referenceframe

package
v0.2.50-rc1 Latest Latest
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 Go to latest Published: Jun 9, 2023 License: AGPL-3.0 Imports: 24 Imported by: 7

Documentation

Overview

Package referenceframe defines the api and does the math of translating between reference frames Useful for if you have a camera, connected to a gripper, connected to an arm, and need to translate the camera reference frame to the arm reference frame, if you've found something in the camera, and want to move the gripper + arm to get it.

Index

Constants

View Source 
const (
	FixedJoint      = "fixed"
	ContinuousJoint = "continuous"
	PrismaticJoint  = "prismatic"
	RevoluteJoint   = "revolute"
)

The following are joint types we treat as constants.

View Source 
const OOBErrString = "input out of bounds"

OOBErrString is a string that all OOB errors should contain, so that they can be checked for distinct from other Transform errors.

View Source 
const World = "world"

World is the string "world", but made into an exported constant.

Variables

View Source 
var ErrCircularReference = errors.New("infinite loop finding path from end effector to world")

ErrCircularReference is an error indicating that a circular path exists somewhere between the end effector and the world.

View Source 
var ErrEmptyStringFrameName = errors.New("frame with name \"\" cannot be used")

ErrEmptyStringFrameName denotes an error when a frame with a name "" is specified.

View Source 
var ErrMarshalingHighDOFFrame = errors.New("cannot marshal frame with >1 DOF, use a Model instead")

ErrMarshalingHighDOFFrame describes the error when attempting to marshal a frame with multiple degrees of freedom.

View Source 
var ErrNilPose = errors.New("pose was nil")

ErrNilPose denotes an error when a pose is nil.

View Source 
var ErrNilPoseInFrame = errors.New("pose in frame was nil")

ErrNilPoseInFrame denotes an error when a pose in frame is nil.

View Source 
var ErrNoModelInformation = errors.New("no model information")

ErrNoModelInformation is used when there is no model information.

View Source 
var ErrNoWorldConnection = errors.New("there are no robot parts that connect to a 'world' node. Root node must be named 'world'")

ErrNoWorldConnection describes the error when a frame system is built but nothing is connected to the world node.

Functions

func FrameSystemGeometries added in v0.2.15 

func FrameSystemGeometries(fs FrameSystem, inputMap map[string][]Input) (map[string]*GeometriesInFrame, error)

FrameSystemGeometries takes in a framesystem and returns a map where all elements are GeometriesInFrames with a World reference frame.

func FrameSystemToPCD added in v0.2.15 

func FrameSystemToPCD(system FrameSystem, inputs map[string][]Input, logger golog.Logger) (map[string][]r3.Vector, error)

FrameSystemToPCD takes in a framesystem and returns a map where all elements are the point representation of their geometry type with respect to the world.

func GenerateRandomConfiguration 

func GenerateRandomConfiguration(m Model, randSeed *rand.Rand) []float64

GenerateRandomConfiguration generates a list of radian joint positions that are random but valid for each joint.

func GeometriesInFrameToProtobuf 

func GeometriesInFrameToProtobuf(framedGeometries *GeometriesInFrame) *commonpb.GeometriesInFrame

GeometriesInFrameToProtobuf converts a GeometriesInFrame struct to a GeometriesInFrame message as specified in common.proto.

func InputsL2Distance added in v0.2.34 

func InputsL2Distance(from, to []Input) float64

InputsL2Distance returns the square of the two-norm between the from and to vectors.

func InputsToFloats 

func InputsToFloats(inputs []Input) []float64

InputsToFloats unwraps Inputs to raw floats.

func JointPositionsFromRadians 

func JointPositionsFromRadians(radians []float64) *pb.JointPositions

JointPositionsFromRadians converts the given slice of radians into joint positions (represented in degrees).

func JointPositionsToRadians 

func JointPositionsToRadians(jp *pb.JointPositions) []float64

JointPositionsToRadians converts the given positions into a slice of radians.

func LinkInFrameToTransformProtobuf added in v0.2.6 

func LinkInFrameToTransformProtobuf(framedLink *LinkInFrame) (*commonpb.Transform, error)

