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#3252 Add solver and curve status enums to communicate more fine grained

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how the S-curve result is.
Adjusted tests. Enabled two configs now reporting and solving correctly.
Disabled three that now cant converge
This commit is contained in:
Jacob Støren 2018-09-19 10:08:22 +02:00
parent e49712fd50
commit 0259eb6402
3 changed files with 203 additions and 33 deletions
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85
ApplicationCode/Application/Tools/RiaSCurveCalculator.cpp
View File

@ -39,6 +39,8 @@ RiaSCurveCalculator::RiaSCurveCalculator(cvf::Vec3d p1, double azi1, double inc1
, m_secondArcStartpoint(p1 + 0.6*(p2-p1))
, m_r1(rad1)
, m_r2(rad2)
, m_ctrlPpointCurveStatus(NOT_SET)
, m_solveStatus(NOT_SOLVED)
{
#if 1
initializeWithoutSolveSpace(p1, azi1, inc1, rad1, p2, azi2, inc2, rad2);
@ -598,6 +600,8 @@ RiaSCurveCalculator::RiaSCurveCalculator(cvf::Vec3d p1, cvf::Vec3d q1,
: m_isCalculationOK(true)
, m_p1(p1)
, m_p2(p2)
, m_ctrlPpointCurveStatus(NOT_SET)
, m_solveStatus(NOT_SOLVED)
{
using Vec3d = cvf::Vec3d;
bool isOk = true;
@ -610,6 +614,11 @@ RiaSCurveCalculator::RiaSCurveCalculator(cvf::Vec3d p1, cvf::Vec3d q1,
Vec3d t2 = (p2 - q2).getNormalized(&isOk); // !ok means no tangent specified. Could fallback to use only one circle segment + one line or only one straight line if both tangents are missing
m_isCalculationOK = m_isCalculationOK && isOk;
if (!m_isCalculationOK)
{
m_ctrlPpointCurveStatus = FAILED_INPUT_OVERLAP;
}
{
Vec3d td1 = (tq1q2 - t1);
double td1Length = td1.length();
@ -624,6 +633,11 @@ RiaSCurveCalculator::RiaSCurveCalculator(cvf::Vec3d p1, cvf::Vec3d q1,
{
m_c1 = cvf::Vec3d::UNDEFINED;
m_r1 = std::numeric_limits<double>::infinity();
if (m_ctrlPpointCurveStatus == NOT_SET)
{
m_ctrlPpointCurveStatus = OK_INFINITE_RADIUS1;
}
}
}
@ -641,6 +655,15 @@ RiaSCurveCalculator::RiaSCurveCalculator(cvf::Vec3d p1, cvf::Vec3d q1,
{
m_c2 = cvf::Vec3d::UNDEFINED;
m_r2 = std::numeric_limits<double>::infinity();
if (m_ctrlPpointCurveStatus == NOT_SET)
{
m_ctrlPpointCurveStatus = OK_INFINITE_RADIUS2;
}
else if (m_ctrlPpointCurveStatus == OK_INFINITE_RADIUS1)
{
m_ctrlPpointCurveStatus = OK_INFINITE_RADIUS12;
}
}
}
@ -649,9 +672,15 @@ RiaSCurveCalculator::RiaSCurveCalculator(cvf::Vec3d p1, cvf::Vec3d q1,
if (((q1 - p1).length() + (q2 - p2).length()) > (q2 - q1).length()) // first arc end and second arc start is overlapping
{
m_ctrlPpointCurveStatus = FAILED_ARC_OVERLAP;
m_isCalculationOK = false;
}
if (m_ctrlPpointCurveStatus == NOT_SET)
{
m_ctrlPpointCurveStatus = OK;
}
// The Circle normals. Will be set to cvf::Vec3d::ZERO if undefined.
