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Merge pull request #68 from ethz-asl/feature/noetic
Feature/noetic
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‎README.md‎

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@@ -13,8 +13,8 @@ Field and Service Robotics. Springer, Singapore, 2021.
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[![Watch the video](https://img.youtube.com/vi/u1UOqdJoK9s/sddefault.jpg)](https://youtu.be/u1UOqdJoK9s)
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## Installation on Ubuntu 18.04 and ROS melodic
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Install [ROS melodic](http://wiki.ros.org/melodic/Installation/Ubuntu).
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## Installation on Ubuntu 20.04 and ROS noetic
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Install [ROS noetic](http://wiki.ros.org/noetic/Installation/Ubuntu).
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Install [mono](https://www.mono-project.com/download/stable/#download-lin-ubuntu).
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Create a workspace.
@@ -24,7 +24,7 @@ mkdir -p catkin_ws/src
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cd catkin_ws
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catkin init
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catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
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catkin config --extend /opt/ros/melodic
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catkin config --extend /opt/ros/noetic
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```
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Download package dependencies from [dependencies.rosinstall](install/dependencies.rosinstall).<br>

‎install/dependencies.rosinstall‎

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@@ -1,3 +1,2 @@
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- git: {local-name: catkin_simple, uri: 'git@github.com:catkin/catkin_simple.git', version: 0e62848b12da76c8cc58a1add42b4f894d1ac21e}
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- git: {local-name: cgal_catkin, uri: 'git@github.com:ethz-asl/cgal_catkin.git', version: releases/CGAL-5.0.3}
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- git: {local-name: polygon_coverage_planning, uri: 'git@github.com:ethz-asl/polygon_coverage_planning.git', version: v2.0.4}

‎install/dependencies_https.rosinstall‎

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- git: {local-name: catkin_simple, uri: 'https://github.com/catkin/catkin_simple.git', version: 0e62848b12da76c8cc58a1add42b4f894d1ac21e}
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- git: {local-name: cgal_catkin, uri: 'https://github.com/ethz-asl/cgal_catkin.git', version: releases/CGAL-5.0.3}
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- git: {local-name: polygon_coverage_planning, uri: 'https://github.com/ethz-asl/polygon_coverage_planning.git', version: v2.0.4}

‎install/prepare-jenkins-slave.sh‎

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@@ -4,11 +4,11 @@ ROS_VERSION=`rosversion -d`
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echo "ROS version: ${ROS_VERSION}"
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# Build dependencies.
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sudo apt-get install -y python-wstool python-catkin-tools
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sudo apt-get install -y python3-wstool python3-catkin-tools
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# Package dependencies.
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echo "Installing CGAL dependencies."
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sudo apt-get install -y libgmp-dev libmpfr-dev
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sudo apt-get install -y libcgal-dev
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echo "Installing MONO dependencies."
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sudo apt-get install -y mono-devel
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echo "Installig GLOG dependencices."

‎polygon_coverage_geometry/include/polygon_coverage_geometry/cgal_definitions.h‎

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@@ -28,6 +28,7 @@ typedef CGAL::Exact_predicates_exact_constructions_kernel K;
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typedef K::FT FT;
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typedef K::Point_2 Point_2;
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typedef K::Point_3 Point_3;
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typedef K::Ray_2 Ray_2;
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typedef K::Vector_2 Vector_2;
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typedef K::Direction_2 Direction_2;
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typedef K::Line_2 Line_2;

‎polygon_coverage_geometry/package.xml‎

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@@ -13,7 +13,6 @@
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<buildtool_depend>catkin</buildtool_depend>
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<buildtool_depend>catkin_simple</buildtool_depend>
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<depend>cgal_catkin</depend>
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<depend>rosconsole</depend>
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<depend>roslib</depend>
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<depend>polygon_coverage_solvers</depend>

