commit 85e3bf2b40104a05f0f4020954b816122d11d672 Author: duongtd Date: Mon Nov 17 10:46:18 2025 +0700 first commit diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100755 index 0000000..38c8c28 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,63 @@ +cmake_minimum_required(VERSION 3.10) +project(voxel_grid) + +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) +set(CMAKE_POSITION_INDEPENDENT_CODE ON) +include(CTest) + +# # Check for sys/time.h +# check_include_file(sys/time.h HAVE_SYS_TIME_H) +# if (HAVE_SYS_TIME_H) +# add_definitions(-DHAVE_SYS_TIME_H) +# endif (HAVE_SYS_TIME_H) + +# Include directories +include_directories( + include + ${GTEST_INCLUDE_DIRS} + ) + +# Library +add_library(voxel_grid SHARED src/voxel_grid.cpp) + +target_include_directories(voxel_grid + PUBLIC + $ + $ +) + +# Install targets +install(TARGETS voxel_grid + EXPORT voxel_grid + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin + INCLUDES DESTINATION include +) + +# Install headers +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION include/${PROJECT_NAME} +) + +# Testing +enable_testing() + +# Find Google Test +find_package(GTest QUIET) +if(GTest_FOUND OR GTEST_FOUND) + # Find pthread (required for GTest) + find_package(Threads REQUIRED) + + include_directories(${GTEST_INCLUDE_DIRS}) + add_executable(voxel_grid_tests test/voxel_grid_tests.cpp) + target_link_libraries(voxel_grid_tests + voxel_grid + ${GTEST_LIBRARIES} + Threads::Threads + ) + add_test(NAME voxel_grid_tests COMMAND voxel_grid_tests) +else() + message(STATUS "Google Test not found. Tests will not be built.") +endif() diff --git a/build/CMakeCache.txt b/build/CMakeCache.txt new file mode 100644 index 0000000..b7ae0ea --- /dev/null +++ b/build/CMakeCache.txt @@ -0,0 +1,522 @@ +# This is the CMakeCache file. +# For build in directory: /home/duongtd/robotics_core/voxel_grid/build +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Build the testing tree. +BUILD_TESTING:BOOL=ON + +//Path to a program. +BZRCOMMAND:FILEPATH=/usr/bin/bzr + +//Path to a program. 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endif +# if defined(__GNUC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(_MSC_VER) +# define COMPILER_ID "MSVC" + /* _MSC_VER = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100) +# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100) +# if defined(_MSC_FULL_VER) +# if _MSC_VER >= 1400 + /* _MSC_FULL_VER = VVRRPPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000) +# else + /* _MSC_FULL_VER = VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" +#if defined(__VISUALDSPVERSION__) + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) +#endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" +# if defined(__VER__) && defined(__ICCARM__) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000) +# define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000) +# define COMPILER_VERSION_PATCH DEC((__VER__) % 1000) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__)) +# define COMPILER_VERSION_MAJOR DEC((__VER__) / 100) +# define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100)) +# define COMPILER_VERSION_PATCH DEC(__SUBVERSION__) +# define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__) +# endif + +#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC) +# define COMPILER_ID "SDCC" +# if defined(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR) +# define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR) +# define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH) +# else + /* SDCC = VRP */ +# define COMPILER_VERSION_MAJOR DEC(SDCC/100) +# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10) +# define COMPILER_VERSION_PATCH DEC(SDCC % 10) +# endif + + +/* These compilers are either not known or too old to define an + identification macro. Try to identify the platform and guess that + it is the native compiler. */ +#elif defined(__hpux) || defined(__hpua) +# define COMPILER_ID "HP" + +#else /* unknown compiler */ +# define COMPILER_ID "" +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]"; +#ifdef SIMULATE_ID +char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]"; +#endif + +#ifdef __QNXNTO__ +char const* qnxnto = "INFO" ":" "qnxnto[]"; +#endif + +#if defined(__CRAYXE) || defined(__CRAYXC) +char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]"; +#endif + +#define STRINGIFY_HELPER(X) #X +#define STRINGIFY(X) STRINGIFY_HELPER(X) + +/* Identify known platforms by name. */ +#if defined(__linux) || defined(__linux__) || defined(linux) +# define PLATFORM_ID "Linux" + +#elif defined(__CYGWIN__) +# define PLATFORM_ID "Cygwin" + +#elif