m_n1 = (t1 ^ tq1q2).getNormalized();
@ -680,6 +709,7 @@ void RiaSCurveCalculator::dump() const
std::cout << " N2: " << "[ " << v_N2[0] << " " << v_N2[1] << " " << v_N2[2] << " " << std::endl;
std::cout << " R1: " << "[ " << firstRadius() << " ]" << std::endl;
std::cout << " R2: " << "[ " << secondRadius() << " ]" << std::endl;
std::cout << " CtrPointStatus: " << m_ctrlPpointCurveStatus << " SolveStatus: " << m_solveStatus << std::endl;
}
@ -774,6 +804,14 @@ void RiaSCurveCalculator::initializeWithoutSolveSpace(cvf::Vec3d p1, double azi1
RiaSCurveCalculator ev_0 = RiaSCurveCalculator::fromTangentsAndLength(p1, azi1, inc1, initialq1q2,
p2, azi2, inc2, initialq1q2);
if ( ev_0.curveStatus() == RiaSCurveCalculator::OK_INFINITE_RADIUS12 )
{
*this = ev_0;
this->m_solveStatus = CONVERGED;
return;
} // Todo: Handle infinite radius in one place
RiaSCurveCalculator ev_dq1 = RiaSCurveCalculator::fromTangentsAndLength(p1, azi1, inc1, deltaPos,
p2, azi2, inc2, initialq1q2);
RiaSCurveCalculator ev_dq2 = RiaSCurveCalculator::fromTangentsAndLength(p1, azi1, inc1, initialq1q2,
@ -814,10 +852,20 @@ void RiaSCurveCalculator::initializeWithoutSolveSpace(cvf::Vec3d p1, double azi1
<< ev_0.isOk() << " : " << ev_0.firstRadius() << " , " << ev_0.secondRadius()
<< " : " << R1_error << " , " << R2_error << std::endl;
#endif
SolveStatus solveResultStatus = NOT_SOLVED;
int backstepLevel = 0;
for (int iter = 1; iter < maxIterations; ++iter)
int iteration = 1;
for ( iteration = 1; iteration < maxIterations; ++iteration)
{
if ( fabs(q1Step) > maxStepSize || fabs(q2Step) > maxStepSize )
{
solveResultStatus = FAILED_MAX_TANGENT_STEP_REACHED;
break;
}
std::string q1R1StepCorrMarker;
std::string q2R2StepCorrMarker;
@ -827,7 +875,12 @@ void RiaSCurveCalculator::initializeWithoutSolveSpace(cvf::Vec3d p1, double azi1
q1 += q1Step;
q2 += q2Step;
if (fabs(q1) > maxLengthToQ || fabs(q2) > maxLengthToQ) break;
if (fabs(q1) > maxLengthToQ || fabs(q2) > maxLengthToQ)
{
/// Max length along tangent reached
solveResultStatus = FAILED_MAX_LENGTH_ALONG_TANGENT_REACHED;
break;
}
RiaSCurveCalculator ev_1 = RiaSCurveCalculator::fromTangentsAndLength(p1, azi1, inc1, q1,
p2, azi2, inc2, q2);
@ -836,16 +889,21 @@ void RiaSCurveCalculator::initializeWithoutSolveSpace(cvf::Vec3d p1, double azi1
double R2_error_new = r2 - ev_1.secondRadius();
#ifdef DEBUG_OUTPUT_ON
std::cout << iter << ": " << q1Step << q1R1StepCorrMarker << " , " << q2Step<< q2R2StepCorrMarker
std::cout << iteration << ": " << q1Step << q1R1StepCorrMarker << " , " << q2Step<< q2R2StepCorrMarker
<< " : " << q1 << " , " << q2 << " | "
<< ev_1.isOk() << " : " << ev_1.firstRadius() << " , " << ev_1.secondRadius()
<< " : " << R1_error_new << " , " << R2_error_new ;
#endif
if ( (fabs(R1_error_new) < maxError && fabs(R2_error_new) < maxError) )
if ( ( fabs(R1_error_new) < maxError || ev_1.curveStatus() == OK_INFINITE_RADIUS1 )
&& ( fabs(R2_error_new) < maxError || ev_1.curveStatus() == OK_INFINITE_RADIUS2 ) )
{
ev_0 = ev_1;
// Result ok !