LinkInFrameToTransformProtobuf converts a LinkInFrame struct to a Transform protobuf message.

func LinkInFramesToTransformsProtobuf added in v0.2.6 

func LinkInFramesToTransformsProtobuf(linkSlice []*LinkInFrame) ([]*commonpb.Transform, error)

LinkInFramesToTransformsProtobuf converts a slice of LinkInFrame structs to a slice of Transform protobuf messages. TODO(rb): use generics to operate on lists of arbirary types.

func NewDuplicateGeometryNameError added in v0.2.37 

func NewDuplicateGeometryNameError(name string) error

NewDuplicateGeometryNameError returns an error indicating that multiple geometry names have attempted to be registered where this is not allowed.

func NewFrameAlreadyExistsError added in v0.1.0 

func NewFrameAlreadyExistsError(frameName string) error

NewFrameAlreadyExistsError returns an error indicating that a frame of the given name already exists.

func NewFrameMissingError added in v0.1.0 

func NewFrameMissingError(frameName string) error

NewFrameMissingError returns an error indicating that the given frame is missing from the framesystem.

func NewIncorrectInputLengthError added in v0.1.0 

func NewIncorrectInputLengthError(actual, expected int) error

NewIncorrectInputLengthError returns an error indicating that the length of the Innput array does not match the DoF of the frame.

func NewParentFrameMissingError 

func NewParentFrameMissingError(partName, parentName string) error

NewParentFrameMissingError returns an error for when a part has named a parent whose part is missing from the collection of Parts that are becoming a FrameSystem object.

func NewParentFrameNilError added in v0.2.47 

func NewParentFrameNilError(frameName string) error

NewParentFrameNilError returns an error indicating that the parent frame is nil.

func NewUnsupportedJointTypeError added in v0.2.5 

func NewUnsupportedJointTypeError(jointType string) error

NewUnsupportedJointTypeError returns an error indicating that a given joint type is not supported by current model parsing.

func PoseInFrameToProtobuf 

func PoseInFrameToProtobuf(framedPose *PoseInFrame) *commonpb.PoseInFrame

PoseInFrameToProtobuf converts a PoseInFrame struct to a PoseInFrame protobuf message.

func StartPositions 

func StartPositions(fs FrameSystem) map[string][]Input

StartPositions returns a zeroed input map ensuring all frames have inputs.

Types

type DHParamConfig added in v0.2.6 

type DHParamConfig struct {
	ID       string                  `json:"id"`
	Parent   string                  `json:"parent"`
	A        float64                 `json:"a"`
	D        float64                 `json:"d"`
	Alpha    float64                 `json:"alpha"`
	Max      float64                 `json:"max"` // in mm or degs
	Min      float64                 `json:"min"` // in mm or degs
	Geometry *spatial.GeometryConfig `json:"geometry,omitempty"`
}

DHParamConfig is a revolute and static frame combined in a set of Denavit Hartenberg parameters.

func (*DHParamConfig) ToDHFrames added in v0.2.6 

func (cfg *DHParamConfig) ToDHFrames() (Frame, Frame, error)

ToDHFrames converts a DHParamConfig into a joint frame and a link frame.

type Frame 

type Frame interface {
	// Name returns the name of the referenceframe.
	Name() string

	// Transform is the pose (rotation and translation) that goes FROM current frame TO parent's referenceframe.
	Transform([]Input) (spatial.Pose, error)

	// Geometries returns a map between names and geometries for the reference frame and any intermediate frames that
	// may be defined for it, e.g. links in an arm. If a frame does not have a geometry it will not be added into the map
	Geometries([]Input) (*GeometriesInFrame, error)

	// DoF will return a slice with length equal to the number of joints/degrees of freedom.
	// Each element describes the min and max movement limit of that joint/degree of freedom.
	// For robot parts that don't move, it returns an empty slice.
	DoF() []Limit

	// AlmostEquals returns if the otherFrame is close to the referenceframe.
	// differences should just be things like floating point inprecision
	AlmostEquals(otherFrame Frame) bool

