tests: add nesterov accelerated GJK test

test/CMakeLists.txt

@@ -57,6 +57,7 @@ add_fcl_test(hfields hfields.cpp)
 add_fcl_test(profiling profiling.cpp)
 
 add_fcl_test(gjk gjk.cpp)
+add_fcl_test(nesterov_gjk nesterov_gjk.cpp)
 if(HPP_FCL_HAS_OCTOMAP)
   add_fcl_test(octree octree.cpp)
 endif(HPP_FCL_HAS_OCTOMAP)

test/nesterov_gjk.cpp

+/*
+ *  Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2022, CNRS-LAAS INRIA
+ *  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 Louis Montaut */
+
+#define BOOST_TEST_MODULE FCL_NESTEROV_GJK
+#include <boost/test/included/unit_test.hpp>
+
+#include <Eigen/Geometry>
+#include <hpp/fcl/narrowphase/narrowphase.h>
+#include <hpp/fcl/shape/geometric_shapes.h>
+#include <hpp/fcl/internal/tools.h>
+
+#include "utility.h"
+
+using hpp::fcl::Box;
+using hpp::fcl::Capsule;
+using hpp::fcl::constructPolytopeFromEllipsoid;
+using hpp::fcl::Convex;
+using hpp::fcl::Ellipsoid;
+using hpp::fcl::FCL_REAL;
+using hpp::fcl::GJKVariant;
+using hpp::fcl::ShapeBase;
+using hpp::fcl::support_func_guess_t;
+using hpp::fcl::Transform3f;
+using hpp::fcl::Triangle;
+using hpp::fcl::Vec3f;
+using hpp::fcl::details::GJK;
+using hpp::fcl::details::MinkowskiDiff;
+using std::size_t;
+
+BOOST_AUTO_TEST_CASE(need_nesterov_normalize_support_direction) {
+  Ellipsoid ellipsoid = Ellipsoid(1, 1, 1);
+  Box box = Box(1, 1, 1);
+  Convex<Triangle> cvx;
+
+  MinkowskiDiff mink_diff1;
+  mink_diff1.set(&ellipsoid, &ellipsoid);
+  BOOST_CHECK(mink_diff1.normalize_support_direction == false);
+
+  MinkowskiDiff mink_diff2;
+  mink_diff2.set(&ellipsoid, &box);
+  BOOST_CHECK(mink_diff2.normalize_support_direction == false);
+
+  MinkowskiDiff mink_diff3;
+  mink_diff3.set(&cvx, &cvx);
+  BOOST_CHECK(mink_diff3.normalize_support_direction == true);
+}
+
+void test_nesterov_gjk(const ShapeBase& shape0, const ShapeBase& shape1) {
+  // Solvers
+  size_t max_iterations = 128;
+  FCL_REAL tolerance = 1e-6;
+  GJK gjk(max_iterations, tolerance);
+  GJK gjk_nesterov(max_iterations, tolerance);
+  gjk_nesterov.setGJKVariant(GJKVariant::NesterovAcceleration);
+
+  // Minkowski difference
+  MinkowskiDiff mink_diff;
+
+  // Generate random transforms
+  size_t n = 1000;
+  FCL_REAL extents[] = {-3., -3., 0, 3., 3., 3.};
+  std::vector<Transform3f> transforms;
+  generateRandomTransforms(extents, transforms, n);
+  Transform3f identity = Transform3f::Identity();
+
+  // Same init for both solvers
+  Vec3f init_guess = Vec3f(1, 0, 0);
+  support_func_guess_t init_support_guess;
+  init_support_guess.setZero();
+
+  for (size_t i = 0; i < n; ++i) {
+    mink_diff.set(&shape0, &shape1, identity, transforms[i]);
+
+    // Evaluate both solvers twice, make sure they give the same solution
+    GJK::Status res_gjk_1 =
+        gjk.evaluate(mink_diff, init_guess, init_support_guess);
+    Vec3f ray_gjk = gjk.ray;
+    GJK::Status res_gjk_2 =
+        gjk.evaluate(mink_diff, init_guess, init_support_guess);
+    BOOST_CHECK(res_gjk_1 == res_gjk_2);
+    EIGEN_VECTOR_IS_APPROX(ray_gjk, gjk.ray, 1e-8);
+
+    GJK::Status res_nesterov_gjk_1 =
+        gjk_nesterov.evaluate(mink_diff, init_guess, init_support_guess);
+    Vec3f ray_nesterov = gjk_nesterov.ray;
+    GJK::Status res_nesterov_gjk_2 =
+        gjk_nesterov.evaluate(mink_diff, init_guess, init_support_guess);
+    BOOST_CHECK(res_nesterov_gjk_1 == res_nesterov_gjk_2);
+    EIGEN_VECTOR_IS_APPROX(ray_nesterov, gjk_nesterov.ray, 1e-8);
+
+    // Make sure GJK and Nesterov accelerated GJK find the same distance between
+    // the shapes
+    BOOST_CHECK(res_nesterov_gjk_1 == res_gjk_1);
+    BOOST_CHECK_SMALL(fabs(ray_gjk.norm() - ray_nesterov.norm()), 1e-4);