defined(__MINGW32__) +# define PLATFORM_ID "MinGW" + +#elif defined(__APPLE__) +# define PLATFORM_ID "Darwin" + +#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32) +# define PLATFORM_ID "Windows" + +#elif defined(__FreeBSD__) || defined(__FreeBSD) +# define PLATFORM_ID "FreeBSD" + +#elif defined(__NetBSD__) || defined(__NetBSD) +# define PLATFORM_ID "NetBSD" + +#elif defined(__OpenBSD__) || defined(__OPENBSD) +# define PLATFORM_ID "OpenBSD" + +#elif defined(__sun) || defined(sun) +# define PLATFORM_ID "SunOS" + +#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__) +# define PLATFORM_ID "AIX" + +#elif defined(__hpux) || defined(__hpux__) +# define PLATFORM_ID "HP-UX" + +#elif defined(__HAIKU__) +# define PLATFORM_ID "Haiku" + +#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS) +# define PLATFORM_ID "BeOS" + +#elif defined(__QNX__) || defined(__QNXNTO__) +# define PLATFORM_ID "QNX" + +#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__) +# define PLATFORM_ID "Tru64" + +#elif defined(__riscos) || defined(__riscos__) +# define PLATFORM_ID "RISCos" + +#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__) +# define PLATFORM_ID "SINIX" + +#elif defined(__UNIX_SV__) +# define PLATFORM_ID "UNIX_SV" + +#elif defined(__bsdos__) +# define PLATFORM_ID "BSDOS" + +#elif defined(_MPRAS) || defined(MPRAS) +# define PLATFORM_ID "MP-RAS" + +#elif defined(__osf) || defined(__osf__) +# define PLATFORM_ID "OSF1" + +#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv) +# define PLATFORM_ID "SCO_SV" + +#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX) +# define PLATFORM_ID "ULTRIX" + +#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX) +# define PLATFORM_ID "Xenix" + +#elif defined(__WATCOMC__) +# if defined(__LINUX__) +# define PLATFORM_ID "Linux" + +# elif defined(__DOS__) +# define PLATFORM_ID "DOS" + +# elif defined(__OS2__) +# define PLATFORM_ID "OS2" + +# elif defined(__WINDOWS__) +# define PLATFORM_ID "Windows3x" + +# else /* unknown platform */ +# define PLATFORM_ID +# endif + +#elif defined(__INTEGRITY) +# if defined(INT_178B) +# define PLATFORM_ID "Integrity178" + +# else /* regular Integrity */ +# define PLATFORM_ID "Integrity" +# endif + +#else /* unknown platform */ +# define PLATFORM_ID + +#endif + +/* For windows compilers MSVC and Intel we can determine + the architecture of the compiler being used. This is because + the compilers do not have flags that can change the architecture, + but rather depend on which compiler is being used +*/ +#if defined(_WIN32) && defined(_MSC_VER) +# if defined(_M_IA64) +# define ARCHITECTURE_ID "IA64" + +# elif defined(_M_X64) || defined(_M_AMD64) +# define ARCHITECTURE_ID "x64" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# elif defined(_M_ARM64) +# define ARCHITECTURE_ID "ARM64" + +# elif defined(_M_ARM) +# if _M_ARM == 4 +# define ARCHITECTURE_ID "ARMV4I" +# elif _M_ARM == 5 +# define ARCHITECTURE_ID "ARMV5I" +# else +# define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM) +# endif + +# elif defined(_M_MIPS) +# define ARCHITECTURE_ID "MIPS" + +# elif defined(_M_SH) +# define ARCHITECTURE_ID "SHx" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__WATCOMC__) +# if defined(_M_I86) +# define ARCHITECTURE_ID "I86" + +# elif defined(_M_IX86) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC) +# if defined(__ICCARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__ICCRX__) +# define ARCHITECTURE_ID "RX" + +# elif defined(__ICCRH850__) +# define ARCHITECTURE_ID "RH850" + +# elif defined(__ICCRL78__) +# define ARCHITECTURE_ID "RL78" + +# elif defined(__ICCRISCV__) +# define ARCHITECTURE_ID "RISCV" + +# elif defined(__ICCAVR__) +# define ARCHITECTURE_ID "AVR" + +# elif defined(__ICC430__) +# define ARCHITECTURE_ID "MSP430" + +# elif defined(__ICCV850__) +# define ARCHITECTURE_ID "V850" + +# elif defined(__ICC8051__) +# define ARCHITECTURE_ID "8051" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif + +#elif defined(__ghs__) +# if defined(__PPC64__) +# define ARCHITECTURE_ID "PPC64" + +# elif defined(__ppc__) +# define ARCHITECTURE_ID "PPC" + +# elif defined(__ARM__) +# define ARCHITECTURE_ID "ARM" + +# elif defined(__x86_64__) +# define ARCHITECTURE_ID "x64" + +# elif defined(__i386__) +# define ARCHITECTURE_ID "X86" + +# else /* unknown architecture */ +# define ARCHITECTURE_ID "" +# endif +#else +# define ARCHITECTURE_ID +#endif + +/* Convert integer to decimal digit literals. */ +#define DEC(n) \ + ('0' + (((n) / 10000000)%10)), \ + ('0' + (((n) / 1000000)%10)), \ + ('0' + (((n) / 100000)%10)), \ + ('0' + (((n) / 10000)%10)), \ + ('0' + (((n) / 1000)%10)), \ + ('0' + (((n) / 100)%10)), \ + ('0' + (((n) / 