	// InputFromProtobuf does there correct thing for this frame to convert protobuf units (degrees/mm) to input units (radians/mm)
	InputFromProtobuf(*pb.JointPositions) []Input

	// ProtobufFromInput does there correct thing for this frame to convert input units (radians/mm) to protobuf units (degrees/mm)
	ProtobufFromInput([]Input) *pb.JointPositions

	json.Marshaler
}

Frame represents a reference frame, e.g. an arm, a joint, a gripper, a board, etc.

func NewNamedFrame added in v0.2.50 

func NewNamedFrame(frame Frame, name string) Frame

NewNamedFrame will return a frame which has a new name but otherwise passes through all functions of the original frame.

func NewRotationalFrame 

func NewRotationalFrame(name string, axis spatial.R4AA, limit Limit) (Frame, error)

NewRotationalFrame creates a new rotationalFrame struct. A standard revolute joint will have 1 DoF.

func NewStaticFrame 

func NewStaticFrame(name string, pose spatial.Pose) (Frame, error)

NewStaticFrame creates a frame given a pose relative to its parent. The pose is fixed for all time. Pose is not allowed to be nil.

func NewStaticFrameWithGeometry 

func NewStaticFrameWithGeometry(name string, pose spatial.Pose, geometry spatial.Geometry) (Frame, error)

NewStaticFrameWithGeometry creates a frame given a pose relative to its parent. The pose is fixed for all time. It also has an associated geometry representing the space that it occupies in 3D space. Pose is not allowed to be nil.

func NewTranslationalFrame 

func NewTranslationalFrame(name string, axis r3.Vector, limit Limit) (Frame, error)

NewTranslationalFrame creates a frame given a name and the axis in which to translate.

func NewTranslationalFrameWithGeometry 

func NewTranslationalFrameWithGeometry(name string, axis r3.Vector, limit Limit, geometry spatial.Geometry) (Frame, error)

NewTranslationalFrameWithGeometry creates a frame given a given a name and the axis in which to translate. It also has an associated geometry representing the space that it occupies in 3D space. Pose is not allowed to be nil.

func NewZeroStaticFrame 

func NewZeroStaticFrame(name string) Frame

NewZeroStaticFrame creates a frame with no translation or orientation changes.

type FrameSystem 

type FrameSystem interface {
	// Name returns the name of this FrameSystem
	Name() string

	// World returns the frame corresponding to the root of the FrameSystem, from which other frames are defined with respect to
	World() Frame

	// FrameNames returns the names of all of the frames that exist in the FrameSystem
	FrameNames() []string

	// Frame returns the Frame in the FrameSystem corresponding to
	Frame(name string) Frame

	// AddFrame inserts a given Frame into the FrameSystem as a child of the parent Frame
	AddFrame(frame, parent Frame) error

	// RemoveFrame removes the given Frame from the FrameSystem
	RemoveFrame(frame Frame)

	// TracebackFrame traces the parentage of the given frame up to the world, and returns the full list of frames in between.
	// The list will include both the query frame and the world referenceframe
	TracebackFrame(frame Frame) ([]Frame, error)

	// Parent returns the parent Frame for the given Frame in the FrameSystem
	Parent(frame Frame) (Frame, error)

	// Transform takes in a Transformable object and destination frame, and returns the pose from the first to the second. Positions
	// is a map of inputs for any frames with non-zero DOF, with slices of inputs keyed to the frame name.
	Transform(positions map[string][]Input, object Transformable, dst string) (Transformable, error)

	// FrameSystemSubset will take a frame system and a frame in that system, and return a new frame system rooted
	// at the given frame and containing all descendents of it. The original frame system is unchanged.
	FrameSystemSubset(newRoot Frame) (FrameSystem, error)

	// DivideFrameSystem will take a frame system and a frame in that system, and return a new frame system rooted
	// at the given frame and containing all descendents of it, while the original has the frame and its
	// descendents removed.
	DivideFrameSystem(newRoot Frame) (FrameSystem, error)

	// MergeFrameSystem combines two frame systems together, placing the world of systemToMerge at the attachTo frame in the frame system
	MergeFrameSystem(systemToMerge FrameSystem, attachTo Frame) error
}