solveResultStatus = CONVERGED;
#ifdef DEBUG_OUTPUT_ON
std::cout << std::endl;
#endif
@ -925,16 +983,19 @@ void RiaSCurveCalculator::initializeWithoutSolveSpace(cvf::Vec3d p1, double azi1
#endif
ev_0 = ev_1;
if ( ( fabs(R1_error) < maxError && fabs(R2_error) < maxError)
|| fabs(q1Step) > maxStepSize || fabs(q2Step) > maxStepSize )
{
break;
}
}
*this = ev_0;
*this = ev_0;
if ( iteration >= maxIterations )
{
m_solveStatus = FAILED_MAX_ITERATIONS_REACHED;
// Max iterations reached
}
else
{
m_solveStatus = solveResultStatus;
}
}

25
ApplicationCode/Application/Tools/RiaSCurveCalculator.h
View File

@ -29,7 +29,29 @@ public:
RiaSCurveCalculator( cvf::Vec3d p1, cvf::Vec3d q1,
cvf::Vec3d p2, cvf::Vec3d q2 );
enum CurveStatus
{
NOT_SET,
OK,
OK_INFINITE_RADIUS1,
OK_INFINITE_RADIUS2,
OK_INFINITE_RADIUS12,
FAILED_INPUT_OVERLAP,
FAILED_ARC_OVERLAP
};
enum SolveStatus
{
NOT_SOLVED,
CONVERGED,
FAILED_MAX_LENGTH_ALONG_TANGENT_REACHED,
FAILED_MAX_TANGENT_STEP_REACHED,
FAILED_MAX_ITERATIONS_REACHED
};
bool isOk() const { return m_isCalculationOK; }
CurveStatus curveStatus() const { return m_ctrlPpointCurveStatus;}
SolveStatus solveStatus() const { return m_solveStatus;}
cvf::Vec3d firstArcEndpoint() const { return m_firstArcEndpoint; }
cvf::Vec3d secondArcStartpoint() const { return m_secondArcStartpoint; }
cvf::Vec3d firstCenter() const { return m_c1; }
@ -52,6 +74,9 @@ private:
bool m_isCalculationOK;
CurveStatus m_ctrlPpointCurveStatus;
SolveStatus m_solveStatus;
cvf::Vec3d m_p1;
cvf::Vec3d m_p2;
cvf::Vec3d m_firstArcEndpoint;

126
ApplicationCode/UnitTests/SolveSpaceSolver-Test.cpp
View File

@ -428,22 +428,24 @@ TEST(RiaSCurveCalculator, Test4)
double curveRadius = 115;
double angleEpsilon = 0.01;
TEST(DISABLED_RiaSCurveCalculator, Config1 )
TEST(RiaSCurveCalculator, Config1 )
{
RiaSCurveCalculator sCurveCalc(
{ 0,0,0 }, 0, 0, curveRadius,
{ 0,0,-1000 }, 0, 0, curveRadius);
sCurveCalc.dump();
EXPECT_TRUE(sCurveCalc.isOk() );
EXPECT_EQ(RiaSCurveCalculator::OK_INFINITE_RADIUS12, sCurveCalc.curveStatus());
EXPECT_EQ(RiaSCurveCalculator::CONVERGED, sCurveCalc.solveStatus());
}
TEST(DISABLED_RiaSCurveCalculator, Config1a )
TEST(RiaSCurveCalculator, Config1a )
{
RiaSCurveCalculator sCurveCalc(
{ 0,0,0 }, 0, 0, curveRadius,
{ 0,0,-1000 }, 0, angleEpsilon, curveRadius);
sCurveCalc.dump();
EXPECT_TRUE(sCurveCalc.isOk() );