10)%10)), \ + ('0' + ((n) % 10)) + +/* Convert integer to hex digit literals. */ +#define HEX(n) \ + ('0' + ((n)>>28 & 0xF)), \ + ('0' + ((n)>>24 & 0xF)), \ + ('0' + ((n)>>20 & 0xF)), \ + ('0' + ((n)>>16 & 0xF)), \ + ('0' + ((n)>>12 & 0xF)), \ + ('0' + ((n)>>8 & 0xF)), \ + ('0' + ((n)>>4 & 0xF)), \ + ('0' + ((n) & 0xF)) + +/* Construct a string literal encoding the version number components. */ +#ifdef COMPILER_VERSION_MAJOR +char const info_version[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[', + COMPILER_VERSION_MAJOR, +# ifdef COMPILER_VERSION_MINOR + '.', COMPILER_VERSION_MINOR, +# ifdef COMPILER_VERSION_PATCH + '.', COMPILER_VERSION_PATCH, +# ifdef COMPILER_VERSION_TWEAK + '.', COMPILER_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct a string literal encoding the internal version number. */ +#ifdef COMPILER_VERSION_INTERNAL +char const info_version_internal[] = { + 'I', 'N', 'F', 'O', ':', + 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_', + 'i','n','t','e','r','n','a','l','[', + COMPILER_VERSION_INTERNAL,']','\0'}; +#endif + +/* Construct a string literal encoding the version number components. */ +#ifdef SIMULATE_VERSION_MAJOR +char const info_simulate_version[] = { + 'I', 'N', 'F', 'O', ':', + 's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[', + SIMULATE_VERSION_MAJOR, +# ifdef SIMULATE_VERSION_MINOR + '.', SIMULATE_VERSION_MINOR, +# ifdef SIMULATE_VERSION_PATCH + '.', SIMULATE_VERSION_PATCH, +# ifdef SIMULATE_VERSION_TWEAK + '.', SIMULATE_VERSION_TWEAK, +# endif +# endif +# endif + ']','\0'}; +#endif + +/* Construct the string literal in pieces to prevent the source from + getting matched. Store it in a pointer rather than an array + because some compilers will just produce instructions to fill the + array rather than assigning a pointer to a static array. */ +char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]"; +char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]"; + + + + +#if !defined(__STDC__) +# if (defined(_MSC_VER) && !defined(__clang__)) \ + || (defined(__ibmxl__) || defined(__IBMC__)) +# define C_DIALECT "90" +# else +# define C_DIALECT +# endif +#elif __STDC_VERSION__ >= 201000L +# define C_DIALECT "11" +#elif __STDC_VERSION__ >= 199901L +# define C_DIALECT "99" +#else +# define C_DIALECT "90" +#endif +const char* info_language_dialect_default = + "INFO" ":" "dialect_default[" C_DIALECT "]"; + +/*--------------------------------------------------------------------------*/ + +#ifdef ID_VOID_MAIN +void main() {} +#else +# if defined(__CLASSIC_C__) +int main(argc, argv) int argc; char *argv[]; +# else +int main(int argc, char* argv[]) +# endif +{ + int require = 0; + require += info_compiler[argc]; + require += info_platform[argc]; + require += info_arch[argc]; +#ifdef COMPILER_VERSION_MAJOR + require += info_version[argc]; +#endif +#ifdef COMPILER_VERSION_INTERNAL + require += info_version_internal[argc]; +#endif +#ifdef SIMULATE_ID + require += info_simulate[argc]; +#endif +#ifdef SIMULATE_VERSION_MAJOR + require += info_simulate_version[argc]; +#endif +#if defined(__CRAYXE) || defined(__CRAYXC) + require += info_cray[argc]; +#endif + require += info_language_dialect_default[argc]; + (void)argv; + return require; +} +#endif diff --git a/build/CMakeFiles/3.16.3/CompilerIdC/a.out b/build/CMakeFiles/3.16.3/CompilerIdC/a.out new file mode 100755 index 0000000..b5c91a3 Binary files /dev/null and b/build/CMakeFiles/3.16.3/CompilerIdC/a.out differ diff --git a/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp b/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp new file mode 100644 index 0000000..69cfdba --- /dev/null +++ b/build/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp @@ -0,0 +1,660 @@ +/* This source file must have a .cpp extension so that all C++ compilers + recognize the extension without flags. Borland does not know .cxx for + example. */ +#ifndef __cplusplus +# error "A C compiler has been selected for C++." +#endif + + +/* Version number components: V=Version, R=Revision, P=Patch + Version date components: YYYY=Year, MM=Month, DD=Day */ + +#if defined(__COMO__) +# define COMPILER_ID "Comeau" + /* __COMO_VERSION__ = VRR */ +# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100) +# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100) + +#elif defined(__INTEL_COMPILER) || defined(__ICC) +# define COMPILER_ID "Intel" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# if defined(__GNUC__) +# define SIMULATE_ID "GNU" +# endif + /* __INTEL_COMPILER = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100) +# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10) +# if