + void setName(const std::string& name); + + virtual Transform3 getLocalTransform() const = 0; + + virtual std::size_t getNumDofs() const = 0; + + std::shared_ptr getJointConfig() const; + void setJointConfig(const std::shared_ptr& joint_cfg); + + std::shared_ptr getParentLink() const; + std::shared_ptr getChildLink() const; + + void setParentLink(const std::shared_ptr& link); + void setChildLink(const std::shared_ptr& link); + + JointType getJointType() const; + + const Transform3& getTransformToParent() const; + void setTransformToParent(const Transform3& t); + +protected: + + /// links to parent and child are only for connection, so weak_ptr to avoid cyclic dependency + std::weak_ptr link_parent_, link_child_; + + JointType type_; + + std::string name_; + + std::shared_ptr joint_cfg_; + + Transform3 transform_to_parent_; + +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +template +class PrismaticJoint : public Joint +{ +public: + PrismaticJoint(const std::shared_ptr& link_parent, const std::shared_ptr& link_child, + const Transform3& transform_to_parent, + const std::string& name, + const Vector3& axis); + + virtual ~PrismaticJoint() {} + + Transform3 getLocalTransform() const; + + std::size_t getNumDofs() const; + + const Vector3& getAxis() const; + +protected: + Vector3 axis_; +}; + +template +class RevoluteJoint : public Joint +{ +public: + RevoluteJoint(const std::shared_ptr& link_parent, const std::shared_ptr& link_child, + const Transform3& transform_to_parent, + const std::string& name, + const Vector3& axis); + + virtual ~RevoluteJoint() {} + + Transform3 getLocalTransform() const; + + std::size_t getNumDofs() const; + + const Vector3& getAxis() const; + +protected: + Vector3 axis_; +}; + +template +class BallEulerJoint : public Joint +{ +public: + BallEulerJoint(const std::shared_ptr& link_parent, const std::shared_ptr& link_child, + const Transform3& transform_to_parent, + const std::string& name); + + virtual ~BallEulerJoint() {} + + std::size_t getNumDofs() const; + + Transform3 getLocalTransform() const; +}; + +//============================================================================// +// // +// Implementations // +// // +//============================================================================// + +//============================================================================== +template +Joint::Joint(const std::shared_ptr& link_parent, const std::shared_ptr& link_child, + const Transform3& transform_to_parent, + const std::string& name) : + link_parent_(link_parent), link_child_(link_child), + name_(name), + transform_to_parent_(transform_to_parent) +{} + +//============================================================================== +template +Joint::Joint(const std::string& name) : + name_(name) +{ +} + +//============================================================================== +template +const std::string& Joint::getName() const +{ + return name_; +} + +//============================================================================== +template +void Joint::setName(const std::string& name) +{ + name_ = name; +} + +//============================================================================== +template +std::shared_ptr Joint::getJointConfig() const +{ + return joint_cfg_; +} + +//============================================================================== +template +void Joint::setJointConfig(const std::shared_ptr& joint_cfg) +{ + joint_cfg_ = joint_cfg; +} + +//============================================================================== +template +std::shared_ptr Joint::getParentLink() const +{ + return link_parent_.lock(); +} + +//============================================================================== +template +std::shared_ptr Joint::getChildLink() const +{ + return link_child_.lock(); +} + +//============================================================================== +template +void Joint::setParentLink(const std::shared_ptr& link) +{ + link_parent_ = link; +} + +//============================================================================== +template +void Joint::setChildLink(const std::shared_ptr& link) +{ + link_child_ = link; +} + +//============================================================================== +template +JointType Joint::getJointType() const +{ + return type_; +} + +//============================================================================== +template +const Transform3& Joint::getTransformToParent() const +{ + return transform_to_parent_; +} + +//============================================================================== +template +void Joint::setTransformToParent(const Transform3& t) +{ + transform_to_parent_ = t; +} + +//============================================================================== +template +PrismaticJoint::PrismaticJoint(const std::shared_ptr& link_parent, const std::shared_ptr& link_child, + const Transform3& transform_to_parent, + const std::string& name, + const Vector3& axis) : + Joint(link_parent, link_child, transform_to_parent, name), + axis_(axis) +{ + type_ = JT_PRISMATIC; +} + +//============================================================================== +template +const Vector3& PrismaticJoint::getAxis() const +{ + return axis_; +} + +//============================================================================== +template +std::size_t PrismaticJoint::getNumDofs() const +{ + return 1; +} + +//============================================================================== +template +Transform3 PrismaticJoint::getLocalTransform() const +{ + const Quaternion quat(transform_to_parent_.linear()); + const Vector3& transl = transform_to_parent_.translation(); + + Transform3 tf = Transform3::Identity(); + tf.linear() = quat.toRotationMatrix(); + tf.translation() = quat * (axis_ * (*joint_cfg_)[0]) + transl; + + return tf; +} + +//============================================================================== +template +RevoluteJoint::RevoluteJoint(const std::shared_ptr& link_parent, const std::shared_ptr& link_child, + const Transform3& transform_to_parent, + const std::string& name, + const Vector3& axis) : + Joint(link_parent, link_child, transform_to_parent, name), + axis_(axis) +{ + type_ = JT_REVOLUTE; +} + +//============================================================================== +template +const Vector3& RevoluteJoint::getAxis() const +{ + return axis_; +} + +//============================================================================== +template +std::size_t RevoluteJoint::getNumDofs() const +{ + return 1; +} + +//============================================================================== +template +Transform3 RevoluteJoint::getLocalTransform() const +{ + Transform3 tf = Transform3::Identity(); + tf.linear() = transform_to_parent_.linear() * AngleAxis((*joint_cfg_)[0], axis_); + tf.translation() = transform_to_parent_.translation(); + + return tf; +} + +//============================================================================== +template +BallEulerJoint::BallEulerJoint(const std::shared_ptr& link_parent, const std::shared_ptr& link_child, + const Transform3& transform_to_parent, + const std::string& name) : + Joint(link_parent, link_child, transform_to_parent, name) +{} + +//============================================================================== +template +std::size_t BallEulerJoint::getNumDofs() const +{ + return 3; +} + +//============================================================================== +template +Transform3 BallEulerJoint::getLocalTransform() const +{ + Matrix3 rot( + AngleAxis((*joint_cfg_)[0], Eigen::Vector3::UnitX()) + * AngleAxis((*joint_cfg_)[1], Eigen::Vector3::UnitY()) + * AngleAxis((*joint_cfg_)[2], Eigen::Vector3::UnitZ())); + + Transform3 tf = Transform3::Identity(); + tf.linear() = rot; + + return transform_to_parent_ * tf; +} + +} // namespace fcl + +#endif diff --git a/3rdparty/fcl/.deprecated/articulated_model/joint_config.h b/3rdparty/fcl/.deprecated/articulated_model/joint_config.h new file mode 100644 index 0000000..b711de2 --- /dev/null +++ b/3rdparty/fcl/.deprecated/articulated_model/joint_config.h @@ -0,0 +1,189 @@ +/* + * 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 Dalibor Matura, Jia Pan */ + +#ifndef FCL_ARTICULATED_MODEL_JOINT_CONFIG_H +#define FCL_ARTICULATED_MODEL_JOINT_CONFIG_H + +#include "fcl/common/data_types.h" +#include +#include + +namespace fcl +{ + +template +class Joint; + +template +class JointConfig +{ +public: + JointConfig(); + + JointConfig(const JointConfig& joint_cfg); + + JointConfig(const std::shared_ptr& joint, + S default_value = 0, + S default_value_min = 0, + S default_value_max = 0); + + std::size_t getDim() const; + + inline S operator [] (std::size_t i) const + { + return values_[i]; + } + + inline S& operator [] (std::size_t i) + { + return values_[i]; + } + + S getValue(std::size_t i) const; + + S& getValue(std::size_t i); + + S getLimitMin(std::size_t i) const; + + S& getLimitMin(std::size_t i); + + S getLimitMax(std::size_t i) const; + + S& getLimitMax(std::size_t i); + + std::shared_ptr getJoint() const; + +private: + std::weak_ptr joint_; + + std::vector values_; + std::vector limits_min_; + std::vector limits_max_; +}; + +//============================================================================// +// // +// Implementations // +// // +//============================================================================// + +//============================================================================== +template +JointConfig::JointConfig() {} + +//============================================================================== +template +JointConfig::JointConfig(const JointConfig& joint_cfg) : + joint_(joint_cfg.joint_), + values_(joint_cfg.values_), + limits_min_(joint_cfg.limits_min_), + limits_max_(joint_cfg.limits_max_) +{ +} + +//============================================================================== +template +JointConfig::JointConfig(const std::shared_ptr& joint, + S default_value, + S default_value_min, + S default_value_max) : + joint_(joint) +{ + values_.resize(joint->getNumDofs(), default_value); + limits_min_.resize(joint->getNumDofs(), default_value_min); + limits_max_.resize(joint->getNumDofs(), default_value_max); +} + +//============================================================================== +template +std::size_t JointConfig::getDim() const +{ + return values_.size(); +} + +//============================================================================== +template +S JointConfig::getValue(std::size_t i) const +{ + return values_[i]; +} + +//============================================================================== +template +S& JointConfig::getValue(std::size_t i) +{ + return values_[i]; +} + +//============================================================================== +template +S JointConfig::getLimitMin(std::size_t i) const +{ + return limits_min_[i]; +} + +//============================================================================== +template +S& JointConfig::getLimitMin(std::size_t i) +{ + return limits_min_[i]; +} + +//============================================================================== +template +S JointConfig::getLimitMax(std::size_t i) const +{ + return limits_max_[i]; +} + +//============================================================================== +template +S& JointConfig::getLimitMax(std::size_t i) +{ + return limits_max_[i]; +} + +//============================================================================== +template +std::shared_ptr JointConfig::getJoint() const +{ + return joint_.lock(); +} + +} // namespace fcl + +#endif diff --git a/3rdparty/fcl/.deprecated/articulated_model/link.h b/3rdparty/fcl/.deprecated/articulated_model/link.h new file mode 100644 index 0000000..a36d576 --- /dev/null +++ b/3rdparty/fcl/.deprecated/articulated_model/link.h @@ -0,0 +1,145 @@ +/* + * 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 Dalibor Matura, Jia Pan */ + +#ifndef FCL_ARTICULATED_MODEL_LINK_H +#define FCL_ARTICULATED_MODEL_LINK_H + +#include "fcl/common/data_types.h" +#include "fcl/object/collision_object.h" + +#include +#include + +namespace fcl +{ + +template +class Joint; + +template +class Link +{ +public: + Link(const std::string& name); + + const std::string& getName() const; + + void setName(const std::string& name); + + void addChildJoint(const std::shared_ptr& joint); + + void setParentJoint(const std::shared_ptr& joint); + + void addObject(const std::shared_ptr>& object); + + std::size_t getNumChildJoints() const; + + std::size_t getNumObjects() const; + +protected: + std::string name_; + + std::vector> > objects_; + + std::vector > children_joints_; + + std::shared_ptr parent_joint_; +}; + +//============================================================================// +// // +// Implementations // +// // +//============================================================================// + +//============================================================================== +template +Link::Link(const std::string& name) : name_(name) +{} + +//============================================================================== +template +const std::string& Link::getName() const +{ + return name_; +} + +//============================================================================== +template +void Link::setName(const std::string& name) +{ + name_ = name; +} + +//============================================================================== +template +void Link::addChildJoint(const std::shared_ptr& joint) +{ + children_joints_.push_back(joint); +} + +//============================================================================== +template +void Link::setParentJoint(const std::shared_ptr& joint) +{ + parent_joint_ = joint; +} + +//============================================================================== +template +void Link::addObject(const std::shared_ptr>& object) +{ + objects_.push_back(object); +} + +//============================================================================== +template +std::size_t Link::getNumChildJoints() const +{ + return children_joints_.size(); +} + +//============================================================================== +template +std::size_t Link::getNumObjects() const +{ + return objects_.size(); +} + +} // namespace fcl + +#endif diff --git a/3rdparty/fcl/.deprecated/articulated_model/model.h b/3rdparty/fcl/.deprecated/articulated_model/model.h new file mode 100644 index 0000000..ecffbda --- /dev/null +++ b/3rdparty/fcl/.deprecated/articulated_model/model.h @@ -0,0 +1,237 @@ +/* + * 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 Dalibor Matura, Jia Pan */ + +#ifndef FCL_ARTICULATED_MODEL_MODEL_H +#define FCL_ARTICULATED_MODEL_MODEL_H + +#include "fcl/articulated_model/joint.h" +#include "fcl/articulated_model/link.h" + +#include "fcl/common/data_types.h" +#include + +#include +#include + +namespace fcl +{ + +class ModelParseError : public std::runtime_error +{ +public: + ModelParseError(const std::string& error_msg) : std::runtime_error(error_msg) {} +}; + +template +class Model +{ +public: + Model() {} + + virtual ~Model() {} + + const std::string& getName() const; + + void addLink(const std::shared_ptr& link); + + void addJoint(const std::shared_ptr& joint); + + void initRoot(const std::map& link_parent_tree); + + void initTree(std::map& link_parent_tree); + + std::size_t getNumDofs() const; + + std::size_t getNumLinks() const; + + std::size_t getNumJoints() const; + + std::shared_ptr getRoot() const; + std::shared_ptr getLink(const std::string& name) const; + std::shared_ptr getJoint(const std::string& name) const; + + std::vector > getLinks() const; + std::vector > getJoints() const; +protected: + std::shared_ptr root_link_; + std::map > links_; + std::map > joints_; + + std::string name_; + +}; + +//============================================================================== +template +std::shared_ptr Model::getRoot() const +{ + return root_link_; +} + +//============================================================================== +template +std::shared_ptr Model::getLink(const std::string& name) const +{ + std::shared_ptr ptr; + std::map >::const_iterator it = links_.find(name); + if(it == links_.end()) + ptr.reset(); + else + ptr = it->second; + return ptr; +} + +//============================================================================== +template +std::shared_ptr Model::getJoint(const std::string& name) const +{ + std::shared_ptr ptr; + std::map >::const_iterator it = joints_.find(name); + if(it == joints_.end()) + ptr.reset(); + else + ptr = it->second; + return ptr; +} + +//============================================================================== +template +const std::string& Model::getName() const +{ + return name_; +} + +//============================================================================== +template +std::vector > Model::getLinks() const +{ + std::vector > links; + for(std::map >::const_iterator it = links_.begin(); it != links_.end(); ++it) + { + links.push_back(it->second); + } + + return links; +} + +//============================================================================== +template +std::size_t Model::getNumLinks() const +{ + return links_.size(); +} + +//============================================================================== +template +std::size_t Model::getNumJoints() const +{ + return joints_.size(); +} + +//============================================================================== +template +std::size_t Model::getNumDofs() const +{ + std::size_t dof = 0; + for(std::map >::const_iterator it = joints_.begin(); it != joints_.end(); ++it) + { + dof += it->second->getNumDofs(); + } + + return dof; +} + +//============================================================================== +template +void Model::addLink(const std::shared_ptr& link) +{ + links_[link->getName()] = link; +} + +//============================================================================== +template +void Model::addJoint(const std::shared_ptr& joint) +{ + joints_[joint->getName()] = joint; +} + +//============================================================================== +template +void Model::initRoot(const std::map& link_parent_tree) +{ + root_link_.reset(); + + /// find the links that have no parent in the tree + for(std::map >::const_iterator it = links_.begin(); it != links_.end(); ++it) + { + std::map::const_iterator parent = link_parent_tree.find(it->first); + if(parent == link_parent_tree.end()) + { + if(!root_link_) + { + root_link_ = getLink(it->first); + } + else + { + throw ModelParseError("Two root links found: [" + root_link_->getName() + "] and [" + it->first + "]"); + } + } + } + + if(!root_link_) + throw ModelParseError("No root link