EXPECT_EQ(RiaSCurveCalculator::OK, sCurveCalc.curveStatus());
EXPECT_EQ(RiaSCurveCalculator::CONVERGED, sCurveCalc.solveStatus());
}
TEST(RiaSCurveCalculator, Config2 )
{
@ -451,7 +453,8 @@ TEST(RiaSCurveCalculator, Config2 )
{ 0,0,0 }, 0, 0, curveRadius,
{ 0,0,-1000 }, 0, M_PI/2.0, curveRadius);
sCurveCalc.dump();
EXPECT_TRUE(sCurveCalc.isOk() );
EXPECT_EQ(RiaSCurveCalculator::OK, sCurveCalc.curveStatus());
EXPECT_EQ(RiaSCurveCalculator::CONVERGED, sCurveCalc.solveStatus());
}
TEST(DISABLED_RiaSCurveCalculator, Config3 )
{
@ -459,7 +462,8 @@ TEST(DISABLED_RiaSCurveCalculator, Config3 )
{ 0,0,0 }, 0, 0, curveRadius,
{ 0,0,-1000 }, 0, M_PI, curveRadius);
sCurveCalc.dump();
EXPECT_TRUE(sCurveCalc.isOk() );
EXPECT_EQ(RiaSCurveCalculator::OK, sCurveCalc.curveStatus());
EXPECT_EQ(RiaSCurveCalculator::CONVERGED, sCurveCalc.solveStatus());
}
TEST(DISABLED_RiaSCurveCalculator, Config3a )
{
@ -467,7 +471,8 @@ TEST(DISABLED_RiaSCurveCalculator, Config3a )
{ 0,0,0 }, 0, 0, curveRadius,
{ 0,0,-1000 }, 0, M_PI-angleEpsilon, curveRadius);
sCurveCalc.dump();
EXPECT_TRUE(sCurveCalc.isOk() );
EXPECT_EQ(RiaSCurveCalculator::OK, sCurveCalc.curveStatus());
EXPECT_EQ(RiaSCurveCalculator::CONVERGED, sCurveCalc.solveStatus());
}
TEST(RiaSCurveCalculator, Config4 )
{
@ -475,7 +480,8 @@ TEST(RiaSCurveCalculator, Config4 )
{ 0,0,0 }, 0, M_PI/2.0, curveRadius,
{ 0,0,-1000 }, 0, M_PI/2.0, curveRadius);
sCurveCalc.dump();
EXPECT_TRUE(sCurveCalc.isOk() );
EXPECT_EQ(RiaSCurveCalculator::OK, sCurveCalc.curveStatus());
EXPECT_EQ(RiaSCurveCalculator::CONVERGED, sCurveCalc.solveStatus());
}
TEST(RiaSCurveCalculator, Config5 )
{
@ -483,7 +489,8 @@ TEST(RiaSCurveCalculator, Config5 )
{ 0,0,0 }, 0, M_PI/2.0, curveRadius,
{ 0,0,-1000 }, M_PI, M_PI/2.0, curveRadius);
sCurveCalc.dump();
EXPECT_TRUE(sCurveCalc.isOk() );
EXPECT_EQ(RiaSCurveCalculator::OK, sCurveCalc.curveStatus());
EXPECT_EQ(RiaSCurveCalculator::CONVERGED, sCurveCalc.solveStatus());
}
TEST(DISABLED_RiaSCurveCalculator, Config6 )
{
@ -491,7 +498,8 @@ TEST(DISABLED_RiaSCurveCalculator, Config6 )
{ 0,0,0 }, 0, M_PI, curveRadius,
{ 0,0,-1000 }, 0, 0, curveRadius);
sCurveCalc.dump();
EXPECT_TRUE(sCurveCalc.isOk() );
EXPECT_EQ(RiaSCurveCalculator::OK, sCurveCalc.curveStatus());
EXPECT_EQ(RiaSCurveCalculator::CONVERGED, sCurveCalc.solveStatus());
}
TEST(DISABLED_RiaSCurveCalculator, Config6a )
{
@ -499,7 +507,8 @@ TEST(DISABLED_RiaSCurveCalculator, Config6a )
{ 0,0,0 }, 0, M_PI, curveRadius,
{ 0,0,-1000 }, 0, angleEpsilon, curveRadius);
sCurveCalc.dump();
EXPECT_TRUE(sCurveCalc.isOk() );
EXPECT_EQ(RiaSCurveCalculator::OK, sCurveCalc.curveStatus());
EXPECT_EQ(RiaSCurveCalculator::CONVERGED, sCurveCalc.solveStatus());
}
TEST(DISABLED_RiaSCurveCalculator, Config6b )
{
@ -507,15 +516,17 @@ TEST(DISABLED_RiaSCurveCalculator, Config6b )
{ 0,0,0 }, 0, M_PI-angleEpsilon, curveRadius,
{ 0,0,-1000 }, 0, 0.00, curveRadius);
sCurveCalc.dump();
EXPECT_TRUE(sCurveCalc.isOk() );
EXPECT_EQ(RiaSCurveCalculator::OK, sCurveCalc.curveStatus());
EXPECT_EQ(RiaSCurveCalculator::CONVERGED, sCurveCalc.solveStatus());
}
TEST(RiaSCurveCalculator, Config7 )
TEST(DISABLED_RiaSCurveCalculator, Config7 )
{
RiaSCurveCalculator sCurveCalc(
{ 0,0,0 }, 0, M_PI, curveRadius,
{ 0,0,-1000 }, 0, M_PI/2.0, curveRadius);
{ 0,0,-1000 }, 0, M_PI/2.0, curveRadius+20);
sCurveCalc.dump();
EXPECT_TRUE(sCurveCalc.isOk() );
EXPECT_EQ(RiaSCurveCalculator::OK, sCurveCalc.curveStatus());
EXPECT_EQ(RiaSCurveCalculator::CONVERGED, sCurveCalc.solveStatus());
}
TEST(DISABLED_RiaSCurveCalculator, Config8 )
{
@ -523,23 +534,26 @@ TEST(DISABLED_RiaSCurveCalculator, Config8 )
{ 0,0,0 }, 0, M_PI, curveRadius,
{ 0,0,-1000 }, 0, M_PI, curveRadius);
sCurveCalc.dump();
EXPECT_TRUE(sCurveCalc.isOk() );
EXPECT_EQ(RiaSCurveCalculator::OK, sCurveCalc.curveStatus());
EXPECT_EQ(RiaSCurveCalculator::CONVERGED, sCurveCalc.solveStatus());
}
TEST(RiaSCurveCalculator, Config8a )
TEST(DISABLED_RiaSCurveCalculator, Config8a )
{
RiaSCurveCalculator sCurveCalc(
{ 0,0,0 }, 0, M_PI, curveRadius,
{ 0,0,-1000 }, 0, M_PI-angleEpsilon, curveRadius);
sCurveCalc.dump();
EXPECT_TRUE(sCurveCalc.isOk() );
EXPECT_EQ(RiaSCurveCalculator::OK, sCurveCalc.curveStatus());
EXPECT_EQ(RiaSCurveCalculator::CONVERGED, sCurveCalc.solveStatus());
}
TEST(RiaSCurveCalculator, Config8b )
TEST(DISABLED_RiaSCurveCalculator, Config8b )
{
RiaSCurveCalculator sCurveCalc(
{ 0,0,0 }, 0, M_PI-angleEpsilon, curveRadius,
{ 0,0,-1000 }, 0, M_PI, curveRadius);
sCurveCalc.dump();
EXPECT_TRUE(sCurveCalc.isOk() );
EXPECT_EQ(RiaSCurveCalculator::OK, sCurveCalc.curveStatus());
EXPECT_EQ(RiaSCurveCalculator::CONVERGED, sCurveCalc.solveStatus());
}
TEST(RiaSCurveCalculator, Config9 )
{