defined(__INTEL_COMPILER_UPDATE) +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE) +# else +# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10) +# endif +# if defined(__INTEL_COMPILER_BUILD_DATE) + /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */ +# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE) +# endif +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# if defined(__GNUC__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUC__) +# elif defined(__GNUG__) +# define SIMULATE_VERSION_MAJOR DEC(__GNUG__) +# endif +# if defined(__GNUC_MINOR__) +# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__) +# endif +# if defined(__GNUC_PATCHLEVEL__) +# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__) +# endif + +#elif defined(__PATHCC__) +# define COMPILER_ID "PathScale" +# define COMPILER_VERSION_MAJOR DEC(__PATHCC__) +# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__) +# if defined(__PATHCC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__) +# endif + +#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__) +# define COMPILER_ID "Embarcadero" +# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF) +# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF) +# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__ & 0xFFFF) + +#elif defined(__BORLANDC__) +# define COMPILER_ID "Borland" + /* __BORLANDC__ = 0xVRR */ +# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8) +# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF) + +#elif defined(__WATCOMC__) && __WATCOMC__ < 1200 +# define COMPILER_ID "Watcom" + /* __WATCOMC__ = VVRR */ +# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__WATCOMC__) +# define COMPILER_ID "OpenWatcom" + /* __WATCOMC__ = VVRP + 1100 */ +# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100) +# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10) +# if (__WATCOMC__ % 10) > 0 +# define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10) +# endif + +#elif defined(__SUNPRO_CC) +# define COMPILER_ID "SunPro" +# if __SUNPRO_CC >= 0x5100 + /* __SUNPRO_CC = 0xVRRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# else + /* __SUNPRO_CC = 0xVRP */ +# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8) +# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF) +# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF) +# endif + +#elif defined(__HP_aCC) +# define COMPILER_ID "HP" + /* __HP_aCC = VVRRPP */ +# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000) +# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100) +# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100) + +#elif defined(__DECCXX) +# define COMPILER_ID "Compaq" + /* __DECCXX_VER = VVRRTPPPP */ +# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000) +# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100) +# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000) + +#elif defined(__IBMCPP__) && defined(__COMPILER_VER__) +# define COMPILER_ID "zOS" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__ibmxl__) && defined(__clang__) +# define COMPILER_ID "XLClang" +# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__) +# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__) +# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__) +# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__) + + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800 +# define COMPILER_ID "XL" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800 +# define COMPILER_ID "VisualAge" + /* __IBMCPP__ = VRP */ +# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100) +# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10) +# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10) + +#elif defined(__PGI) +# define COMPILER_ID "PGI" +# define COMPILER_VERSION_MAJOR DEC(__PGIC__) +# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__) +# if defined(__PGIC_PATCHLEVEL__) +# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__) +# endif + +#elif defined(_CRAYC) +# define COMPILER_ID "Cray" +# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR) +# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR) + +#elif defined(__TI_COMPILER_VERSION__) +# define COMPILER_ID "TI" + /* __TI_COMPILER_VERSION__ = VVVRRRPPP */ +# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000) +# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000) +# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000) + +#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version) +# define COMPILER_ID "Fujitsu" + +#elif defined(__ghs__) +# define COMPILER_ID "GHS" +/* __GHS_VERSION_NUMBER = VVVVRP */ +# ifdef __GHS_VERSION_NUMBER +# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100) +# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10) +# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER % 10) +# endif + +#elif defined(__SCO_VERSION__) +# define COMPILER_ID "SCO" + +#elif defined(__ARMCC_VERSION) && !defined(__clang__) +# define COMPILER_ID "ARMCC" +#if __ARMCC_VERSION >= 1000000 + /* __ARMCC_VERSION = VRRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#else + /* __ARMCC_VERSION = VRPPPP */ + # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000) + # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10) + # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION % 10000) +#endif + + +#elif defined(__clang__) && defined(__apple_build_version__) +# define COMPILER_ID "AppleClang" +# if defined(_MSC_VER) +# define SIMULATE_ID "MSVC" +# endif +# define COMPILER_VERSION_MAJOR DEC(__clang_major__) +# define COMPILER_VERSION_MINOR DEC(__clang_minor__) +# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__) +# if defined(_MSC_VER) + /* _MSC_VER = VVRR */ +# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100) +# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100) +# endif +# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__) + +#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION) +# define COMPILER_ID "ARMClang" + # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000) + # define COMPILER_VERSION_MINOR 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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: Eitan Marder-Eppstein + *********************************************************************/ +#ifndef VOXEL_GRID_VOXEL_GRID_H +#define VOXEL_GRID_VOXEL_GRID_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/** + * @class VoxelGrid + * @brief A 3D grid structure that stores points as an integer array. + * X and Y index the array and Z selects which bit of the integer + * is used giving a limit of 16 vertical cells. + */ +namespace voxel_grid +{ + +enum VoxelStatus { + FREE = 0, + UNKNOWN = 1, + MARKED = 2, +}; + +class VoxelGrid +{ +public: + /** + * @brief Constructor for a voxel grid + * @param size_x The x size of the grid + * @param size_y The y size of the grid + * @param size_z The z size of the grid, only sizes <= 16 are supported + */ + VoxelGrid(unsigned int size_x, unsigned int size_y, unsigned int size_z); + + ~VoxelGrid(); + + /** + * @brief Resizes a voxel grid to the desired size + * @param size_x The x size of the grid + * @param size_y The y size of the grid + * @param size_z The z size of the grid, only sizes <= 16 are supported + */ + void resize(unsigned int size_x, unsigned int size_y, unsigned int size_z); + + void reset(); + uint32_t* getData() { return data_; } + + inline void markVoxel(unsigned int x, unsigned int y, unsigned int z) + { + if (x >= size_x_ || y >= size_y_ || z >= size_z_) + { + // Voxel out of bounds - silently return + return; + } + uint32_t full_mask = ((uint32_t)1<= size_x_ || y >= size_y_ || z >= size_z_) + { + // Voxel out of bounds + return false; + } + + int index = y * size_x_ + x; + uint32_t* col = &data_[index]; + uint32_t full_mask = ((uint32_t)1<>16; + + //make sure the number of bits in each is below our thesholds + return !bitsBelowThreshold(marked_bits, marked_threshold); + } + + inline void clearVoxel(unsigned int x, unsigned int y, unsigned int z) + { + if (x >= size_x_ || y >= size_y_ || z >= size_z_) + { + // Voxel out of bounds - silently return + return; + } + uint32_t full_mask = ((uint32_t)1<= size_x_ || y >= size_y_ || z >= size_z_) + { + // Voxel out of bounds - silently return + return; + } + int index = y * size_x_ + x; + uint32_t* col = &data_[index]; + uint32_t full_mask = ((uint32_t)1<>16) ^ uint16_t(*col); + unsigned int marked_bits = *col>>16; + + //make sure the number of bits in each is below our thesholds + if (bitsBelowThreshold(unknown_bits, 1) && bitsBelowThreshold(marked_bits, 1)) + { + costmap[index] = 0; + } + } + + inline bool bitsBelowThreshold(unsigned int n, unsigned int bit_threshold) + { + unsigned int bit_count; + for (bit_count = 0; n;) + { + ++bit_count; + if (bit_count > bit_threshold) + { + return false; + } + n &= n - 1; //clear the least significant bit set + } + return true; + } + + static inline unsigned int numBits(unsigned int n) + { + unsigned int bit_count; + for (bit_count = 0; n; ++bit_count) + { + n &= n - 1; //clear the least significant bit set + } + return bit_count; + } + + static VoxelStatus getVoxel( + unsigned int x, unsigned int y, unsigned int z, + unsigned int size_x, unsigned int size_y, unsigned int size_z, const uint32_t* data) + { + if (x >= size_x || y >= size_y || z >= size_z) + { + // Voxel out