found."); +} + +//============================================================================== +template +void Model::initTree(std::map& link_parent_tree) +{ + for(std::map >::iterator it = joints_.begin(); it != joints_.end(); ++it) + { + std::string parent_link_name = it->second->getParentLink()->getName(); + std::string child_link_name = it->second->getChildLink()->getName(); + + it->second->getParentLink()->addChildJoint(it->second); + it->second->getChildLink()->setParentJoint(it->second); + + link_parent_tree[child_link_name] = parent_link_name; + } +} + +} // namespace fcl + +#endif diff --git a/3rdparty/fcl/.deprecated/articulated_model/model_config.h b/3rdparty/fcl/.deprecated/articulated_model/model_config.h new file mode 100644 index 0000000..60f07b4 --- /dev/null +++ b/3rdparty/fcl/.deprecated/articulated_model/model_config.h @@ -0,0 +1,137 @@ +/* + * 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 Dalibor Matura, Jia Pan */ + +#ifndef FCL_ARTICULATED_MODEL_MODEL_CONFIG_H +#define FCL_ARTICULATED_MODEL_MODEL_CONFIG_H + +#include +#include +#include +#include "fcl/common/data_types.h" +#include "fcl/articulated_model/joint_config.h" + +namespace fcl +{ + +template +class ModelConfig +{ +public: + ModelConfig(); + + ModelConfig(const ModelConfig& model_cfg); + + ModelConfig(std::map > joints_map); + + JointConfig getJointConfigByJointName(const std::string& joint_name) const; + JointConfig& getJointConfigByJointName(const std::string& joint_name); + + JointConfig getJointConfigByJoint(std::shared_ptr joint) const; + JointConfig& getJointConfigByJoint(std::shared_ptr joint); + + std::map getJointCfgsMap() const + { return joint_cfgs_map_; } + +private: + std::map joint_cfgs_map_; +}; + +//============================================================================// +// // +// Implementations // +// // +//============================================================================// + +//============================================================================== +template +ModelConfig::ModelConfig() +{ + // Do nothing +} + +//============================================================================== +template +ModelConfig::ModelConfig(const ModelConfig& model_cfg) : + joint_cfgs_map_(model_cfg.joint_cfgs_map_) +{} + +//============================================================================== +template +ModelConfig::ModelConfig(std::map > joints_map) +{ + std::map >::iterator it; + for(it = joints_map.begin(); it != joints_map.end(); ++it) + joint_cfgs_map_[it->first] = JointConfig(it->second); +} + +//============================================================================== +template +JointConfig ModelConfig::getJointConfigByJointName(const std::string& joint_name) const +{ + std::map::const_iterator it = joint_cfgs_map_.find(joint_name); + assert(it != joint_cfgs_map_.end()); + + return it->second; +} + +//============================================================================== +template +JointConfig& ModelConfig::getJointConfigByJointName(const std::string& joint_name) +{ + std::map::iterator it = joint_cfgs_map_.find(joint_name); + assert(it != joint_cfgs_map_.end()); + + return it->second; +} + +//============================================================================== +template +JointConfig ModelConfig::getJointConfigByJoint(std::shared_ptr joint) const +{ + return getJointConfigByJointName(joint->getName()); +} + +//============================================================================== +template +JointConfig& ModelConfig::getJointConfigByJoint(std::shared_ptr joint) +{ + return getJointConfigByJointName(joint->getName()); +} + +} // namespace fcl + +#endif diff --git a/3rdparty/fcl/.deprecated/learning/classifier.h b/3rdparty/fcl/.deprecated/learning/classifier.h new file mode 100644 index 0000000..06ef87c --- /dev/null +++ b/3rdparty/fcl/.deprecated/learning/classifier.h @@ -0,0 +1,260 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013-2014, 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 FCL_LEARNING_CLASSIFIER_H +#define FCL_LEARNING_CLASSIFIER_H + +#include + +#include "fcl/common/data_types.h" + +namespace fcl +{ + +template +struct Item +{ + VectorN q; + bool label; + S w; + + Item(const VectorN& q_, bool label_, S w_ = 1); + + Item(); + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(S, N) +}; + +template +struct Scaler +{ + VectorN v_min, v_max; + Scaler(); + + Scaler(const VectorN& v_min_, const VectorN& v_max_); + + VectorN scale(const VectorN& v) const; + + VectorN unscale(const VectorN& v) const; + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(S, N) +}; + +template +struct PredictResult +{ + bool label; + S prob; + + PredictResult(); + PredictResult(bool label_, S prob_ = 1); +}; + +template +class SVMClassifier +{ +public: + + ~SVMClassifier(); + + virtual PredictResult predict(const VectorN& q) const = 0; + virtual std::vector> predict( + const std::vector >& qs) const = 0; + + virtual std::vector > getSupportVectors() const = 0; + virtual void setScaler(const Scaler& scaler) = 0; + + virtual void learn(const std::vector >& data) = 0; + + S error_rate(const std::vector >& data) const; +}; + +template +Scaler computeScaler(const std::vector >& data); + +template +Scaler computeScaler(const std::vector >& data); + +//============================================================================// +// // +// Implementations // +// // +//============================================================================// + +//============================================================================== +template +Item::Item(const VectorN& q_, bool label_, S w_) + : q(q_), label(label_), w(w_) +{ + // Do nothing +} + +//============================================================================== +template +Item::Item() +{ + // Do nothing +} + +//============================================================================== +template +Scaler::Scaler() +{ + // default no scale + for(std::size_t i = 0; i < N; ++i) + { + v_min[i] = 0; + v_max[i] = 1; + } +} + +//============================================================================== +template +Scaler::Scaler(const VectorN& v_min_, const VectorN& v_max_) + : v_min(v_min_), v_max(v_max_) +{ + // Do nothing +} + +//============================================================================== +template +VectorN Scaler::scale(const VectorN& v) const +{ + VectorN res; + for(std::size_t i = 0; i < N; ++i) + res[i] = (v[i] - v_min[i]) / (v_max[i] - v_min[i]); + return res; +} + +//============================================================================== +template +VectorN Scaler::unscale(const VectorN& v) const +{ + VectorN res; + for(std::size_t i = 0; i < N; ++i) + res[i] = v[i] * (v_max[i] - v_min[i]) + v_min[i]; + return res; +} + +//============================================================================== +template +PredictResult::PredictResult() +{ + // Do nothing +} + +//============================================================================== +template +PredictResult::PredictResult(bool label_, S prob_) + : label(label_), prob(prob_) +{ + // Do nothing +} + +//============================================================================== +template +SVMClassifier::~SVMClassifier() +{ + // Do nothing +} + +//============================================================================== +template +S SVMClassifier::error_rate(const std::vector >& data) const +{ + std::size_t num = data.size(); + + std::size_t error_num = 0; + for(std::size_t i = 0; i < data.size(); ++i) + { + PredictResult res = predict(data[i].q); + if(res.label != data[i].label) + error_num++; + } + + return error_num / (S)num; +} + +//============================================================================== +template +Scaler computeScaler(const std::vector >& data) +{ + VectorN lower_bound, upper_bound; + for(std::size_t j = 0; j < N; ++j) + { + lower_bound[j] = std::numeric_limits::max(); + upper_bound[j] = -std::numeric_limits::max(); + } + + for(std::size_t i = 0; i < data.size(); ++i) + { + for(std::size_t j = 0; j < N; ++j) + { + if(data[i].q[j] < lower_bound[j]) lower_bound[j] = data[i].q[j]; + if(data[i].q[j] > upper_bound[j]) upper_bound[j] = data[i].q[j]; + } + } + + return Scaler(lower_bound, upper_bound); +} + +//============================================================================== +template +Scaler computeScaler(const std::vector >& data) +{ + VectorN lower_bound, upper_bound; + for(std::size_t j = 0; j < N; ++j) + { + lower_bound[j] = std::numeric_limits::max(); + upper_bound[j] = -std::numeric_limits::max(); + } + + for(std::size_t i = 0; i < data.size(); ++i) + { + for(std::size_t j = 0; j < N; ++j) + { + if(data[i][j] < lower_bound[j]) lower_bound[j] = data[i][j]; + if(data[i][j] > upper_bound[j]) upper_bound[j] = data[i][j]; + } + } + + return Scaler(lower_bound, upper_bound); +} + +} // namespace fcl + +#endif diff --git a/3rdparty/fcl/.deprecated/math/motion/taylor_model/interpolation/interpolation.cpp b/3rdparty/fcl/.deprecated/math/motion/taylor_model/interpolation/interpolation.cpp new file mode 100644 index 0000000..0e88ce0 --- /dev/null +++ b/3rdparty/fcl/.deprecated/math/motion/taylor_model/interpolation/interpolation.cpp @@ -0,0 +1,76 @@ +/* + * 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 Dalibor Matura, Jia Pan */ + +#include "fcl/math/motion/taylor_model/interpolation/interpolation.h" + +namespace fcl +{ + +Interpolation::Interpolation() : + value_0_(0.0), + value_1_(1.0) +{} + +Interpolation::Interpolation(real start_value, real end_value) : + value_0_(start_value), + value_1_(end_value) +{} + +void Interpolation::setStartValue(real start_value) +{ + value_0_ = start_value; +} + +void Interpolation::setEndValue(real end_value) +{ + value_1_ = end_value; +} + +bool Interpolation::operator == (const Interpolation& interpolation) const +{ + return + (this->getType() == interpolation.getType()) && + (this->value_0_ == interpolation.value_0_) && + (this->value_1_ == interpolation.value_1_); +} + +bool Interpolation::operator != (const Interpolation& interpolation) const +{ + return !(*this == interpolation); +} + +} diff --git a/3rdparty/fcl/.deprecated/math/motion/taylor_model/interpolation/interpolation.h b/3rdparty/fcl/.deprecated/math/motion/taylor_model/interpolation/interpolation.h new file mode 100644 index 0000000..1a33d93 --- /dev/null +++ b/3rdparty/fcl/.deprecated/math/motion/taylor_model/interpolation/interpolation.h @@ -0,0 +1,91 @@ +/* + * 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 Dalibor Matura, Jia Pan */ + +#ifndef FCL_CCD_INTERPOLATION_INTERPOLATION_H +#define FCL_CCD_INTERPOLATION_INTERPOLATION_H + +#include "fcl/common/types.h" + +namespace fcl +{ + +enum InterpolationType +{ + LINEAR, + STANDARD +}; + +class Interpolation +{ +public: + Interpolation(); + + virtual ~Interpolation() {} + + Interpolation(real start_value, real end_value); + + void setStartValue(real start_value); + void setEndValue(real end_value); + + virtual real getValue(real time) const = 0; + + /// @brief return the smallest value in time interval [0, 1] + virtual real getValueLowerBound() const = 0; + + /// @brief return the biggest value in time interval [0, 1] + virtual real getValueUpperBound() const = 0; + + virtual InterpolationType getType() const = 0; + + bool operator == (const Interpolation& interpolation) const; + bool operator != (const Interpolation& interpolation) const; + + virtual real getMovementLengthBound(real time) const = 0; + + virtual real getVelocityBound(real time) const = 0; + +protected: + real value_0_; // value at time = 0.0 + real value_1_; // value at time = 1.0 + +}; + + + +} + +#endif diff --git a/3rdparty/fcl/.deprecated/math/motion/taylor_model/interpolation/interpolation_factory.cpp b/3rdparty/fcl/.deprecated/math/motion/taylor_model/interpolation/interpolation_factory.cpp new file mode 100644 index 0000000..587fcbc --- /dev/null +++ b/3rdparty/fcl/.deprecated/math/motion/taylor_model/interpolation/interpolation_factory.cpp @@ -0,0 +1,72 @@ +/* + * 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 Dalibor Matura, Jia Pan */ + +#include "fcl/math/motion/taylor_model/interpolation/interpolation_factory.h" +#include "fcl/math/motion/taylor_model/interpolation/interpolation_linear.h" +#include + +namespace fcl +{ + +InterpolationFactory::InterpolationFactory() +{ + InterpolationLinear::registerToFactory(); +} + +InterpolationFactory& InterpolationFactory::instance() +{ + static InterpolationFactory instance; + + return instance; +} + +void InterpolationFactory::registerClass(const InterpolationType type, const CreateFunction create_function) +{ + this->creation_map_[type] = create_function; +} + +std::shared_ptr +InterpolationFactory::create(const InterpolationType type, const real start_value, const real end_value) +{ + std::map::const_iterator it = creation_map_.find(type); + + assert(it != creation_map_.end()); + + return (it->second)(start_value, end_value); +} + +} diff --git a/3rdparty/fcl/.deprecated/math/motion/taylor_model/interpolation/interpolation_factory.h b/3rdparty/fcl/.deprecated/math/motion/taylor_model/interpolation/interpolation_factory.h new file mode 100644 index 0000000..87cfc83 --- /dev/null +++ b/3rdparty/fcl/.deprecated/math/motion/taylor_model/interpolation/interpolation_factory.h @@ -0,0 +1,82 @@ +/* + * 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 Dalibor Matura, Jia Pan */ + +#ifndef FCL_CCD_INTERPOLATION_INTERPOLATION_FACTORY_H +#define FCL_CCD_INTERPOLATION_INTERPOLATION_FACTORY_H + +#include "fcl/common/types.h" +#include "fcl/math/motion/taylor_model/interpolation/interpolation.h" + +#include + +#include +#include + +namespace fcl +{ + +class InterpolationFactory +{ +public: + typedef std::function(real, real)> CreateFunction; + +public: + void registerClass(const InterpolationType type, const CreateFunction create_function); + + std::shared_ptr create(const InterpolationType type, real start_value, real end_value); + +public: + static InterpolationFactory& instance(); + +private: + InterpolationFactory(); + + InterpolationFactory(const InterpolationFactory&) + {} + + InterpolationFactory& operator = (const InterpolationFactory&) + { + return *this; + } + +private: + std::map creation_map_; +}; + +} + +#endif diff --git a/3rdparty/fcl/.deprecated/math/motion/taylor_model/interpolation/interpolation_linear.cpp b/3rdparty/fcl/.deprecated/math/motion/taylor_model/interpolation/interpolation_linear.cpp new file mode 100644 index 0000000..4983e52 --- /dev/null +++ b/3rdparty/fcl/.deprecated/math/motion/taylor_model/interpolation/interpolation_linear.cpp @@ -0,0 +1,92 @@ +/* + * 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 Dalibor Matura, Jia Pan */ + +#include "fcl/math/motion/taylor_model/interpolation/interpolation_linear.h" +#include "fcl/math/motion/taylor_model/interpolation/interpolation_factory.h" + +namespace fcl +{ + +InterpolationType interpolation_linear_type = LINEAR; + +InterpolationLinear::InterpolationLinear() : Interpolation(0.0, 1.0) +{} + +InterpolationLinear::InterpolationLinear(real start_value, real end_value) : Interpolation(start_value, end_value) +{} + +real InterpolationLinear::getValue(real time) const +{ + return value_0_ + (value_1_ - value_0_) * time; +} + +real InterpolationLinear::getValueLowerBound() const +{ + return value_0_; +} + +real InterpolationLinear::getValueUpperBound() const +{ + return value_1_; +} + +InterpolationType InterpolationLinear::getType() const +{ + return interpolation_linear_type; +} + +std::shared_ptr InterpolationLinear::create(real start_value, real end_value) +{ + return std::shared_ptr(new InterpolationLinear(start_value, end_value) ); +} + +void InterpolationLinear::registerToFactory() +{ + InterpolationFactory::instance().registerClass(interpolation_linear_type, create); +} + +real InterpolationLinear::getMovementLengthBound(real time) const +{ + return getValueUpperBound() - getValue(time); +} + +real InterpolationLinear::getVelocityBound(real time) const +{ + return (value_1_ - value_0_); +} + +} diff --git a/3rdparty/fcl/.deprecated/math/motion/taylor_model/interpolation/interpolation_linear.h b/3rdparty/fcl/.deprecated/math/motion/taylor_model/interpolation/interpolation_linear.h new file mode 100644 index 0000000..74600a6 --- /dev/null +++ b/3rdparty/fcl/.deprecated/math/motion/taylor_model/interpolation/interpolation_linear.h @@ -0,0 +1,77 @@ +/* + * 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 Dalibor Matura, Jia Pan */ + +#ifndef FCL_CCD_INTERPOLATION_INTERPOLATION_LINEAR_H +#define FCL_CCD_INTERPOLATION_INTERPOLATION_LINEAR_H + +#include "fcl/common/types.h" +#include "fcl/math/motion/taylor_model/interpolation/interpolation.h" + +#include + +namespace fcl +{ + +class InterpolationFactory; + +class InterpolationLinear : public Interpolation +{ +public: + InterpolationLinear(); + + InterpolationLinear(real start_value, real end_value); + + virtual real getValue(real time) const; + + virtual real getValueLowerBound() const; + virtual real getValueUpperBound() const; + + virtual InterpolationType getType() const; + + virtual real getMovementLengthBound(real time) const; + + virtual real getVelocityBound(real time) const; + +public: + static std::shared_ptr create(real start_value, real end_value); + + static void registerToFactory(); +}; + +} + +#endif diff --git a/3rdparty/fcl/.deprecated/narrowphase/penetration_depth_request.h b/3rdparty/fcl/.deprecated/narrowphase/penetration_depth_request.h new file mode 100644 index 0000000..5ecf1c0 --- /dev/null +++ b/3rdparty/fcl/.deprecated/narrowphase/penetration_depth_request.h @@ -0,0 +1,87 @@ +/* + * 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 FCL_PENETRATIONDEPTHREQUEST_H +#define FCL_PENETRATIONDEPTHREQUEST_H + +#include "fcl/common/types.h" +#include "fcl/narrowphase/gjk_solver.h" + +namespace fcl +{ + +enum PenetrationDepthType {PDT_TRANSLATIONAL, PDT_GENERAL_EULER, PDT_GENERAL_QUAT, PDT_GENERAL_EULER_BALL, PDT_GENERAL_QUAT_BALL}; + +template +struct PenetrationDepthRequest +{ + void* classifier; + + /// @brief PD algorithm type + PenetrationDepthType pd_type; + + /// @brief gjk solver type + GJKSolverType gjk_solver_type; + + Eigen::aligned_vector> contact_vectors; + + PenetrationDepthRequest(void* classifier_, + PenetrationDepthType pd_type_ = PDT_TRANSLATIONAL, + GJKSolverType gjk_solver_type_ = GST_LIBCCD); +}; + +//============================================================================// +// // +// Implementations // +// // +//============================================================================// + +//============================================================================== +template +PenetrationDepthRequest::PenetrationDepthRequest( + void* classifier_, + PenetrationDepthType