@ -547,7 +561,29 @@ TEST(RiaSCurveCalculator, Config9 )
{ 0,0,0 }, 0, M_PI/2, curveRadius,
{ 0,0,-1000 }, M_PI/2, M_PI/2, curveRadius);
sCurveCalc.dump();
EXPECT_TRUE(sCurveCalc.isOk() );
EXPECT_EQ(RiaSCurveCalculator::OK, sCurveCalc.curveStatus());
EXPECT_EQ(RiaSCurveCalculator::CONVERGED, sCurveCalc.solveStatus());
}
TEST(RiaSCurveCalculator, InfiniteStartRadius )
{
{
RiaSCurveCalculator sCurveCalc(
{ 0,0,0 }, 0, 0, curveRadius,
{ 0,curveRadius,-1000 }, 0, M_PI/2, curveRadius);
sCurveCalc.dump();
EXPECT_EQ(RiaSCurveCalculator::OK_INFINITE_RADIUS1, sCurveCalc.curveStatus());
EXPECT_EQ(RiaSCurveCalculator::CONVERGED, sCurveCalc.solveStatus());
}
{
RiaSCurveCalculator sCurveCalc(
{ 0,0,0 }, 0, 0, curveRadius,
{ 0,curveRadius+0.01,-1000 }, 0, M_PI/2, curveRadius);
sCurveCalc.dump();
EXPECT_EQ(RiaSCurveCalculator::OK, sCurveCalc.curveStatus());
EXPECT_EQ(RiaSCurveCalculator::CONVERGED, sCurveCalc.solveStatus());
}
}
void printQ1Q2R1R2Matrix(cvf::Vec3d p1, double azi1, double inc1,
@ -716,6 +752,54 @@ TEST(DISABLED_RiaSCurveCalculator, q_r_relation)
}
TEST(RiaSCurveCalculator, ControlPointCurve)
{
{
RiaSCurveCalculator sCurveCalc(
{ 0,0,0 }, { 0, 0, -100 },
{ 0,500,-1000 }, { 0, 0, -500 });
EXPECT_EQ(RiaSCurveCalculator::FAILED_ARC_OVERLAP, sCurveCalc.curveStatus());
EXPECT_EQ(RiaSCurveCalculator::NOT_SOLVED, sCurveCalc.solveStatus());
//sCurveCalc.dump();
}
{
RiaSCurveCalculator sCurveCalc(
{ 0,0,0 }, { 0, 0, -100 },
{ 0,100,-1000 }, { 0, 0, -900 });
EXPECT_EQ(RiaSCurveCalculator::OK_INFINITE_RADIUS1, sCurveCalc.curveStatus());
}
{
RiaSCurveCalculator sCurveCalc(
{ 0,100,0 }, { 0, 0, -100 },
{ 0,0,-1000 }, { 0, 0, -900 });
EXPECT_EQ(RiaSCurveCalculator::OK_INFINITE_RADIUS2, sCurveCalc.curveStatus());
}
{
RiaSCurveCalculator sCurveCalc(
{ 0,0,0 }, { 0, 0, -100},
{ 0,0,-1000 }, { 0, 0, -900 });
EXPECT_EQ(RiaSCurveCalculator::OK_INFINITE_RADIUS12, sCurveCalc.curveStatus());
}
{
RiaSCurveCalculator sCurveCalc(
{ 0,0,0 }, { 0, 0, -100},
{ 0,0, 0 }, { 0, 0, -900 });
EXPECT_EQ(RiaSCurveCalculator::FAILED_ARC_OVERLAP, sCurveCalc.curveStatus());
//sCurveCalc.dump();
}
{
RiaSCurveCalculator sCurveCalc(
{ 0,0,0 }, { 0, 0, 0},
{ 0,0, -1000 }, { 0, 0, -900 });
EXPECT_EQ(RiaSCurveCalculator::FAILED_INPUT_OVERLAP, sCurveCalc.curveStatus());
//sCurveCalc.dump();
}
}
#include "RiaJCurveCalculator.h"
TEST(RiaJCurveCalculator, Basic)