786
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Ran 19 Jun 2018 05:03AM UTC

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Files 108

Run time 12s

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Build # 786

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travis-ci

Committed by

sherm1

Commit Message

extractClosestPoints() from simplex made more robust to degenerate simplex (#296)

* Expose numerical errors in gjk_libccd-inl.h extractClosestPoints()

If the simplex is degenerate, it can lead to divide-by-zero errors. This
test is drawn from the real world and exposes such a problem - nearest
points are returned as NaN. See
https://github.com/flexible-collision-library/fcl/issues/293
for the discussion

* Make extractClosestPoints more robust

For simplex of size n, if the simplex is degenerate, extracts from a
simplex of size n - 1 (to prevent returning NaN).

1. Refactor point extraction into independently callable methods.
2. At each level, add method for downgrading the simplex.
3. Add unit tests on the local methods.
4. Add integration test with motivating example.
5. Update documentation of this implementation.

Run Details

279 of 386 relevant lines covered (72.28%)

656695.79 hits per line

Jobs

ID	Job ID	Ran	Files	Coverage
1	786.1 (BUILD_TYPE=Debug COVERALLS=ON)	19 Jun 2018 05:03AM UTC	0	72.28	Travis Job 786.1

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