pd_type_, + GJKSolverType gjk_solver_type_) + : classifier(classifier_), + pd_type(pd_type_), + gjk_solver_type(gjk_solver_type_) +{ +} + +} // namespace fcl + +#endif diff --git a/3rdparty/fcl/.deprecated/narrowphase/penetration_depth_result.h b/3rdparty/fcl/.deprecated/narrowphase/penetration_depth_result.h new file mode 100644 index 0000000..7daa894 --- /dev/null +++ b/3rdparty/fcl/.deprecated/narrowphase/penetration_depth_result.h @@ -0,0 +1,60 @@ +/* + * 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 FCL_PENETRATIONDEPTHRESULT_H +#define FCL_PENETRATIONDEPTHRESULT_H + +#include "fcl/common/types.h" + +namespace fcl +{ + +template +struct PenetrationDepthResult +{ + /// @brief penetration depth value + S pd_value; + + /// @brief the transform where the collision is resolved + Transform3 resolved_tf; + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +}; + +} // namespace fcl + +#endif diff --git a/3rdparty/fcl/.deprecated/simd/math_simd_details.h b/3rdparty/fcl/.deprecated/simd/math_simd_details.h new file mode 100644 index 0000000..ac7b7b0 --- /dev/null +++ b/3rdparty/fcl/.deprecated/simd/math_simd_details.h @@ -0,0 +1,1150 @@ +/* + * 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 FCL_MATH_SIMD_DETAILS_H +#define FCL_MATH_SIMD_DETAILS_H + +#include "fcl/common/data_types.h" + +#include +#if defined (__SSE3__) +#include +#endif +#if defined (__SSE4__) +#include +#endif + + +namespace fcl +{ + +/** @brief FCL internals. Ignore this :) unless you are God */ +namespace detail +{ + +const __m128 xmms_0 = {0.f, 0.f, 0.f, 0.f}; +const __m128d xmmd_0 = {0, 0}; + +static inline __m128 vec_sel(__m128 a, __m128 b, __m128 mask) +{ + return _mm_or_ps(_mm_and_ps(mask, b), _mm_andnot_ps(mask, a)); +} +static inline __m128 vec_sel(__m128 a, __m128 b, const unsigned int* mask) +{ + return vec_sel(a, b, _mm_load_ps((float*)mask)); +} + +static inline __m128 vec_sel(__m128 a, __m128 b, unsigned int mask) +{ + return vec_sel(a, b, _mm_set1_ps(*(float*)&mask)); +} + +#define vec_splat(a, e) _mm_shuffle_ps((a), (a), _MM_SHUFFLE((e), (e), (e), (e))) +#define vec_splatd(a, e) _mm_shuffle_pd((a), (a), _MM_SHUFFLE2((e), (e))) + +#define _mm_ror_ps(x, e) (((e) % 4) ? _mm_shuffle_ps((x), (x), _MM_SHUFFLE(((e)+3)%4, ((e)+2)%4, ((e)+1)%4, (e)%4)) : (x)) + +#define _mm_rol_ps(x, e) (((e) % 4) ? _mm_shuffle_ps((x), (x), _MM_SHUFFLE((7-(e))%4, (6-(e))%4, (5-(e))%4, (4-(e))%4)) : (x)) + +static inline __m128 newtonraphson_rsqrt4(const __m128 v) +{ + static const union { float i[4]; __m128 m; } _half4 __attribute__ ((aligned(16))) = {{.5f, .5f, .5f, .5f}}; + static const union { float i[4]; __m128 m; } _three __attribute__ ((aligned(16))) = {{3.f, 3.f, 3.f, 3.f}}; + __m128 approx = _mm_rsqrt_ps(v); + __m128 muls = _mm_mul_ps(_mm_mul_ps(v, approx), approx); + return _mm_mul_ps(_mm_mul_ps(_half4.m, approx), _mm_sub_ps(_three.m, muls)); +} + +struct sse_meta_f4 +{ + typedef float meta_type; + + union {float vs[4]; __m128 v; }; + sse_meta_f4() : v(_mm_set1_ps(0)) {} + sse_meta_f4(float x) : v(_mm_set1_ps(x)) {} + sse_meta_f4(float* px) : v(_mm_load_ps(px)) {} + sse_meta_f4(__m128 x) : v(x) {} + sse_meta_f4(float x, float y, float z, float w = 1) : v(_mm_setr_ps(x, y, z, w)) {} + inline void setValue(float x, float y, float z, float w = 1) { v = _mm_setr_ps(x, y, z, w); } + inline void setValue(float x) { v = _mm_set1_ps(x); } + inline void setValue(__m128 x) { v = x; } + inline void negate() { v = _mm_sub_ps(xmms_0, v); } + + inline sse_meta_f4& ubound(const sse_meta_f4& u) + { + v = _mm_min_ps(v, u.v); + return *this; + } + + inline sse_meta_f4& lbound(const sse_meta_f4& l) + { + v = _mm_max_ps(v, l.v); + return *this; + } + + inline void* operator new [] (size_t n) { return _mm_malloc(n, 16); } + inline void operator delete [] (void* x) { if(x) _mm_free(x); } + inline float operator [] (size_t i) const { return vs[i]; } + inline float& operator [] (size_t i) { return vs[i]; } + + inline sse_meta_f4 operator + (const sse_meta_f4& other) const { return sse_meta_f4(_mm_add_ps(v, other.v)); } + inline sse_meta_f4 operator - (const sse_meta_f4& other) const { return sse_meta_f4(_mm_sub_ps(v, other.v)); } + inline sse_meta_f4 operator * (const sse_meta_f4& other) const { return sse_meta_f4(_mm_mul_ps(v, other.v)); } + inline sse_meta_f4 operator / (const sse_meta_f4& other) const { return sse_meta_f4(_mm_div_ps(v, other.v)); } + inline sse_meta_f4& operator += (const sse_meta_f4& other) { v = _mm_add_ps(v, other.v); return *this; } + inline sse_meta_f4& operator -= (const sse_meta_f4& other) { v = _mm_sub_ps(v, other.v); return *this; } + inline sse_meta_f4& operator *= (const sse_meta_f4& other) { v = _mm_mul_ps(v, other.v); return *this; } + inline sse_meta_f4& operator /= (const sse_meta_f4& other) { v = _mm_div_ps(v, other.v); return *this; } + inline sse_meta_f4 operator + (float t) const { return sse_meta_f4(_mm_add_ps(v, _mm_set1_ps(t))); } + inline sse_meta_f4 operator - (float t) const { return sse_meta_f4(_mm_sub_ps(v, _mm_set1_ps(t))); } + inline sse_meta_f4 operator * (float t) const { return sse_meta_f4(_mm_mul_ps(v, _mm_set1_ps(t))); } + inline sse_meta_f4 operator / (float t) const { return sse_meta_f4(_mm_div_ps(v, _mm_set1_ps(t))); } + inline sse_meta_f4& operator += (float t) { v = _mm_add_ps(v, _mm_set1_ps(t)); return *this; } + inline sse_meta_f4& operator -= (float t) { v = _mm_sub_ps(v, _mm_set1_ps(t)); return *this; } + inline sse_meta_f4& operator *= (float t) { v = _mm_mul_ps(v, _mm_set1_ps(t)); return *this; } + inline sse_meta_f4& operator /= (float t) { v = _mm_div_ps(v, _mm_set1_ps(t)); return *this; } + inline sse_meta_f4 operator - () const + { + static const union { int i[4]; __m128 m; } negativemask __attribute__ ((aligned(16))) = {{0x80000000, 0x80000000, 0x80000000, 0x80000000}}; + return sse_meta_f4(_mm_xor_ps(negativemask.m, v)); + } +} __attribute__ ((aligned (16))); + +struct sse_meta_d4 +{ + typedef double meta_type; + + union {double vs[4]; __m128d v[2]; }; + sse_meta_d4() + { + setValue(0.0); + } + + sse_meta_d4(double x) + { + setValue(x); + } + + sse_meta_d4(double* px) + { + v[0] = _mm_load_pd(px); + v[1] = _mm_set_pd(0, *(px + 2)); + } + + sse_meta_d4(__m128d x, __m128d y) + { + v[0] = x; + v[1] = y; + } + + sse_meta_d4(double x, double y, double z, double w = 0) + { + setValue(x, y, z, w); + } + + inline void setValue(double x, double y, double z, double w = 0) + { + v[0] = _mm_setr_pd(x, y); + v[1] = _mm_setr_pd(z, w); + } + + inline void setValue(double x) + { + v[0] = _mm_set1_pd(x); + v[1] = v[0]; + } + + inline void setValue(__m128d x, __m128d y) + { + v[0] = x; + v[1] = y; + } + + inline void negate() + { + v[0] = _mm_sub_pd(xmmd_0, v[0]); + v[1] = _mm_sub_pd(xmmd_0, v[1]); + } + + inline sse_meta_d4& ubound(const sse_meta_d4& u) + { + v[0] = _mm_min_pd(v[0], u.v[0]); + v[1] = _mm_min_pd(v[1], u.v[1]); + return *this; + } + + inline sse_meta_d4& lbound(const sse_meta_d4& l) + { + v[0] = _mm_max_pd(v[0], l.v[0]); + v[1] = _mm_max_pd(v[1], l.v[1]); + return *this; + } + + inline void* operator new [] (size_t n) + { + return _mm_malloc(n, 16); + } + + inline void operator delete [] (void* x) + { + if(x) _mm_free(x); + } + + inline double operator [] (size_t i) const { return vs[i]; } + inline double& operator [] (size_t i) { return vs[i]; } + + inline sse_meta_d4 operator + (const sse_meta_d4& other) const { return sse_meta_d4(_mm_add_pd(v[0], other.v[0]), _mm_add_pd(v[1], other.v[1])); } + inline sse_meta_d4 operator - (const sse_meta_d4& other) const { return sse_meta_d4(_mm_sub_pd(v[0], other.v[0]), _mm_sub_pd(v[1], other.v[1])); } + inline sse_meta_d4 operator * (const sse_meta_d4& other) const { return sse_meta_d4(_mm_mul_pd(v[0], other.v[0]), _mm_mul_pd(v[1], other.v[1])); } + inline sse_meta_d4 operator / (const sse_meta_d4& other) const { return sse_meta_d4(_mm_div_pd(v[0], other.v[0]), _mm_div_pd(v[1], other.v[1])); } + inline sse_meta_d4& operator += (const sse_meta_d4& other) { v[0] = _mm_add_pd(v[0], other.v[0]); v[1] = _mm_add_pd(v[1], other.v[1]); return *this; } + inline sse_meta_d4& operator -= (const sse_meta_d4& other) { v[0] = _mm_sub_pd(v[0], other.v[0]); v[1] = _mm_sub_pd(v[1], other.v[1]); return *this; } + inline sse_meta_d4& operator *= (const sse_meta_d4& other) { v[0] = _mm_mul_pd(v[0], other.v[0]); v[1] = _mm_mul_pd(v[1], other.v[1]); return *this; } + inline sse_meta_d4& operator /= (const sse_meta_d4& other) { v[0] = _mm_div_pd(v[0], other.v[0]); v[1] = _mm_div_pd(v[1], other.v[1]); return *this; } + inline sse_meta_d4 operator + (double t) const { register __m128d d = _mm_set1_pd(t); return sse_meta_d4(_mm_add_pd(v[0], d), _mm_add_pd(v[1], d)); } + inline sse_meta_d4 operator - (double t) const { register __m128d d = _mm_set1_pd(t); return sse_meta_d4(_mm_sub_pd(v[0], d), _mm_sub_pd(v[1], d)); } + inline sse_meta_d4 operator * (double t) const { register __m128d d = _mm_set1_pd(t); return sse_meta_d4(_mm_mul_pd(v[0], d), _mm_mul_pd(v[1], d)); } + inline sse_meta_d4 operator / (double t) const { register __m128d d = _mm_set1_pd(t); return sse_meta_d4(_mm_div_pd(v[0], d), _mm_div_pd(v[1], d)); } + inline sse_meta_d4& operator += (double t) { register __m128d d = _mm_set1_pd(t); v[0] = _mm_add_pd(v[0], d); v[1] = _mm_add_pd(v[1], d); return *this; } + inline sse_meta_d4& operator -= (double t) { register __m128d d = _mm_set1_pd(t); v[0] = _mm_sub_pd(v[0], d); v[1] = _mm_sub_pd(v[1], d); return *this; } + inline sse_meta_d4& operator *= (double t) { register __m128d d = _mm_set1_pd(t); v[0] = _mm_mul_pd(v[0], d); v[1] = _mm_mul_pd(v[1], d); return *this; } + inline sse_meta_d4& operator /= (double t) { register __m128d d = _mm_set1_pd(t); v[0] = _mm_div_pd(v[0], d); v[1] = _mm_div_pd(v[1], d); return *this; } + inline sse_meta_d4 operator - () const + { + static const union { FCL_INT64 i[2]; __m128d m; } negativemask __attribute__ ((aligned(16))) = {{0x8000000000000000, 0x8000000000000000}}; + return sse_meta_d4(_mm_xor_pd(v[0], negativemask.m), _mm_xor_pd(v[1], negativemask.m)); + } +} __attribute__ ((aligned (16))); + + + +static inline __m128 cross_prod(__m128 x, __m128 y) +{ + // set to a[1][2][0][3] , b[2][0][1][3] + // multiply + static const int s1 = _MM_SHUFFLE(3, 0, 2, 1); + static const int s2 = _MM_SHUFFLE(3, 1, 0, 2); + __m128 xa = _mm_mul_ps(_mm_shuffle_ps(x, x, s1), _mm_shuffle_ps(y, y, s2)); + + // set to a[2][0][1][3] , b[1][2][0][3] + // multiply + __m128 xb = _mm_mul_ps(_mm_shuffle_ps(x, x, s2), _mm_shuffle_ps(y, y, s1)); + + // subtract + return _mm_sub_ps(xa, xb); +} + +static inline sse_meta_f4 cross_prod(const sse_meta_f4& x, const sse_meta_f4& y) +{ + return sse_meta_f4(cross_prod(x.v, y.v)); +} + +static inline void cross_prod(__m128d x0, __m128d x1, __m128d y0, __m128d y1, __m128d* z0, __m128d* z1) +{ + static const int s0 = _MM_SHUFFLE2(0, 0); + static const int s1 = _MM_SHUFFLE2(0, 1); + static const int s2 = _MM_SHUFFLE2(1, 0); + static const int s3 = _MM_SHUFFLE2(1, 1); + __m128d xa1 = _mm_mul_pd(_mm_shuffle_pd(x0, x1, s1), _mm_shuffle_pd(y1, y0, s0)); + __m128d ya1 = _mm_mul_pd(_mm_shuffle_pd(x0, x1, s2), _mm_shuffle_pd(y0, y1, s3)); + + __m128d xa2 = _mm_mul_pd(_mm_shuffle_pd(x1, x0, s0), _mm_shuffle_pd(y0, y1, s1)); + __m128d ya2 = _mm_mul_pd(_mm_shuffle_pd(x0, x1, s3), _mm_shuffle_pd(y0, y1, s2)); + + *z0 = _mm_sub_pd(xa1, xa2); + *z1 = _mm_sub_pd(ya1, ya2); +} + +static inline sse_meta_d4 cross_prod(const sse_meta_d4& x, const sse_meta_d4& y) +{ + __m128d z0, z1; + cross_prod(x.v[0], x.v[1], y.v[0], y.v[1], &z0, &z1); + return sse_meta_d4(z0, z1); +} + + +static inline __m128 dot_prod3(__m128 x, __m128 y) +{ + register __m128 m = _mm_mul_ps(x, y); + return _mm_add_ps(_mm_shuffle_ps(m, m, _MM_SHUFFLE(0, 0, 0, 0)), + _mm_add_ps(vec_splat(m, 1), vec_splat(m, 2))); +} + +static inline float dot_prod3(const sse_meta_f4& x, const sse_meta_f4& y) +{ + return _mm_cvtss_f32(dot_prod3(x.v, y.v)); +} + + +static inline __m128d dot_prod3(__m128d x0, __m128d x1, __m128d y0, __m128d y1) +{ + register __m128d m1 = _mm_mul_pd(x0, y0); + register __m128d m2 = _mm_mul_pd(x1, y1); + return _mm_add_pd(_mm_add_pd(vec_splatd(m1, 0), vec_splatd(m1, 1)), vec_splatd(m2, 0)); +} + +static inline double dot_prod3(const sse_meta_d4& x, const sse_meta_d4& y) +{ + double d; + _mm_storel_pd(&d, dot_prod3(x.v[0], x.v[1], y.v[0], y.v[1])); + return d; +} + +static inline __m128 dot_prod4(__m128 x, __m128 y) +{ +#if defined (__SSE4__) + return _mm_dp_ps(x, y, 0x71); +#elif defined (__SSE3__) + register __m128 t = _mm_mul_ps(x, y); + t = _mm_hadd_ps(t, t); + return _mm_hadd_ps(t, t); +#else + register __m128 s = _mm_mul_ps(x, y); + register __m128 r = _mm_add_ss(s, _mm_movehl_ps(s, s)); + return _mm_add_ss(r, _mm_shuffle_ps(r, r, 1)); +#endif +} + + +static inline float dot_prod4(const sse_meta_f4& x, const sse_meta_f4& y) +{ + return _mm_cvtss_f32(dot_prod4(x.v, y.v)); +} + +static inline __m128d dot_prod4(__m128d x0, __m128d x1, __m128d y0, __m128d y1) +{ +#if defined (__SSE4__) + register __m128d t1 = _mm_dp_pd(x0, y0, 0x31); + register __m128d t2 = _mm_dp_pd(x1, y1, 0x11); + return _mm_add_pd(t1, t2); +#elif defined (__SSE3__) + register __m128d t1 = _mm_mul_pd(x0, y0); + register __m128d t2 = _mm_mul_pd(x1, y1); + t1 = _mm_hadd_pd(t1, t1); + t2 = _mm_hadd_pd(t2, t2); + return _mm_add_pd(t1, t2); +#else + register __m128d t1 = _mm_mul_pd(x0, y0); + register __m128d t2 = _mm_mul_pd(x1, y1); + t1 = _mm_add_pd(t1, t2); + return _mm_add_pd(t1, _mm_shuffle_pd(t1, t1, 1)); +#endif +} + +static inline double dot_prod4(const sse_meta_d4& x, const sse_meta_d4& y) +{ + double d; + _mm_storel_pd(&d, dot_prod4(x.v[0], x.v[1], y.v[0], y.v[1])); + return d; +} + +static inline sse_meta_f4 min(const sse_meta_f4& x, const sse_meta_f4& y) +{ + return sse_meta_f4(_mm_min_ps(x.v, y.v)); +} + +static inline sse_meta_d4 min(const sse_meta_d4& x, const sse_meta_d4& y) +{ + return sse_meta_d4(_mm_min_pd(x.v[0], y.v[0]), _mm_min_pd(x.v[1], y.v[1])); +} + +static inline sse_meta_f4 max(const sse_meta_f4& x, const sse_meta_f4& y) +{ + return sse_meta_f4(_mm_max_ps(x.v, y.v)); +} + +static inline sse_meta_d4 max(const sse_meta_d4& x, const sse_meta_d4& y) +{ + return sse_meta_d4(_mm_max_pd(x.v[0], y.v[0]), _mm_max_pd(x.v[1], y.v[1])); +} + +static inline sse_meta_f4 abs(const sse_meta_f4& x) +{ + static const union { int i[4]; __m128 m; } abs4mask __attribute__ ((aligned (16))) = {{0x7fffffff, 0x7fffffff, 0x7fffffff, 0x7fffffff}}; + return sse_meta_f4(_mm_and_ps(x.v, abs4mask.m)); +} + +static inline sse_meta_d4 abs(const sse_meta_d4& x) +{ + static const union { FCL_INT64 i[2]; __m128d m; } abs2mask __attribute__ ((aligned (16))) = {{0x7fffffffffffffff, 0x7fffffffffffffff}}; + return sse_meta_d4(_mm_and_pd(x.v[0], abs2mask.m), _mm_and_pd(x.v[1], abs2mask.m)); +} + +static inline bool equal(const sse_meta_f4& x, const sse_meta_f4& y, float epsilon) +{ + register __m128 d = _mm_sub_ps(x.v, y.v); + register __m128 e = _mm_set1_ps(epsilon); + return ((_mm_movemask_ps(_mm_cmplt_ps(d, e)) & 0x7) == 0x7) && ((_mm_movemask_ps(_mm_cmpgt_ps(d, _mm_sub_ps(xmms_0, e))) & 0x7) == 0x7); +} + +static inline bool equal(const sse_meta_d4& x, const sse_meta_d4& y, double epsilon) +{ + register __m128d d = _mm_sub_pd(x.v[0], y.v[0]); + register __m128d e = _mm_set1_pd(epsilon); + + if(_mm_movemask_pd(_mm_cmplt_pd(d, e)) != 0x3) return false; + if(_mm_movemask_pd(_mm_cmpgt_pd(d, _mm_sub_pd(xmmd_0, e))) != 0x3) return false; + + d = _mm_sub_pd(x.v[1], y.v[1]); + if((_mm_movemask_pd(_mm_cmplt_pd(d, e)) & 0x1) != 0x1) return false; + if((_mm_movemask_pd(_mm_cmpgt_pd(d, _mm_sub_pd(xmmd_0, e))) & 0x1) != 0x1) return false; + return true; +} + +static inline sse_meta_f4 normalize3(const sse_meta_f4& x) +{ + register __m128 m = _mm_mul_ps(x.v, x.v); + __m128 r = _mm_add_ps(vec_splat(m, 0), _mm_add_ps(vec_splat(m, 1), vec_splat(m, 2))); + return sse_meta_f4(_mm_mul_ps(x.v, newtonraphson_rsqrt4(r))); +} + +static inline sse_meta_f4 normalize3_approx(const sse_meta_f4& x) +{ + register __m128 m = _mm_mul_ps(x.v, x.v); + __m128 r = _mm_add_ps(vec_splat(m, 0), _mm_add_ps(vec_splat(m, 1), vec_splat(m, 2))); + return sse_meta_f4(_mm_mul_ps(x.v, _mm_rsqrt_ps(r))); +} + + +static inline void transpose(__m128 c0, __m128 c1, __m128 c2, __m128* r0, __m128* r1, __m128* r2) +{ + static const union { unsigned int i[4]; __m128 m; } selectmask __attribute__ ((aligned(16))) = {{0, 0xffffffff, 0, 0}}; + register __m128 t0, t1; + t0 = _mm_unpacklo_ps(c0, c2); + t1 = _mm_unpackhi_ps(c0, c2); + *r0 = _mm_unpacklo_ps(t0, c1); + *r1 = _mm_shuffle_ps(t0, t0, _MM_SHUFFLE(0, 3, 2, 2)); + *r1 = vec_sel(*r1, c1, selectmask.i); + *r2 = _mm_shuffle_ps(t1, t1, _MM_SHUFFLE(0, 1, 1, 0)); + *r2 = vec_sel(*r2, vec_splat(c1, 2), selectmask.i); +} + + +static inline void inverse(__m128 c0, __m128 c1, __m128 c2, __m128* i0, __m128* i1, __m128* i2) +{ + __m128 t0, t1, t2, d, invd; + t2 = cross_prod(c0, c1); + t0 = cross_prod(c1, c2); + t1 = cross_prod(c2, c0); + d = dot_prod3(t2, c2); + d = vec_splat(d, 0); + invd = _mm_rcp_ps(d); // approximate inverse + transpose(t0, t1, t2, i0, i1, i2); + *i0 = _mm_mul_ps(*i0, invd); + *i1 = _mm_mul_ps(*i1, invd); + *i2 = _mm_mul_ps(*i2, invd); +} + + +struct sse_meta_f12 +{ + typedef float meta_type; + typedef sse_meta_f4 vector_type; + sse_meta_f4 c[3]; + + sse_meta_f12() { setZero(); } + + sse_meta_f12(float xx, float xy, float xz, + float yx, float yy, float yz, + float zx, float zy, float zz) + { setValue(xx, xy, xz, yx, yy, yz, zx, zy, zz); } + + sse_meta_f12(const sse_meta_f4& x, const sse_meta_f4& y, const sse_meta_f4& z) + { setColumn(x, y, z); } + + sse_meta_f12(__m128 x, __m128 y, __m128 z) + { setColumn(x, y, z); } + + inline void setValue(float xx, float xy, float xz, + float yx, float yy, float yz, + float zx, float zy, float zz) + { + c[0].setValue(xx, yx, zx, 0); + c[1].setValue(xy, yy, zy, 0); + c[2].setValue(xz, yz, zz, 0); + } + + inline void setIdentity() + { + c[0].setValue(1, 0, 0, 0); + c[1].setValue(0, 1, 0, 0); + c[2].setValue(0, 0, 1, 0); + } + + inline void setZero() + { + c[0].setValue(0); + c[1].setValue(0); + c[2].setValue(0); + } + + inline void setColumn(const sse_meta_f4& x, const sse_meta_f4& y, const sse_meta_f4& z) + { + c[0] = x; c[1] = y; c[2] = z; + } + + inline void setColumn(__m128 x, __m128 y, __m128 z) + { + c[0].setValue(x); c[1].setValue(y); c[2].setValue(z); + } + + inline const sse_meta_f4& getColumn(size_t i) const + { + return c[i]; + } + + inline sse_meta_f4& getColumn(size_t i) + { + return c[i]; + } + + inline sse_meta_f4 getRow(size_t i) const + { + return sse_meta_f4(c[0][i], c[1][i], c[2][i], 0); + } + + inline float operator () (size_t i, size_t j) const + { + return c[j][i]; + } + + inline float& operator () (size_t i, size_t j) + { + return c[j][i]; + } + + inline