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Add re-timing, minimum dt robustness

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This commit is contained in:
Balakumar Sundaralingam
2024-04-25 12:24:17 -07:00
parent d6e600c88c
commit 7362ccd4c2
54 changed files with 4773 additions and 2189 deletions
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17
src/curobo/curobolib/cpp/sphere_obb_kernel.cu
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@@ -194,13 +194,13 @@ namespace Curobo
const scalar_t x = transform_mat[4];
const scalar_t y = transform_mat[5];
const scalar_t z = transform_mat[6];
if ((x != 0) || (y != 0) || (z != 0))
if(x != 0 || y!= 0 || z!=0)
{
C.x = p_arr.x + w * w * sphere_pos.x + 2 * y * w * sphere_pos.z -
2 * z * w * sphere_pos.y + x * x * sphere_pos.x +
2 * y * x * sphere_pos.y + 2 * z * x * sphere_pos.z -
z * z * sphere_pos.x - y * y * sphere_pos.x;
C.y = p_arr.y + 2 * x * y * sphere_pos.x + y * y * sphere_pos.y +
2 * z * y * sphere_pos.z + 2 * w * z * sphere_pos.x -
z * z * sphere_pos.y + w * w * sphere_pos.y - 2 * x * w * sphere_pos.z -
@@ -714,7 +714,7 @@ float4 &sum_pt)
// compute interpolation distance between voxel origin and sphere location:
get_array_value(grid_features, voxel_idx, interpolated_distance);// + 0.5 * loc_grid_params.w;
get_array_value(grid_features, voxel_idx, interpolated_distance);
if(!INTERPOLATION)
{
interpolated_distance += 0.5 * loc_grid_params.w;//max(0.0, (0.3 * loc_grid_params.w) - loc_sphere.w);
@@ -821,7 +821,7 @@ float4 &sum_pt)
d_grad = (d_plus - d_minus) * (1/(2*voxel_size));
}
else
if (!CENTRAL_DIFFERENCE)
{
// x difference:
int x_minus,y_minus, z_minus;
@@ -1252,7 +1252,9 @@ float4 &sum_pt)
const int32_t env_idx,
const int bn_sph_idx,
const int sph_idx,
dist_scalar_t *out_distance, grad_scalar_t *closest_pt, uint8_t *sparsity_idx,
dist_scalar_t *out_distance,
grad_scalar_t *closest_pt,
uint8_t *sparsity_idx,
const float *weight,
const float *activation_distance,
const float *max_distance,
@@ -1863,7 +1865,9 @@ float4 &sum_pt)
const int32_t env_idx,
const int bn_sph_idx,
const int sph_idx,
dist_scalar_t *out_distance, grad_scalar_t *closest_pt, uint8_t *sparsity_idx,
dist_scalar_t *out_distance,
grad_scalar_t *closest_pt,
uint8_t *sparsity_idx,
const float *weight,
const float *activation_distance,
const float *max_distance,
@@ -1879,7 +1883,6 @@ float4 &sum_pt)
const float eta = max_distance_local;
float max_dist = -1 * max_distance_local;
max_distance_local = -1 * max_distance_local;
;
float3 max_grad = make_float3(0.0, 0.0, 0.0);