FrameSystem represents a tree of frames connected to each other, allowing for transformations between any two frames.

func NewEmptyFrameSystem added in v0.2.47 

func NewEmptyFrameSystem(name string) FrameSystem

NewEmptyFrameSystem creates a graph of Frames that have.

func NewFrameSystem added in v0.2.47 

func NewFrameSystem(name string, parts []*FrameSystemPart, additionalTransforms []*LinkInFrame) (FrameSystem, error)

NewFrameSystem assembles a frame system from a set of parts and additional transforms.

type FrameSystemPart added in v0.2.6 

type FrameSystemPart struct {
	FrameConfig *LinkInFrame
	ModelFrame  Model
}

FrameSystemPart is used to collect all the info need from a named robot part to build the frame node in a frame system. FrameConfig gives the frame's location relative to parent, and ModelFrame is an optional ModelJSON that describes the internal kinematics of the robot part.

func LinkInFrameToFrameSystemPart added in v0.2.6 

func LinkInFrameToFrameSystemPart(transform *LinkInFrame) (*FrameSystemPart, error)

LinkInFrameToFrameSystemPart creates a FrameSystem part out of a PoseInFrame.

func ProtobufToFrameSystemPart added in v0.2.6 

func ProtobufToFrameSystemPart(fsc *pb.FrameSystemConfig) (*FrameSystemPart, error)

ProtobufToFrameSystemPart takes a protobuf object and transforms it into a FrameSystemPart.

func TopologicallySortParts added in v0.2.47 

func TopologicallySortParts(parts []*FrameSystemPart) ([]*FrameSystemPart, error)

TopologicallySortParts takes a potentially un-ordered slice of frame system parts and sorts them, beginning at the world node.

func (*FrameSystemPart) ToProtobuf added in v0.2.6 

func (part *FrameSystemPart) ToProtobuf() (*pb.FrameSystemConfig, error)

ToProtobuf turns all the interfaces into serializable types.

type GeometriesInFrame 

type GeometriesInFrame struct {
	// contains filtered or unexported fields
}

GeometriesInFrame is a data structure that packages geometries with the name of the frame in which it was observed.

func NewGeometriesInFrame 

func NewGeometriesInFrame(frame string, geometries []spatialmath.Geometry) *GeometriesInFrame

NewGeometriesInFrame generates a new GeometriesInFrame.

func ProtobufToGeometriesInFrame 

func ProtobufToGeometriesInFrame(proto *commonpb.GeometriesInFrame) (*GeometriesInFrame, error)

ProtobufToGeometriesInFrame converts a GeometriesInFrame message as specified in common.proto to a GeometriesInFrame struct.

func (*GeometriesInFrame) Geometries 

func (gF *GeometriesInFrame) Geometries() []spatialmath.Geometry

Geometries returns the geometries observed.

func (*GeometriesInFrame) GeometryByName added in v0.2.24 

func (gF *GeometriesInFrame) GeometryByName(name string) spatialmath.Geometry

GeometryByName returns the named geometry if it exists in the GeometriesInFrame, and nil otherwise. If multiple geometries exist with identical names one will be chosen at random.

func (*GeometriesInFrame) Parent added in v0.2.6 

func (gF *GeometriesInFrame) Parent() string

Parent returns the name of the frame in which the geometries were observed.

func (*GeometriesInFrame) Transform 

func (gF *GeometriesInFrame) Transform(tf *PoseInFrame) Transformable

Transform changes the GeometriesInFrame gF into the reference frame specified by the tf argument. The tf PoseInFrame represents the pose of the gF reference frame with respect to the destination reference frame.

type Input 

type Input struct {
	Value float64
}

Input wraps the input to a mutable frame, e.g. a joint angle or a gantry position. Revolute inputs should be in radians. Prismatic inputs should be in mm. TODO: Determine what more this needs, or eschew in favor of raw float64s if nothing needed.

func FloatsToInputs 

func FloatsToInputs(floats []float64) []Input

FloatsToInputs wraps a slice of floats in Inputs.