sse_meta_f4 operator * (const sse_meta_f4& v) const + { + return sse_meta_f4(_mm_add_ps(_mm_add_ps(_mm_mul_ps(c[0].v, vec_splat(v.v, 0)), _mm_mul_ps(c[1].v, vec_splat(v.v, 1))), _mm_mul_ps(c[2].v, vec_splat(v.v, 2)))); + } + + inline sse_meta_f12 operator * (const sse_meta_f12& mat) const + { + return sse_meta_f12((*this) * mat.c[0], (*this) * mat.c[1], (*this) * mat.c[2]); + } + + inline sse_meta_f12 operator + (const sse_meta_f12& mat) const + { + return sse_meta_f12(c[0] + mat.c[0], c[1] + mat.c[1], c[2] + mat.c[2]); + } + + inline sse_meta_f12 operator - (const sse_meta_f12& mat) const + { + return sse_meta_f12(c[0] - mat.c[0], c[1] - mat.c[1], c[2] - mat.c[2]); + } + + inline sse_meta_f12 operator + (float t_) const + { + sse_meta_f4 t(t_); + return sse_meta_f12(c[0] + t, c[1] + t, c[2] + t); + } + + inline sse_meta_f12 operator - (float t_) const + { + sse_meta_f4 t(t_); + return sse_meta_f12(c[0] - t, c[1] - t, c[2] - t); + } + + inline sse_meta_f12 operator * (float t_) const + { + sse_meta_f4 t(t_); + return sse_meta_f12(c[0] * t, c[1] * t, c[2] * t); + } + + inline sse_meta_f12 operator / (float t_) const + { + sse_meta_f4 t(t_); + return sse_meta_f12(c[0] / t, c[1] / t, c[2] / t); + } + + inline sse_meta_f12& operator *= (const sse_meta_f12& mat) + { + setColumn((*this) * mat.c[0], (*this) * mat.c[1], (*this) * mat.c[2]); + return *this; + } + + inline sse_meta_f12& operator += (const sse_meta_f12& mat) + { + c[0] += mat.c[0]; + c[1] += mat.c[1]; + c[2] += mat.c[2]; + return *this; + } + + inline sse_meta_f12& operator -= (const sse_meta_f12& mat) + { + c[0] -= mat.c[0]; + c[1] -= mat.c[1]; + c[2] -= mat.c[2]; + return *this; + } + + inline sse_meta_f12& operator += (float t_) + { + sse_meta_f4 t(t_); + c[0] += t; + c[1] += t; + c[2] += t; + return *this; + } + + inline sse_meta_f12& operator -= (float t_) + { + sse_meta_f4 t(t_); + c[0] -= t; + c[1] -= t; + c[2] -= t; + return *this; + } + + inline sse_meta_f12& operator *= (float t_) + { + sse_meta_f4 t(t_); + c[0] *= t; + c[1] *= t; + c[2] *= t; + return *this; + } + + inline sse_meta_f12& operator /= (float t_) + { + sse_meta_f4 t(t_); + c[0] /= t; + c[1] /= t; + c[2] /= t; + return *this; + } + + inline sse_meta_f12& inverse() + { + __m128 inv0, inv1, inv2; + detail::inverse(c[0].v, c[1].v, c[2].v, &inv0, &inv1, &inv2); + setColumn(inv0, inv1, inv2); + return *this; + } + + inline sse_meta_f12& transpose() + { + __m128 r0, r1, r2; + detail::transpose(c[0].v, c[1].v, c[2].v, &r0, &r1, &r2); + setColumn(r0, r1, r2); + return *this; + } + + inline sse_meta_f12& abs() + { + c[0] = detail::abs(c[0]); + c[1] = detail::abs(c[1]); + c[2] = detail::abs(c[2]); + return *this; + } + + inline float determinant() const + { + return _mm_cvtss_f32(dot_prod3(c[2].v, cross_prod(c[0].v, c[1].v))); + } + + inline sse_meta_f12 transposeTimes(const sse_meta_f12& other) const + { + return sse_meta_f12(dot_prod3(c[0], other.c[0]), dot_prod3(c[0], other.c[1]), dot_prod3(c[0], other.c[2]), + dot_prod3(c[1], other.c[0]), dot_prod3(c[1], other.c[1]), dot_prod3(c[1], other.c[2]), + dot_prod3(c[2], other.c[0]), dot_prod3(c[2], other.c[1]), dot_prod3(c[2], other.c[2])); + } + + inline sse_meta_f12 timesTranspose(const sse_meta_f12& m) const + { + sse_meta_f12 tmp(m); + return (*this) * tmp.transpose(); + } + + inline sse_meta_f4 transposeTimes(const sse_meta_f4& v) const + { + return sse_meta_f4(dot_prod3(c[0], v), dot_prod3(c[1], v), dot_prod3(c[2], v)); + } + + inline float transposeDot(size_t i, const sse_meta_f4& v) const + { + return dot_prod3(c[i], v); + } + + inline float dot(size_t i, const sse_meta_f4& v) const + { + return v[0] * c[0][i] + v[1] * c[1][i] + v[2] * c[2][i]; + } + +}; + +static inline sse_meta_f12 abs(const sse_meta_f12& mat) +{ + return sse_meta_f12(abs(mat.getColumn(0)), abs(mat.getColumn(1)), abs(mat.getColumn(2))); +} + +static inline sse_meta_f12 transpose(const sse_meta_f12& mat) +{ + __m128 r0, r1, r2; + transpose(mat.getColumn(0).v, mat.getColumn(1).v, mat.getColumn(2).v, &r0, &r1, &r2); + return sse_meta_f12(r0, r1, r2); +} + + +static inline sse_meta_f12 inverse(const sse_meta_f12& mat) +{ + __m128 inv0, inv1, inv2; + inverse(mat.getColumn(0).v, mat.getColumn(1).v, mat.getColumn(2).v, &inv0, &inv1, &inv2); + return sse_meta_f12(inv0, inv1, inv2); +} + + +static inline void transpose(__m128 c0, __m128 c1, __m128 c2, __m128 c3, + __m128* r0, __m128* r1, __m128* r2, __m128* r3) +{ + __m128 tmp0 = _mm_unpacklo_ps(c0, c2); + __m128 tmp1 = _mm_unpacklo_ps(c1, c3); + __m128 tmp2 = _mm_unpackhi_ps(c0, c2); + __m128 tmp3 = _mm_unpackhi_ps(c1, c3); + *r0 = _mm_unpacklo_ps(tmp0, tmp1); + *r1 = _mm_unpackhi_ps(tmp0, tmp1); + *r2 = _mm_unpacklo_ps(tmp2, tmp3); + *r3 = _mm_unpackhi_ps(tmp2, tmp3); +} + + +static inline void inverse(__m128 c0, __m128 c1, __m128 c2, __m128 c3, + __m128* res0, __m128* res1, __m128* res2, __m128* res3) +{ + __m128 Va, Vb, Vc; + __m128 r1, r2, r3, tt, tt2; + __m128 sum, Det, RDet; + __m128 trns0, trns1, trns2, trns3; + + // Calculating the minterms for the first line. + + tt = c3; tt2 = _mm_ror_ps(c2,1); + Vc = _mm_mul_ps(tt2,_mm_ror_ps(tt,0)); // V3'\B7V4 + Va = _mm_mul_ps(tt2,_mm_ror_ps(tt,2)); // V3'\B7V4" + Vb = _mm_mul_ps(tt2,_mm_ror_ps(tt,3)); // V3'\B7V4^ + + r1 = _mm_sub_ps(_mm_ror_ps(Va,1),_mm_ror_ps(Vc,2)); // V3"\B7V4^ - V3^\B7V4" + r2 = _mm_sub_ps(_mm_ror_ps(Vb,2),_mm_ror_ps(Vb,0)); // V3^\B7V4' - V3'\B7V4^ + r3 = _mm_sub_ps(_mm_ror_ps(Va,0),_mm_ror_ps(Vc,1)); // V3'\B7V4" - V3"\B7V4' + + tt = c1; + Va = _mm_ror_ps(tt,1); sum = _mm_mul_ps(Va,r1); + Vb = _mm_ror_ps(tt,2); sum = _mm_add_ps(sum,_mm_mul_ps(Vb,r2)); + Vc = _mm_ror_ps(tt,3); sum = _mm_add_ps(sum,_mm_mul_ps(Vc,r3)); + + // Calculating the determinant. + Det = _mm_mul_ps(sum,c0); + Det = _mm_add_ps(Det,_mm_movehl_ps(Det,Det)); + + static const union { int i[4]; __m128 m; } Sign_PNPN __attribute__ ((aligned(16))) = {{0x00000000, 0x80000000, 0x00000000, 0x80000000}}; + static const union { int i[4]; __m128 m; } Sign_NPNP __attribute__ ((aligned(16))) = {{0x80000000, 0x00000000, 0x80000000, 0x00000000}}; + static const union { float i[4]; __m128 m; } ZERONE __attribute__ ((aligned(16))) = {{1.0f, 0.0f, 0.0f, 1.0f}}; + + __m128 mtL1 = _mm_xor_ps(sum,Sign_PNPN.m); + + // Calculating the minterms of the second line (using previous results). + tt = _mm_ror_ps(c0,1); sum = _mm_mul_ps(tt,r1); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2)); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3)); + __m128 mtL2 = _mm_xor_ps(sum,Sign_NPNP.m); + + // Testing the determinant. + Det = _mm_sub_ss(Det,_mm_shuffle_ps(Det,Det,1)); + + // Calculating the minterms of the third line. + tt = _mm_ror_ps(c0,1); + Va = _mm_mul_ps(tt,Vb); // V1'\B7V2" + Vb = _mm_mul_ps(tt,Vc); // V1'\B7V2^ + Vc = _mm_mul_ps(tt,c1); // V1'\B7V2 + + r1 = _mm_sub_ps(_mm_ror_ps(Va,1),_mm_ror_ps(Vc,2)); // V1"\B7V2^ - V1^\B7V2" + r2 = _mm_sub_ps(_mm_ror_ps(Vb,2),_mm_ror_ps(Vb,0)); // V1^\B7V2' - V1'\B7V2^ + r3 = _mm_sub_ps(_mm_ror_ps(Va,0),_mm_ror_ps(Vc,1)); // V1'\B7V2" - V1"\B7V2' + + tt = _mm_ror_ps(c3,1); sum = _mm_mul_ps(tt,r1); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2)); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3)); + __m128 mtL3 = _mm_xor_ps(sum,Sign_PNPN.m); + + // Dividing is FASTER than rcp_nr! (Because rcp_nr causes many register-memory RWs). + RDet = _mm_div_ss(ZERONE.m, Det); // TODO: just 1.0f? + RDet = _mm_shuffle_ps(RDet,RDet,0x00); + + // Devide the first 12 minterms with the determinant. + mtL1 = _mm_mul_ps(mtL1, RDet); + mtL2 = _mm_mul_ps(mtL2, RDet); + mtL3 = _mm_mul_ps(mtL3, RDet); + + // Calculate the minterms of the forth line and devide by the determinant. + tt = _mm_ror_ps(c2,1); sum = _mm_mul_ps(tt,r1); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2)); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3)); + __m128 mtL4 = _mm_xor_ps(sum,Sign_NPNP.m); + mtL4 = _mm_mul_ps(mtL4, RDet); + + // Now we just have to transpose the minterms matrix. + trns0 = _mm_unpacklo_ps(mtL1,mtL2); + trns1 = _mm_unpacklo_ps(mtL3,mtL4); + trns2 = _mm_unpackhi_ps(mtL1,mtL2); + trns3 = _mm_unpackhi_ps(mtL3,mtL4); + *res0 = _mm_movelh_ps(trns0,trns1); + *res1 = _mm_movehl_ps(trns1,trns0); + *res2 = _mm_movelh_ps(trns2,trns3); + *res3 = _mm_movehl_ps(trns3,trns2); +} + + +struct sse_meta_f16 +{ + typedef float meta_type; + typedef sse_meta_f4 vector_type; + sse_meta_f4 c[4]; + + sse_meta_f16() { setZero(); } + + sse_meta_f16(float xx, float xy, float xz, float xw, + float yx, float yy, float yz, float yw, + float zx, float zy, float zz, float zw, + float wx, float wy, float wz, float ww) + { setValue(xx, xy, xz, xw, yz, yy, yz, yw, zx, zy, zz, zw, wx, wy, wz, ww); } + + sse_meta_f16(const sse_meta_f4& x, const sse_meta_f4& y, const sse_meta_f4& z, const sse_meta_f4& w) + { setColumn(x, y, z, w); } + + sse_meta_f16(__m128 x, __m128 y, __m128 z, __m128 w) + { setColumn(x, y, z, w); } + + inline void setValue(float xx, float xy, float xz, float xw, + float yx, float yy, float yz, float yw, + float zx, float zy, float zz, float zw, + float wx, float wy, float wz, float ww) + { + c[0].setValue(xx, yx, zx, wx); + c[1].setValue(xy, yy, zy, wy); + c[2].setValue(xz, yz, zz, wz); + c[3].setValue(xw, yw, zw, ww); + } + + inline void setColumn(const sse_meta_f4& x, const sse_meta_f4& y, const sse_meta_f4& z, const sse_meta_f4& w) + { + c[0] = x; c[1] = y; c[2] = z; c[3] = w; + } + + inline void setColumn(__m128 x, __m128 y, __m128 z, __m128 w) + { + c[0].setValue(x); c[1].setValue(y); c[2].setValue(z); c[3].setValue(w); + } + + inline void setIdentity() + { + c[0].setValue(1, 0, 0, 0); + c[1].setValue(0, 1, 0, 0); + c[2].setValue(0, 0, 1, 0); + c[3].setValue(0, 0, 0, 1); + } + + inline void setZero() + { + c[0].setValue(0); + c[1].setValue(0); + c[2].setValue(0); + c[3].setValue(0); + } + + inline const sse_meta_f4& getColumn(size_t i) const + { + return c[i]; + } + + inline sse_meta_f4& getColumn(size_t i) + { + return c[i]; + } + + inline sse_meta_f4 getRow(size_t i) const + { + return sse_meta_f4(c[0][i], c[1][i], c[2][i], c[3][i]); + } + + inline float operator () (size_t i, size_t j) const + { + return c[j][i]; + } + + inline float& operator () (size_t i, size_t j) + { + return c[j][i]; + } + + inline sse_meta_f4 operator * (const sse_meta_f4& v) const + { + return sse_meta_f4(_mm_add_ps(_mm_add_ps(_mm_mul_ps(c[0].v, vec_splat(v.v, 0)), _mm_mul_ps(c[1].v, vec_splat(v.v, 1))), + _mm_add_ps(_mm_mul_ps(c[2].v, vec_splat(v.v, 2)), _mm_mul_ps(c[3].v, vec_splat(v.v, 3))) + )); + } + + inline sse_meta_f16 operator * (const sse_meta_f16& mat) const + { + return sse_meta_f16((*this) * mat.c[0], (*this) * mat.c[1], (*this) * mat.c[2], (*this) * mat.c[3]); + } + + + inline sse_meta_f16 operator + (const sse_meta_f16& mat) const + { + return sse_meta_f16(c[0] + mat.c[0], c[1] + mat.c[1], c[2] + mat.c[2], c[3] + mat.c[3]); + } + + inline sse_meta_f16 operator - (const sse_meta_f16& mat) const + { + return sse_meta_f16(c[0] - mat.c[0], c[1] - mat.c[1], c[2] - mat.c[2], c[3] - mat.c[3]); + } + + inline sse_meta_f16 operator + (float t_) const + { + sse_meta_f4 t(t_); + return sse_meta_f16(c[0] + t, c[1] + t, c[2] + t, c[3] + t); + } + + inline sse_meta_f16 operator - (float t_) const + { + sse_meta_f4 t(t_); + return sse_meta_f16(c[0] - t, c[1] - t, c[2] - t, c[3] - t); + } + + inline sse_meta_f16 operator * (float t_) const + { + sse_meta_f4 t(t_); + return sse_meta_f16(c[0] * t, c[1] * t, c[2] * t, c[3] * t); + } + + inline sse_meta_f16 operator / (float t_) const + { + sse_meta_f4 t(t_); + return sse_meta_f16(c[0] / t, c[1] / t, c[2] / t, c[3] / t); + } + + inline sse_meta_f16& operator *= (const sse_meta_f16& mat) + { + setColumn((*this) * mat.c[0], (*this) * mat.c[1], (*this) * mat.c[2], (*this) * mat.c[3]); + return *this; + } + + inline sse_meta_f16& operator += (const sse_meta_f16& mat) + { + c[0] += mat.c[0]; + c[1] += mat.c[1]; + c[2] += mat.c[2]; + c[3] += mat.c[3]; + return *this; + } + + inline sse_meta_f16& operator -= (const sse_meta_f16& mat) + { + c[0] -= mat.c[0]; + c[1] -= mat.c[1]; + c[2] -= mat.c[2]; + c[3] -= mat.c[3]; + return *this; + } + + inline sse_meta_f16& operator += (float t_) + { + sse_meta_f4 t(t_); + c[0] += t; + c[1] += t; + c[2] += t; + c[3] += t; + return *this; + } + + inline sse_meta_f16& operator -= (float t_) + { + sse_meta_f4 t(t_); + c[0] -= t; + c[1] -= t; + c[2] -= t; + c[3] -= t; + return *this; + } + + inline sse_meta_f16& operator *= (float t_) + { + sse_meta_f4 t(t_); + c[0] *= t; + c[1] *= t; + c[2] *= t; + c[3] *= t; + return *this; + } + + inline sse_meta_f16& operator /= (float t_) + { + sse_meta_f4 t(t_); + c[0] /= t; + c[1] /= t; + c[2] /= t; + c[3] /= t; + return *this; + } + + inline sse_meta_f16& abs() + { + c[0] = detail::abs(c[0]); + c[1] = detail::abs(c[1]); + c[2] = detail::abs(c[2]); + c[3] = detail::abs(c[3]); + return *this; + } + + inline sse_meta_f16& inverse() + { + __m128 r0, r1, r2, r3; + detail::inverse(c[0].v, c[1].v, c[2].v, c[3].v, &r0, &r1, &r2, &r3); + setColumn(r0, r1, r2, r3); + return *this; + } + + inline sse_meta_f16& transpose() + { + __m128 r0, r1, r2, r3; + detail::transpose(c[0].v, c[1].v, c[2].v, c[3].v, &r0, &r1, &r2, &r3); + setColumn(r0, r1, r2, r3); + return *this; + } + + inline float determinant() const + { + __m128 Va, Vb, Vc; + __m128 r1, r2, r3, tt, tt2; + __m128 sum, Det; + + __m128 _L1 = c[0].v; + __m128 _L2 = c[1].v; + __m128 _L3 = c[2].v; + __m128 _L4 = c[3].v; + // Calculating the minterms for the first line. + + // _mm_ror_ps is just a macro using _mm_shuffle_ps(). + tt = _L4; tt2 = _mm_ror_ps(_L3,1); + Vc = _mm_mul_ps(tt2,_mm_ror_ps(tt,0)); // V3'·V4 + Va = _mm_mul_ps(tt2,_mm_ror_ps(tt,2)); // V3'·V4" + Vb = _mm_mul_ps(tt2,_mm_ror_ps(tt,3)); // V3'·V4^ + + r1 = _mm_sub_ps(_mm_ror_ps(Va,1),_mm_ror_ps(Vc,2)); // V3"·V4^ - V3^·V4" + r2 = _mm_sub_ps(_mm_ror_ps(Vb,2),_mm_ror_ps(Vb,0)); // V3^·V4' - V3'·V4^ + r3 = _mm_sub_ps(_mm_ror_ps(Va,0),_mm_ror_ps(Vc,1)); // V3'·V4" - V3"·V4' + + tt = _L2; + Va = _mm_ror_ps(tt,1); sum = _mm_mul_ps(Va,r1); + Vb = _mm_ror_ps(tt,2); sum = _mm_add_ps(sum,_mm_mul_ps(Vb,r2)); + Vc = _mm_ror_ps(tt,3); sum = _mm_add_ps(sum,_mm_mul_ps(Vc,r3)); + + // Calculating the determinant. + Det = _mm_mul_ps(sum,_L1); + Det = _mm_add_ps(Det,_mm_movehl_ps(Det,Det)); + + // Calculating the minterms of the second line (using previous results). + tt = _mm_ror_ps(_L1,1); sum = _mm_mul_ps(tt,r1); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2)); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3)); + + // Testing the determinant. + Det = _mm_sub_ss(Det,_mm_shuffle_ps(Det,Det,1)); + return _mm_cvtss_f32(Det); + } + + inline sse_meta_f16 transposeTimes(const sse_meta_f16& other) const + { + return sse_meta_f16(dot_prod4(c[0], other.c[0]), dot_prod4(c[0], other.c[1]), dot_prod4(c[0], other.c[2]), dot_prod4(c[0], other.c[3]), + dot_prod4(c[1], other.c[0]), dot_prod4(c[1], other.c[1]), dot_prod4(c[1], other.c[2]), dot_prod4(c[1], other.c[3]), + dot_prod4(c[2], other.c[0]), dot_prod4(c[2], other.c[1]), dot_prod4(c[2], other.c[2]), dot_prod4(c[2], other.c[3]), + dot_prod4(c[3], other.c[0]), dot_prod4(c[3], other.c[1]), dot_prod4(c[3], other.c[2]), dot_prod4(c[3], other.c[3])); + } + + inline sse_meta_f16 timesTranspose(const sse_meta_f16& m) const + { + sse_meta_f16 tmp(m); + return (*this) * tmp.transpose(); + } + + inline sse_meta_f4 transposeTimes(const sse_meta_f4& v) const + { + return sse_meta_f4(dot_prod4(c[0], v), dot_prod4(c[1], v), dot_prod4(c[2], v), dot_prod4(c[3], v)); + } + + inline float transposeDot(size_t i, const sse_meta_f4& v) const + { + return dot_prod4(c[i], v); + } + + inline float dot(size_t i, const sse_meta_f4& v) const + { + return v[0] * c[0][i] + v[1] * c[1][i] + v[2] * c[2][i] + v[3] * c[3][i]; + } + +}; + +static inline sse_meta_f16 abs(const sse_meta_f16& mat) +{ + return sse_meta_f16(abs(mat.getColumn(0)), abs(mat.getColumn(1)), abs(mat.getColumn(2)), abs(mat.getColumn(3))); +} + +static inline sse_meta_f16 transpose(const sse_meta_f16& mat) +{ + __m128 r0, r1, r2, r3; + transpose(mat.getColumn(0).v, mat.getColumn(1).v, mat.getColumn(2).v, mat.getColumn(3).v, &r0, &r1, &r2, &r3); + return sse_meta_f16(r0, r1, r2, r3); +} + + +static inline sse_meta_f16 inverse(const sse_meta_f16& mat) +{ + __m128 r0, r1, r2, r3; + inverse(mat.getColumn(0).v, mat.getColumn(1).v, mat.getColumn(2).v, mat.getColumn(3).v, &r0, &r1, &r2, &r3); + return sse_meta_f16(r0, r1, r2, r3); +} + + + + +} // detail +} // fcl + + +#endif diff --git a/3rdparty/fcl/.deprecated/simd/simd_intersect.h b/3rdparty/fcl/.deprecated/simd/simd_intersect.h new file mode 100644 index 0000000..f44b69d --- /dev/null +++ b/3rdparty/fcl/.deprecated/simd/simd_intersect.h @@ -0,0 +1,241 @@ +/* + * 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 FCL_MULTIPLE_INTERSECT +#define FCL_MULTIPLE_INTERSECT + +#include +#include + + +namespace fcl +{ + + +static inline __m128 sse_four_spheres_intersect(const Vector3d& o1, FCL_REAL r1, + const Vector3d& o2, FCL_REAL r2, + const Vector3d& o3, FCL_REAL r3, + const Vector3d& o4, FCL_REAL r4, + const Vector3d& o5, FCL_REAL r5, + const Vector3d& o6, FCL_REAL r6, + const Vector3d& o7, FCL_REAL r7, + const Vector3d& o8, FCL_REAL r8) +{ + __m128 PX, PY, PZ, PR, QX, QY, QZ, QR; + PX = _mm_set_ps(o1[0], o2[0], o3[0], o4[0]); + PY = _mm_set_ps(o1[1], o2[1], o3[1], o4[1]); + PZ = _mm_set_ps(o1[2], o2[2], o3[2], o4[2]); + PR = _mm_set_ps(r1, r2, r3, r4); + QX = _mm_set_ps(o5[0], o6[0], o7[0], o8[0]); + QY = _mm_set_ps(o5[1], o6[1], o7[1], o8[1]); + QZ = _mm_set_ps(o5[2], o6[2], o7[2], o8[2]); + QR = _mm_set_ps(r5, r6, r7, r8); + + __m128 T1 = _mm_sub_ps(PX, QX); + __m128 T2 = _mm_sub_ps(PY, QY); + __m128 T3 = _mm_sub_ps(PZ, QZ); + __m128 T4 = _mm_add_ps(PR, QR); + T1 = _mm_mul_ps(T1, T1); + T2 = _mm_mul_ps(T2, T2); + T3 = _mm_mul_ps(T3, T3); + T4 = _mm_mul_ps(T4, T4); + T1 = _mm_add_ps(T1, T2); + T2 = _mm_sub_ps(R2, T3); + return _mm_cmple_ps(T1, T2); +} + + +static inline __m128 sse_four_spheres_four_AABBs_intersect(const Vector3d& o1, FCL_REAL r1, + const Vector3d& o2, FCL_REAL r2, + const Vector3d& o3, FCL_REAL r3, + const Vector3d& o4, FCL_REAL r4, + const Vector3d& min1, const Vector3d& max1, + const Vector3d& min2, const Vector3d& max2, + const Vector3d& min3, const Vector3d& max3, + const Vector3d& min4, const Vector3d& max4) +{ + __m128 MINX, MINY, MINZ, MAXX, MAXX, MAXY, MAXZ, SX, SY, SZ, SR; + MINX = _mm_set_ps(min1[0], min2[0], min3[0], min4[0]); + MAXX = _mm_set_ps(max1[0], max2[0], max3[0], max4[0]); + MINY = _mm_set_ps(min1[1], min2[1], min3[1], min4[1]); + MAXY = _mm_set_ps(max1[1], max2[1], max3[1], max4[1]); + MINZ = _mm_set_ps(min1[2], min2[2], min3[2], min4[2]); + MAXZ = _mm_set_ps(max1[2], max2[2], max3[2], max4[2]); + SX = _mm_set_ps(o1[0], o2[0], o3[0], o4[0]); + SY = _mm_set_ps(o1[1], o2[1], o3[1], o4[1]); + SZ = _mm_set_ps(o1[2], o2[2], o3[2], o4[2]); + SR = _mm_set_ps(r1, r2, r3, r4); + + + __m128 TX = _mm_max_ps(SX, MINX); + __m128 TY = _mm_max_ps(SY, MINY); + __m128 TZ = _mm_max_ps(SZ, MINZ); + TX = _mm_min_ps(TX, MAXX); + TY = _mm_min_ps(TY, MAXY); + TZ = _mm_min_ps(TZ, MAXZ); + __m128 DX = _mm_sub_ps(SX, TX); + __m128 DY = _mm_sub_ps(SY, TY); + __m128 DZ = _mm_sub_ps(SZ, TZ); + __m128 R2 = _mm_mul_ps(SR, SR); + DX = _mm_mul_ps(DX, DX); + DY = _mm_mul_ps(DY, DY); + DZ = _mm_mul_ps(DZ, DZ); + __m128 T1 = _mm_add_ps(DX, DY); + __m128 T2 = _mm_sub_ps(R2, DZ); + return _mm_cmple_ps(T1, T2); +} + + +static inline __m128 sse_four_AABBs_intersect(const Vector3d& min1, const Vector3d& max1, + const Vector3d& min2, const Vector3d& max2, + const Vector3d& min3, const Vector3d& max3, + const Vector3d& min4, const Vector3d& max4, + const Vector3d& min5, const Vector3d& max5, + const Vector3d& min6, const Vector3d& max6, + const Vector3d& min7, const Vector3d& max7, + const Vector3d& min8, const Vector3d& max8) +{ + __m128 MIN1X, MIN1Y, MIN1Z, MAX1X, MAX1Y, MAX1Z, MIN2X, MIN2Y, MIN2Z, MAX2X, MAX2Y, MAX2Z; + MIN1X = _mm_set_ps(min1[0], min2[0], min3[0], min4[0]); + MAX1X = _mm_set_ps(max1[0], max2[0], max3[0], max4[0]); + MIN1Y = _mm_set_ps(min1[1], min2[1], min3[1], min4[1]); + MAX1Y = _mm_set_ps(max1[1], max2[1], max3[1], max4[1]); + MIN1Z = _mm_set_ps(min1[2], min2[2], min3[2], min4[2]); + MAX1Z = _mm_set_ps(max1[2], max2[2], max3[2], max4[2]); + MIN2X = _mm_set_ps(min5[0], min6[0], min7[0], min8[0]); + MAX2X = _mm_set_ps(max5[0], max6[0], max7[0], max8[0]); + MIN2Y = _mm_set_ps(min5[1], min6[1], min7[1], min8[1]); + MAX2Y = _mm_set_ps(max5[1], max6[1], max7[1], max8[1]); + MIN2Z = _mm_set_ps(min5[2], min6[2], min7[2], min8[2]); + MAX2Z = _mm_set_ps(max5[2], max6[2], max7[2], max8[2]); + + __m128 AX = _mm_max_ps(MIN1X, MIN2X); + __m128 BX = _mm_min_ps(MAX1X, MAX2X); + __m128 AY = _mm_max_ps(MIN1Y, MIN2Y); + __m128 BY = _mm_min_ps(MAX1Y, MAX2Y); + __m128 AZ = _mm_max_ps(MIN1Z, MIN2Z); + __m128 BZ = _mm_min_ps(MAX1Z, MAX2Z); + __m128 T1 = _mm_cmple_ps(AX, BX); + __m128 T2 = _mm_cmple_ps(AY, BY); + __m128 T3 = _mm_cmple_ps(AZ, BZ); + __m128 T4 = _mm_and_ps(T1, T2); + return _mm_and_ps(T3, T4); +} + +static bool four_spheres_intersect_and(const Vector3d& o1, FCL_REAL r1, + const Vector3d& o2, FCL_REAL r2, + const Vector3d& o3, FCL_REAL r3, + const Vector3d& o4, FCL_REAL r4, + const Vector3d& o5, FCL_REAL r5, + const Vector3d& o6, FCL_REAL r6, + const Vector3d& o7, FCL_REAL r7, + const Vector3d& o8, FCL_REAL r8) +{ + __m128 CMP = four_spheres_intersect(o1, r1, o2, r2, o3, r3, o4, r4, o5, r5, o6, r6, o7, r7, o8, r8); + return _mm_movemask_ps(CMP) == 15.f; +} + +static bool four_spheres_intersect_or(const Vector3d& o1, FCL_REAL r1, + const Vector3d& o2, FCL_REAL r2, + const Vector3d& o3, FCL_REAL r3, + const Vector3d& o4, FCL_REAL r4, + const Vector3d& o5, FCL_REAL r5, + const Vector3d& o6, FCL_REAL r6, + const Vector3d& o7, FCL_REAL r7, + const Vector3d& o8, FCL_REAL r8) +{ + __m128 CMP = four_spheres_intersect(o1, r1, o2, r2, o3, r3, o4, r4, o5, r5, o6, r6, o7, r7, o8, r8); + return __mm_movemask_ps(CMP) > 0; +} + +/** @brief four spheres versus four AABBs SIMD test */ +static bool four_spheres_four_AABBs_intersect_and(const Vector3d& o1, FCL_REAL r1, + const Vector3d& o2, FCL_REAL r2, + const Vector3d& o3, FCL_REAL r3, + const Vector3d& o4, FCL_REAL r4, + const Vector3d& min1, const Vector3d& max1, + const Vector3d& min2, const Vector3d& max2, + const Vector3d& min3, const Vector3d& max3, + const Vector3d& min4, const Vector3d& max4) +{ + __m128 CMP = four_spheres_four_AABBs_intersect(o1, r1, o2, r2, o3, r3, o4, r4, min1, max1, min2, max2, min3, max3, min4, max4); + return _mm_movemask_ps(CMP) == 15.f; +} + +static bool four_spheres_four_AABBs_intersect_or(const Vector3d& o1, FCL_REAL r1, + const Vector3d& o2, FCL_REAL r2, + const Vector3d& o3, FCL_REAL r3, + const Vector3d& o4, FCL_REAL r4, + const Vector3d& min1, const Vector3d& max1, + const Vector3d& min2, const Vector3d& max2, + const Vector3d& min3, const Vector3d& max3, + const Vector3d& min4, const Vector3d& max4) +{ + __m128 CMP = four_spheres_four_AABBs_intersect(o1, r1, o2, r2, o3, r3, o4, r4, min1, max1, min2, max2, min3, max3, min4, max4); + return _mm_movemask_ps(CMP) > 0; +} + +/** @brief four AABBs versus four AABBs SIMD test */ +static bool four_AABBs_intersect_and(const Vector3d& min1, const Vector3d& max1, + const Vector3d& min2, const Vector3d& max2, + const Vector3d& min3, const Vector3d& max3, + const Vector3d& min4, const Vector3d& max4, + const Vector3d& min5, const Vector3d& max5, + const Vector3d& min6, const Vector3d& max6, + const Vector3d& min7, const Vector3d& max7, + const Vector3d& min8, const Vector3d& max8) +{ + __m128 CMP = four_AABBs_intersect(min1, max1, min2, max2, min3, max3, min4, max4, min5, max5, min6, max6, min7, max7, min8, max8); + return _mm_movemask_ps(CMP) == 15.f; +} + +static bool four_AABBs_intersect_or(const Vector3d& min1, const Vector3d& max1, + const Vector3d& min2, const Vector3d& max2, + const Vector3d& min3, const Vector3d& max3, + const Vector3d& min4, const Vector3d& max4, + const Vector3d& min5, const Vector3d& max5, + const Vector3d& min6, const Vector3d& max6, + const Vector3d& min7, const Vector3d& max7, + const Vector3d& min8, const Vector3d& max8) +{ + __m128 CMP = four_AABBs_intersect(min1, max1, min2, max2, min3, max3, min4, max4, min5, max5, min6, max6, min7, max7, min8, max8); + return _mm_movemask_ps(CMP) > 0; +} + +} + +#endif diff --git a/3rdparty/fcl/.editorconfig b/3rdparty/fcl/.editorconfig new file mode 100644 index 0000000..69c4fcd --- /dev/null +++ b/3rdparty/fcl/.editorconfig @@ -0,0 +1,44 @@ +# Copyright (c) 2018, Toyota Research Institute, Inc. +# 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 the copyright holder 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 HOLDER 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: Jamie Snape, Kitware, Inc. + +root = true + +[*] +charset = utf +end_of_line = lf +indent_size = 2 +indent_style = space +insert_final_newline = true +max_line_length = 80 +trim_trailing_whitespace = true + +[*.md] +trim_trailing_whitespace = false diff --git a/3rdparty/fcl/.gitignore b/3rdparty/fcl/.gitignore new file mode 100644 index 0000000..6a8e562 --- /dev/null +++ b/3rdparty/fcl/.gitignore @@ -0,0 +1,34 @@ +# Copyright (c) 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 the copyright holder 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 HOLDER 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: Jeongseok Lee + +/build +/build-* +/doc/doxygen diff --git a/3rdparty/fcl/.travis.yml b/3rdparty/fcl/.travis.yml new file mode 100644 index 0000000..7a8eeca --- /dev/null +++ b/3rdparty/fcl/.travis.yml @@ -0,0 +1,58 @@ +sudo: required +dist: trusty +cache: + apt: true + +language: cpp + +matrix: + include: + - os: linux + compiler: gcc + env: BUILD_TYPE=Debug COVERALLS=ON + - os: linux + compiler: gcc + env: BUILD_TYPE=Release COVERALLS=OFF + - os: linux + compiler: clang + env: BUILD_TYPE=Debug COVERALLS=OFF + - os: linux + compiler: clang + env: BUILD_TYPE=Release COVERALLS=OFF + - os: osx + osx_image: xcode9 + compiler: clang + env: BUILD_TYPE=Debug COVERALLS=OFF + - os: osx + osx_image: xcode9 + compiler: clang + env: BUILD_TYPE=Release COVERALLS=OFF + +install: + # Install dependencies for FCL + - if [ "$TRAVIS_OS_NAME" = "linux" ]; then 'ci/install_linux.sh' ; fi + - if [ "$TRAVIS_OS_NAME" = "osx" ]; then 'ci/install_osx.sh' ; fi + +script: + # Create build directory + - mkdir build + - cd build + + # Configure + - cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DFCL_TREAT_WARNINGS_AS_ERRORS=ON -DFCL_COVERALLS=$COVERALLS .. + + # Build + - make -j4 + - if [ $COVERALLS = ON ] && [ "$TRAVIS_OS_NAME" = "linux" ]; then make coveralls; fi + + # Run unit tests + - make test + + # Make sure we can install and uninstall with no issues + - sudo make -j4 install + - sudo make -j4 uninstall + +after_failure: + - cat Testing/Temporary/LastTest.log + - cat Testing/Temporary/LastTestsFailed.log + diff --git a/3rdparty/fcl/CHANGELOG.md b/3rdparty/fcl/CHANGELOG.md new file mode 100644 index 0000000..8b1bd34 --- /dev/null +++ b/3rdparty/fcl/CHANGELOG.md @@ -0,0 +1,61 @@ +## FCL 0 + +### FCL 0.6.0 (2016-XX-XX) + +* Core/Common + + * Reorganized source tree: [#161](https://github.com/flexible-collision-library/fcl/issues/161), [#163](https://github.com/flexible-collision-library/fcl/pull/163) + * Templatized FCL for scalar type: [#154](https://github.com/flexible-collision-library/fcl/pull/154), [#165](https://github.com/flexible-collision-library/fcl/pull/165) + * Removed dependency on boost: [#140](https://github.com/flexible-collision-library/fcl/pull/140), [#146](https://github.com/flexible-collision-library/fcl/pull/146), [#147](https://github.com/flexible-collision-library/fcl/pull/147), [#148](https://github.com/flexible-collision-library/fcl/pull/148) + +* Math + + * Switched to Eigen for math operations: [#96](https://github.com/flexible-collision-library/fcl/issues/96), [#150](https://github.com/flexible-collision-library/fcl/pull/150) + * fcl::Transform defined to be an Isometry to facilitate inverses [#318](https://github.com/flexible-collision-library/fcl/pull/318) + +* Geometry + + * Simplified Convex class, deprecating old constructor in favor of + simpler, documented constructor: + [#325](https://github.com/flexible-collision-library/fcl/pull/325), + [#338](https://github.com/flexible-collision-library/fcl/pull/338) + +* Broadphase + + * Fixed redundant pair checking of SpatialHashingCollisionManager: [#156](https://github.com/flexible-collision-library/fcl/pull/156) + +* Narrowphase + + * Add custom sphere-box collision and distance algorithms for both solvers: [#316](https://github.com/flexible-collision-library/fcl/pull/316) + * Add custom sphere-cylinder collision and distance algorithms for both solvers: [#321](https://github.com/flexible-collision-library/fcl/pull/321) + +* Distance + + * Added distance request option for computing exact negative distance: [#172](https://github.com/flexible-collision-library/fcl/pull/172) + +* Build/Test/Misc + + * Added version check for Visual Studio in CMake (VS2015 or greater required): [#189](https://github.com/flexible-collision-library/fcl/pull/189) + * Added CMake targets for generating API documentation: [#174](https://github.com/flexible-collision-library/fcl/pull/174) + * Enabled build with SSE option by default: [#159](https://github.com/flexible-collision-library/fcl/pull/159) + * Added missing copyright headers: [#149](https://github.com/flexible-collision-library/fcl/pull/149) + * Added test utility for performing equality between Eigen matrix-types (`CompareMatrices` in `test/eign_matrix_compare.h`): [#316](https://github.com/flexible-collision-library/fcl/pull/316) + +### FCL 0.5.0 (2016-07-19) + +* Added safe-guards to allow octree headers only if octomap enabled: [#136](https://github.com/flexible-collision-library/fcl/pull/136) +* Added CMake option to disable octomap in build: [#135](https://github.com/flexible-collision-library/fcl/pull/135) +* Added automatic coverage test reporting: [#125](https://github.com/flexible-collision-library/fcl/pull/125), [#98](https://github.com/flexible-collision-library/fcl/pull/98) +* Added CMake exported targets: [#116](https://github.com/flexible-collision-library/fcl/pull/116) +* Fixed API to support Octomap 1.8: [#129](https://github.com/flexible-collision-library/fcl/pull/129), [#126](https://github.com/flexible-collision-library/fcl/issues/126) +* Fixed continuousCollisionNaive() wasn't resetting the returned result when no collision: [#123](https://github.com/flexible-collision-library/fcl/pull/123) +* Fixed uninitialized tf in TranslationMotion: [#121](https://github.com/flexible-collision-library/fcl/pull/121) +* Fixed fcl.pc populated incorrect installation paths: [#118](https://github.com/flexible-collision-library/fcl/pull/118) +* Fixed octree vs mesh CollisionResult now returns triangle id: [#114](https://github.com/flexible-collision-library/fcl/pull/114) +* Fixed minor typo: [#113](https://github.com/flexible-collision-library/fcl/pull/113) +* Fixed fallback finding of libccd: [#112](https://github.com/flexible-collision-library/fcl/pull/112) +* Fixed a nasty bug in propagate propagateBVHFrontListCollisionRecurse(): [#110](https://github.com/flexible-collision-library/fcl/pull/110) +* Fixed test_fcl_math failures on Windows 64 bit due to non-portable use of long: [#108](https://github.com/flexible-collision-library/fcl/pull/108), [#107](https://github.com/flexible-collision-library/fcl/issues/107) +* Fixed compilation in Visual Studio 2015, and suppressed some warnings: [#99](https://github.com/flexible-collision-library/fcl/pull/99) +* Fixed build when libccd package config not found: [#94](https://github.com/flexible-collision-library/fcl/pull/94) +* Removing dependency on boost: [#108](https://github.com/flexible-collision-library/fcl/pull/108), [#105](https://github.com/flexible-collision-library/fcl/pull/105), [#104](https://github.com/flexible-collision-library/fcl/pull/104), [#103](https://github.com/flexible-collision-library/fcl/pull/103) diff --git a/3rdparty/fcl/CMakeLists.txt b/3rdparty/fcl/CMakeLists.txt new file mode 100644 index 0000000..8b9f3e7 --- /dev/null +++ b/3rdparty/fcl/CMakeLists.txt @@ -0,0 +1,328 @@ +if(APPLE) + cmake_minimum_required(VERSION 3.0.00) +elseif(MSVC) + cmake_minimum_required(VERSION 3.1.3) +else() + cmake_minimum_required(VERSION 2.8.12) +endif() + +# Set the CMAKE_CXX_COMPILER_ID variable to AppleClang instead of Clang. +# AppleClang and Clang have different version number. This was introduced in +# CMake 3.0. +if(POLICY CMP0025) + cmake_policy(SET CMP0025 NEW) +endif() + +# Use MACOSX_RPATH by default on OS X. This was added in CMake 2.8.12 and +# became default in CMake 3.0. Explicitly setting this policy is necessary to +# suppress a warning in CMake 3.0 and above. +if(POLICY CMP0042) + cmake_policy(SET CMP0042 NEW) +endif() + +project(fcl CXX C) + +include(CTest) + +configure_file(CTestCustom.cmake.in CTestCustom.cmake @ONLY) + +option(FCL_ENABLE_PROFILING "Enable profiling" OFF) +option(FCL_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF) +# Option for some bundle-like build system in order not to expose +# any FCL binary symbols in their public ABI +option(FCL_HIDE_ALL_SYMBOLS "Hide all binary symbols" OFF) + +# set the default build type +if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) + set(CMAKE_BUILD_TYPE Release CACHE STRING + "Choose the type of build; options are Debug Release RelWithDebInfo MinSizeRel." + FORCE) + set_property(CACHE CMAKE_BUILD_TYPE PROPERTY + STRINGS Debug Release RelWithDebInfo MinSizeRel) +endif() + +# This shouldn't be necessary, but there has been trouble +# with MSVC being set off, but MSVCXX ON. +if(MSVC OR MSVC90 OR MSVC10) + set(MSVC ON) +endif (MSVC OR MSVC90 OR MSVC10) + +set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib) +set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules") +include(FCLMacros) +include(CompilerSettings) +include(FCLVersion) +include(GNUInstallDirs) +include(GenerateExportHeader) + +if(MSVC OR IS_ICPC) + option(FCL_STATIC_LIBRARY "Whether the FCL library should be static rather than shared" ON) +else() + option(FCL_STATIC_LIBRARY "Whether the FCL library should be static rather than shared" OFF) +endif() + +# Whether to enable SSE +set(SSE_FLAGS "") +option(FCL_USE_X64_SSE "Whether FCL should x64 SSE instructions" ON) +if(FCL_USE_X64_SSE) + if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + set(SSE_FLAGS -mfpmath=sse -msse -msse2 -msse3 -mssse3) + elseif(MSVC) + # Win64 will add the flag automatically + if(CMAKE_VS_PLATFORM_NAME STREQUAL "Win32") + set(SSE_FLAGS /arch:SSE2) + endif() + endif() + add_compile_options(${SSE_FLAGS}) +endif() + +option(FCL_USE_HOST_NATIVE_ARCH "Whether FCL should use cflags from the host used to compile" OFF) +if (FCL_USE_HOST_NATIVE_ARCH) + if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native") + else() + message(WARNING "FCL_USE_HOST_NATIVE_ARCH is only supported in Linux. No effect.") + endif() +endif() + +# DEPRECATED: old cmake option. Not strictly correct from the semantic point of view +# it was activating march=native, not only SSE +option(FCL_USE_SSE "(deprecated) Whether FCL should SSE instructions" OFF) +if(FCL_USE_SSE) + set(FCL_HAVE_SSE TRUE) + if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang") + message(WARNING "FCL_USE_SSE is deprecated please use: FCL_USE_X64_SSE or FCL_USE_HOST_NATIVE_ARCH. " + "If you want to replicate the previous behaviour use FCL_USE_HOST_NATIVE_ARCH") + add_definitions(-march=native) + elseif(MSVC) + # Win64 will add the flag automatically + if("$CMAKE_VS_PLATFORM_NAME}" STREQUAL "Win32") + add_definitions(/arch:SSE2) + endif() + endif() +endif() + +# Coveralls support +option(FCL_COVERALLS "Turn on coveralls support" OFF) +option(FCL_COVERALLS_UPLOAD "Upload the generated coveralls json" ON) +if(FCL_COVERALLS) + include(Coveralls) + coveralls_turn_on_coverage() +endif() + +find_package(PkgConfig QUIET) +set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH ON) + +#=============================================================================== +# Find required dependency Eigen3 (>= 3.0.5) +# +# If Eigen3 is not found, manually set the cache variable EIGEN3_INCLUDE_DIR +#=============================================================================== +find_package(Eigen3 3.0.5 QUIET CONFIG) + +# If Eigen3Config.cmake is not found, use the FindEigen3.cmake module +if(NOT Eigen3_FOUND) + find_package(Eigen3 3.0.5 QUIET MODULE) + set(Eigen3_FOUND ON) +endif() + +if(Eigen3_FOUND) + set(FCL_HAVE_EIGEN TRUE) +else() + message(SEND_ERROR "EIGEN3 (>= 3.0.5) is required by FCL") + set(FCL_HAVE_EIGEN FALSE) +endif() + +#=============================================================================== +# Find required dependency libccd +# +# If libccd is not found, manually set the cache variables CCD_INCLUDE_DIR and +# CCD_LIBRARY +#=============================================================================== +find_package(ccd QUIET) + +# If ccd-config.cmake is not found, use pkg-config and/or find_path() and +# find_library() +if(NOT ccd_FOUND) + if(PKG_CONFIG_FOUND) + pkg_check_modules(PC_CCD ccd) + pkg_check_modules(PC_LIBCCD libccd) + endif() + + find_path(CCD_INCLUDE_DIR ccd/ccd.h + HINTS "${PC_CCD_INCLUDE_DIRS}" "${PC_LIBCCD_INCLUDE_DIRS}") + + # Using find_library() even if pkg-config is available ensures that the full + # path to the ccd library is available in CCD_LIBRARIES + find_library(CCD_LIBRARY