‎polygon_coverage_geometry/test/visibility_polygon-test.cpp‎

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@@ -17,12 +17,14 @@
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* this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "polygon_coverage_geometry/visibility_polygon.h"
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#include <CGAL/intersections.h>
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#include <CGAL/is_y_monotone_2.h>
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#include <gtest/gtest.h>
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#include "polygon_coverage_geometry/cgal_comm.h"
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#include "polygon_coverage_geometry/test_comm.h"
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#include "polygon_coverage_geometry/visibility_polygon.h"
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using namespace polygon_coverage_planning;
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@@ -32,79 +34,72 @@ TEST(VisibilityPolygonTest, computeVisibilityPolygon) {
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Polygon_2 visibility_polygon;
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// Query on polygon vertex.
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Point_2 query(0.0, 0.0);
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Point_2 query(0, 0);
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EXPECT_TRUE(computeVisibilityPolygon(rectangle_in_rectangle, query,
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&visibility_polygon));
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// Result manually checked.
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VertexConstIterator vit = visibility_polygon.vertices_begin();
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EXPECT_EQ(static_cast<size_t>(9), visibility_polygon.size());
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EXPECT_EQ(Point_2(0.0, 2.0), *vit++);
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EXPECT_EQ(Point_2(0.0, 0.0), *vit++);
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EXPECT_EQ(Point_2(2.0, 0.0), *vit++);
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EXPECT_EQ(Point_2(2.0, 2.0), *vit++);
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vit++; // Skip inexact point. (1.6,2)
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EXPECT_EQ(Point_2(1.0, 1.25), *vit++);
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EXPECT_EQ(Point_2(0.5, 1.25), *vit++);
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EXPECT_EQ(Point_2(0.5, 1.75), *vit++);
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vit++; // Skip inexact point. (0.571429,2)
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Line_2 line(Point_2(0, 2), Point_2(2, 2));
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Ray_2 ray_1(Point_2(0, 0), Point_2(0.5, 1.75));
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Ray_2 ray_2(Point_2(0, 0), Point_2(1.0, 1.25));
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auto inter_1 = CGAL::intersection(ray_1, line);
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auto inter_2 = CGAL::intersection(ray_2, line);
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Point_2 points_1[] = {{0, 2},
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{0, 0},
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{2, 0},
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{2, 2},
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*boost::get<Point_2>(&*inter_2),
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{1, 1.25},
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{0.5, 1.25},
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{0.5, 1.75},
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*boost::get<Point_2>(&*inter_1)};
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Polygon_2 visibility_polygon_expected_1(
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points_1, points_1 + sizeof(points_1) / sizeof(points_1[0]));
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EXPECT_EQ(visibility_polygon_expected_1, visibility_polygon);
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// Query on hole vertex.
52-
query = Point_2(1.0, 1.25);
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query = Point_2(1, 1.25);
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EXPECT_TRUE(computeVisibilityPolygon(rectangle_in_rectangle, query,
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&visibility_polygon));
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vit = visibility_polygon.vertices_begin();
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EXPECT_EQ(static_cast<size_t>(6), visibility_polygon.size())
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<< "Query point: " << query << " PWH: " << rectangle_in_rectangle
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<< "Visibility: " << visibility_polygon;
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EXPECT_EQ(Point_2(1, 1.25), *vit++);
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EXPECT_EQ(Point_2(0, 1.25), *vit++);
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EXPECT_EQ(Point_2(0, 0), *vit++);
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EXPECT_EQ(Point_2(2, 0), *vit++);