func GetFrameInputs 

func GetFrameInputs(frame Frame, inputMap map[string][]Input) ([]Input, error)

GetFrameInputs looks through the inputMap and returns a slice of Inputs corresponding to the given frame.

func InterpolateInputs 

func InterpolateInputs(from, to []Input, by float64) []Input

InterpolateInputs will return a set of inputs that are the specified percent between the two given sets of inputs. For example, setting by to 0.5 will return the inputs halfway between the from/to values, and 0.25 would return one quarter of the way from "from" to "to".

func RandomFrameInputs 

func RandomFrameInputs(m Frame, rSeed *rand.Rand) []Input

RandomFrameInputs will produce a list of valid, in-bounds inputs for the referenceframe.

func RestrictedRandomFrameInputs 

func RestrictedRandomFrameInputs(m Frame, rSeed *rand.Rand, lim float64) []Input

RestrictedRandomFrameInputs will produce a list of valid, in-bounds inputs for the frame, restricting the range to `lim` percent of the limits.

type InputEnabled 

type InputEnabled interface {
	CurrentInputs(ctx context.Context) ([]Input, error)
	GoToInputs(ctx context.Context, goal []Input) error
}

InputEnabled is a standard interface for all things that interact with the frame system This allows us to figure out where they currently are, and then move them. Input units are always in meters or radians.

type JointConfig added in v0.2.6 

type JointConfig struct {
	ID       string                  `json:"id"`
	Type     string                  `json:"type"`
	Parent   string                  `json:"parent"`
	Axis     spatial.AxisConfig      `json:"axis"`
	Max      float64                 `json:"max"`                // in mm or degs
	Min      float64                 `json:"min"`                // in mm or degs
	Geometry *spatial.GeometryConfig `json:"geometry,omitempty"` // only valid for prismatic/translational joints
}

JointConfig is a frame with nonzero DOF. Supports rotational or translational.

func (*JointConfig) ToFrame added in v0.2.6 

func (cfg *JointConfig) ToFrame() (Frame, error)

ToFrame converts a JointConfig into a joint frame.

type Limit 

type Limit struct {
	Min float64
	Max float64
}

Limit represents the limits of motion for a referenceframe.

type LinkConfig added in v0.2.6 

type LinkConfig struct {
	ID          string                     `json:"id"`
	Translation r3.Vector                  `json:"translation"`
	Orientation *spatial.OrientationConfig `json:"orientation"`
	Geometry    *spatial.GeometryConfig    `json:"geometry,omitempty"`
	Parent      string                     `json:"parent,omitempty"`
}

LinkConfig is a StaticFrame that also has a specified parent.

func NewLinkConfig added in v0.2.6 

func NewLinkConfig(frame staticFrame) (*LinkConfig, error)

NewLinkConfig constructs a config from a Frame.

func (*LinkConfig) ParseConfig added in v0.2.6 

func (cfg *LinkConfig) ParseConfig() (*LinkInFrame, error)

ParseConfig converts a LinkConfig into a staticFrame.

func (*LinkConfig) Pose added in v0.2.6 

func (cfg *LinkConfig) Pose() (spatial.Pose, error)

Pose will parse out the Pose of a LinkConfig and return it if it is valid.

type LinkInFrame added in v0.2.6 

type LinkInFrame struct {
	*PoseInFrame
	// contains filtered or unexported fields
}

LinkInFrame is a PoseInFrame plus a Geometry.

func LinkInFrameFromTransformProtobuf added in v0.2.6 

func LinkInFrameFromTransformProtobuf(proto *commonpb.Transform) (*LinkInFrame, error)

LinkInFrameFromTransformProtobuf converts a Transform protobuf message to a LinkInFrame struct.

func LinkInFramesFromTransformsProtobuf added in v0.2.6 

func LinkInFramesFromTransformsProtobuf(protoSlice []*commonpb.Transform) ([]*LinkInFrame, error)

LinkInFramesFromTransformsProtobuf converts a slice of Transform protobuf messages to a slice of LinkInFrame structs. TODO(rb): use generics to operate on lists of arbirary proto types.

