BenchmarkDistanceStatic.cpp

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/** \author Sipu Ruan */

#include "BenchmarkDistance.h"

/** \brief Main script for benchmarking narrow-phase static collision detection
   algorithms
    \param argv[1] iter, number of trials
    \param argv[2] shapes, define two shape types
    \param argv[3] numVtx (optional), number of vertices on discrete surfaces
*/

int main(int argc, char** argv) {
    if (argc <= 2) {
        std::cerr
            << "Incorrect inputs. Please provide: (1) Number of trials; "
               "(2) Shape types of the two bodies (i.e., all, SQ-SQ, etc); (3) "
               "[optional] Number of vertex parameters on the surface "
               "(for FCL)."
            << std::endl;
    }

    const int iter = stoi(argv[1]);
    const std::string shapePair = argv[2];
    const int numVtx = argc > 3 ? stoi(argv[3]) : 20;

    std::vector<std::string> typeShapes;
    if (shapePair == "all") {
        typeShapes = {"SQ-SQ", "SQ-E", "SQ-PE", "E-E", "E-PE", "PE-PE"};
    } else {
        typeShapes.emplace_back(shapePair);
    }

    for (auto typeShape : typeShapes) {
        if (typeShape == "SQ-SQ") {
            benchmarkAlgorithms<cfc::SuperQuadrics, cfc::SuperQuadrics>(iter,
                                                                        numVtx);
        } else if (typeShape == "SQ-E") {
            benchmarkAlgorithms<cfc::SuperQuadrics, cfc::Ellipsoid>(iter,
                                                                    numVtx);
        } else if (typeShape == "SQ-PE") {
            benchmarkAlgorithms<cfc::SuperQuadrics, cfc::PolyEllipsoid>(iter,
                                                                        numVtx);
        } else if (typeShape == "E-E") {
            benchmarkAlgorithms<cfc::Ellipsoid, cfc::Ellipsoid>(iter, numVtx);
        } else if (typeShape == "E-PE") {
            benchmarkAlgorithms<cfc::Ellipsoid, cfc::PolyEllipsoid>(iter,
                                                                    numVtx);
        } else if (typeShape == "PE-PE") {
            benchmarkAlgorithms<cfc::PolyEllipsoid, cfc::PolyEllipsoid>(iter,
                                                                        numVtx);
        } else {
            std::cerr << "Shape pair NOT SUPPORTED!" << std::endl;
        }
    }

    return 0;
}