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EXPECT_EQ(Point_2(2, 2), *vit++);
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EXPECT_EQ(Point_2(1, 2), *vit++);
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Point_2 points_2[] = {{0, 0}, {2, 0}, {2, 2}, {1, 2}, {1, 1.25}, {0, 1.25}};
65+
Polygon_2 visibility_polygon_expected_2(
66+
points_2, points_2 + sizeof(points_2) / sizeof(points_2[0]));
67+
EXPECT_EQ(visibility_polygon_expected_2, visibility_polygon);
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// Query in face.
67-
query = Point_2(1.0, 0.5);
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query = Point_2(1, 0.5);
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EXPECT_TRUE(computeVisibilityPolygon(rectangle_in_rectangle, query,
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&visibility_polygon));
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// Result manually checked.
71-
vit = visibility_polygon.vertices_begin();
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EXPECT_EQ(static_cast<size_t>(7), visibility_polygon.size());
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EXPECT_EQ(Point_2(0, 0), *vit++);
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EXPECT_EQ(Point_2(2, 0), *vit++);
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EXPECT_EQ(Point_2(2, 2), *vit++);
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EXPECT_EQ(Point_2(1, 2), *vit++);
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EXPECT_EQ(Point_2(1, 1.25), *vit++);
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EXPECT_EQ(Point_2(0.5, 1.25), *vit++);
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EXPECT_EQ(Point_2(0, 2), *vit++);
74+
Point_2 points_3[] = {{0, 0}, {2, 0}, {2, 2}, {1, 2},
75+
{1, 1.25}, {0.5, 1.25}, {0, 2}};
76+
Polygon_2 visibility_polygon_expected_3(
77+
points_3, points_3 + sizeof(points_3) / sizeof(points_3[0]));
78+
EXPECT_EQ(visibility_polygon_expected_3, visibility_polygon);
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// Query on polygon halfedge.
82-
query = Point_2(1.0, 0.0);
81+
query = Point_2(1, 0);
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EXPECT_TRUE(computeVisibilityPolygon(rectangle_in_rectangle, query,
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&visibility_polygon));
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// Result manually checked.
86-
vit = visibility_polygon.vertices_begin();
87-
EXPECT_EQ(static_cast<size_t>(8), visibility_polygon.size());
88-
EXPECT_EQ(Point_2(0, 2), *vit++);
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EXPECT_EQ(Point_2(0, 0), *vit++);
90-
EXPECT_EQ(Point_2(2, 0), *vit++);
91-
EXPECT_EQ(Point_2(2, 2), *vit++);
92-
EXPECT_EQ(Point_2(1, 2), *vit++);
93-
EXPECT_EQ(Point_2(1, 1.25), *vit++);
94-
EXPECT_EQ(Point_2(0.5, 1.25), *vit++);
95-
// EXPECT_EQ(Point_2(0.2, 2), *vit++); Skip inexact.
85+
Ray_2 ray_3(Point_2(1, 0), Point_2(0.5, 1.25));
86+
auto inter_3 = CGAL::intersection(ray_3, line);
87+
Point_2 points_4[] = {
88+
{0, 2}, {0, 0}, {2, 0}, {2, 2},
89+
{1, 2}, {1, 1.25}, {0.5, 1.25}, *boost::get<Point_2>(&*inter_3)};
90+
Polygon_2 visibility_polygon_expected_4(
91+
points_4, points_4 + sizeof(points_4) / sizeof(points_4[0]));
92+
EXPECT_EQ(visibility_polygon_expected_4, visibility_polygon);
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9794
// Query on hole halfedge.
9895
query = Point_2(0.75, 1.25);
9996
EXPECT_TRUE(computeVisibilityPolygon(rectangle_in_rectangle, query,
10097
&visibility_polygon));
10198
// Result manually checked.
102-
vit = visibility_polygon.vertices_begin();
103-
EXPECT_EQ(static_cast<size_t>(4), visibility_polygon.size());
104-
EXPECT_EQ(Point_2(2, 1.25), *vit++);
105-
EXPECT_EQ(Point_2(0, 1.25), *vit++);
106-
EXPECT_EQ(Point_2(0, 0), *vit++);
107-
EXPECT_EQ(Point_2(2, 0), *vit++);
99+
Point_2 points_5[] = {{2, 1.25}, {0, 1.25}, {0, 0}, {2, 0}};
100+
Polygon_2 visibility_polygon_expected_5(
101+
points_5, points_5 + sizeof(points_5) / sizeof(points_5[0]));
102+
EXPECT_EQ(visibility_polygon_expected_5, visibility_polygon);
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}
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110105
int main(int argc, char** argv) {

‎polygon_coverage_ros/package.xml‎

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<depend>polygon_coverage_msgs</depend>
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<depend>polygon_coverage_geometry</depend>
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<depend>polygon_coverage_planners</depend>
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<depend>cgal_catkin</depend>
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<exec_depend>rviz_polygon_tool</exec_depend>
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‎rviz_polygon_tool/package.xml‎

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<depend>polygon_coverage_msgs</depend>
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<depend>polygon_coverage_geometry</depend>
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<depend>geometry_msgs</depend>
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<depend>cgal_catkin</depend>
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<export>
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<rviz plugin="${prefix}/plugin_description.xml"/>

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