func NewLinkInFrame added in v0.2.6 

func NewLinkInFrame(frame string, pose spatialmath.Pose, name string, geometry spatialmath.Geometry) *LinkInFrame

NewLinkInFrame generates a new LinkInFrame.

func (*LinkInFrame) Geometry added in v0.2.6 

func (lF *LinkInFrame) Geometry() spatialmath.Geometry

Geometry returns the Geometry of the LinkInFrame.

func (*LinkInFrame) ToStaticFrame added in v0.2.6 

func (lF *LinkInFrame) ToStaticFrame(name string) (Frame, error)

ToStaticFrame converts a LinkInFrame into a staticFrame with a new name.

type Model 

type Model interface {
	Frame
	ModelConfig() *ModelConfig
}

A Model represents a frame that can change its name, and can return itself as a ModelConfig struct.

func ModelFromPath added in v0.2.18 

func ModelFromPath(modelPath, name string) (Model, error)

ModelFromPath returns a Model from a given path.

func New2DMobileModelFrame added in v0.2.50 

func New2DMobileModelFrame(name string, limits []Limit, collisionGeometry spatialmath.Geometry) (Model, error)

New2DMobileModelFrame builds the kinematic model associated with the kinematicWheeledBase This model is intended to be used with a mobile base and has 3DOF corresponding to a state of x, y, and theta where x and y are the positional coordinates the base is located about and theta is the rotation about the z axis.

func ParseModelJSONFile 

func ParseModelJSONFile(filename, modelName string) (Model, error)

ParseModelJSONFile will read a given file and then parse the contained JSON data.

func ParseURDFFile added in v0.2.5 

func ParseURDFFile(filename, modelName string) (Model, error)

ParseURDFFile will read a given file and parse the contained URDF XML data into an equivalent ModelConfig struct.

func UnmarshalModelJSON 

func UnmarshalModelJSON(jsonData []byte, modelName string) (Model, error)

UnmarshalModelJSON will parse the given JSON data into a kinematics model. modelName sets the name of the model, will use the name from the JSON if string is empty.

type ModelConfig 

type ModelConfig struct {
	Name         string          `json:"name"`
	KinParamType string          `json:"kinematic_param_type,omitempty"`
	Links        []LinkConfig    `json:"links,omitempty"`
	Joints       []JointConfig   `json:"joints,omitempty"`
	DHParams     []DHParamConfig `json:"dhParams,omitempty"`
}

ModelConfig represents all supported fields in a kinematics JSON file.

func ConvertURDFToConfig added in v0.2.5 

func ConvertURDFToConfig(xmlData []byte, modelName string) (*ModelConfig, error)

ConvertURDFToConfig will transfer the given URDF XML data into an equivalent ModelConfig. Direct unmarshaling in the same fashion as ModelJSON is not possible, as URDF data will need to be evaluated to accommodate differences between the two kinematics encoding schemes.

func (*ModelConfig) ParseConfig 

func (cfg *ModelConfig) ParseConfig(modelName string) (Model, error)

ParseConfig converts the ModelConfig struct into a full Model with the name modelName.

type ModelFramer 

type ModelFramer interface {
	ModelFrame() Model
}

ModelFramer has a method that returns the kinematics information needed to build a dynamic referenceframe.

type PoseInFrame 

type PoseInFrame struct {
	// contains filtered or unexported fields
}

PoseInFrame is a data structure that packages a pose with the name of the frame in which it was observed.

func NewPoseInFrame 

func NewPoseInFrame(frame string, pose spatialmath.Pose) *PoseInFrame

NewPoseInFrame generates a new PoseInFrame.

func ProtobufToPoseInFrame 

func ProtobufToPoseInFrame(proto *commonpb.PoseInFrame) *PoseInFrame

ProtobufToPoseInFrame converts a PoseInFrame protobuf message to a PoseInFrame struct.

func (*PoseInFrame) Name added in v0.2.4 

func (pF *PoseInFrame) Name() string

Name returns the name of the PoseInFrame.

func (*PoseInFrame) Parent added in v0.2.6 

func (pF *PoseInFrame) Parent() string

Parent returns the name of the frame in which the pose was observed. Needed for Transformable interface.

