/home/slemaign/softs-local/BioMove3D-git/collision/Kcd/kcd_api_report.c File Reference

access to different reports More...

#include "Util-pkg.h"
#include "Collision-pkg.h"

Classes
struct	kcd_colliding_pair
struct	kcd_closest_pair_struct
struct	kcd_closest_pair_struct_mos
Typedefs
typedef struct kcd_colliding_pair	t_kcd_colliding_pair
typedef struct kcd_colliding_pair *	t_kcd_colliding_pair_p
typedef struct kcd_closest_pair_struct	kcd_closest_pair_struct
typedef struct kcd_closest_pair_struct *	kcd_closest_pair_struct_p
typedef struct kcd_closest_pair_struct_mos	kcd_closest_pair_struct_mos
typedef struct kcd_closest_pair_struct_mos *	kcd_closest_pair_struct_mos_p
Functions
void	kcd_init_pairInCollision ()
void	kcd_get_pairInCollision (void **primId1, void **primId2)
void	kcd_get_pairObjInCollision (int *objId1, int *objId2)
void	kcd_set_pairInCollision (void *primId1, int ext_p_id1, void *primId2, int ext_p_id2)
void	kcd_clean_up_pairInCollision ()
void	kcd_init_dist_mo_report_table (int nof_mos)
void	kcd_get_dist_mo_so (int mo_id, double *d)
void	kcd_set_dist_mo_so (int mo_id, double d)
void	kcd_clean_up_dist_mo_report_table (int nof_mos)
void	kcd_init_nearest_obstacle ()
void	kcd_modify_nearest_obstacle (int rob_i, int static_object_bb_id)
int	kcd_get_nearest_obstacle_bb_id (int rob_nr)
int	kcd_get_nearest_obstacle_information (int group_id, kcd_matrix4 SOwrtW)
	for a given group this function retrieves the placement matrix of the nearest obstacle
void	kcd_init_report ()
void	kcd_clean_up_report ()
void	kcd_set_report_to_zero ()
void	kcd_add_report (int rob_i, int static_object_bb_id)
int	kcd_check_report (int rob_nr)
void	kcd_get_dist_grp_mo_so (int robot_id, int body_id, double *d)
void	kcd_set_distance_body_obst (int robot_id, int body_id, double d)
void	kcd_set_points_closest_pair (int robot_id, int body_id, kcd_vector3 point_mo, kcd_vector3 point_so)
void	kcd_init_kcd_distance_report_table (int nof_robots)
void	kcd_init_kcd_distance_report_table_entry (int robot_id, int nof_bodies)
void	kcd_init_distance_report_table ()
void	kcd_clean_up_kcd_distance_report_table_entry (int robot_id, int nof_bodies)
void	kcd_clean_up_kcd_distance_report_table (int nof_robots)
void	kcd_clean_up_distance_report_table ()
void	kcd_get_dist_mo_mo (int mo_id, double *d)
void	kcd_set_dist_mo_mo (int mo_id, double d)
void	kcd_init_kcd_distance_report_table_mos (int nof_mos)
void	kcd_init_kcd_distance_report_table_mos_entry (int nof_mos)
void	kcd_reset_kcd_distance_report_table_mos_entry (int nof_mos)
void	kcd_init_distance_report_table_mos ()
void	kcd_clean_up_kcd_distance_report_mos_table (int nof_mos)
void	kcd_set_points_closest_pair_mos (int mo1, int mo2, kcd_vector3 point_mo1, kcd_vector3 point_mo2)
void	kcd_get_points_closest_pair (int robot_id, int body_id, kcd_vector3 point_mo, kcd_vector3 point_so)
void	kcd_get_points_closest_pair_mo_so (int mo1, kcd_vector3 point_mo, kcd_vector3 point_so)
void	kcd_set_points_closest_pair_mo_so (int mo1, kcd_vector3 point_mo, kcd_vector3 point_so)
void	kcd_get_points_closest_pair_mos (int mo1, int *mo2, kcd_vector3 point_mo1, kcd_vector3 point_mo2)
int	kcd_get_points_closest_pair_other_mo (int mo1)
void	kcd_reset_dist_mo_report_table (int nof_mos)
void	kcd_reset_dist_grp_so_report_table (int group_id)
void	kcd_reset_distance_report_table_grp_so ()
Variables
int *	p3d_kcd_nearest_obstacle = NULL
int *	p3d_kcd_report = NULL

---

Detailed Description

access to different reports

option with_report

• NO_REPORT nothing is written in a report
• JUST_BOOL only the fact of given group of movable object is in collision or not is written in a report
• DISTANCE_ESTIMATE Estimated distances are written in a report The following four reports contain the information kcd_distance_report_table[group_id][mo_id_in_group] kcd_dist_mo_report_table[mo_id] for objects belonging to the same group kcd_distance_auto_report_table_mos[mo_id] for objects belonging to different group kcd_distance_report_table_mos[mo_id]
• DISTANCE_EXACT Exact distances are written in a report, the corresponding closest points are also written in the report. These points and distances are valid if the no collisions are detected There is a difference made by the distances till the static objects or the distance till the moving objects -* mo vs so *-* contains the distances till the static objects for objects belonging to a group kcd_distance_report_table[group_id][mo_id_in_group] for objects not belonging to a group kcd_dist_mo_report_table[mo_id] -* mo vs mo *-* contains the distances till the mobile objects kcd_distance_report_table_mos[mo_id]

If the relative error parameter is set to a value between 0 and 100 then the reports will contain the safest distance which will be [ d - (d * (error/100) ) ]

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Function Documentation

void kcd_get_dist_grp_mo_so	(	int	robot_id,
		int	body_id,
		double *	d
	)

***************************************************************** ** ***************************************************************** ** Functions: keep track of answer with distance estimate of KCD for each of the movable objects ***************************************************************** ** *****************************************************************

int kcd_get_nearest_obstacle_information	(	int	group_id,
		kcd_matrix4	SOwrtW
	)

for a given group this function retrieves the placement matrix of the nearest obstacle

Parameters:

group_id	the id of the group of movable objects(IN)
SOwrtW	the placement matrix of the static object (OUT) or x,y,z coordinates

Returns:

0 then the information is not valid

1 then SOwrtW contains the coordinates od the AABB around the nearest obstacle, SOwrtW[0][0]->x1; SOwrtW[0][1]->x2; SOwrtW[1][0]->y1; SOwrtW[1][1]->y2; SOwrtW[2][0]->z1; SOwrtW[2][1]->z2;

2 then SOwrt contains the placement matrix

Warning:

works only with DISTANCE_ESTIMATE as with_report parameter

the returned matrix is only valid if the robot is close to the obstacles

void kcd_init_dist_mo_report_table

(

int

nof_mos

)

***************************************************************** ** ***************************************************************** ** Functions: keep track of distance estimate to nearest obstacle for each of the movable objects, organized by group (robot) ***************************************************************** ** *****************************************************************

void kcd_init_nearest_obstacle

(

)

***************************************************************** ** ***************************************************************** ** Functions: keep track of nearest AABB or OBB around static object to each of the movable objects ***************************************************************** ** *****************************************************************

void kcd_init_pairInCollision

(

)

***************************************************************** ** ***************************************************************** ** Functions: keep track of polyhedrons and solids found to be in collision at the latest test ***************************************************************** ** *****************************************************************