+
+    // Make sure GJK and Nesterov accelerated GJK converges in a reasonable
+    // amount of iterations
+    BOOST_CHECK(gjk.getIterations() < max_iterations);
+    BOOST_CHECK(gjk_nesterov.getIterations() < max_iterations);
+  }
+}
+
+BOOST_AUTO_TEST_CASE(ellipsoid_ellipsoid) {
+  Ellipsoid ellipsoid0 = Ellipsoid(0.3, 0.4, 0.5);
+  Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
+
+  test_nesterov_gjk(ellipsoid0, ellipsoid1);
+  test_nesterov_gjk(ellipsoid0, ellipsoid1);
+}
+
+BOOST_AUTO_TEST_CASE(ellipsoid_capsule) {
+  Ellipsoid ellipsoid0 = Ellipsoid(0.5, 0.4, 0.3);
+  Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
+  Capsule capsule0 = Capsule(0.1, 0.3);
+  Capsule capsule1 = Capsule(1.1, 1.3);
+
+  test_nesterov_gjk(ellipsoid0, capsule0);
+  test_nesterov_gjk(ellipsoid0, capsule1);
+  test_nesterov_gjk(ellipsoid1, capsule0);
+  test_nesterov_gjk(ellipsoid1, capsule1);
+}
+
+BOOST_AUTO_TEST_CASE(ellipsoid_box) {
+  Ellipsoid ellipsoid0 = Ellipsoid(0.5, 0.4, 0.3);
+  Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
+  Box box0 = Box(0.1, 0.2, 0.3);
+  Box box1 = Box(1.1, 1.2, 1.3);
+
+  test_nesterov_gjk(ellipsoid0, box0);
+  test_nesterov_gjk(ellipsoid0, box1);
+  test_nesterov_gjk(ellipsoid1, box0);
+  test_nesterov_gjk(ellipsoid1, box1);
+}
+
+BOOST_AUTO_TEST_CASE(ellipsoid_mesh) {
+  Ellipsoid ellipsoid0 = Ellipsoid(0.5, 0.4, 0.3);
+  Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
+  Convex<Triangle> cvx0 = constructPolytopeFromEllipsoid(ellipsoid0);
+  Convex<Triangle> cvx1 = constructPolytopeFromEllipsoid(ellipsoid1);
+
+  test_nesterov_gjk(ellipsoid0, cvx0);
+  test_nesterov_gjk(ellipsoid0, cvx1);
+  test_nesterov_gjk(ellipsoid1, cvx0);
+  test_nesterov_gjk(ellipsoid1, cvx1);
+}
+
+BOOST_AUTO_TEST_CASE(capsule_mesh) {
+  Ellipsoid ellipsoid0 = Ellipsoid(0.5, 0.4, 0.3);
+  Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
+  Convex<Triangle> cvx0 = constructPolytopeFromEllipsoid(ellipsoid0);
+  Convex<Triangle> cvx1 = constructPolytopeFromEllipsoid(ellipsoid1);
+  Capsule capsule0 = Capsule(0.1, 0.3);
+  Capsule capsule1 = Capsule(1.1, 1.3);
+
+  test_nesterov_gjk(capsule0, cvx0);
+  test_nesterov_gjk(capsule0, cvx1);
+  test_nesterov_gjk(capsule1, cvx0);
+  test_nesterov_gjk(capsule1, cvx1);
+}
+
+BOOST_AUTO_TEST_CASE(capsule_capsule) {
+  Capsule capsule0 = Capsule(0.1, 0.3);
+  Capsule capsule1 = Capsule(1.1, 1.3);
+
+  test_nesterov_gjk(capsule0, capsule0);
+  test_nesterov_gjk(capsule1, capsule1);
+  test_nesterov_gjk(capsule0, capsule1);
+}
+
+BOOST_AUTO_TEST_CASE(box_box) {
+  Box box0 = Box(0.1, 0.2, 0.3);
+  Box box1 = Box(1.1, 1.2, 1.3);
+  test_nesterov_gjk(box0, box0);
+  test_nesterov_gjk(box0, box1);
+  test_nesterov_gjk(box1, box1);
+}
+
+BOOST_AUTO_TEST_CASE(box_mesh) {
+  Box box0 = Box(0.1, 0.2, 0.3);
+  Box box1 = Box(1.1, 1.2, 1.3);
+  Ellipsoid ellipsoid0 = Ellipsoid(0.5, 0.4, 0.3);
+  Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
+  Convex<Triangle> cvx0 = constructPolytopeFromEllipsoid(ellipsoid0);
+  Convex<Triangle> cvx1 = constructPolytopeFromEllipsoid(ellipsoid1);
+
+  test_nesterov_gjk(box0, cvx0);
+  test_nesterov_gjk(box0, cvx1);
+  test_nesterov_gjk(box1, cvx0);
+  test_nesterov_gjk(box1, cvx1);
+}
+
+BOOST_AUTO_TEST_CASE(mesh_mesh) {
+  Ellipsoid ellipsoid0 = Ellipsoid(0.5, 0.4, 0.3);
+  Ellipsoid ellipsoid1 = Ellipsoid(1.5, 1.4, 1.3);
+  Convex<Triangle> cvx0 = constructPolytopeFromEllipsoid(ellipsoid0);
+  Convex<Triangle> cvx1 = constructPolytopeFromEllipsoid(ellipsoid1);
+
+  test_nesterov_gjk(cvx0, cvx0);
+  test_nesterov_gjk(cvx0, cvx1);
+  test_nesterov_gjk(cvx1, cvx1);
+}