Visibility table enhancements #609

mjcarroll · 2020-09-15T20:52:03Z

Use threads to accelerate computation (distributing the space equally
across the threads)
Split visiblity functionality into library to deduplicate compilation
New validate_visibility_table cc file for main function
Use FCL's distance function to disambiguate overlapped tile segments

Signed-off-by: Michael Carroll [email protected]

mjcarroll · 2020-09-16T20:24:51Z

Note, to test, you will need fcl and libccd. I opted to build these from scratch locally.

repositories:
  fcl:
    type: git
    url: https://github.com/flexible-collision-library/fcl
    version: 0d98b836d57b1a4f457fac8e52d6b22b56e5fdbf
  libccd:
    type: git
    url: https://github.com/danfis/libccd
    version: 7931e764a19ef6b21b443376c699bbc9c6d4fba8

nkoenig · 2020-09-17T12:22:12Z

This targets the citadel_tile_overlap branch, is that correct?

caguero · 2020-09-17T12:47:39Z

This targets the citadel_tile_overlap branch, is that correct?

Ideally, this should target comms_v2. Additionally, I'm cherry-picking all comms changes to comms_v2_citadel.

mjcarroll · 2020-09-21T15:46:10Z

@caguero friendly ping

nkoenig · 2020-09-21T16:03:12Z

@mjcarroll , can you update this to target comms_v2 instead?

* Use threads to accelerate computation (distributing the space equally across the threads) * Split visiblity functionality into library to deduplicate compilation * New validate_visibility_table cc file for main function * Use FCL's distance function to disambiguate overlapped tile segments Signed-off-by: Michael Carroll <[email protected]>

Signed-off-by: Michael Carroll <[email protected]>

mjcarroll · 2020-09-21T16:17:18Z

@mjcarroll , can you update this to target comms_v2 instead?

Done.

caguero · 2020-09-21T20:50:21Z

I just installed libfcl-dev on Ubuntu 18.04 and I don't think it comes with a config.cmake file. Is this expected? See the list of files included in the .deb here.

mjcarroll · 2020-09-21T20:54:33Z

Try using ros-melodic-fcl-catkin, which is a catkinized version. The package.xml and CMakeLists need to be updated accordingly.

caguero · 2020-09-21T20:52:38Z

subt_ign/include/subt_ign/VisibilityTable.hh

    private: std::vector<
             std::pair<ignition::math::AxisAlignedBox, uint64_t>> worldSegments;

+    private: std::map<uint64_t, std::string> worldSegmentNames;


Nit: Missing doc.

caguero · 2020-09-21T20:54:00Z

subt_ign/include/subt_ign/VisibilityTable.hh

+
    /// \brief A map that stores 3D points an the vertex id in which are located
-    private: std::map<std::tuple<int32_t, int32_t, int32_t>, uint64_t> vertices;
+    public : std::map<std::tuple<int32_t, int32_t, int32_t>, uint64_t> vertices;


Just checking, is this change on purpose?

This was unintentionally left in as part of threading.

caguero · 2020-09-21T21:19:51Z

Try using ros-melodic-fcl-catkin, which is a catkinized version. The package.xml and CMakeLists need to be updated accordingly.

I can find the cmake.config with this package. I searched and replaced some CMake variables in CMakeLists.txt (using fcl_catkin prefix) but I still see some compilation problems not finding the right headers. Do you mind to update the code?

mjcarroll · 2020-09-21T22:50:52Z

I take it back, after evaluating both upstream fcl and catkin_fcl, they both seem to have some issues. You should use the repos file that I posted above.

Signed-off-by: Michael Carroll <[email protected]>

nkoenig · 2020-09-22T20:51:33Z

I'm getting these compilation errors:

In file included from /usr/include/fcl/BV/RSS.h:41,
                 from /usr/include/fcl/ccd/motion_base.h:46,
                 from /usr/include/fcl/collision_object.h:45,
                 from /home/nkoenig/subt_ws/src/subt/subt_ign/src/ign_to_fcl.hh:4,
                 from /home/nkoenig/subt_ws/src/subt/subt_ign/src/ign_to_fcl.cc:1:
/home/nkoenig/local/include/fcl/math/constants.h:131:1: error: expected primary-expression before ‘typedef’
 typedef typename detail::ScalarTrait<S>::type Real;
 ^~~~~~~
/home/nkoenig/local/include/fcl/math/constants.h:131:1: error: expected ‘}’ before ‘typedef’
/home/nkoenig/local/include/fcl/math/constants.h:130:1: note: to match this ‘{’
 {
 ^
/home/nkoenig/local/include/fcl/math/constants.h:130:2: error: expected ‘;’ before ‘typedef’

I think I've installed the correct version of FCL.

caguero · 2020-09-22T21:59:12Z

I'm getting these compilation errors:

In file included from /usr/include/fcl/BV/RSS.h:41,
                 from /usr/include/fcl/ccd/motion_base.h:46,
                 from /usr/include/fcl/collision_object.h:45,
                 from /home/nkoenig/subt_ws/src/subt/subt_ign/src/ign_to_fcl.hh:4,
                 from /home/nkoenig/subt_ws/src/subt/subt_ign/src/ign_to_fcl.cc:1:
/home/nkoenig/local/include/fcl/math/constants.h:131:1: error: expected primary-expression before ‘typedef’
 typedef typename detail::ScalarTrait<S>::type Real;
 ^~~~~~~
/home/nkoenig/local/include/fcl/math/constants.h:131:1: error: expected ‘}’ before ‘typedef’
/home/nkoenig/local/include/fcl/math/constants.h:130:1: note: to match this ‘{’
 {
 ^
/home/nkoenig/local/include/fcl/math/constants.h:130:2: error: expected ‘;’ before ‘typedef’

I think I've installed the correct version of FCL.

Michael tweaked the code and now it requires to install FCL from debs (libfcl-dev).

caguero · 2020-09-22T22:00:01Z

I left two minor comments, ready to approve as the test dat seems to be fine.

mjcarroll · 2020-09-23T01:19:27Z

@nkoenig FCL from debs should be sufficient (libfcl-dev + libccd-dev)

Signed-off-by: Michael Carroll <[email protected]>

* Updated comms model Signed-off-by: Carlos Agüero <[email protected]> * Tweak scaling factor and add last breadcrumb for range computations. Signed-off-by: Carlos Agüero <[email protected]> * Update subt-communication/subt_rf_interface/include/subt_rf_interface/subt_rf_model.h * Tweak doc Signed-off-by: Carlos Agüero <[email protected]> * Visibility table enhancements (#609) * Visibility table enhancements * Use threads to accelerate computation (distributing the space equally across the threads) * Split visiblity functionality into library to deduplicate compilation * New validate_visibility_table cc file for main function * Use FCL's distance function to disambiguate overlapped tile segments Signed-off-by: Michael Carroll <[email protected]> * Cleanups Signed-off-by: Michael Carroll <[email protected]> * Adjust to Ubuntu libfcl (0.5.0) Signed-off-by: Michael Carroll <[email protected]> * Address reviewer feedback Signed-off-by: Michael Carroll <[email protected]> * Adding extra dependencies to Docker Signed-off-by: Carlos Agüero <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Michael Carroll <[email protected]>

nkoenig requested a review from caguero September 15, 2020 21:18

mjcarroll marked this pull request as ready for review September 16, 2020 20:21

mjcarroll added 2 commits September 21, 2020 11:14

Cleanups

1d3722e

Signed-off-by: Michael Carroll <[email protected]>

mjcarroll force-pushed the mjcarroll/citadel_tile_overlap branch from cdf382a to 1d3722e Compare September 21, 2020 16:16

mjcarroll changed the base branch from citadel_tile_overlap to comms_v2 September 21, 2020 16:16

caguero reviewed Sep 21, 2020

View reviewed changes

Adjust to Ubuntu libfcl (0.5.0)

33a1761

Signed-off-by: Michael Carroll <[email protected]>

caguero approved these changes Sep 22, 2020

View reviewed changes

Address reviewer feedback

85c399a

Signed-off-by: Michael Carroll <[email protected]>

caguero merged commit cccf0d9 into comms_v2 Sep 23, 2020

caguero mentioned this pull request Sep 23, 2020

New DAT files for cave practice worlds #622

Merged

nkoenig deleted the mjcarroll/citadel_tile_overlap branch December 10, 2020 22:34

Visibility table enhancements #609

Visibility table enhancements #609

Uh oh!

Conversation

mjcarroll commented Sep 15, 2020

Uh oh!

mjcarroll commented Sep 16, 2020

Uh oh!

nkoenig commented Sep 17, 2020

Uh oh!

caguero commented Sep 17, 2020

Uh oh!

mjcarroll commented Sep 21, 2020

Uh oh!

nkoenig commented Sep 21, 2020

Uh oh!

mjcarroll commented Sep 21, 2020

Uh oh!

caguero commented Sep 21, 2020

Uh oh!

mjcarroll commented Sep 21, 2020

Uh oh!

caguero Sep 21, 2020

Choose a reason for hiding this comment

Uh oh!

caguero Sep 21, 2020

Choose a reason for hiding this comment

Uh oh!

mjcarroll Sep 23, 2020

Choose a reason for hiding this comment

Uh oh!

caguero commented Sep 21, 2020 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

mjcarroll commented Sep 21, 2020

Uh oh!

nkoenig commented Sep 22, 2020

Uh oh!

caguero commented Sep 22, 2020

Uh oh!

caguero commented Sep 22, 2020

Uh oh!

mjcarroll commented Sep 23, 2020

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

caguero commented Sep 21, 2020 •

edited

Loading