of bounds + return UNKNOWN; + } + uint32_t full_mask = ((uint32_t)1< + inline void raytraceLine( + ActionType at, double x0, double y0, double z0, + double x1, double y1, double z1, unsigned int max_length = UINT_MAX) + { + int dx = int(x1) - int(x0); + int dy = int(y1) - int(y0); + int dz = int(z1) - int(z0); + + unsigned int abs_dx = abs(dx); + unsigned int abs_dy = abs(dy); + unsigned int abs_dz = abs(dz); + + int offset_dx = sign(dx); + int offset_dy = sign(dy) * size_x_; + int offset_dz = sign(dz); + + unsigned int z_mask = ((1 << 16) | 1) << (unsigned int)z0; + unsigned int offset = (unsigned int)y0 * size_x_ + (unsigned int)x0; + + GridOffset grid_off(offset); + ZOffset z_off(z_mask); + + //we need to chose how much to scale our dominant dimension, based on the maximum length of the line + double dist = sqrt((x0 - x1) * (x0 - x1) + (y0 - y1) * (y0 - y1) + (z0 - z1) * (z0 - z1)); + double scale = std::min(1.0, max_length / dist); + + //is x dominant + if (abs_dx >= max(abs_dy, abs_dz)) + { + int error_y = abs_dx / 2; + int error_z = abs_dx / 2; + + bresenham3D(at, grid_off, grid_off, z_off, abs_dx, abs_dy, abs_dz, error_y, error_z, offset_dx, offset_dy, offset_dz, offset, z_mask, (unsigned int)(scale * abs_dx)); + return; + } + + //y is dominant + if (abs_dy >= abs_dz) + { + int error_x = abs_dy / 2; + int error_z = abs_dy / 2; + + bresenham3D(at, grid_off, grid_off, z_off, abs_dy, abs_dx, abs_dz, error_x, error_z, offset_dy, offset_dx, offset_dz, offset, z_mask, (unsigned int)(scale * abs_dy)); + return; + } + + //otherwise, z is dominant + int error_x = abs_dz / 2; + int error_y = abs_dz / 2; + + bresenham3D(at, z_off, grid_off, grid_off, abs_dz, abs_dx, abs_dy, error_x, error_y, offset_dz, offset_dx, offset_dy, offset, z_mask, (unsigned int)(scale * abs_dz)); + } + +private: + //the real work is done here... 3D bresenham implementation + template + inline void bresenham3D( + ActionType at, OffA off_a, OffB off_b, OffC off_c, + unsigned int abs_da, unsigned int abs_db, unsigned int abs_dc, + int error_b, int error_c, int offset_a, int offset_b, int offset_c, unsigned int &offset, + unsigned int &z_mask, unsigned int max_length = UINT_MAX) + { + unsigned int end = std::min(max_length, abs_da); + for (unsigned int i = 0; i < end; ++i) + { + at(offset, z_mask); + off_a(offset_a); + error_b += abs_db; + error_c += abs_dc; + if ((unsigned int)error_b >= abs_da) + { + off_b(offset_b); + error_b -= abs_da; + } + if ((unsigned int)error_c >= abs_da) + { + off_c(offset_c); + error_c -= abs_da; + } + } + at(offset, z_mask); + } + + inline int sign(int i) + { + return i > 0 ? 1 : -1; + } + + inline unsigned int max(unsigned int x, unsigned int y) + { + return x > y ? x : y; + } + + unsigned int size_x_, size_y_, size_z_; + uint32_t *data_; + unsigned char *costmap; + + //Aren't functors so much fun... used to recreate the Bresenham macro Eric wrote in the original version, but in "proper" c++ + class MarkVoxel + { + public: + MarkVoxel(uint32_t* data): data_(data){} + inline void operator()(unsigned int offset, unsigned int z_mask) + { + data_[offset] |= z_mask; //clear unknown and mark cell + } + private: + uint32_t* data_; + }; + + class ClearVoxel + { + public: + ClearVoxel(uint32_t* data): data_(data){} + inline void operator()(unsigned int offset, unsigned int z_mask) + { + data_[offset] &= ~(z_mask); //clear unknown and clear cell + } + private: + uint32_t* data_; + }; + + class ClearVoxelInMap + { + public: + ClearVoxelInMap( + uint32_t* data, unsigned char *costmap, + unsigned int unknown_clear_threshold, unsigned int marked_clear_threshold, + unsigned char free_cost = 0, unsigned char unknown_cost = 255): data_(data), costmap_(costmap), + unknown_clear_threshold_(unknown_clear_threshold), marked_clear_threshold_(marked_clear_threshold), + free_cost_(free_cost), unknown_cost_(unknown_cost) + { + } + + inline void operator()(unsigned int offset, unsigned int z_mask) + { + uint32_t* col = &data_[offset]; + *col &= ~(z_mask); //clear unknown and clear cell + + unsigned int unknown_bits = uint16_t(*col>>16) ^ uint16_t(*col); + unsigned int marked_bits = *col>>16; + + //make sure the number of bits in each is below our thesholds + if (bitsBelowThreshold(marked_bits, marked_clear_threshold_)) + { + if (bitsBelowThreshold(unknown_bits, unknown_clear_threshold_)) + { + costmap_[offset] = free_cost_; + } + else + { + costmap_[offset] = unknown_cost_; + } + } + } + private: + inline bool bitsBelowThreshold(unsigned int n, unsigned int bit_threshold) + { + unsigned int bit_count; + for (bit_count = 0; n;) + { + ++bit_count; + if (bit_count > bit_threshold) + { + return false; + } + n &= n - 