ccd + HINTS "${PC_CCD_LIBRARY_DIRS}" "${PC_LIBCCD_LIBRARY_DIRS}") + + # libccd links to LibM on UNIX. + if(CYGWIN OR NOT WIN32) + find_library(M_LIBRARY m) + endif() + + if(CCD_INCLUDE_DIR AND CCD_LIBRARY) + set(CCD_INCLUDE_DIRS "${CCD_INCLUDE_DIR}") + set(CCD_LIBRARIES "${CCD_LIBRARY}" "${M_LIBRARY}") + set(ccd_FOUND ON) + + mark_as_advanced(CCD_INCLUDE_DIR CCD_LIBRARY) + endif() +endif() + +if(NOT ccd_FOUND) + message(FATAL_ERROR "CCD is required by FCL") +endif() + +set(PKG_EXTERNAL_DEPS "ccd eigen3") + +#=============================================================================== +# Find optional dependency OctoMap +# +# If OctoMap is not found, manually set the cache variables OCTOMAP_INCLUDE_DIR +# and OCTOMAP_LIBRARY, OCTOMATH_LIBRARY, and OCTOMAP_VERSION +#=============================================================================== +option(FCL_WITH_OCTOMAP "OctoMap library support" ON) +set(FCL_HAVE_OCTOMAP 0) + +if(FCL_WITH_OCTOMAP) + find_package(octomap QUIET) + + # Older versions of octomap-config.cmake may not define OCTOMAP_VERSION so + # fall back to pkg-config + if(NOT octomap_FOUND OR NOT OCTOMAP_VERSION) + if(PKG_CONFIG_FOUND) + pkg_check_modules(PC_OCTOMAP octomap) + endif() + + find_path(OCTOMAP_INCLUDE_DIR octomap/octomap.h + HINTS "${PC_OCTOMAP_INCLUDE_DIRS}") + + # Using find_library() even if pkg-config is available ensures that the full + # paths to the octomap and octomath libraries are set in OCTOMAP_LIBRARIES + find_library(OCTOMAP_LIBRARY octomap + HINTS "${PC_OCTOMAP_LIBRARY_DIRS}") + + find_library(OCTOMATH_LIBRARY octomath + HINTS "${PC_OCTOMAP_LIBRARY_DIRS}") + + # Use a cache variable so that the version can be manually set if pkg-config + # is not available + set(OCTOMAP_VERSION "${PC_OCTOMAP_VERSION}" + CACHE STRING "octomap version (major.minor.patch)") + + if(OCTOMAP_INCLUDE_DIR AND OCTOMAP_LIBRARY AND OCTOMATH_LIBRARY AND OCTOMAP_VERSION) + set(OCTOMAP_INCLUDE_DIRS "${OCTOMAP_INCLUDE_DIR}") + set(OCTOMAP_LIBRARIES "${OCTOMAP_LIBRARY}" "${OCTOMATH_LIBRARY}") + set(octomap_FOUND ON) + + mark_as_advanced(OCTOMAP_INCLUDE_DIR OCTOMAP_LIBRARY OCTOMATH_LIBRARY OCTOMAP_VERSION) + else() + set(octomap_FOUND OFF) + endif() + endif() + + if(octomap_FOUND) + if(NOT OCTOMAP_MAJOR_VERSION AND NOT OCTOMAP_MINOR_VERSION AND NOT OCTOMAP_PATCH_VERSION) + string(REPLACE "." ";" VERSION_LIST "${OCTOMAP_VERSION}") + list(GET VERSION_LIST 0 OCTOMAP_MAJOR_VERSION) + list(GET VERSION_LIST 1 OCTOMAP_MINOR_VERSION) + list(GET VERSION_LIST 2 OCTOMAP_PATCH_VERSION) + endif() + + set(FCL_HAVE_OCTOMAP 1) + message(STATUS "FCL uses OctoMap") + set(PKG_EXTERNAL_DEPS "${PKG_EXTERNAL_DEPS} octomap") + else() + message(STATUS "FCL does not use OctoMap") + endif() +else() + message(STATUS "FCL does not use OctoMap (as requested)") +endif() + +# FCL's own include dir should be at the front of the include path +include_directories(BEFORE "include") +include_directories(BEFORE "${CMAKE_CURRENT_BINARY_DIR}/include") + +add_subdirectory(src) +add_subdirectory(include/fcl) + +set(pkg_conf_file_in "${CMAKE_CURRENT_SOURCE_DIR}/fcl.pc.in") +set(pkg_conf_file_out "${CMAKE_CURRENT_BINARY_DIR}/fcl.pc") +set(PKG_DESC "Flexible Collision Library") +if(NOT MSVC) + set(PKG_CFLAGS "-std=c++11") +endif() +configure_file("${pkg_conf_file_in}" "${pkg_conf_file_out}" @ONLY) + +install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} + FILES_MATCHING PATTERN "*.h" PATTERN "*.hxx" + PATTERN ".DS_Store" EXCLUDE +) + +install(FILES "${pkg_conf_file_out}" DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig/ COMPONENT pkgconfig) + +# Add uninstall target +configure_file( + "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules/cmake_uninstall.cmake.in" + "${CMAKE_CURRENT_BINARY_DIR}/CMakeModules/cmake_uninstall.cmake" + IMMEDIATE @ONLY) +#add_custom_target(uninstall +# "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/CMakeModules/cmake_uninstall.cmake") + +set(FCL_BUILD_TESTS "DEFAULT" CACHE INTERNAL "Deprecated; use BUILD_TESTING instead.") + +if(NOT FCL_BUILD_TESTS STREQUAL "DEFAULT") + message(DEPRECATION "FCL_BUILD_TESTS is deprecated; use BUILD_TESTING instead.") + if(FCL_BUILD_TESTS) + set(_BUILD_TESTING ON) + else() + set(_BUILD_TESTING OFF) + endif() + set(BUILD_TESTING ${_BUILD_TESTING} CACHE BOOL "Build the testing tree." FORCE) + unset(_BUILD_TESTING) +endif() + +if(BUILD_TESTING AND NOT FCL_HIDE_ALL_SYMBOLS) + add_subdirectory(test) +endif() + +#=============================================================================== +# API documentation using Doxygen +# References: +# http://mementocodex.wordpress.com/2013/01/19/how-to-generate-code-documentation-with-doxygen-and-cmake-a-slightly-improved-approach/ +# http://www.cmake.org/pipermail/cmake/2007-February/012796.html +#=============================================================================== +# Doxygen +find_package(Doxygen QUIET) + +if(DOXYGEN_FOUND) + + set(DOXYGEN_DOXYFILE_IN ${PROJECT_SOURCE_DIR}/doc/Doxyfile.in ) + set(DOXYGEN_DOXYFILE ${PROJECT_BINARY_DIR}/doc/Doxyfile ) + set(DOXYGEN_HTML_INDEX ${PROJECT_SOURCE_DIR}/doc/doxygen/index.html ) + set(DOXYGEN_OUTPUT_ROOT ${PROJECT_SOURCE_DIR}/doc/doxygen ) + set(DOXYGEN_GENERATE_TAGFILE ${DOXYGEN_OUTPUT_ROOT}/${PROJECT_NAME}.tag) + set(DOXYGEN_INCLUDE_PATH ${PROJECT_SOURCE_DIR} ) + set(DOXYGEN_INPUT_ROOT "${PROJECT_SOURCE_DIR}/include ${PROJECT_SOURCE_DIR}/src") + + configure_file(${DOXYGEN_DOXYFILE_IN} ${DOXYGEN_DOXYFILE} @ONLY) + add_custom_command(OUTPUT ${DOXYGEN_HTML_INDEX} + COMMAND ${CMAKE_COMMAND} -E echo_append "Building API Documentation..." + COMMAND ${DOXYGEN_EXECUTABLE} -u ${DOXYGEN_DOXYFILE} + COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_DOXYFILE} + COMMAND ${CMAKE_COMMAND} -E echo "Done." + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/doc + DEPENDS ${DOXYGEN_DOXYFILE} + ) + add_custom_target(docs DEPENDS ${DOXYGEN_HTML_INDEX}) + add_custom_target(docs_forced + COMMAND ${CMAKE_COMMAND} -E echo_append "Building API Documentation..." + COMMAND ${DOXYGEN_EXECUTABLE} -u ${DOXYGEN_DOXYFILE} + COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_DOXYFILE} + COMMAND ${CMAKE_COMMAND} -E echo "Done." + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/doc + ) + +endif() diff --git a/3rdparty/fcl/CMakeModules/CompilerSettings.cmake b/3rdparty/fcl/CMakeModules/CompilerSettings.cmake new file mode 100644 index 0000000..f32e773 --- /dev/null +++ b/3rdparty/fcl/CMakeModules/CompilerSettings.cmake @@ -0,0 +1,96 @@ +# GCC +if(CMAKE_COMPILER_IS_GNUCXX) + add_definitions(-std=c++11 -W -Wall -Wextra -Wpedantic) + if(FCL_TREAT_WARNINGS_AS_ERRORS) + add_definitions(-Werror) + endif() +endif() + +# Clang +if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang") + add_definitions(-std=c++11 -W -Wall -Wextra) + if(FCL_TREAT_WARNINGS_AS_ERRORS) + add_definitions(-Werror) + endif() +endif() + +# AppleClang +if(CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang") + # Require at least Apple LLVM version 6.1 + if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 6.1) + message(FATAL_ERROR "AppleClang version must be at least 6.1!") + endif() + add_definitions(-std=c++11 -W -Wall -Wextra) + if(FCL_TREAT_WARNINGS_AS_ERRORS) + add_definitions(-Werror) + endif() +endif() + +# Visual Studio +if(MSVC) + if(MSVC_VERSION VERSION_LESS 1900) + message(FATAL_ERROR "${PROJECT_NAME} requires Visual Studio 2015 or greater.") + endif() + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /MP /W1 /bigobj") + if(FCL_TREAT_WARNINGS_AS_ERRORS) + add_definitions(/WX) + endif() +endif() + +# Intel +if(CMAKE_CXX_COMPILER_ID STREQUAL "Intel") + set(IS_ICPC 1) +else() + set(IS_ICPC 0) +endif() +if(IS_ICPC) + add_definitions(-std=c++11 -wd191 -wd411 -wd654 -wd1125 -wd1292 -wd1565 -wd1628 -wd2196) + set(CMAKE_AR "xiar" CACHE STRING "Intel archiver" FORCE) + set(CMAKE_CXX_FLAGS "-pthread" CACHE STRING "Default compile flags" FORCE) + set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG" + CACHE STRING "Flags used by the C++ compiler during release builds." FORCE) + set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g" CACHE STRING + "Flags used by the C++ compiler during debug builds." FORCE) + set(CMAKE_LINKER "xild" CACHE STRING "Intel linker" FORCE) + if(FCL_TREAT_WARNINGS_AS_ERRORS) + add_definitions(-Werror) + endif() +endif() + +# XL +if(CMAKE_CXX_COMPILER_ID STREQUAL "XL") + set(IS_XLC 1) +else() + set(IS_XLC 0) +endif() +if(IS_XLC) + add_definitions(-std=c++11 -qpic -q64 -qmaxmem=-1) + set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -q64") + set(CMAKE_MODULE_LINKER_FLAGS "${CMAKE_MODULE_LINKER_FLAGS} -q64") +endif() + +# MinGW +if((CMAKE_COMPILER_IS_GNUCXX OR IS_ICPC) AND NOT MINGW) + add_definitions(-fPIC) + if(FCL_TREAT_WARNINGS_AS_ERRORS) + add_definitions(-Werror) + endif() +endif() + +# By default CMake sets RPATH for binaries in the build tree, but clears +# it when installing. Switch this option off if the default behaviour is +# desired. +option(FCL_NO_DEFAULT_RPATH "Set RPATH for installed binaries" ON) +mark_as_advanced(FCL_NO_DEFAULT_RPATH) + +# Set rpath http://www.paraview.org/Wiki/CMake_RPATH_handling +if(FCL_NO_DEFAULT_RPATH) + message(STATUS "Set RPATH explicitly to '${CMAKE_INSTALL_LIBDIR_FULL}'") + set(CMAKE_SKIP_BUILD_RPATH FALSE) + set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE) + set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_LIBDIR_FULL}") + set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE) +endif() + +# no prefix needed for python modules +set(CMAKE_SHARED_MODULE_PREFIX "") diff --git a/3rdparty/fcl/CMakeModules/Coveralls.cmake b/3rdparty/fcl/CMakeModules/Coveralls.cmake new file mode 100644 index 0000000..4250397 --- /dev/null +++ b/3rdparty/fcl/CMakeModules/Coveralls.cmake @@ -0,0 +1,128 @@ +# +# The MIT License (MIT) +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. +# +# Copyright (C) 2014 Joakim Söderberg +# + +set(_CMAKE_SCRIPT_PATH ${CMAKE_CURRENT_LIST_DIR}) # must be outside coveralls_setup() to get correct path + +# +# Param _COVERAGE_SRCS A list of source files that coverage should be collected for. +# Param _COVERALLS_UPLOAD Upload the result to coveralls? +# + +function(coveralls_setup _COVERAGE_SRCS _COVERALLS_UPLOAD) + + if (ARGC GREATER 2) + set(_CMAKE_SCRIPT_PATH ${ARGN}) + message(STATUS "Coveralls: Using alternate CMake script dir: ${_CMAKE_SCRIPT_PATH}") + endif() + + if (NOT EXISTS "${_CMAKE_SCRIPT_PATH}/CoverallsClear.cmake") + message(FATAL_ERROR "Coveralls: Missing ${_CMAKE_SCRIPT_PATH}/CoverallsClear.cmake") + endif() + + if (NOT EXISTS "${_CMAKE_SCRIPT_PATH}/CoverallsGenerateGcov.cmake") + message(FATAL_ERROR "Coveralls: Missing ${_CMAKE_SCRIPT_PATH}/CoverallsGenerateGcov.cmake") + endif() + + # When passing a CMake list to an external process, the list + # will be converted from the format "1;2;3" to "1 2 3". + # This means the script we're calling won't see it as a list + # of sources, but rather just one long path. We remedy this + # by replacing ";" with "*" and then reversing that in the script + # that we're calling. + # http://cmake.3232098.n2.nabble.com/Passing-a-CMake-list-quot-as-is-quot-to-a-custom-target-td6505681.html + set(COVERAGE_SRCS_TMP ${_COVERAGE_SRCS}) + set(COVERAGE_SRCS "") + foreach (COVERAGE_SRC ${COVERAGE_SRCS_TMP}) + set(COVERAGE_SRCS "${COVERAGE_SRCS}*${COVERAGE_SRC}") + endforeach() + + #message("Coverage sources: ${COVERAGE_SRCS}") + set(COVERALLS_FILE ${PROJECT_BINARY_DIR}/coveralls.json) + + add_custom_target(coveralls_generate + + # Zero the coverage counters. + COMMAND ${CMAKE_COMMAND} -DPROJECT_BINARY_DIR="${PROJECT_BINARY_DIR}" -P "${_CMAKE_SCRIPT_PATH}/CoverallsClear.cmake" + + # Run regress tests. + COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure + + # Generate Gcov and translate it into coveralls JSON. + # We do this by executing an external CMake script. + # (We don't want this to run at CMake generation time, but after compilation and everything has run). + COMMAND ${CMAKE_COMMAND} + -DCOVERAGE_SRCS="${COVERAGE_SRCS}" # TODO: This is passed like: "a b c", not "a;b;c" + -DCOVERALLS_OUTPUT_FILE="${COVERALLS_FILE}" + -DCOV_PATH="${PROJECT_BINARY_DIR}" + -DPROJECT_ROOT="${PROJECT_SOURCE_DIR}" + -P "${_CMAKE_SCRIPT_PATH}/CoverallsGenerateGcov.cmake" + + WORKING_DIRECTORY ${PROJECT_BINARY_DIR} + COMMENT "Generating coveralls output..." + ) + + if (_COVERALLS_UPLOAD) + message("COVERALLS UPLOAD: ON") + + find_program(CURL_EXECUTABLE curl) + + if (NOT CURL_EXECUTABLE) + message(FATAL_ERROR "Coveralls: curl not found! Aborting") + endif() + + add_custom_target(coveralls_upload + # Upload the JSON to coveralls. + COMMAND ${CURL_EXECUTABLE} + -S -F json_file=@${COVERALLS_FILE} + https://coveralls.io/api/v1/jobs + + DEPENDS coveralls_generate + + WORKING_DIRECTORY ${PROJECT_BINARY_DIR} + COMMENT "Uploading coveralls output...") + + add_custom_target(coveralls DEPENDS coveralls_upload) + else() + message("COVERALLS UPLOAD: OFF") + add_custom_target(coveralls DEPENDS coveralls_generate) + endif() + +endfunction() + +macro(coveralls_turn_on_coverage) + if(NOT (CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX) + AND (NOT "${CMAKE_C_COMPILER_ID}" STREQUAL "Clang")) + message(FATAL_ERROR "Coveralls: Compiler ${CMAKE_C_COMPILER_ID} is not GNU gcc! Aborting... You can set this on the command line using CC=/usr/bin/gcc CXX=/usr/bin/g++ cmake ..") + endif() + + if(NOT CMAKE_BUILD_TYPE STREQUAL "Debug") + message(FATAL_ERROR "Coveralls: Code coverage results with an optimised (non-Debug) build may be misleading! Add -DCMAKE_BUILD_TYPE=Debug") + endif() + + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -O0 -fprofile-arcs -ftest-coverage") + set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -g -O0 -fprofile-arcs -ftest-coverage") +endmacro() + + + diff --git a/3rdparty/fcl/CMakeModules/CoverallsClear.cmake b/3rdparty/fcl/CMakeModules/CoverallsClear.cmake new file mode 100644 index 0000000..7206886 --- /dev/null +++ b/3rdparty/fcl/CMakeModules/CoverallsClear.cmake @@ -0,0 +1,31 @@ +# +# The MIT License (MIT) +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. +# +# Copyright (C) 2014 Joakim Söderberg +# + +# do not follow symlinks in file(GLOB_RECURSE ...) +cmake_policy(SET CMP0009 NEW) + +file(GLOB_RECURSE GCDA_FILES "${PROJECT_BINARY_DIR}/*.gcda") +if(NOT GCDA_FILES STREQUAL "") + file(REMOVE ${GCDA_FILES}) +endif() diff --git a/3rdparty/fcl/CMakeModules/CoverallsGenerateGcov.cmake b/3rdparty/fcl/CMakeModules/CoverallsGenerateGcov.cmake new file mode 100644 index 0000000..e58622c --- /dev/null +++ b/3rdparty/fcl/CMakeModules/CoverallsGenerateGcov.cmake @@ -0,0 +1,480 @@ +# +# The MIT License (MIT) +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. +# +# Copyright (C) 2014 Joakim Söderberg +# +# This is intended to be run by a custom target in a CMake project like this. +# 0. Compile program with coverage support. +# 1. Clear coverage data. (Recursively delete *.gcda in build dir) +# 2. Run the unit tests. +# 3. Run this script specifying which source files the coverage should be performed on. +# +# This script will then use gcov to generate .gcov files in the directory specified +# via the COV_PATH var. This should probably be the same as your cmake build dir. +# +# It then parses the .gcov files to convert them into the Coveralls JSON format: +# https://coveralls.io/docs/api +# +# Example for running as standalone CMake script from the command line: +# (Note it is important the -P is at the end...) +# $ cmake -DCOV_PATH=$(pwd) +# -DCOVERAGE_SRCS="catcierge_rfid.c;catcierge_timer.c" +# -P ../cmake/CoverallsGcovUpload.cmake +# +CMAKE_MINIMUM_REQUIRED(VERSION 2.8) + + +# +# Make sure we have the needed arguments. +# +if (NOT COVERALLS_OUTPUT_FILE) + message(FATAL_ERROR "Coveralls: No coveralls output file specified. Please set COVERALLS_OUTPUT_FILE") +endif() + +if (NOT COV_PATH) + message(FATAL_ERROR "Coveralls: Missing coverage directory path where gcov files will be generated. Please set COV_PATH") +endif() + +if (NOT COVERAGE_SRCS) + message(FATAL_ERROR "Coveralls: Missing the list of source files that we should get the coverage data for COVERAGE_SRCS") +endif() + +if (NOT PROJECT_ROOT) + message(FATAL_ERROR "Coveralls: Missing PROJECT_ROOT.") +endif() + +# Since it's not possible to pass a CMake list properly in the +# "1;2;3" format to an external process, we have replaced the +# ";" with "*", so reverse that here so we get it back into the +# CMake list format. +string(REGEX REPLACE "\\*" ";" COVERAGE_SRCS ${COVERAGE_SRCS}) + +if (NOT DEFINED ENV{GCOV}) + find_program(GCOV_EXECUTABLE gcov) +else() + find_program(GCOV_EXECUTABLE $ENV{GCOV}) +endif() + +# convert all paths in COVERAGE_SRCS to absolute paths +set(COVERAGE_SRCS_TMP "") +foreach (COVERAGE_SRC ${COVERAGE_SRCS}) + if (NOT "${COVERAGE_SRC}" MATCHES "^/") + set(COVERAGE_SRC ${PROJECT_ROOT}/${COVERAGE_SRC}) + endif() + list(APPEND COVERAGE_SRCS_TMP ${COVERAGE_SRC}) +endforeach() +set(COVERAGE_SRCS ${COVERAGE_SRCS_TMP}) +unset(COVERAGE_SRCS_TMP) + +if (NOT GCOV_EXECUTABLE) + message(FATAL_ERROR "gcov not found! Aborting...") +endif() + +find_package(Git) + +set(JSON_REPO_TEMPLATE + "{ + \"head\": { + \"id\": \"\@GIT_COMMIT_HASH\@\", + \"author_name\": \"\@GIT_AUTHOR_NAME\@\", + \"author_email\": \"\@GIT_AUTHOR_EMAIL\@\", + \"committer_name\": \"\@GIT_COMMITTER_NAME\@\", + \"committer_email\": \"\@GIT_COMMITTER_EMAIL\@\", + \"message\": \"\@GIT_COMMIT_MESSAGE\@\" + }, + \"branch\": \"@GIT_BRANCH@\", + \"remotes\": [] + }" +) + +# TODO: Fill in git remote data +if (GIT_FOUND) + # Branch. + execute_process( + COMMAND ${GIT_EXECUTABLE} rev-parse --abbrev-ref HEAD + WORKING_DIRECTORY ${CMAKE_SOURCE_DIR} + OUTPUT_VARIABLE GIT_BRANCH + OUTPUT_STRIP_TRAILING_WHITESPACE + ) + + macro (git_log_format FORMAT_CHARS VAR_NAME) + execute_process( + COMMAND ${GIT_EXECUTABLE} log -1 --pretty=format:%${FORMAT_CHARS} + WORKING_DIRECTORY ${CMAKE_SOURCE_DIR} + OUTPUT_VARIABLE ${VAR_NAME} + OUTPUT_STRIP_TRAILING_WHITESPACE + ) + endmacro() + + git_log_format(an GIT_AUTHOR_NAME) + git_log_format(ae GIT_AUTHOR_EMAIL) + git_log_format(cn GIT_COMMITTER_NAME) + git_log_format(ce GIT_COMMITTER_EMAIL) + git_log_format(B GIT_COMMIT_MESSAGE) + git_log_format(H GIT_COMMIT_HASH) + + string(REPLACE "\n" "\\n" GIT_COMMIT_MESSAGE ${GIT_COMMIT_MESSAGE}) + + message("Git exe: ${GIT_EXECUTABLE}") + message("Git branch: ${GIT_BRANCH}") + message("Git author: ${GIT_AUTHOR_NAME}") + message("Git e-mail: ${GIT_AUTHOR_EMAIL}") + message("Git commiter name: ${GIT_COMMITTER_NAME}") + message("Git commiter e-mail: ${GIT_COMMITTER_EMAIL}") + message("Git commit hash: ${GIT_COMMIT_HASH}") + message("Git commit message: ${GIT_COMMIT_MESSAGE}") + + string(CONFIGURE ${JSON_REPO_TEMPLATE} JSON_REPO_DATA) +else() + set(JSON_REPO_DATA "{}") +endif() + +############################# Macros ######################################### + +# +# This macro converts from the full path format gcov outputs: +# +# /path/to/project/root/build/#path#to#project#root#subdir#the_file.c.gcov +# +# to the original source file path the .gcov is for: +# +# /path/to/project/root/subdir/the_file.c +# +macro(get_source_path_from_gcov_filename _SRC_FILENAME _GCOV_FILENAME) + + # /path/to/project/root/build/#path#to#project#root#subdir#the_file.c.gcov + # -> + # #path#to#project#root#subdir#the_file.c.gcov + get_filename_component(_GCOV_FILENAME_WEXT ${_GCOV_FILENAME} NAME) + + # #path#to#project#root#subdir#the_file.c.gcov -> /path/to/project/root/subdir/the_file.c + string(REGEX REPLACE "\\.gcov$" "" SRC_FILENAME_TMP ${_GCOV_FILENAME_WEXT}) + string(REGEX REPLACE "\#" "/" SRC_FILENAME_TMP ${SRC_FILENAME_TMP}) + set(${_SRC_FILENAME} "${SRC_FILENAME_TMP}") +endmacro() + +############################################################################## + +# Get the coverage data. +file(GLOB_RECURSE GCDA_FILES "${COV_PATH}/*.gcda") +message("GCDA files:") + +# Get a list of all the object directories needed by gcov +# (The directories the .gcda files and .o files are found in) +# and run gcov on those. +foreach(GCDA ${GCDA_FILES}) + message("Process: ${GCDA}") + message("------------------------------------------------------------------------------") + get_filename_component(GCDA_DIR ${GCDA} PATH) + + # + # The -p below refers to "Preserve path components", + # This means that the generated gcov filename of a source file will + # keep the original files entire filepath, but / is replaced with #. + # Example: + # + # /path/to/project/root/build/CMakeFiles/the_file.dir/subdir/the_file.c.gcda + # ------------------------------------------------------------------------------ + # File '/path/to/project/root/subdir/the_file.c' + # Lines executed:68.34% of 199 + # /path/to/project/root/subdir/the_file.c:creating '#path#to#project#root#subdir#the_file.c.gcov' + # + # If -p is not specified then the file is named only "the_file.c.gcov" + # + execute_process( + COMMAND ${GCOV_EXECUTABLE} -p -o ${GCDA_DIR} ${GCDA} + WORKING_DIRECTORY ${COV_PATH} + ) +endforeach() + +# TODO: Make these be absolute path +file(GLOB ALL_GCOV_FILES ${COV_PATH}/*.gcov) + +# Get only the filenames to use for filtering. +#set(COVERAGE_SRCS_NAMES "") +#foreach (COVSRC ${COVERAGE_SRCS}) +# get_filename_component(COVSRC_NAME ${COVSRC} NAME) +# message("${COVSRC} -> ${COVSRC_NAME}") +# list(APPEND COVERAGE_SRCS_NAMES "${COVSRC_NAME}") +#endforeach() + +# +# Filter out all but the gcov files we want. +# +# We do this by comparing the list of COVERAGE_SRCS filepaths that the +# user wants the coverage data for with the paths of the generated .gcov files, +# so that we only keep the relevant gcov files. +# +# Example: +# COVERAGE_SRCS = +# /path/to/project/root/subdir/the_file.c +# +# ALL_GCOV_FILES = +# /path/to/project/root/build/#path#to#project#root#subdir#the_file.c.gcov +# /path/to/project/root/build/#path#to#project#root#subdir#other_file.c.gcov +# +# Result should be: +# GCOV_FILES = +# /path/to/project/root/build/#path#to#project#root#subdir#the_file.c.gcov +# +set(GCOV_FILES "") +#message("Look in coverage sources: ${COVERAGE_SRCS}") +message("\nFilter out unwanted GCOV files:") +message("===============================") + +set(COVERAGE_SRCS_REMAINING ${COVERAGE_SRCS}) + +foreach (GCOV_FILE ${ALL_GCOV_FILES}) + + # + # /path/to/project/root/build/#path#to#project#root#subdir#the_file.c.gcov + # -> + # /path/to/project/root/subdir/the_file.c + get_source_path_from_gcov_filename(GCOV_SRC_PATH ${GCOV_FILE}) + file(RELATIVE_PATH GCOV_SRC_REL_PATH "${PROJECT_ROOT}" "${GCOV_SRC_PATH}") + + # Is this in the list of source files? + # TODO: We want to match against relative path filenames from the source file root... + list(FIND COVERAGE_SRCS ${GCOV_SRC_PATH} WAS_FOUND) + + if (NOT WAS_FOUND EQUAL -1) + message("YES: ${GCOV_FILE}") + list(APPEND GCOV_FILES ${GCOV_FILE}) + + # We remove it from the list, so we don't bother searching for it again. + # Also files left in COVERAGE_SRCS_REMAINING after this loop ends should + # have coverage data generated from them (no lines are covered). + list(REMOVE_ITEM COVERAGE_SRCS_REMAINING ${GCOV_SRC_PATH}) + else() + message("NO: ${GCOV_FILE}") + endif() +endforeach() + +# TODO: Enable setting these +set(JSON_SERVICE_NAME "travis-ci") +set(JSON_SERVICE_JOB_ID $ENV{TRAVIS_JOB_ID}) +set(JSON_REPO_TOKEN $ENV{COVERALLS_REPO_TOKEN}) + +set(JSON_TEMPLATE +"{ + \"repo_token\": \"\@JSON_REPO_TOKEN\@\", + \"service_name\": \"\@JSON_SERVICE_NAME\@\", + \"service_job_id\": \"\@JSON_SERVICE_JOB_ID\@\", + \"source_files\": \@JSON_GCOV_FILES\@, + \"git\": \@JSON_REPO_DATA\@ +}" +) + +set(SRC_FILE_TEMPLATE +"{ + \"name\": \"\@GCOV_SRC_REL_PATH\@\", + \"source_digest\": \"\@GCOV_CONTENTS_MD5\@\", + \"coverage\": \@GCOV_FILE_COVERAGE\@ + }" +) + +message("\nGenerate JSON for files:") +message("=========================") + +set(JSON_GCOV_FILES "[") + +# Read the GCOV files line by line and get the coverage data. +foreach (GCOV_FILE ${GCOV_FILES}) + + get_source_path_from_gcov_filename(GCOV_SRC_PATH ${GCOV_FILE}) + file(RELATIVE_PATH GCOV_SRC_REL_PATH "${PROJECT_ROOT}" "${GCOV_SRC_PATH}") + + # The new coveralls API doesn't need the entire source (Yay!) + # However, still keeping that part for now. Will cleanup in the future. + file(MD5 "${GCOV_SRC_PATH}" GCOV_CONTENTS_MD5) + message("MD5: ${GCOV_SRC_PATH} = ${GCOV_CONTENTS_MD5}") + + # Loads the gcov file as a list of lines. + # (We first open the file and replace all occurences of [] with _ + # because CMake will fail to parse a line containing unmatched brackets... + # also the \ to escaped \n in macros screws up things.) + # https://public.kitware.com/Bug/view.php?id=15369 + file(READ ${GCOV_FILE} GCOV_CONTENTS) + string(REPLACE "[" "_" GCOV_CONTENTS "${GCOV_CONTENTS}") + string(REPLACE "]" "_" GCOV_CONTENTS "${GCOV_CONTENTS}") + string(REPLACE "\\" "_" GCOV_CONTENTS "${GCOV_CONTENTS}") + + # Remove file contents to avoid encoding issues (cmake 2.8 has no ENCODING option) + string(REGEX REPLACE "([^:]*):([^:]*):([^\n]*)\n" "\\1:\\2: \n" GCOV_CONTENTS "${GCOV_CONTENTS}") + file(WRITE ${GCOV_FILE}_tmp "${GCOV_CONTENTS}") + + file(STRINGS ${GCOV_FILE}_tmp GCOV_LINES) + list(LENGTH GCOV_LINES LINE_COUNT) + + # Instead of trying to parse the source from the + # gcov file, simply read the file contents from the source file. + # (Parsing it from the gcov is hard because C-code uses ; in many places + # which also happens to be the same as the CMake list delimeter). + file(READ ${GCOV_SRC_PATH} GCOV_FILE_SOURCE) + + string(REPLACE "\\" "\\\\" GCOV_FILE_SOURCE "${GCOV_FILE_SOURCE}") + string(REGEX REPLACE "\"" "\\\\\"" GCOV_FILE_SOURCE "${GCOV_FILE_SOURCE}") + string(REPLACE "\t" "\\\\t" GCOV_FILE_SOURCE "${GCOV_FILE_SOURCE}") + string(REPLACE "\r" "\\\\r" GCOV_FILE_SOURCE "${GCOV_FILE_SOURCE}") + string(REPLACE "\n" "\\\\n" GCOV_FILE_SOURCE "${GCOV_FILE_SOURCE}") + # According to http://json.org/ these should be escaped as well. + # Don't know how to do that in CMake however... + #string(REPLACE "\b" "\\\\b" GCOV_FILE_SOURCE "${GCOV_FILE_SOURCE}") + #string(REPLACE "\f" "\\\\f" GCOV_FILE_SOURCE "${GCOV_FILE_SOURCE}") + #string(REGEX REPLACE "\u([a-fA-F0-9]{4})" "\\\\u\\1" GCOV_FILE_SOURCE "${GCOV_FILE_SOURCE}") + + # We want a json array of coverage data as a single string + # start building them from the contents of the .gcov + set(GCOV_FILE_COVERAGE "[") + + set(GCOV_LINE_COUNT 1) # Line number for the .gcov. + set(DO_SKIP 0) + foreach (GCOV_LINE ${GCOV_LINES}) + #message("${GCOV_LINE}") + # Example of what we're parsing: + # Hitcount |Line | Source + # " 8: 26: if (!allowed || (strlen(allowed) == 0))" + string(REGEX REPLACE + "^([^:]*):([^:]*):(.*)$" + "\\1;\\2;\\3" + RES + "${GCOV_LINE}") + + # Check if we should exclude lines using the Lcov syntax. + string(REGEX MATCH "LCOV_EXCL_START" START_SKIP "${GCOV_LINE}") + string(REGEX MATCH "LCOV_EXCL_END" END_SKIP "${GCOV_LINE}") + string(REGEX MATCH "LCOV_EXCL_LINE" LINE_SKIP "${GCOV_LINE}") + + set(RESET_SKIP 0) + if (LINE_SKIP AND NOT DO_SKIP) + set(DO_SKIP 1) + set(RESET_SKIP 1) + endif() + + if (START_SKIP) + set(DO_SKIP 1) + message("${GCOV_LINE_COUNT}: Start skip") + endif() + + if (END_SKIP) + set(DO_SKIP 0) + endif() + + list(LENGTH RES RES_COUNT) + + if (RES_COUNT GREATER 2) + list(GET RES 0 HITCOUNT) + list(GET RES 1 LINE) + list(GET RES 2 SOURCE) + + string(STRIP ${HITCOUNT} HITCOUNT) + string(STRIP ${LINE} LINE) + + # Lines with 0 line numbers are metadata and can be ignored. + if (NOT ${LINE} EQUAL 0) + + if (DO_SKIP) + set(GCOV_FILE_COVERAGE "${GCOV_FILE_COVERAGE}null, ") + else() + # Translate the hitcount into valid JSON values. + if (${HITCOUNT} STREQUAL "#####" OR ${HITCOUNT} STREQUAL "=====") + set(GCOV_FILE_COVERAGE "${GCOV_FILE_COVERAGE}0, ") + elseif (${HITCOUNT} STREQUAL "-") + set(GCOV_FILE_COVERAGE "${GCOV_FILE_COVERAGE}null, ") + else() + set(GCOV_FILE_COVERAGE "${GCOV_FILE_COVERAGE}${HITCOUNT}, ") + endif() + endif() + endif() + else() + message(WARNING "Failed to properly parse line (RES_COUNT = ${RES_COUNT}) ${GCOV_FILE}:${GCOV_LINE_COUNT}\n-->${GCOV_LINE}") + endif() + + if (RESET_SKIP) + set(DO_SKIP 0) + endif() + math(EXPR GCOV_LINE_COUNT "${GCOV_LINE_COUNT}+1") + endforeach() + + message("${GCOV_LINE_COUNT} of ${LINE_COUNT} lines read!") + + # Advanced way of removing the trailing comma in the JSON array. + # "[1, 2, 3, " -> "[1, 2, 3" + string(REGEX REPLACE ",[ ]*$" "" GCOV_FILE_COVERAGE ${GCOV_FILE_COVERAGE}) + + # Append the trailing ] to complete the JSON array. + set(GCOV_FILE_COVERAGE "${GCOV_FILE_COVERAGE}]") + + # Generate the final JSON for this file. + message("Generate JSON for file: ${GCOV_SRC_REL_PATH}...") + string(CONFIGURE ${SRC_FILE_TEMPLATE} FILE_JSON) + + set(JSON_GCOV_FILES "${JSON_GCOV_FILES}${FILE_JSON}, ") +endforeach() + +# Loop through all files we couldn't find any coverage for +# as well, and generate JSON for those as well with 0% coverage. +foreach(NOT_COVERED_SRC ${COVERAGE_SRCS_REMAINING}) + + # Set variables for json replacement + set(GCOV_SRC_PATH ${NOT_COVERED_SRC}) + file(MD5 "${GCOV_SRC_PATH}" GCOV_CONTENTS_MD5) + file(RELATIVE_PATH GCOV_SRC_REL_PATH "${PROJECT_ROOT}" "${GCOV_SRC_PATH}") + + # Loads the source file as a list of lines. + file(STRINGS ${NOT_COVERED_SRC} SRC_LINES) + + set(GCOV_FILE_COVERAGE "[") + set(GCOV_FILE_SOURCE "") + + foreach (SOURCE ${SRC_LINES}) + set(GCOV_FILE_COVERAGE "${GCOV_FILE_COVERAGE}null, ") + + string(REPLACE "\\" "\\\\" SOURCE "${SOURCE}") + string(REGEX REPLACE "\"" "\\\\\"" SOURCE "${SOURCE}") + string(REPLACE "\t" "\\\\t" SOURCE "${SOURCE}") + string(REPLACE "\r" "\\\\r" SOURCE "${SOURCE}") + set(GCOV_FILE_SOURCE "${GCOV_FILE_SOURCE}${SOURCE}\\n") + endforeach() + + # Remove trailing comma, and complete JSON array with ] + string(REGEX REPLACE ",[ ]*$" "" GCOV_FILE_COVERAGE ${GCOV_FILE_COVERAGE}) + set(GCOV_FILE_COVERAGE "${GCOV_FILE_COVERAGE}]") + + # Generate the final JSON for this file. + message("Generate JSON for non-gcov file: ${NOT_COVERED_SRC}...") + string(CONFIGURE ${SRC_FILE_TEMPLATE} FILE_JSON) + set(JSON_GCOV_FILES "${JSON_GCOV_FILES}${FILE_JSON}, ") +endforeach() + +# Get rid of trailing comma. +string(REGEX REPLACE ",[ ]*$" "" JSON_GCOV_FILES ${JSON_GCOV_FILES}) +set(JSON_GCOV_FILES "${JSON_GCOV_FILES}]") + +# Generate the final complete JSON! +message("Generate final JSON...") +string(CONFIGURE ${JSON_TEMPLATE} JSON) + +file(WRITE "${COVERALLS_OUTPUT_FILE}" "${JSON}") +message("###########################################################################") +message("Generated coveralls JSON containing coverage data:") +message("${COVERALLS_OUTPUT_FILE}") +message("###########################################################################") diff --git a/3rdparty/fcl/CMakeModules/FCLMacros.cmake b/3rdparty/fcl/CMakeModules/FCLMacros.cmake new file mode 100644 index 0000000..a00b50a --- /dev/null +++ b/3rdparty/fcl/CMakeModules/FCLMacros.cmake @@ -0,0 +1,46 @@ +#=============================================================================== +# Appends items to a cached list. +# Usage: +# fcl_append_to_cached_string(_string _cacheDesc [items...]) +#=============================================================================== +macro(fcl_append_to_cached_string _string _cacheDesc) + foreach(newItem ${ARGN}) + set(${_string} "${${_string}}${newItem}" CACHE INTERNAL ${_cacheDesc} FORCE) + endforeach() +endmacro() + +#=============================================================================== +# Get list of file names give list of full paths. +# Usage: +# fcl_get_filename_components(_var _cacheDesc [items...]) +#=============================================================================== +macro(fcl_get_filename_components _var _cacheDesc _prefix_to_remove) + set(${_var} "" CACHE INTERNAL ${_cacheDesc} FORCE) + string(LENGTH ${_prefix_to_remove} prefix_length) + foreach(header ${ARGN}) + string(LENGTH ${header} full_length) + math(EXPR relative_path_length "${full_length} - ${prefix_length}") + string(SUBSTRING ${header} ${prefix_length} ${relative_path_length} header) + if(NOT ${header} MATCHES "/detail/" AND NOT ${header} MATCHES "-inl.h") + fcl_append_to_cached_string( + ${_var} + ${_cacheDesc}"_HEADER_NAMES" + "${header}\;") + endif() + endforeach() +endmacro() + +#=============================================================================== +# Generate header file list to a cached list. +# Usage: +# fcl_generate_include_header_list(_var _target_dir _cacheDesc [headers...]) +#=============================================================================== +macro(fcl_generate_include_header_list _var _target_dir _cacheDesc) + set(${_var} "" CACHE INTERNAL ${_cacheDesc} FORCE) + foreach(header ${ARGN}) + fcl_append_to_cached_string( + ${_var} + ${_cacheDesc}"_HEADERS" + "#include \"${_target_dir}${header}\"\n") + endforeach() +endmacro() diff --git a/3rdparty/fcl/CMakeModules/FCLVersion.cmake b/3rdparty/fcl/CMakeModules/FCLVersion.cmake new file mode 100644 index 0000000..46a3a91 --- /dev/null +++ b/3rdparty/fcl/CMakeModules/FCLVersion.cmake @@ -0,0 +1,8 @@ +# set the version in a way CMake can use +set(FCL_MAJOR_VERSION 0) +set(FCL_MINOR_VERSION 6) +set(FCL_PATCH_VERSION 0) +set(FCL_VERSION "${FCL_MAJOR_VERSION}.${FCL_MINOR_VERSION}.${FCL_PATCH_VERSION}") + +# increment this when we have ABI changes +set(FCL_ABI_VERSION ${FCL_MAJOR_VERSION}.${FCL_MINOR_VERSION}) diff --git a/3rdparty/fcl/CMakeModules/FindEigen3.cmake b/3rdparty/fcl/CMakeModules/FindEigen3.cmake new file mode 100644 index 0000000..cea1afe --- /dev/null +++ b/3rdparty/fcl/CMakeModules/FindEigen3.cmake @@ -0,0 +1,90 @@ +# - Try to find Eigen3 lib +# +# This module supports requiring a minimum version, e.g. you can do +# find_package(Eigen3 3.1.2) +# to require version 3.1.2 or newer of Eigen3. +# +# Once done this will define +# +# EIGEN3_FOUND - system has eigen lib with correct version +# EIGEN3_INCLUDE_DIR - the eigen include directory +# EIGEN3_VERSION - eigen version +# +# This module reads hints about search locations from +# the following enviroment variables: +# +# EIGEN3_ROOT +# EIGEN3_ROOT_DIR + +# Copyright (c) 2006, 2007 Montel Laurent, +# Copyright (c) 2008, 2009 Gael Guennebaud, +# Copyright (c) 2009 Benoit Jacob +# Redistribution and use is allowed according to the terms of the 2-clause BSD license. + +if(NOT Eigen3_FIND_VERSION) + if(NOT Eigen3_FIND_VERSION_MAJOR) + set(Eigen3_FIND_VERSION_MAJOR 2) + endif(NOT Eigen3_FIND_VERSION_MAJOR) + if(NOT Eigen3_FIND_VERSION_MINOR) + set(Eigen3_FIND_VERSION_MINOR 91) + endif(NOT Eigen3_FIND_VERSION_MINOR) + if(NOT Eigen3_FIND_VERSION_PATCH) + set(Eigen3_FIND_VERSION_PATCH 0) + endif(NOT Eigen3_FIND_VERSION_PATCH) + + set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}") +endif(NOT Eigen3_FIND_VERSION) + +macro(_eigen3_check_version) + file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header) + + string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}") + set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}") + string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}") + set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}") + string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}") + set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}") + + set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION}) + if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) + set(EIGEN3_VERSION_OK FALSE) + else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) + set(EIGEN3_VERSION_OK TRUE) + endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) + + if(NOT EIGEN3_VERSION_OK) + + message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, " + "but at least version ${Eigen3_FIND_VERSION} is required") + endif(NOT EIGEN3_VERSION_OK) +endmacro(_eigen3_check_version) + +if (EIGEN3_INCLUDE_DIR) + + # in cache already + _eigen3_check_version() + set(EIGEN3_FOUND ${EIGEN3_VERSION_OK}) + +else (EIGEN3_INCLUDE_DIR) + + find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library + HINTS + ENV EIGEN3_ROOT + ENV EIGEN3_ROOT_DIR + PATHS + ${CMAKE_INSTALL_PREFIX}/include + ${KDE4_INCLUDE_DIR} + PATH_SUFFIXES eigen3 eigen + ) + + if(EIGEN3_INCLUDE_DIR) + _eigen3_check_version() + endif(EIGEN3_INCLUDE_DIR) + + include(FindPackageHandleStandardArgs) + find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK) + + mark_as_advanced(EIGEN3_INCLUDE_DIR) + +endif(EIGEN3_INCLUDE_DIR) + diff --git a/3rdparty/fcl/CMakeModules/cmake_uninstall.cmake.in b/3rdparty/fcl/CMakeModules/cmake_uninstall.cmake.in new file mode 100644 index 0000000..14cd01d --- /dev/null +++ b/3rdparty/fcl/CMakeModules/cmake_uninstall.cmake.in @@ -0,0 +1,21 @@ +if(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") + message(FATAL_ERROR "Cannot find install manifest: @CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") +endif(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") + +file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files) +string(REGEX REPLACE "\n" ";" files "${files}") +foreach(file ${files}) + message(STATUS "Uninstalling $ENV{DESTDIR}${file}") + if(EXISTS "$ENV{DESTDIR}${file}") + execute_process( + COMMAND @CMAKE_COMMAND@ -E remove "$ENV{DESTDIR}${file}" + OUTPUT_VARIABLE rm_out + RESULT_VARIABLE rm_retval + ) + if(NOT "${rm_retval}" STREQUAL 0) + message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}") + endif(NOT "${rm_retval}" STREQUAL 0) + else(EXISTS "$ENV{DESTDIR}${file}") + message(STATUS "File $ENV{DESTDIR}${file} does not exist.") + endif(EXISTS "$ENV{DESTDIR}${file}") +endforeach(file) diff --git a/3rdparty/fcl/CPPLINT.cfg b/3rdparty/fcl/CPPLINT.cfg new file mode 100644 index 0000000..e9c47a6 --- /dev/null +++ b/3rdparty/fcl/CPPLINT.cfg @@ -0,0 +1,36 @@ +# Copyright (c) 2018, Toyota Research Institute, Inc. +# 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 the copyright holder 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 HOLDER 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: Jamie Snape, Kitware, Inc. + +set noparent + +extensions=cc,cpp,h +filter=-build/c++11,-build/c++14 +root=include diff --git a/3rdparty/fcl/CTestConfig.cmake b/3rdparty/fcl/CTestConfig.cmake new file mode 100644 index 0000000..6871b27 --- /dev/null +++ b/3rdparty/fcl/CTestConfig.cmake @@ -0,0 +1,40 @@ +# -*- mode: cmake -*- +# vi: set ft=cmake : + +# Copyright (c) 2018, Toyota Research Institute, Inc. +# 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 the copyright holder 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 HOLDER 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: Jamie Snape, Kitware, Inc. + +set(CTEST_PROJECT_NAME fcl) +set(CTEST_NIGHTLY_START_TIME "00:00:00 EST") +set(CTEST_DROP_METHOD https) +set(CTEST_DROP_SITE drake-cdash.csail.mit.edu) +set(CTEST_DROP_LOCATION "/submit.php?project=${CTEST_PROJECT_NAME}") +set(CTEST_DROP_SITE_CDASH ON) diff --git a/3rdparty/fcl/CTestCustom.cmake.in b/3rdparty/fcl/CTestCustom.cmake.in new file mode 100644 index 0000000..dffbdfa --- /dev/null +++ b/3rdparty/fcl/CTestCustom.cmake.in @@ -0,0 +1,38 @@ +# -*- mode: cmake -*- +# vi: set ft=cmake : + +# Copyright (c) 2018, Toyota Research Institute, Inc. +# 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 the copyright holder 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 HOLDER 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: Jamie Snape, Kitware, Inc. + +list(APPEND CTEST_CUSTOM_COVERAGE_EXCLUDE ".