func (*PoseInFrame) Pose 

func (pF *PoseInFrame) Pose() spatialmath.Pose

Pose returns the pose that was observed.

func (*PoseInFrame) SetName added in v0.2.6 

func (pF *PoseInFrame) SetName(name string)

SetName sets the name of the PoseInFrame.

func (*PoseInFrame) SetParent added in v0.2.6 

func (pF *PoseInFrame) SetParent(parent string)

SetParent sets the name of the frame in which the pose was observed.

func (*PoseInFrame) Transform 

func (pF *PoseInFrame) Transform(tf *PoseInFrame) Transformable

Transform changes the PoseInFrame pF into the reference frame specified by the tf argument. The tf PoseInFrame represents the pose of the pF reference frame with respect to the destination reference frame.

type SimpleModel 

type SimpleModel struct {

	// OrdTransforms is the list of transforms ordered from end effector to base
	OrdTransforms []Frame
	// contains filtered or unexported fields
}

SimpleModel TODO.

func NewSimpleModel 

func NewSimpleModel(name string) *SimpleModel

NewSimpleModel constructs a new model.

func (*SimpleModel) AlmostEquals 

func (m *SimpleModel) AlmostEquals(otherFrame Frame) bool

AlmostEquals returns true if the only difference between this model and another is floating point inprecision.

func (*SimpleModel) CachedTransform 

func (m *SimpleModel) CachedTransform(inputs []Input) (spatialmath.Pose, error)

CachedTransform will check a sync.Map cache to see if the exact given set of inputs has been computed yet. If so it returns without redoing the calculation. Thread safe, but so far has tended to be slightly slower than just doing the calculation. This may change with higher DOF models and longer runtimes.

func (*SimpleModel) DoF 

func (m *SimpleModel) DoF() []Limit

DoF returns the number of degrees of freedom within a model.

func (*SimpleModel) Geometries 

func (m *SimpleModel) Geometries(inputs []Input) (*GeometriesInFrame, error)

Geometries returns an object representing the 3D space associeted with the staticFrame.

func (*SimpleModel) InputFromProtobuf 

func (m *SimpleModel) InputFromProtobuf(jp *pb.JointPositions) []Input

InputFromProtobuf converts pb.JointPosition to inputs.

func (*SimpleModel) MarshalJSON 

func (m *SimpleModel) MarshalJSON() ([]byte, error)

MarshalJSON serializes a Model.

func (*SimpleModel) ModelConfig added in v0.2.6 

func (m *SimpleModel) ModelConfig() *ModelConfig

ModelConfig returns the ModelConfig object used to create this model.

func (SimpleModel) Name 

func (bf SimpleModel) Name() string

Name returns the name of the referenceframe.

func (*SimpleModel) ProtobufFromInput 

func (m *SimpleModel) ProtobufFromInput(input []Input) *pb.JointPositions

ProtobufFromInput converts inputs to pb.JointPosition.

func (*SimpleModel) Transform 

func (m *SimpleModel) Transform(inputs []Input) (spatialmath.Pose, error)

Transform takes a model and a list of joint angles in radians and computes the dual quaternion representing the cartesian position of the end effector. This is useful for when conversions between quaternions and OV are not needed.

type Transformable 

type Transformable interface {
	Transform(*PoseInFrame) Transformable
	Parent() string
}

Transformable is an interface to describe elements that can be transformed by the frame system.

type URDFConfig added in v0.2.5 

type URDFConfig struct {
	XMLName xml.Name    `xml:"robot"`
	Name    string      `xml:"name,attr"`
	Links   []URDFLink  `xml:"link"`
	Joints  []URDFJoint `xml:"joint"`
}

URDFConfig represents all supported fields in a Universal Robot Description Format (URDF) file.

type URDFJoint added in v0.2.5 

type URDFJoint struct {
	XMLName xml.Name `xml:"joint"`
	Name    string   `xml:"name,attr"`
	Type    string   `xml:"type,attr"`
	Origin  struct {
		XMLName xml.Name `xml:"origin"`
		RPY     string   `xml:"rpy,attr"` // Fixed frame angle "r p y" format, in radians
		XYZ     string   `xml:"xyz,attr"` // "x y z" format, in meters
	} `xml:"origin"`
	Parent struct {
		XMLName xml.Name `xml:"parent"`
		Link    string   `xml:"link,attr"`
	} `xml:"parent"`
	Child struct {
		XMLName xml.Name `xml:"child"`
		Link    string   `xml:"link,attr"`
	} `xml:"child"`
	Axis struct {
		XMLName xml.Name `xml:"axis"`
		XYZ     string   `xml:"xyz,attr"` // "x y z" format, in meters
	} `xml:"axis"`
	Limit struct {
		XMLName xml.Name `xml:"limit"`
		Lower   float64  `xml:"lower,attr"` // translation limits are in meters, revolute limits are in radians
		Upper   float64  `xml:"upper,attr"` // translation limits are in meters, revolute limits are in radians
	} `xml:"limit"`
}

URDFJoint is a struct which details the XML used in a URDF joint element. 

type URDFLink struct {
	XMLName   xml.Name `xml:"link"`
	Name      string   `xml:"name,attr"`
	Collision []struct {
		XMLName xml.Name `xml:"collision"`
		Name    string   `xml:"name,attr"`
		Origin  struct {
			XMLName xml.Name `xml:"origin"`
			RPY     string   `xml:"rpy,attr"` // Fixed frame angle "r p y" format, in radians
			XYZ     string   `xml:"xyz,attr"` // "x y z" format, in meters
		} `xml:"origin"`
		Geometry struct {
			XMLName xml.Name `xml:"geometry"`
			Box     struct {
				XMLName xml.Name `xml:"box"`
				Size    string   `xml:"size,attr"` // "x y z" format, in meters
			} `xml:"box"`
			Sphere struct {
				XMLName xml.Name `xml:"sphere"`
				Radius  float64  `xml:"radius,attr"` // in meters
			} `xml:"sphere"`
		} `xml:"geometry"`
	} `xml:"collision"`
}

URDFLink is a struct which details the XML used in a URDF link element.

type WorldState added in v0.2.4 

type WorldState struct {
	// contains filtered or unexported fields
}

WorldState is a struct to store the data representation of the robot's environment.

func NewEmptyWorldState added in v0.2.37 

func NewEmptyWorldState() *WorldState

NewEmptyWorldState is a constructor for a WorldState object that has no obstacles or transforms.

func NewWorldState added in v0.2.37 

func NewWorldState(obstacles []*GeometriesInFrame, transforms []*LinkInFrame) (*WorldState, error)

NewWorldState is a constructor for a WorldState object.

func WorldStateFromProtobuf added in v0.2.4 

func WorldStateFromProtobuf(proto *commonpb.WorldState) (*WorldState, error)

WorldStateFromProtobuf takes the protobuf definition of a WorldState and converts it to a rdk defined WorldState.

func (*WorldState) ObstacleNames added in v0.2.37 

func (ws *WorldState) ObstacleNames() map[string]bool

ObstacleNames returns the set of geometry names that have been registered in the WorldState, represented as a map.

func (*WorldState) ObstaclesInWorldFrame added in v0.2.32 

func (ws *WorldState) ObstaclesInWorldFrame(fs FrameSystem, inputs map[string][]Input) (*GeometriesInFrame, error)

ObstaclesInWorldFrame takes a frame system and a set of inputs for that frame system and converts all the obstacles in the WorldState such that they are in the frame system's World reference frame.

func (*WorldState) String added in v0.2.50 

func (ws *WorldState) String() string

String returns a string representation of the geometries in the WorldState.

func (*WorldState) ToProtobuf added in v0.2.37 

func (ws *WorldState) ToProtobuf() (*commonpb.WorldState, error)

ToProtobuf takes an rdk WorldState and converts it to the protobuf definition of a WorldState.

func (*WorldState) Transforms added in v0.2.4 

func (ws *WorldState) Transforms() []*LinkInFrame

Transforms returns the transforms that have been added to the WorldState.

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