1; //clear the least significant bit set + } + return true; + } + + uint32_t* data_; + unsigned char *costmap_; + unsigned int unknown_clear_threshold_, marked_clear_threshold_; + unsigned char free_cost_, unknown_cost_; + }; + + class GridOffset + { + public: + GridOffset(unsigned int &offset) : offset_(offset) {} + inline void operator()(int offset_val) + { + offset_ += offset_val; + } + private: + unsigned int &offset_; + }; + + class ZOffset + { + public: + ZOffset(unsigned int &z_mask) : z_mask_(z_mask) {} + inline void operator()(int offset_val) + { + offset_val > 0 ? z_mask_ <<= 1 : z_mask_ >>= 1; + } + private: + unsigned int & z_mask_; + }; +}; + +} // namespace voxel_grid + +#endif // VOXEL_GRID_VOXEL_GRID_H \ No newline at end of file diff --git a/src/voxel_grid.cpp b/src/voxel_grid.cpp new file mode 100755 index 0000000..c807541 --- /dev/null +++ b/src/voxel_grid.cpp @@ -0,0 +1,222 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, 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 Willow Garage 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: Eitan Marder-Eppstein +*********************************************************************/ +#include +#ifdef HAVE_SYS_TIME_H +#include +#endif + +#include +#include + +namespace voxel_grid { + VoxelGrid::VoxelGrid(unsigned int size_x, unsigned int size_y, unsigned int size_z) + { + size_x_ = size_x; + size_y_ = size_y; + size_z_ = size_z; + + if(size_z_ > 16){ + std::cerr << "Error, this implementation can only support up to 16 z values (" << size_z_ << ")" << std::endl; + size_z_ = 16; + } + + data_ = new uint32_t[size_x_ * size_y_]; + uint32_t unknown_col = ~((uint32_t)0)>>16; + uint32_t* col = data_; + for(unsigned int i = 0; i < size_x_ * size_y_; ++i){ + *col = unknown_col; + ++col; + } + } + + void VoxelGrid::resize(unsigned int size_x, unsigned int size_y, unsigned int size_z) + { + //if we're not actually changing the size, we can just reset things + if(size_x == size_x_ && size_y == size_y_ && size_z == size_z_){ + reset(); + return; + } + + delete[] data_; + size_x_ = size_x; + size_y_ = size_y; + size_z_ = size_z; + + if(size_z_ > 16){ + std::cerr << "Error, this implementation can only support up to 16 z values (" << size_z << ")" << std::endl; + size_z_ = 16; + } + + data_ = new uint32_t[size_x_ * size_y_]; + uint32_t unknown_col = ~((uint32_t)0)>>16; + uint32_t* col = data_; + for(unsigned int i = 0; i < size_x_ * size_y_; ++i){ + *col = unknown_col; + ++col; + } + } + + VoxelGrid::~VoxelGrid() + { + delete [] data_; + } + + void VoxelGrid::reset(){ + uint32_t unknown_col = ~((uint32_t)0)>>16; + uint32_t* col = data_; + for(unsigned int i = 0; i < size_x_ * size_y_; ++i){ + *col = unknown_col; + ++col; + } + } + + void VoxelGrid::markVoxelLine(double x0, double y0, double z0, double x1, double y1, double z1, unsigned int max_length){ + if(x0 >= size_x_ || y0 >= size_y_ || z0 >= size_z_ || x1>=size_x_ || y1>=size_y_ || z1>=size_z_){ + // Line endpoint out of bounds - silently return + return; + } + + MarkVoxel mv(data_); + raytraceLine(mv, x0, y0, z0, x1, y1, z1, max_length); + } + + void VoxelGrid::clearVoxelLine(double x0, double y0, double z0, double x1, double y1, double z1, unsigned int max_length){ + if(x0 >= size_x_ || y0 >= size_y_ || z0 >= size_z_ || x1>=size_x_ || y1>=size_y_ || z1>=size_z_){ + // Line endpoint out of bounds - silently return + return; + } + + ClearVoxel cv(data_); + raytraceLine(cv, x0, y0, z0, x1, y1, z1, max_length); + } + + void VoxelGrid::clearVoxelLineInMap(double x0, double y0, double z0, double x1, double y1, double z1, unsigned char *map_2d, + unsigned int unknown_threshold, unsigned int mark_threshold, unsigned char free_cost, unsigned char unknown_cost, unsigned int max_length){ + costmap = map_2d; + if(map_2d == NULL){ + clearVoxelLine(x0, y0, z0, x1, y1, z1, max_length); + return; + } + + if(x0 >= size_x_ || y0 >= size_y_ || z0 >= size_z_ || x1>=size_x_ || y1>=size_y_ || z1>=size_z_){ + // Line endpoint out of bounds - silently return + return; + } + + ClearVoxelInMap cvm(data_, costmap, unknown_threshold, mark_threshold, free_cost, unknown_cost); + raytraceLine(cvm, x0, y0, z0, x1, y1, z1, max_length); + } + + VoxelStatus VoxelGrid::getVoxel(unsigned int x, unsigned int y, unsigned int z) + { + if(x >= size_x_ || y >= size_y_ || z >= size_z_){ + // Voxel out of bounds + return UNKNOWN; + } + uint32_t full_mask = ((uint32_t)1<= size_x_ || y >= size_y_){ + // Voxel out of bounds + return UNKNOWN; + } + + uint32_t* col = &data_[y * size_x_ + x]; + + unsigned int unknown_bits = uint16_t(*col>>16) ^ uint16_t(*col); + unsigned int marked_bits = *col>>16; + + //check if the