*/test/.*") + +set(CTEST_CUSTOM_MAXIMUM_NUMBER_OF_ERRORS 128) +set(CTEST_CUSTOM_MAXIMUM_NUMBER_OF_WARNINGS 128) diff --git a/3rdparty/fcl/INSTALL b/3rdparty/fcl/INSTALL new file mode 100644 index 0000000..7e1b16b --- /dev/null +++ b/3rdparty/fcl/INSTALL @@ -0,0 +1,32 @@ + +Dependencies: +============ + + - Eigen (available at http://eigen.tuxfamily.org/) + - libccd (available at http://libccd.danfis.cz/) + - octomap (optional dependency, available at http://octomap.github.com) + +Eigen and libccd are mandatory dependencies. If octomap is not found, +collision detection with octrees will not be possible. + +For installation, CMake will also be needed (http://cmake.org). + +Install: +======= + +* Linux / Mac OS: + The CMakeLists.txt can be used to generate makefiles; For example, one may use operations such as: + + mkdir build + cd build + cmake .. + make -jN # N is the maximum number of parallel compile jobs + +Once the compilation is finished, + make install +will install the project. To specify the installation prefix, +pass the parameter -DCMAKE_INSTALL_PREFIX=/my/prefix/ to the "cmake .." command above. + + +* Visual Studio (2015 or higher is required): + The CMakeLists.txt can be used to generate a Visual Studio project, using the cmake build tool. diff --git a/3rdparty/fcl/LICENSE b/3rdparty/fcl/LICENSE new file mode 100644 index 0000000..23afe49 --- /dev/null +++ b/3rdparty/fcl/LICENSE @@ -0,0 +1,32 @@ +Software License Agreement (BSD License) + + Copyright (c) 2008-2014, 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. diff --git a/3rdparty/fcl/README.md b/3rdparty/fcl/README.md new file mode 100644 index 0000000..8d9e459 --- /dev/null +++ b/3rdparty/fcl/README.md @@ -0,0 +1,184 @@ +## FCL -- The Flexible Collision Library + +Linux / OS X [![Build Status](https://travis-ci.org/flexible-collision-library/fcl.svg?branch=master)](https://travis-ci.org/flexible-collision-library/fcl) +Windows [![Build status](https://ci.appveyor.com/api/projects/status/do1k727uu6e8uemf/branch/master?svg=true)](https://ci.appveyor.com/project/flexible-collision-library/fcl) +Coverage [![Coverage Status](https://coveralls.io/repos/github/flexible-collision-library/fcl/badge.svg?branch=master)](https://coveralls.io/github/flexible-collision-library/fcl?branch=master) + +FCL is a library for performing three types of proximity queries on a pair of geometric models composed of triangles. + - Collision detection: detecting whether the two models overlap, and optionally, all of the triangles that overlap. + - Distance computation: computing the minimum distance between a pair of models, i.e., the distance between the closest pair of points. + - Tolerance verification: determining whether two models are closer or farther than a tolerance distance. + - Continuous collision detection: detecting whether the two moving models overlap during the movement, and optionally, the time of contact. + - Contact information: for collision detection and continuous collision detection, the contact information (including contact normals and contact points) can be returned optionally. + +FCL has the following features + - C++ interface + - Compilable for either linux or win32 (both makefiles and Microsoft Visual projects can be generated using cmake) + - No special topological constraints or adjacency information required for input models – all that is necessary is a list of the model's triangles + - Supported different object shapes: + + box + + sphere + + ellipsoid + + capsule + + cone + + cylinder + + convex + + half-space + + plane + + mesh + + octree (optional, octrees are represented using the octomap library http://octomap.github.com) + + +## Installation + +Before compiling FCL, please make sure Eigen and libccd (for collision checking between convex objects and is available here https://github.com/danfis/libccd) are installed. For libccd, make sure to compile from github version instead of the zip file from the webpage, because one bug fixing is not included in the zipped version. + +Some optional libraries need to be installed for some optional capability of FCL. For octree collision, please install the octomap library from http://octomap.github.com. + +CMakeLists.txt is used to generate makefiles in Linux or Visual studio projects in windows. In command line, run +``` cmake +mkdir build +cd build +cmake .. +``` +Next, in linux, use make to compile the code. + +In windows, there will generate a visual studio project and then you can compile the code. + +## Interfaces +Before starting the proximity computation, we need first to set the geometry and transform for the objects involving in computation. The geometry of an object is represented as a mesh soup, which can be set as follows: + +```cpp +// set mesh triangles and vertice indices +std::vector vertices; +std::vector triangles; +// code to set the vertices and triangles +... +// BVHModel is a template class for mesh geometry, for default OBBRSS template is used +typedef BVHModel Model; +Model* model = new Model(); +// add the mesh data into the BVHModel structure +model->beginModel(); +model->addSubModel(vertices, triangles); +model->endModel(); +``` + +The transform of an object includes the rotation and translation: +```cpp +// R and T are the rotation matrix and translation vector +Matrix3f R; +Vec3f T; +// code for setting R and T +... +// transform is configured according to R and T +Transform3f pose(R, T); +``` + + +Given the geometry and the transform, we can also combine them together to obtain a collision object instance and here is an example: +```cpp +//geom and tf are the geometry and the transform of the object +BVHModel* geom = ... +Transform3f tf = ... +//Combine them together +CollisionObject* obj = new CollisionObject(geom, tf); +``` + +Once the objects are set, we can perform the proximity computation between them. All the proximity queries in FCL follow a common pipeline: first, set the query request data structure and then run the query function by using request as the input. The result is returned in a query result data structure. For example, for collision checking, we first set the CollisionRequest data structure, and then run the collision function: +```cpp +// Given two objects o1 and o2 +CollisionObject* o1 = ... +CollisionObject* o2 = ... +// set the collision request structure, here we just use the default setting +CollisionRequest request; +// result will be returned via the collision result structure +CollisionResult result; +// perform collision test +collide(o1, o2, request, result); +``` + +By setting the collision request, the user can easily choose whether to return contact information (which is slower) or just return binary collision results (which is faster). + + +For distance computation, the pipeline is almost the same: + +```cpp +// Given two objects o1 and o2 +CollisionObject* o1 = ... +CollisionObject* o2 = ... +// set the distance request structure, here we just use the default setting +DistanceRequest request; +// result will be returned via the collision result structure +DistanceResult result; +// perform distance test +distance(o1, o2, request, result); +``` + +For continuous collision, FCL requires the goal transform to be provided (the initial transform is included in the collision object data structure). Beside that, the pipeline is almost the same as distance/collision: + +```cpp +// Given two objects o1 and o2 +CollisionObject* o1 = ... +CollisionObject* o2 = ... +// The goal transforms for o1 and o2 +Transform3f tf_goal_o1 = ... +Transform3f tf_goal_o2 = ... +// set the continuous collision request structure, here we just use the default setting +ContinuousCollisionRequest request; +// result will be returned via the continuous collision result structure +ContinuousCollisionResult result; +// perform continuous collision test +continuousCollide(o1, tf_goal_o1, o2, tf_goal_o2, request, result); +``` + +FCL supports broadphase collision/distance between two groups of objects and can avoid the n square complexity. For collision, broadphase algorithm can return all the collision pairs. For distance, it can return the pair with the minimum distance. FCL uses a CollisionManager structure to manage all the objects involving the collision or distance operations. +```cpp +// Initialize the collision manager for the first group of objects. +// FCL provides various different implementations of CollisionManager. +// Generally, the DynamicAABBTreeCollisionManager would provide the best performance. +BroadPhaseCollisionManager* manager1 = new DynamicAABBTreeCollisionManager(); +// Initialize the collision manager for the second group of objects. +BroadPhaseCollisionManager* manager2 = new DynamicAABBTreeCollisionManager(); +// To add objects into the collision manager, using BroadPhaseCollisionManager::registerObject() function to add one object +std::vector objects1 = ... +for(std::size_t i = 0; i < objects1.size(); ++i) +manager1->registerObject(objects1[i]); +// Another choose is to use BroadPhaseCollisionManager::registerObjects() function to add a set of objects +std::vector objects2 = ... +manager2->registerObjects(objects2); +// In order to collect the information during broadphase, CollisionManager requires two settings: +// a) a callback to collision or distance; +// b) an intermediate data to store the information generated during the broadphase computation +// For a), FCL provides the default callbacks for both collision and distance. +// For b), FCL uses the CollisionData structure for collision and DistanceData structure for distance. CollisionData/DistanceData is just a container including both the CollisionRequest/DistanceRequest and CollisionResult/DistanceResult structures mentioned above. +CollisionData collision_data; +DistanceData distance_data; +// Setup the managers, which is related with initializing the broadphase acceleration structure according to objects input +manager1->setup(); +manager2->setup(); +// Examples for various queries +// 1. Collision query between two object groups and get collision numbers +manager2->collide(manager1, &collision_data, defaultCollisionFunction); +int n_contact_num = collision_data.result.numContacts(); +// 2. Distance query between two object groups and get the minimum distance +manager2->distance(manager1, &distance_data, defaultDistanceFunction); +double min_distance = distance_data.result.min_distance; +// 3. Self collision query for group 1 +manager1->collide(&collision_data, defaultCollisionFunction); +// 4. Self distance query for group 1 +manager1->distance(&distance_data, defaultDistanceFunction); +// 5. Collision query between one object in group 1 and the entire group 2 +manager2->collide(objects1[0], &collision_data, defaultCollisionFunction); +// 6. Distance query between one object in group 1 and the entire group 2 +manager2->distance(objects1[0], &distance_data, defaultDistanceFunction); +``` + + +For more examples, please refer to the test folder: +- test_fcl_collision.cpp: provide examples for collision test +- test_fcl_distance.cpp: provide examples for distance test +- test_fcl_broadphase.cpp: provide examples for broadphase collision/distance test +- test_fcl_frontlist.cpp: provide examples for frontlist collision acceleration +#- test_fcl_global_penetration.cpp: provide examples for global penetration depth test +#- test_fcl_xmldata.cpp: provide examples for more global penetration depth test based on xml data +- test_fcl_octomap.cpp: provide examples for collision/distance computation between octomap data and other data types. diff --git a/3rdparty/fcl/ci/install_linux.sh b/3rdparty/fcl/ci/install_linux.sh new file mode 100755 index 0000000..8ca130d --- /dev/null +++ b/3rdparty/fcl/ci/install_linux.sh @@ -0,0 +1,15 @@ +sudo add-apt-repository --yes ppa:libccd-debs/ppa +sudo apt-get -qq update + +sudo apt-get -qq --yes --force-yes install libeigen3-dev +sudo apt-get -qq --yes --force-yes install libccd-dev + +# Octomap +git clone https://github.com/OctoMap/octomap +cd octomap +git checkout tags/v1.8.0 +mkdir build +cd build +cmake .. +make +sudo make install diff --git a/3rdparty/fcl/ci/install_osx.sh b/3rdparty/fcl/ci/install_osx.sh new file mode 100755 index 0000000..867493d --- /dev/null +++ b/3rdparty/fcl/ci/install_osx.sh @@ -0,0 +1,16 @@ +brew update > /dev/null + +brew install git +brew install cmake +brew install eigen +brew install libccd + +# Octomap +git clone https://github.com/OctoMap/octomap +cd octomap +git checkout tags/v1.8.0 +mkdir build +cd build +cmake .. +make +sudo make install diff --git a/3rdparty/fcl/doc/Doxyfile.in b/3rdparty/fcl/doc/Doxyfile.in new file mode 100644 index 0000000..a8090d6 --- /dev/null +++ b/3rdparty/fcl/doc/Doxyfile.in @@ -0,0 +1,2425 @@ +# Doxyfile 1.8.11 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. 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Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. 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If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some parameters +# in a documented function, or documenting parameters that don't exist or using +# markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong or incomplete +# parameter documentation, but not about the absence of documentation. +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = @DOXYGEN_INPUT_ROOT@ + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: http://www.gnu.org/software/libiconv) for the list of +# possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, +# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, +# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f, *.for, *.tcl, +# *.vhd, *.vhdl, *.ucf, *.qsf, *.as and *.js. + +FILE_PATTERNS = + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# function all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see http://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the config file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the +# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the +# cost of reduced performance. This can be particularly helpful with template +# rich C++ code for which doxygen's built-in parser lacks the necessary type +# information. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse-libclang=ON option for CMake. +# The default value is: NO. + +CLANG_ASSISTED_PARSING = NO + +# If clang assisted parsing is enabled you can provide the compiler with command +# line options that you would normally use when invoking the compiler. Note that +# the include paths will already be set by doxygen for the files and directories +# specified with INPUT and INCLUDE_PATH. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_OPTIONS = + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in +# which the alphabetical index list will be split. +# Minimum value: 1, maximum value: 20, default value: 5. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). For an example see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a colorwheel, see +# http://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use grayscales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to YES can help to show when doxygen was last run and thus if the +# documentation is up to date. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = NO + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: http://developer.apple.com/tools/xcode/), introduced with +# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a +# Makefile in the HTML output directory. Running make will produce the docset in +# that directory and running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on +# Windows. +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the master .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- +# folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location of Qt's +# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the +# generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine-tune the look of the index. As an example, the default style +# sheet generated by doxygen has an example that shows how to put an image at +# the root of the tree instead of the PROJECT_NAME. Since the tree basically has +# the same information as the tab index, you could consider setting +# DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = YES + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# http://www.mathjax.org) which uses client side Javascript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. See the MathJax site (see: +# http://docs.mathjax.org/en/latest/output.html) for more details. +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility), NativeMML (i.e. MathML) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from http://www.mathjax.org before deployment. +# The default value is: http://cdn.mathjax.org/mathjax/latest. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use + S +# (what the is depends on the OS and browser, but it is typically +# , /