number of marked bits qualifies the col as marked + if(!bitsBelowThreshold(marked_bits, marked_threshold)){ + return MARKED; + } + + //check if the number of unkown bits qualifies the col as unknown + if(!bitsBelowThreshold(unknown_bits, unknown_threshold)) + return UNKNOWN; + + return FREE; + } + + unsigned int VoxelGrid::sizeX(){ + return size_x_; + } + + unsigned int VoxelGrid::sizeY(){ + return size_y_; + } + + unsigned int VoxelGrid::sizeZ(){ + return size_z_; + } + + void VoxelGrid::printVoxelGrid(){ + for(unsigned int z = 0; z < size_z_; z++){ + printf("Layer z = %u:\n",z); + for(unsigned int y = 0; y < size_y_; y++){ + for(unsigned int x = 0 ; x < size_x_; x++){ + printf((getVoxel(x, y, z)) == voxel_grid::MARKED? "#" : " "); + } + printf("|\n"); + } + } + } + + void VoxelGrid::printColumnGrid(){ + printf("Column view:\n"); + for(unsigned int y = 0; y < size_y_; y++){ + for(unsigned int x = 0 ; x < size_x_; x++){ + printf((getVoxelColumn(x, y, 16, 0) == voxel_grid::MARKED)? "#" : " "); + } + printf("|\n"); + } + } +}; diff --git a/test/voxel_grid_tests.cpp b/test/voxel_grid_tests.cpp new file mode 100755 index 0000000..3f20099 --- /dev/null +++ b/test/voxel_grid_tests.cpp @@ -0,0 +1,146 @@ +/********************************************************************* +* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, 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 Willow Garage, Inc. 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: Eitan Marder-Eppstein +*********************************************************************/ +#include +#include + +TEST(voxel_grid, basicMarkingAndClearing){ + int size_x = 50, size_y = 10, size_z = 16; + voxel_grid::VoxelGrid vg(size_x, size_y, size_z); + + //Put a "tabletop" into the scene. A flat rectangle of set voxels at z = 12. + int table_z = 12; + int table_x_min = 5, table_x_max = 15; + int table_y_min = 0, table_y_max = 3; + for(int x = table_x_min; x <= table_x_max; x++){ + vg.markVoxelLine(x, table_y_min, table_z, x, table_y_max, table_z); + } + + for(int i = table_x_min; i <= table_x_max; ++i){ + for(int j = table_y_min; j <= table_y_max; ++j){ + //check that each cell of the table is marked + ASSERT_EQ(voxel_grid::MARKED, vg.getVoxel(i, j, table_z)); + } + } + + int mark_count = 0; + unsigned int unknown_count = 0; + //go through each cell in the voxel grid and make sure that only 44 are filled in + for(unsigned int i = 0; i < vg.sizeX(); ++i){ + for(unsigned int j = 0; j < vg.sizeY(); ++j){ + for(unsigned int k = 0; k < vg.sizeZ(); ++k){ + if(vg.getVoxel(i, j, k) == voxel_grid::MARKED){ + mark_count++; + } + else if(vg.getVoxel(i, j, k) == voxel_grid::UNKNOWN){ + unknown_count++; + } + } + } + } + ASSERT_EQ(mark_count, 44); + + //the rest of the cells should be unknown + ASSERT_EQ(unknown_count, vg.sizeX() * vg.sizeY() * vg.sizeZ() - 44); + + //now, let's clear one of the rows of the table + vg.clearVoxelLine(table_x_min, table_y_min, table_z, table_x_max, table_y_min, table_z); + + mark_count = 0; + unknown_count = 0; + int free_count = 0; + //go through each cell in the voxel grid and make sure that only 33 are now filled in + for(unsigned int i = 0; i < vg.sizeX(); ++i){ + for(unsigned int j = 0; j < vg.sizeY(); ++j){ + for(unsigned int k = 0; k < vg.sizeZ(); ++k){ + if(vg.getVoxel(i, j, k) == voxel_grid::MARKED){ + mark_count++; + } + else if(vg.getVoxel(i, j, k) == voxel_grid::FREE){ + free_count++; + } + else if(vg.getVoxel(i, j, k) == voxel_grid::UNKNOWN){ + unknown_count++; + } + } + } + } + + //we've switched 11 cells from marked to free + ASSERT_EQ(mark_count, 33); + + //we've just explicitly seen through 11 cells + ASSERT_EQ(free_count, 11); + + //the rest of the cells should still be unknown + ASSERT_EQ(unknown_count, vg.sizeX() * vg.sizeY() * vg.sizeZ() - 44); + + //now let's put in a vertical column manually to test markVoxel + for(unsigned int i = 0; i < vg.sizeZ(); ++i){ + vg.markVoxel(0, 0, i); + ASSERT_EQ(vg.getVoxel(0, 0, i), voxel_grid::MARKED); + } + + vg.printColumnGrid(); + vg.printVoxelGrid(); + + //now, let's clear that line of voxels and make sure that they clear out OK + vg.clearVoxelLine(0, 0, 0, 0, 0, vg.sizeZ() - 1); + + for(unsigned int i = 0; i < vg.sizeZ(); ++i){ + ASSERT_EQ(vg.getVoxel(0, 0, i), voxel_grid::FREE); + } + + mark_count = 0; + + //Visualize the output + /* + v->printVoxelGrid(); + v->printColumnGrid(); + + printf("CostMap:\n===========\n"); + for(int y = 0; y < size_y; y++){ + for(int x = 0; x < size_x; x++){ + printf((costMap[y * size_x + x] > 0 ? "#" : " ")); + }printf("|\n"); + } + */ +} + +int main(int argc, char** argv){ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +}