diff --git a/.clang-format b/.clang-format new file mode 100644 index 0000000..fe04676 --- /dev/null +++ b/.clang-format @@ -0,0 +1,31 @@ +--- +BasedOnStyle: Google +UseTab: ForIndentation +TabWidth: 4 +ColumnLimit: 150 +ConstructorInitializerAllOnOneLineOrOnePerLine: true +ConstructorInitializerIndentWidth: 4 +ContinuationIndentWidth: 4 +Cpp11BracedListStyle: true +IndentWidth: 4 +Language: Cpp +MaxEmptyLinesToKeep: 2 +NamespaceIndentation: None +SortUsingDeclarations: true +SpaceAfterTemplateKeyword: false +SpaceInEmptyParentheses: false +Standard: Cpp11 +#圆括号之后,多行内容,进行对齐 +AlignAfterOpenBracket: Align +#连续赋值时，对齐所有等号 +AlignConsecutiveAssignments: true +#连续声明时，对齐所有声明的变量名 +#AlignConsecutiveDeclarations: true +AllowShortLoopsOnASingleLine: false +#对齐连续的尾随的注释 +AlignTrailingComments: true +#将简单的语句块放到一个单行 +AllowShortBlocksOnASingleLine: false +#if (a) return;放单行 属性：Never、WithoutElse没有else的可以放单行、OnlyFirstIf只有第一个if放单行、AllIfsAndElse总是把简短的if, else if和else语句放在同一行。 +AllowShortIfStatementsOnASingleLine: false +--- diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..032ced8 --- /dev/null +++ b/.gitignore @@ -0,0 +1,33 @@ +# Python +dist +*.egg-info +*.so +__pycache__ + +# Pycharm +.idea/ + +# VScode +.vscode/ +.vscode/* +**/.vscode/* +!.vscode/extensions.json + +# General +_build/ +.sass-cache +_posts +_site + +# saved +run/saved/* +!run/saved/YOPO_1 +run/yopo_trt.pth +externals/ + +#logs +run/utils/*.csv + +# dataset +/run/yopo_sim/* + diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..2d773b1 --- /dev/null +++ b/LICENSE @@ -0,0 +1,25 @@ +MIT License + +Copyright (c) 2024, TJU-Aerial-Robotics +Tianjin University, China + +This work is developed based on Flightmare Simulator. +The original LICENSE can be found in the LICENSE_FLIGHTMARE file. + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/LICENSE_FLIGHTMARE b/LICENSE_FLIGHTMARE new file mode 100644 index 0000000..512533b --- /dev/null +++ b/LICENSE_FLIGHTMARE @@ -0,0 +1,22 @@ +MIT License + +Copyright (c) 2020 Robotics and Perception Group, +University of Zurich, Switzerland + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. \ No newline at end of file diff --git a/README.md b/README.md index 45b5727..4d3d23c 100644 --- a/README.md +++ b/README.md @@ -1,9 +1,226 @@ -# YOPO -### Code for Paper: You Only Plan Once: A Learning-based One-stage Planner with Guidance Learning -More details can be found in the video on [YouTube](https://youtu.be/m7u1MYIuIn4) or [bilibili](https://www.bilibili.com/video/BV15M4m1d7j5/). -**The code is to be released...** +# You Only Plan Once -A simple demonstration with random goals clicked in rviz at the flight speed of 4m/s (the video is 3x speed-up and the map is unavailable). +Paper: [You Only Plan Once: A Learning-Based One-Stage Planner With Guidance Learning](https://ieeexplore.ieee.org/document/10528860) -![demo](click_in_rviz.gif) +Video of this paper can be found: [YouTube](https://youtu.be/m7u1MYIuIn4), [bilibili](https://www.bilibili.com/video/BV15M4m1d7j5) + +Some realworld experiment: [YouTube](https://youtu.be/LHvtbKmTwvE), [bilibili](https://www.bilibili.com/video/BV1jBpve5EkP) + +## Introduction: +We proposed a learning-based planner for autonomous navigation in obstacle-dense environments which intergrats (i) perception and mapping, (ii) front-end path searching, and (iii) back-end optimization of classical methods into a single network. + +Considering the multi-modal nature of the navigation problem and to avoid local minima around initial values, our approach adopts a set of motion primitives as anchor to cover the searching space, and predicts the offsets and scores of primitives for further improvement (like the one-stage object detector YOLO). + +Compared to giving expert demonstrations for imitation in imitation learning or exploring by trial-and-error in reinforcement learning, we directly back-propagate the numerical gradient (e.g. from ESDF) to the weights of neural network in the training process, which is realistic, accurate, and timely. + + + + + + + + + + + + +
Fig1Fig2Fig3
primitive anchorspredicted traj and scoreslearning method
+ +## Acknowledgements: + +This project is developed based on the open-source simulator [Flightmare](https://github.com/uzh-rpg/flightmare) and the gradient computation is modified from [grad_traj_optimization](https://github.com/HKUST-Aerial-Robotics/grad_traj_optimization), thanks for their excellent work! + +## Installation + +The project was tested with Ubuntu 20.04 and Jetson Orin/Xavier NX. + +**1. Flightmare Dependencies** + +``` +sudo apt-get update && apt-get install -y --no-install-recommends \ + build-essential \ + cmake \ + libzmqpp-dev \ + libopencv-dev \ + libpcl-dev +``` + +**2. Add sourcing of your catkin workspace as FLIGHTMARE_PATH environment variable:** +``` +# modify "~/YOPO" to your path +echo "export FLIGHTMARE_PATH=~/YOPO" >> ~/.bashrc +source ~/.bashrc +``` +**3. Unity:** + +Download the Flightmare Standalone uploaded by [uzh-rpg +/agile_autonomy](https://zenodo.org/records/5517791/files/standalone.tar), extract it and put in the `flightrender` folder. +It should looks like: +``` +flightrender/ +├── CMakeLists.txt +└── RPG_Flightmare/ + ├── flightmare.x86_64 + └── ... +``` + +**4. Create a conda virtual environment.** +``` +conda create --name yopo python=3.8 +conda activate yopo + +conda install pytorch torchvision torchaudio pytorch-cuda=11.8 -c pytorch -c nvidia +pip install opencv-python +pip install gym stable-baselines3==1.5.0 +pip install scipy scikit-build ruamel-yaml==0.17.21 numpy==1.22.3 tensorboard==2.9.1 empy catkin_pkg +``` +**5. build the flightlib** +``` +conda activate yopo +cd YOPO/flightlib/build +cmake .. +make -j8 +pip install . +``` +**6. Some issues may arise when we test on different devices.** + +6.1. No module named 'flightpolicy' + +``` +# modify "~/YOPO/flightpolicy" to your path +echo "export PYTHONPATH=$PYTHONPATH:~/YOPO" >> ~/.bashrc +source ~/.bashrc +``` +6.2. No module named 'flightgym' +``` +cd YOPO/flightlib/build +pip install -e . +``` + +## Train the Policy +**1. Data Collection:** For efficiency, we proactively collect dataset (images and states) by randomly initializing the drone's state (position and orientation). We randomly sample multiple velocities and accelerations for each image during the training process. The distribution of random sampled velocity is as `/docs/distribution_of_sampled_velocity.png`. It may take nearly 1 hour for collection with default dataset size but you only need to collect once. The data will be saved at `run/yopo_sim`. +``` +cd ~/YOPO/run +conda activate yopo +python data_collection_simulation.py +``` + +**2. Training:** +``` +cd ~/YOPO/run +conda activate yopo +python run_yopo.py --train=1 +``` +It may take 2-3 hours to traing with default dataset size and training epoch. If everything goes well, the training log is as follows: + +

+ train_log +

+ +Besides, you can refer to [quadrotor_env.yaml](./flightlib/configs/quadrotor_env.yaml), [vec_env.yaml](./flightlib/config/vec_env.yaml) and [traj_opt.yaml](./flightlib/config/traj_opt.yaml) for some modifications of quadrotor, environment, and trajectory optimization. + +## Test the Policy + +You can test the policy using pre-trained weights we provide at `run/saved/YOPO_1/Policy/epoch0_iter0.pth`. (For example, to use the weights of `YOPO_1/Policy/epoch2_iter3.pth`, you should use `--trial=1 --epoch=2 --iter=3`) + +**1. Test without dynamics model and controller (simple but not recommended).** + + +``` +cd ~/YOPO/run +conda activate yopo +python run_yopo.py --train=0 --render=1 --trial=1 --epoch=0 --iter=0 +``` + +It will take a while for unity setup, and then you will see: +

+ demo +

+ +**2. Test with dynamics model and controller (recommended).** + +**Prapare:** We did not use the built-in dynamics of Flightmare; instead, we used a ROS-based simulator and controller from [Fast Planner](https://github.com/HKUST-Aerial-Robotics/Fast-Planner). For your convenience, we have extracted only the relevant sections from the project, which you can refer to [UAV_Simulator](https://github.com/TJU-Aerial-Robotics/UAV_Simulator) for installation. + +Besides, we recommend using tmux & tmuxinator for terminal management. + +**2.1** Start the simulation environment with Unity and the ROS interface (It will take some time to load Unity and randomly generate a new environment) + +``` +cd ~/YOPO/flightrender/RPG_Flightmare +./flightmare.x86_64 +``` + +``` +cd ~/YOPO/flightlib/build +./flightros_node +``` + +Besides, you can refer to [quadrotor_ros.yaml](./flightlib/configs/quadrotor_ros.yaml) for some modifications. + +**2.2** Start the dynamics simulation and controller of UAV +``` +cd ~/UAV_Simulator +source devel/setup.bash +roslaunch so3_quadrotor_simulator simulator.launch +``` + +**2.3** Start the YOPO inference and the planner (the implementation of yopo_planner_node will be moved to test_yopo_ros.py in the future) + +``` +cd ~/YOPO/run +conda activate yopo +python test_yopo_ros.py --trial=1 --epoch=0 --iter=0 +``` + +``` +cd ~/YOPO/flightlib/build +./yopo_planner_node +``` + +**2.4** Visualization: start the RVIZ and publish the map. +Then you can click the `2D Nav Goal` on RVIZ as the goal at will, just like the following GIF. +``` +cd ~/YOPO/ +rviz -d yopo.rviz +``` + +``` +cd ~/YOPO/flightlib/build +./map_visual_node +``` + +

+ click_in_rviz +

+ + +## TensorRT Deployment +We highly recommend using TensorRT for acceleration when flying in real world. It only takes 1ms for inference on NVIDIA Orin NX. + +**1. Prepera:** +``` +conda activate yopo +pip install -U nvidia-tensorrt --index-url https://pypi.ngc.nvidia.com + +git clone https://github.com/NVIDIA-AI-IOT/torch2trt +cd torch2trt +python setup.py install +``` +**2. PyTorch model to TensorRT model** +``` +cd ~/YOPO/ +conda activate yopo +python yopo_trt_transfer.py --trial=1 --epoch=0 --iter=0 +``` +**3. TensorRT Inference** +``` +cd ~/YOPO/ +conda activate yopo +python test_yopo_ros.py --use_tensorrt=True +``` + +## Finally +We are still working on improving and refactoring the code to improve the readability, reliability, and efficiency. For any technical issues, please feel free to contact me (lqzx1998@tju.edu.cn) 😀 We are very open and enjoy collaboration! + +If you find this work useful or interesting, please kindly give us a star ⭐; If our repository supports your academic projects, please cite our paper. Thank you! \ No newline at end of file diff --git a/click_in_rviz.gif b/docs/click_in_rviz.gif old mode 100644 new mode 100755 similarity index 100% rename from click_in_rviz.gif rename to docs/click_in_rviz.gif diff --git a/docs/depth_egb_stereo_image.png b/docs/depth_egb_stereo_image.png new file mode 100644 index 0000000..cfe49e7 Binary files /dev/null and b/docs/depth_egb_stereo_image.png differ diff --git a/docs/distribution_of_sampled_velocity.png b/docs/distribution_of_sampled_velocity.png new file mode 100644 index 0000000..eb81830 Binary files /dev/null and b/docs/distribution_of_sampled_velocity.png differ diff --git a/docs/executed_trajectory.png b/docs/executed_trajectory.png new file mode 100644 index 0000000..61f7b45 Binary files /dev/null and b/docs/executed_trajectory.png differ diff --git a/docs/predicted_trajectories.png b/docs/predicted_trajectories.png new file mode 100644 index 0000000..f384ac0 Binary files /dev/null and b/docs/predicted_trajectories.png differ 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!Flightmare! ======================") + +# ############################################################################### +# Options +# ############################################################################### +option(ENABLE_FAST "Build with optimizations for speed" ON) +option(ENABLE_BLAS "Build using BLAS and LAPACK libraries" OFF) +option(ENABLE_PARALLEL "Build using openmp parallelization" ON) +option(EIGEN_FROM_SYSTTEM "Use the system-provided Eigen" ON) +set( + EIGEN_ALTERNATIVE "" CACHE STRING + "Path to alternative Eigen, autodownload if blank" +) + +# ############################################################################### +# Finding Dependencies +# ############################################################################### + +# Eigen3 +message(STATUS "======> Setup Dependencies") + +if(EIGEN_FROM_SYSTTEM) + find_package(Eigen3 3.3.4 QUIET) + + if(EIGEN3_FOUND) + message(STATUS "Using system provided Eigen.") + message(${EIGEN3_INCLUDE_DIR}) + else() + message(STATUS "No sufficient Eigen version (3.3.4) found.") + message(STATUS "Restoring to download Eigen sources.") + include(cmake/eigen.cmake) + endif() +elseif(EIGEN_ALTERNATIVE STREQUAL "") + include(cmake/eigen.cmake) +else() + set(EIGEN_INCLUDE_DIR ${EIGEN_ALTERNATIVE}) +endif() + +message(STATUS "Eigen3 include dir: ${EIGEN3_INCLUDE_DIR}") + +# PCL (Many VTK errors are reported, but do not affect compilation) +find_package(PCL 1.10 REQUIRED) +message(STATUS "Using system provided PCL.") +message(${PCL_INCLUDE_DIRS}) +include_directories(${PCL_INCLUDE_DIRS}) +link_directories(${PCL_LIBRARY_DIRS}) +add_definitions(${PCL_DEFINITIONS}) + +# Including dependencies +find_package(OpenCV REQUIRED) +include_directories(${OpenCV_INCLUDE_DIRS}) + +# Including dependencies +include(cmake/pybind11.cmake) +include(cmake/yaml.cmake) + +# Including OpenMP & CUDA +find_package(OpenMP REQUIRED) +find_package(CUDA REQUIRED) + +if(ENABLE_BLAS) + set(BLA_VENDOR "Generic") + find_package(BLAS REQUIRED) + + if(BLAS_FOUND) + message(STATUS "Found BLAS: ${BLAS_LIBRARIES}") + else() + message(ERROR "Could not enable BLAS because BLAS was not found") + endif() + + find_package(LAPACK REQUIRED) + + if(LAPACK_FOUND) + message(STATUS "Found Lapack: ${LAPACK_LIBRARIES}") + else() + message(ERROR "Could not enable LAPACK because LAPACK was not found") + endif() +endif() + +# Check for ccache +if(NOT DEFINED CATKIN_DEVEL_PREFIX) + find_program(CCACHE_PROGRAM ccache) + + if(CCACHE_PROGRAM) + set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}") + else() + message(INFO "Build time could be improved with ccache!") + message(INFO "sudo apt install ccache") + endif() +endif() + +# ############################################################################### +# Setup Compilation Flag +# ############################################################################### +message(STATUS "======> Setup Compilation ") + +add_definitions(-DEIGEN_STACK_ALLOCATION_LIMIT=1048576) +include_directories(${EIGEN_INCLUDE_DIR} "tests") +include_directories(${OpenCV_INCLUDE_DIRS}) + +# Set default build type +if(NOT EXISTS ${CMAKE_BINARY_DIR}/CMakeCache.txt) + if(NOT CMAKE_BUILD_TYPE) + set(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE) + endif() +endif() + +cuda_select_nvcc_arch_flags(CUDA_ARCH_FLAGS) +message("CUDA Architecture: ${CUDA_ARCH_FLAGS}") + +if(${CMAKE_BUILD_TYPE} STREQUAL Release) + SET(CUDA_NVCC_FLAGS "${CUDA_ARCH_FLAGS};-O3;-use_fast_math" CACHE STRING "nvcc flags" FORCE) + message("build CUDA with -O3") +else() + message("build CUDA with Debug") + SET(CUDA_NVCC_FLAGS "-g ;-G ;${CUDA_ARCH_FLAGS}" CACHE STRING "nvcc flags" FORCE) + SET(CUDA_VERBOSE_BUILD ON CACHE BOOL "nvcc verbose" FORCE) +endif() + +# Add c++ flags +set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -fPIC -Wall -DNDEBUG -fopenmp") +set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -fPIC -Wall -g -fopenmp") +set(CMAKE_CXX_STANDARD 17) + +# Architectural flags +if("${CMAKE_HOST_SYSTEM_PROCESSOR}" STREQUAL "armv7l") + message(STATUS "Using ARMv7 optimized flags!") + set(CMAKE_CXX_ARCH_FLAGS " -Wno-psabi -march=armv7-a -mfpu=neon -mfloat-abi=hard -funsafe-math-optimizations") +elseif("${CMAKE_HOST_SYSTEM_PROCESSOR}" STREQUAL "aarch64") + message(STATUS "Using ARM aarch64 optimized flags!") + set(CMAKE_CXX_ARCH_FLAGS " -Wno-psabi -march=armv8-a+crypto -mcpu=cortex-a57+crypto") +else() + set(CMAKE_CXX_ARCH_FLAGS " -march=native") +endif() + +# Optimized flags +if(ENABLE_FAST) + message(STATUS "Enabling fast optimization flags!") + set(CMAKE_CXX_FAST_FLAGS " -Ofast") +else() + set(CMAKE_CXX_FAST_FLAGS " -O0") +endif() + +# BLAS Flags +if(BLAS_FOUND AND LAPACK_FOUND) + message(STATUS "Enabling BLAS and LAPACK") + set(CMAKE_CXX_BLAS_FLAGS " -DEIGEN_USE_BLAS -DEIGEN_USE_LAPACK -DEIGEN_USE_LAPACKE") +else() + set(CMAKE_CXX_BLAS_FLAGS "") +endif() + +# Summarize Flags +set(CMAKE_CXX_FLAGS_RELEASE + "${CMAKE_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FAST_FLAGS} ${CMAKE_CXX_ARCH_FLAGS} ${CMAKE_CXX_PAR_FLAGS}") +string(REPLACE "-DNDEBUG" "" CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELWITHDEBINFO}") +message(STATUS "The activated CXX RELEASE configuration is:\n ${CMAKE_CXX_FLAGS_RELEASE}") +message(STATUS "The activated CXX DEBUG configuration is:\n ${CMAKE_CXX_FLAGS_DEBUG}") + +# ############################################################################### +# Specify Build Resources +# ############################################################################### +message(STATUS "======> Setup Build ") + +add_subdirectory(${PROJECT_SOURCE_DIR}/third_party/arc_utilities) +add_subdirectory(${PROJECT_SOURCE_DIR}/third_party/sdf_tools) + +# Create file lists for flightlib source +file(GLOB_RECURSE FLIGHTLIB_SOURCES + src/bridges/*.cpp + src/dynamics/*.cpp + src/objects/*.cpp + src/sensors/*.cpp + src/sensors/*.cu + src/envs/*.cpp + src/common/*.cpp + src/grad_traj_optimization/*.cpp +) + +# Create file lists for flightlib_gym source +file(GLOB_RECURSE FLIGHTLIB_GYM_SOURCES + src/wrapper/*.cpp +) + +# ############################################################################### +# Optional Catkin Build +# ############################################################################### +if(DEFINED CATKIN_DEVEL_PREFIX) + message(STATUS "======> Building with -- catkin -- ") + include(cmake/catkin.cmake) + return() +endif() + +find_package(catkin REQUIRED COMPONENTS + roscpp + sdf_tools + pcl_ros + pcl_conversions + sensor_msgs +) + +# ############################################################################### +# Setup Build +# ############################################################################### + +# Library and Executables +include_directories(include) +include_directories(${PROJECT_SOURCE_DIR}/third_party/sdf_tools/include) +include_directories(${PROJECT_SOURCE_DIR}/third_party/arc_utilities/include) + +# 1. The Training Lib +if(NOT FLIGHTLIB_SOURCES) + set(LIBRARY_NAME) +else() + # flightlib -CUDA + cuda_add_library(${PROJECT_NAME} ${FLIGHTLIB_SOURCES}) + target_link_libraries(${PROJECT_NAME} # PRIVATE + ${OpenCV_LIBRARIES} + ${PCL_LIBRARIES} + ${CUDA_curand_LIBRARY} + ${CUDA_cublas_LIBRARY} + ${CUDA_LIBRARIES} + ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PROJECT_SOURCE_DIR} + yaml-cpp + zmq + zmqpp + stdc++fs) + set(LIBRARY_NAME ${PROJECT_NAME}) + set_target_properties(${PROJECT_NAME} PROPERTIES POSITION_INDEPENDENT_CODE TRUE) +endif() + +if(FLIGHTLIB_GYM_SOURCES) + # flightlib_gym (python3 binding with Pybind11) + pybind11_add_module(flightgym MODULE + ${FLIGHTLIB_GYM_SOURCES}) + + if(EIGEN3_FOUND) + target_include_directories(flightgym PRIVATE + + # ${PROJECT_SOURCE_DIR}/externals/pybind11-src/include + ${PYBIND11_INCLUDE_DIR} + ${PROJECT_SOURCE_DIR}/include + ${EIGEN3_INCLUDE_DIR}) + else() + target_include_directories(flightgym PRIVATE + + # ${PROJECT_SOURCE_DIR}/externals/pybind11-src/include + ${PYBIND11_INCLUDE_DIR} + ${PROJECT_SOURCE_DIR}/externals/eigen/eigen3 # pybind11 use #include , however, flightmare use #include + ${PROJECT_SOURCE_DIR}/include) + endif() + + target_link_libraries(flightgym PRIVATE ${LIBRARY_NAME}) +endif() + +if(ENABLE_BLAS AND BLAS_FOUND AND LAPACK_FOUND) + message(STATUS "Linking standard BLAS ${BLAS_LIBRARIES}") + target_link_libraries(${LIBRARY_NAME} + ${BLAS_LIBRARIES} + ${LAPACK_LIBRARIES} + ${LAPACKE_LIBRARIES} + ) +endif() + +# Build Other ROS PKG +find_package(catkin REQUIRED COMPONENTS + tf + nav_msgs + cv_bridge +) + +include_directories( + ${catkin_INCLUDE_DIRS} + ${PROJECT_SOURCE_DIR}/include +) + +# 2. ROS Simulation Node +add_executable(flightros_node + src/ros_nodes/flight_pilot.cpp + src/ros_nodes/flight_pilot_node.cpp +) + +target_link_libraries(flightros_node + ${LIBRARY_NAME} + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + zmqpp + stdc++fs +) + +# 3. The Planner +add_executable(yopo_planner_node + src/ros_nodes/yopo_planner_node.cpp +) +target_link_libraries(yopo_planner_node + ${LIBRARY_NAME} + ${catkin_LIBRARIES} +) + +# 4. Tool: Trajectory Evaluation +add_executable(traj_eval_node + src/ros_nodes/traj_eval_node.cpp +) +target_link_libraries(traj_eval_node + ${LIBRARY_NAME} + ${catkin_LIBRARIES} +) + +# 5. Tool: Map Visualization +add_executable(map_visual_node + src/ros_nodes/map_visual_node.cpp +) +target_link_libraries(map_visual_node + ${LIBRARY_NAME} + ${catkin_LIBRARIES} +) + +message(STATUS "================ !Done. No more nightmare! ================") diff --git a/flightlib/build/.clang-format b/flightlib/build/.clang-format new file mode 100644 index 0000000..1bbeb6c --- /dev/null +++ b/flightlib/build/.clang-format @@ -0,0 +1,4 @@ +--- +DisableFormat: true +SortIncludes: false +--- \ No newline at end of file diff --git a/flightlib/build/.gitignore b/flightlib/build/.gitignore new file mode 100644 index 0000000..eedfbba --- /dev/null +++ b/flightlib/build/.gitignore @@ -0,0 +1,6 @@ +# Ignore everything in this directory +* +# Except this file +!.gitignore +!.clang-format +!setup.py diff --git a/flightlib/build/setup.py b/flightlib/build/setup.py new file mode 100644 index 0000000..d9b98a8 --- /dev/null +++ b/flightlib/build/setup.py @@ -0,0 +1,15 @@ +from setuptools import setup, Extension + +# +setup(name='flightgym', + version='0.0.1', + author="Junjie Lu / Yunlong Song", + author_email='lqzx1998@tju.edu.cn / song@ifi.uzh.ch', + description="Flightmare: A Quadrotor Simulator", + long_description='This project is modified based on Flightmare by Yunlong Song, Thanks for his excellent work!', + packages=[''], + package_dir={'': './'}, + package_data={'': ['flightgym.cpython-36m-x86_64-linux-gnu.so']}, + zip_fase=True, + url=None, +) diff --git a/flightlib/cmake/catkin.cmake b/flightlib/cmake/catkin.cmake new file mode 100644 index 0000000..463b3a1 --- /dev/null +++ b/flightlib/cmake/catkin.cmake @@ -0,0 +1,29 @@ +# Setup catkin simple +find_package(catkin_simple REQUIRED) + +catkin_simple() + +add_definitions(-std=c++17) + +# Library and Executables +cs_add_library(${PROJECT_NAME} ${FLIGHTLIB_SOURCES}) +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + ${BLAS_LIBRARIES} + ${LAPACK_LIBRARIES} + ${LAPACKE_LIBRARIES} + ${OpenCV_LIBRARIES} + yaml-cpp + zmq + zmqpp +) + +# Build tests +if(BUILD_TESTS) + catkin_add_gtest(flightlib_tests ${FLIGHTLIB_TEST_SOURCES}) + target_link_libraries(flightlib_tests ${PROJECT_NAME} gtest gtest_main) +endif() + +# Finish catkin simple +cs_install() +cs_export() diff --git a/flightlib/cmake/eigen.cmake b/flightlib/cmake/eigen.cmake new file mode 100644 index 0000000..e17cb3e --- /dev/null +++ b/flightlib/cmake/eigen.cmake @@ -0,0 +1,25 @@ +# Download and unpack eigen at configure time +message(STATUS "Getting Eigen...") + +configure_file( + cmake/eigen_download.cmake + ${PROJECT_SOURCE_DIR}/externals/eigen/CMakeLists.txt) + +execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" . + RESULT_VARIABLE result + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/eigen + OUTPUT_QUIET) +if(result) + message(FATAL_ERROR "Download of Eigen failed: ${result}") +endif() +execute_process(COMMAND ${CMAKE_COMMAND} --build . + RESULT_VARIABLE result + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/eigen + OUTPUT_QUIET) +if(result) + message(FATAL_ERROR "Build step for eigen failed: ${result}") +endif() + +message(STATUS "Eigen downloaded!") + +set(EIGEN_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/externals/eigen) \ No newline at end of file diff --git a/flightlib/cmake/eigen_download.cmake b/flightlib/cmake/eigen_download.cmake new file mode 100644 index 0000000..11404ce --- /dev/null +++ b/flightlib/cmake/eigen_download.cmake @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.0.0) + +project(eigen-external) + +include(ExternalProject) +ExternalProject_Add(eigen + GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git + GIT_TAG 3.3.4 + SOURCE_DIR "${PROJECT_SOURCE_DIR}/externals/eigen/eigen3" + CONFIGURE_COMMAND "" + BUILD_COMMAND "" + INSTALL_COMMAND "" + TEST_COMMAND "" + UPDATE_DISCONNECTED ON +) \ No newline at end of file diff --git a/flightlib/cmake/gtest.cmake b/flightlib/cmake/gtest.cmake new file mode 100644 index 0000000..98ee7bc --- /dev/null +++ b/flightlib/cmake/gtest.cmake @@ -0,0 +1,37 @@ +# Download and unpack googletest at configure time +message(STATUS "Getting gtests...") + +configure_file(cmake/gtest_download.cmake ${PROJECT_SOURCE_DIR}/externals/googletest-download/CMakeLists.txt) +execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" . + RESULT_VARIABLE result + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/googletest-download + OUTPUT_QUIET) +if(result) + message(FATAL_ERROR "CMake step for googletest failed: ${result}") +endif() +execute_process(COMMAND ${CMAKE_COMMAND} --build . + RESULT_VARIABLE result + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/googletest-download + OUTPUT_QUIET) +if(result) + message(FATAL_ERROR "Build step for googletest failed: ${result}") +endif() + +message(STATUS "gtests downloaded!") + +# Prevent overriding the parent project's compiler/linker +# settings on Windows +set(gtest_force_shared_crt ON CACHE BOOL "" FORCE) + +# Add googletest directly to our build. This defines +# the gtest and gtest_main targets. +add_subdirectory(${PROJECT_SOURCE_DIR}/externals/googletest-src + ${PROJECT_SOURCE_DIR}/externals/googletest-build + EXCLUDE_FROM_ALL) + +# The gtest/gtest_main targets carry header search path +# dependencies automatically when using CMake 2.8.11 or +# later. Otherwise we have to add them here ourselves. +if (CMAKE_VERSION VERSION_LESS 2.8.11) + include_directories("${gtest_SOURCE_DIR}/include") +endif() \ No newline at end of file diff --git a/flightlib/cmake/gtest_download.cmake b/flightlib/cmake/gtest_download.cmake new file mode 100644 index 0000000..fdeded5 --- /dev/null +++ b/flightlib/cmake/gtest_download.cmake @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 3.0.0) + +project(googletest-download NONE) + +include(ExternalProject) +ExternalProject_Add(googletest + GIT_REPOSITORY https://github.com/google/googletest.git + GIT_TAG main + SOURCE_DIR "${PROJECT_SOURCE_DIR}/externals/googletest-src" + BINARY_DIR "${PROJECT_SOURCE_DIR}/externals/googletest-build" + CONFIGURE_COMMAND "" + BUILD_COMMAND "" + INSTALL_COMMAND "" + TEST_COMMAND "" + UPDATE_DISCONNECTED ON +) diff --git a/flightlib/cmake/pybind11.cmake b/flightlib/cmake/pybind11.cmake new file mode 100644 index 0000000..f4c56cd --- /dev/null +++ b/flightlib/cmake/pybind11.cmake @@ -0,0 +1,33 @@ +# Download and unpack pybind11 at configure time +message(STATUS "Getting Pybind11...") + +# set(PYBIND11_PYTHON_VERSION 3.6) +set(PYBIND11_PYTHON_VERSION ${PYTHON_VERSION_STRING}) + +configure_file( + cmake/pybind11_download.cmake + ${PROJECT_SOURCE_DIR}/externals/pybind11-download/CMakeLists.txt) + +execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" . + RESULT_VARIABLE result + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/pybind11-download + OUTPUT_QUIET) +if(result) + message(FATAL_ERROR "Cmake Step for Pybind11 failed: ${result}") +endif() + +execute_process(COMMAND ${CMAKE_COMMAND} --build . + RESULT_VARIABLE result + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/pybind11-download + OUTPUT_QUIET) +if(result) + message(FATAL_ERROR "Build step for eigen failed: ${result}") +endif() + +message(STATUS "Pybind11 downloaded!") + +set(PYBIND11_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/externals/pybind11-src/include) +add_subdirectory(${PROJECT_SOURCE_DIR}/externals/pybind11-src + EXCLUDE_FROM_ALL) + +include_directories(SYSTEM "${PROJECT_SOURCE_DIR}/externals/pybind11-src/include") \ No newline at end of file diff --git a/flightlib/cmake/pybind11_download.cmake b/flightlib/cmake/pybind11_download.cmake new file mode 100644 index 0000000..d81e578 --- /dev/null +++ b/flightlib/cmake/pybind11_download.cmake @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 3.0.0) + +project(pybind11-download) + +include(ExternalProject) +ExternalProject_Add(pybind11 + GIT_REPOSITORY https://cf.ghproxy.cc/https://github.com/pybind/pybind11 + GIT_TAG master + SOURCE_DIR "${PROJECT_SOURCE_DIR}/externals/pybind11-src" + BINARY_DIR "${PROJECT_SOURCE_DIR}/externals/pybind11-bin" + CONFIGURE_COMMAND "" + CMAKE_ARGS "" + BUILD_COMMAND "" + INSTALL_COMMAND "" + TEST_COMMAND "" + UPDATE_DISCONNECTED ON +) \ No newline at end of file diff --git a/flightlib/cmake/yaml.cmake b/flightlib/cmake/yaml.cmake new file mode 100644 index 0000000..8d1fdea --- /dev/null +++ b/flightlib/cmake/yaml.cmake @@ -0,0 +1,33 @@ +# Download and unpack eigen at configure time +message(STATUS "Getting yaml-cpp...") + +configure_file( + cmake/yaml_download.cmake + ${PROJECT_SOURCE_DIR}/externals/yaml-download/CMakeLists.txt) + +execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" . + RESULT_VARIABLE result + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/yaml-download + OUTPUT_QUIET + ERROR_QUIET) +if(result) + message(FATAL_ERROR "CMake step for yaml-cpp failed: ${result}") +endif() +execute_process(COMMAND ${CMAKE_COMMAND} --build . + RESULT_VARIABLE result + WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/externals/yaml-download + OUTPUT_QUIET + ERROR_QUIET) +if(result) + message(FATAL_ERROR "Build step for yaml failed: ${result}") +endif() + +message(STATUS "Yaml downloaded!") + +add_subdirectory(${PROJECT_SOURCE_DIR}/externals/yaml-src + ${PROJECT_SOURCE_DIR}/externals/yaml-build + EXCLUDE_FROM_ALL) +target_compile_options(yaml-cpp PUBLIC -fPIC -w) + +include_directories(SYSTEM "${PROJECT_SOURCE_DIR}/externals/yaml-src/include") +link_directories("${PROJECT_SOURCE_DIR}/externals/yaml-build") \ No newline at end of file diff --git a/flightlib/cmake/yaml_download.cmake b/flightlib/cmake/yaml_download.cmake new file mode 100644 index 0000000..8e75664 --- /dev/null +++ b/flightlib/cmake/yaml_download.cmake @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 3.0.0) + +project(yaml-download) + +include(ExternalProject) +ExternalProject_Add(yaml + GIT_REPOSITORY https://cf.ghproxy.cc/https://github.com/jbeder/yaml-cpp + GIT_TAG master + SOURCE_DIR "${PROJECT_SOURCE_DIR}/externals/yaml-src" + BINARY_DIR "${PROJECT_SOURCE_DIR}/externals/yaml-bin" + CONFIGURE_COMMAND "" + CMAKE_ARGS "-DBUILD_TESTING=OFF -DYAML_CPP_INSTALL=OFF" + CMAKE_CACHE_ARGS -DBUILD_TESTING:BOOL=OFF -DYAML_CPP_INSTALLC:BOOL=ON + BUILD_COMMAND "" + INSTALL_COMMAND "" + TEST_COMMAND "" + UPDATE_DISCONNECTED ON +) \ No newline at end of file diff --git a/flightlib/configs/quadrotor_env.yaml b/flightlib/configs/quadrotor_env.yaml new file mode 100755 index 0000000..740c339 --- /dev/null +++ b/flightlib/configs/quadrotor_env.yaml @@ -0,0 +1,26 @@ +quadrotor_env: + collect_data: yes # yes in Data Collection (random init state); no in Imitation Learning and Testing + bounding_box: [60.0, 60.0, 2.0] # spawn quadrotor within this bounding box + bounding_box_origin: [-10, 20, 2.5] + sim_dt: 0.1 # sim_dt in imitation learning and testing + +data_collection: + roll_var: 0.01 + pitch_var: 0.01 + +rgb_camera_left: + on: yes + t_BC: [0.0, 0.0, 0.1] # translational vector of the camera with repect to the body frame + r_BC: [0.0, 0.0, -90] # rotational angle (roll, pitch, yaw) of the camera in degree. + width: 160 + height: 90 + fov: 90.0 # Horizontal FOV + enable_depth: yes + enable_segmentation: no # not used + enable_opticalflow: no # not used + +# Enable Stereo depth when rgb_camera_right on. +rgb_camera_right: + on: no + t_BC: [0.0, -0.2, 0.1] # translational vector of the camera with repect to the body frame + r_BC: [0.0, 0.0, -90] # rotational angle (roll, pitch, yaw) of the camera in degree. diff --git a/flightlib/configs/quadrotor_ros.yaml b/flightlib/configs/quadrotor_ros.yaml new file mode 100644 index 0000000..ec9c838 --- /dev/null +++ b/flightlib/configs/quadrotor_ros.yaml @@ -0,0 +1,30 @@ +main_loop_freq: 30 +unity_render: yes +scene_id: 4 # 0 wasteland, 1 japanese street, 4 emptyforest in standalone (SR) +odom_topic: /juliett/ground_truth/odom +quad_size: 0.1 +ply_path: "/flightrender/RPG_Flightmare/pointcloud_data/" + +rgb_camera_left: + on: yes + t_BC: [0.0, 0.0, 0.1] # translational vector of the camera with repect to the body frame + r_BC: [0.0, -5.0, -90] # rotational angle (roll, pitch, yaw) of the camera in degree. + width: 160 + height: 90 + fov: 90.0 # Horizontal FOV + enable_depth: yes + enable_segmentation: no + enable_opticalflow: no + +# enable stereo depth when rgb_camera_right on (If use, please use larger resolution (e.g., 640x360)). +rgb_camera_right: + on: no + t_BC: [0.0, -0.2, 0.1] # translational vector of the camera with repect to the body frame + r_BC: [0.0, -5.0, -90] # rotational angle (roll, pitch, yaw) of the camera in degree. + +unity: + spawn_trees: true + avg_tree_spacing: 4.0 + bounding_box: [80.0, 80.0, 11.0] # spawn objects within this bounding box + bounding_box_origin: [-10, 20, 2.5] + pointcloud_resolution: 0.2 \ No newline at end of file diff --git a/flightlib/configs/traj_opt.yaml b/flightlib/configs/traj_opt.yaml new file mode 100644 index 0000000..4bbb76f --- /dev/null +++ b/flightlib/configs/traj_opt.yaml @@ -0,0 +1,64 @@ +vel_max: 6.0 +# segment_time = 2 * radio / vel_max + +# IMPORTANT PARAM: weight of penalties (6m/s) +ws: 0.00004 +wc: 0.001 +wl: 0.00 +wg: 0.0002 + +#ws: 0.00004 +#wc: 0.001 +#wl: 0.02 +#wg: 0.0001 + +# trajectory and primitive parma +horizon_num: 5 +vertical_num: 3 +horizon_camera_fov: 90.0 +vertical_camera_fov: 60.0 +horizon_anchor_fov: 30 +vertical_anchor_fov: 30 +goal_length: 10 +radio_range: 4.0 # planning horizon: 2 * radio_range +vel_fov: 90.0 # not use currently +radio_num: 1 # 1 just ok +vel_num: 1 # 1 just ok +vel_prefile: 0.0 # 0 just ok + +# For data efficiency, we randomly sample multiple vel and acc for each depth image with the following the distribution. +# values at normalized speed (actual speed can be denormalized by multiplying v_multiple) +# 单位数据倍数： v_multiple = 0.5 * v_max = radio / time +# v数据的均值： v_mean = v_multiple * v_mean_unit +# v数据的方差： v_var = v_multiple^2 * v_var_unit +# a数据的均值： v_mean = v_multiple^2 * a_mean_unit +# a数据的方差： v_var = v_multiple^4 * a_var_unit +vx_mean_unit: 1.5 +vy_mean_unit: 0.0 +vz_mean_unit: 0.0 +vx_var_unit: 0.15 +vy_var_unit: 0.45 +vz_var_unit: 0.1 +ax_mean_unit: 0.0 +ay_mean_unit: 0.0 +az_mean_unit: 0.0 +ax_var_unit: 0.0278 +ay_var_unit: 0.05 +az_var_unit: 0.0278 + +# penalties +alpha: 10.0 +d0: 1.2 +r: 0.6 + +alphav: 2.0 +v0: 3.5 +rv: 1.5 + +alphaa: 2.0 +a0: 3.5 +ra: 1.5 + +# deprecated weight +wv: 0.0 +wa: 0.0 diff --git a/flightlib/configs/vec_env.yaml b/flightlib/configs/vec_env.yaml new file mode 100644 index 0000000..6e29305 --- /dev/null +++ b/flightlib/configs/vec_env.yaml @@ -0,0 +1,15 @@ +env: + seed: 1 + scene_id: 4 # 0 wasteland, 1 japanese street, 4 emptyforest in SR standalone + num_envs: 16 # Important: same to batch size! + num_threads: 16 + dataset_path: "/run/yopo_sim/" + ply_path: "/run/yopo_sim/" + +unity: + spawn_trees: true + avg_tree_spacing: 4 + # larger than the position to generate the drone to ensure the completeness of the point cloud in edge. + bounding_box: [80.0, 80.0, 11] # spawn objects within this bounding box + bounding_box_origin: [-10, 20, 2.5] + pointcloud_resolution: 0.2 diff --git a/flightlib/include/flightlib/bridges/unity_bridge.hpp b/flightlib/include/flightlib/bridges/unity_bridge.hpp new file mode 100644 index 0000000..0e5720a --- /dev/null +++ b/flightlib/include/flightlib/bridges/unity_bridge.hpp @@ -0,0 +1,115 @@ +// +// This bridge was originally from FlightGoggles. +// We made several changes on top of it. +// +#pragma once + +// std libs +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +// Include ZMQ bindings for communications with Unity. +#include + +// flightlib +#include "flightlib/bridges/unity_message_types.hpp" +#include "flightlib/common/logger.hpp" +#include "flightlib/common/math.hpp" +#include "flightlib/common/quad_state.hpp" +#include "flightlib/common/types.hpp" +#include "flightlib/objects/quadrotor.hpp" +#include "flightlib/objects/static_object.hpp" +#include "flightlib/objects/unity_camera.hpp" +#include "flightlib/sensors/rgb_camera.hpp" + +using json = nlohmann::json; + +namespace flightlib { + +class UnityBridge { + public: + // constructor & destructor + UnityBridge(); + ~UnityBridge() {}; + + // connect function + bool initializeConnections(void); + bool connectUnity(const SceneID scene_id); + bool disconnectUnity(void); + + // public get functions + bool getRender(const FrameID frame_id); + bool handleOutput(FrameID &frameID); + void refreshUnity(FrameID id); + void generatePointcloud(const Ref> &min_corner, const Ref> &max_corner, int ply_idx, std::string path, SceneID scene_id, + Scalar pc_resolution_ = 0.2); + + // public set functions + bool setScene(const SceneID &scene_id); + + // add object + bool addQuadrotor(std::shared_ptr quad); + bool addCamera(std::shared_ptr unity_camera); + bool addStaticObject(std::shared_ptr static_object); + + // public auxiliary functions + inline void setPubPort(const std::string &pub_port) { pub_port_ = pub_port; }; + inline void setSubPort(const std::string &sub_port) { sub_port_ = sub_port; }; + // create unity bridge + static std::shared_ptr getInstance(void) { + static std::shared_ptr bridge_ptr = std::make_shared(); + return bridge_ptr; + }; + + // add tree + bool placeTrees(TreeMessage_t &tree_msg); + void rmTrees(); + void pointCloudGenerator(PointCloudMessage_t &pcd_msg); + bool spawnTrees(Ref> bounding_box_, Ref> bounding_box_origin_, Scalar avg_tree_spacing_); + + private: + template + std::vector convertToDoubleVector(const std::vector &input); + // + SettingsMessage_t settings_; + PubMessage_t pub_msg_; + Logger logger_{"UnityBridge"}; + + std::vector> unity_quadrotors_; + std::vector> rgb_cameras_; + std::vector> static_objects_; + + // ZMQ variables and functions + std::string client_address_; + std::string pub_port_; + std::string sub_port_; + zmqpp::context context_; + zmqpp::socket pub_{context_, zmqpp::socket_type::publish}; + zmqpp::socket sub_{context_, zmqpp::socket_type::subscribe}; + bool sendInitialSettings(void); + bool handleSettings(void); + + // timing variables + int64_t num_frames_; + int64_t last_downloaded_utime_; + int64_t last_download_debug_utime_; + int64_t u_packet_latency_; + + // axuiliary variables + const Scalar unity_connection_time_out_{60.0}; + bool unity_ready_{false}; + + // Used for trees + std::random_device random_device_; + std::default_random_engine generator_; +}; +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/include/flightlib/bridges/unity_message_types.hpp b/flightlib/include/flightlib/bridges/unity_message_types.hpp new file mode 100644 index 0000000..13937ef --- /dev/null +++ b/flightlib/include/flightlib/bridges/unity_message_types.hpp @@ -0,0 +1,309 @@ +// +// This bridge message types was originally from FlightGoggles. +// We made several changes on top of it. +// +#pragma once + +// std +#include + +// opencv +#include +#include +#include + +// flightlib +#include "flightlib/common/types.hpp" +#include "flightlib/json/json.hpp" + +using json = nlohmann::json; + +namespace flightlib { + +enum UnityScene { + WAREHOUSE = 0, + NATUREFOREST = 3, + SCENE_EMPTYFOREST = 4, + SCENE_GRANDCANYON = 5, + SCENE_WASTELAND = 6, + SCENE_JAPANESE = 7, + // total number of environment + SceneNum = 6 +}; + +struct Camera_t { + std::string ID; + // frame Metadata + // int64_t ntime; // deprecated + int channels{3}; + int width{1024}; + int height{768}; + double fov{70.0f}; + double depth_scale{0.20}; // 0.xx corresponds to xx cm resolution + // metadata + bool is_depth{false}; + int output_index{0}; + // + std::vector post_processing; + // Transformation matrix from camera to vehicle body 4 x 4 + // use 1-D vector for json convention + std::vector T_BC{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}; +}; + +struct Lidar_t { + std::string ID; + int num_beams{10}; + double max_distance{10.0}; + double start_scan_angle{-M_PI / 2}; + double end_scan_angle{M_PI / 2}; + // Transformation matrix from lidar to vehicle body 4 x 4 + // use 1-D vector for json convention + std::vector T_BS{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}; +}; + +// Unity Vechicle, e.g., quadrotor +struct Vehicle_t { + std::string ID; + // unity coordinate system left-handed, y up + std::vector position{0.0, 0.0, 0.0}; + // unity quaternion (x, y, z, w) + std::vector rotation{0.0, 0.0, 0.0, 1.0}; + std::vector size{1.0, 1.0, 1.0}; // scale + // sensors attached on the vehicle + std::vector cameras; + std::vector lidars; + // collision check + bool has_collision_check = true; +}; + +// Unity object, e.g., gate, light, etc... +struct Object_t { + std::string ID; + std::string prefab_ID; + // unity coordinate system left hand, y up + std::vector position{0.0, 0.0, 0.0}; + // unity quaternion (x, y, z, w) + std::vector rotation{0.0, 0.0, 0.0, 1.0}; + std::vector size{1.0, 1.0, 1.0}; // scale +}; + +struct SettingsMessage_t { + // scene/render settings + size_t scene_id = UnityScene::WAREHOUSE; + + // + std::vector vehicles; + std::vector objects; +}; + +struct PubMessage_t { + FrameID ntime{0}; + std::vector vehicles; + std::vector objects; +}; + +// +struct Sub_Vehicle_t { + bool collision; + std::vector lidar_ranges; +}; + +struct SubMessage_t { + // + FrameID ntime{0}; + // + std::vector sub_vehicles; +}; + +struct PointCloudMessage_t { + int scene_id{0}; + std::vector bounding_box_scale{100.0, 100.0, 100.0}; + std::vector bounding_box_origin{0.0, 0.0, 0.0}; + double resolution_z{0.1}; + double ground_z_limit{0.2}; + double resolution_above_ground{0.1}; + double resolution_below_ground{0.1}; + std::string path{"point_clouds_data/"}; + std::string file_name{"default"}; + double unity_ground_offset{0.3}; +}; + +struct TreeMessage_t { + std::vector bounding_area{25.0, 25.0}; + std::vector bounding_origin{0.0, 0.0}; + double density{4.0}; + int seed{-1}; +}; + +struct ObjectMessage_t { + std::vector name = {"Cube"}; // Cube, Sphere, Cylinder + std::vector bounding_area{25.0, 25.0, 25.0}; + std::vector bounding_origin{0.0, 0.0, 0.0}; + double density{4.0}; + double rand_size{0.0}; + std::vector scale_min{ + 0.1, + 0.3, + 2.0, + }; + std::vector scale_max{1.0, 0.3, 10.0}; + + std::vector rot_min{0.0, 0.0, 0.0}; + std::vector rot_max{360.0, 360.0, 360.0}; + int seed{-1}; +}; + +struct FixRatioObjectMessage_t { + std::string name = "Cube"; // Cube, Sphere, Cylinder + std::vector bounding_area{25.0, 25.0}; + std::vector bounding_origin{0.0, 0.0}; + double density{4.0}; + double scale_min{0.1}; + double scale_max{2.0}; + double rot_min{0.0}; // rotation around z-axix + double rot_max{360.0}; + int seed{-1}; +}; + +struct LightMessage_t { + double red{0}; + double green{0}; + double blue{0}; + double intensity{1.0}; +}; + +/********************* + * JSON constructors * + *********************/ +// Camera_t +inline void to_json(json &j, const Camera_t &o) { + j = json{{"ID", o.ID}, + {"channels", o.channels}, + {"width", o.width}, + {"height", o.height}, + {"fov", o.fov}, + {"T_BC", o.T_BC}, + {"isDepth", o.is_depth}, + {"post_processing", o.post_processing}, + {"depthScale", o.depth_scale}, + {"outputIndex", o.output_index}}; +} + +// Lidar +inline void to_json(json &j, const Lidar_t &o) { + j = json{{"ID", o.ID}, + {"num_beams", o.num_beams}, + {"max_distance", o.max_distance}, + {"start_angle", o.start_scan_angle}, + {"end_angle", o.end_scan_angle}, + {"T_BS", o.T_BS}}; +} +// Vehicle_t +inline void to_json(json &j, const Vehicle_t &o) { + j = json{{"ID", o.ID}, + {"position", o.position}, + {"rotation", o.rotation}, + {"size", o.size}, + {"cameras", o.cameras}, + {"lidars", o.lidars}, + {"hasCollisionCheck", o.has_collision_check}}; +} + +// Object_t +inline void to_json(json &j, const Object_t &o) { + j = json{{"ID", o.ID}, + {"prefabID", o.prefab_ID}, + {"position", o.position}, + {"rotation", o.rotation}, + {"size", o.size}}; +} + +// Setting messages, pub to unity +inline void to_json(json &j, const SettingsMessage_t &o) { + j = json{{"scene_id", o.scene_id}, + {"vehicles", o.vehicles}, + {"objects", o.objects}}; +} + + +// Publish messages to unity +inline void to_json(json &j, const PubMessage_t &o) { + j = json{ + {"ntime", o.ntime}, {"vehicles", o.vehicles}, {"objects", o.objects}}; +} + +// Publish messages to unity +inline void from_json(const json &j, Sub_Vehicle_t &o) { + o.collision = j.at("collision").get(); + o.lidar_ranges = j.at("lidar_ranges").get>(); +} + +// json to our sub message data type +// note: pub_vechicles is defined in Unity which corresponding +// to our sub_vehicles in ROS. +inline void from_json(const json &j, SubMessage_t &o) { + o.ntime = j.at("ntime").get(); + o.sub_vehicles = j.at("pub_vehicles").get>(); +} + +inline void to_json(json &j, const PointCloudMessage_t &o) { + j = json{{"scene_id", o.scene_id}, + {"bounding_box_scale", o.bounding_box_scale}, + {"bounding_box_origin", o.bounding_box_origin}, + {"resolution_z", o.resolution_z}, + {"ground_z_limit", o.ground_z_limit}, + {"resolution_above_ground", o.resolution_above_ground}, + {"resolution_below_ground", o.resolution_below_ground}, + {"path", o.path}, + {"file_name", o.file_name}, + {"unity_ground_offset", o.unity_ground_offset}}; +} + +inline void to_json(json &j, const TreeMessage_t &o) { + j = json{{"bounding_area", o.bounding_area}, + {"bounding_origin", o.bounding_origin}, + {"density", o.density}, + {"seed", o.seed}}; +} + +inline void to_json(json &j, const ObjectMessage_t &o) { + j = json{{"bounding_area", o.bounding_area}, + {"bounding_origin", o.bounding_origin}, + {"density", o.density}, + {"rand_size", o.rand_size}, + {"seed", o.seed}, + {"name", o.name}, + {"scale_min", o.scale_min}, + {"scale_max", o.scale_max}, + {"rot_min", o.rot_min}, + {"rot_max", o.rot_max}}; +} + +inline void to_json(json &j, const FixRatioObjectMessage_t &o) { + j = json{{"bounding_area", o.bounding_area}, + {"bounding_origin", o.bounding_origin}, + {"density", o.density}, + {"seed", o.seed}, + {"name", o.name}, + {"scale_min", o.scale_min}, + {"scale_max", o.scale_max}, + {"rot_min", o.rot_min}, + {"rot_max", o.rot_max}}; +} + +inline void to_json(json &j, const LightMessage_t &o) { + j = json{{"red", o.red}, + {"green", o.green}, + {"blue", o.blue}, + {"intensity", o.intensity}}; +} + +// Struct for outputting parsed received messages to handler functions +struct RenderMessage_t { + SubMessage_t sub_msg; + std::vector images; +}; + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/include/flightlib/common/command.hpp b/flightlib/include/flightlib/common/command.hpp new file mode 100644 index 0000000..b00df8e --- /dev/null +++ b/flightlib/include/flightlib/common/command.hpp @@ -0,0 +1,37 @@ + +#pragma once + +#include + +#include "flightlib/common/types.hpp" + +namespace flightlib { + +struct Command { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + Command(); + + Command(const Scalar t, const Scalar thrust, const Vector<3>& omega); + + Command(const Scalar t, const Vector<4>& thrusts); + + bool valid() const; + bool isSingleRotorThrusts() const; + bool isRatesThrust() const; + + /// time in [s] + Scalar t{NAN}; + + /// Collective mass-normalized thrust in [m/s^2] + Scalar collective_thrust{NAN}; + + /// Bodyrates in [rad/s] + Vector<3> omega{NAN, NAN, NAN}; + + /// Single rotor thrusts in [N] + Vector<4> thrusts{NAN, NAN, NAN, NAN}; + +}; + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/include/flightlib/common/integrator_base.hpp b/flightlib/include/flightlib/common/integrator_base.hpp new file mode 100644 index 0000000..1d1e518 --- /dev/null +++ b/flightlib/include/flightlib/common/integrator_base.hpp @@ -0,0 +1,32 @@ +#pragma once + +#include + +#include "flightlib/common/quad_state.hpp" +#include "flightlib/common/types.hpp" + +namespace flightlib { + +class IntegratorBase { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + public: + using DynamicsFunction = + std::function>, Ref>)>; + IntegratorBase(DynamicsFunction function, const Scalar dt_max = 1e-3); + + bool integrate(const QuadState& initial, QuadState* const final) const; + + bool integrate(const Ref> initial, const Scalar dt, + Ref> final) const; + + virtual bool step(const Ref> initial, const Scalar dt, + Ref> final) const = 0; + + Scalar dtMax() const; + + protected: + DynamicsFunction dynamics_; + Scalar dt_max_; +}; + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/include/flightlib/common/integrator_euler.hpp b/flightlib/include/flightlib/common/integrator_euler.hpp new file mode 100644 index 0000000..42b8923 --- /dev/null +++ b/flightlib/include/flightlib/common/integrator_euler.hpp @@ -0,0 +1,17 @@ +#pragma once + +#include "flightlib/common/integrator_base.hpp" + +namespace flightlib { + +class IntegratorEuler : public IntegratorBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + using IntegratorBase::DynamicsFunction; + using IntegratorBase::IntegratorBase; + + bool step(const Ref> initial, const Scalar dt, + Ref> final) const; +}; + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/include/flightlib/common/integrator_rk4.hpp b/flightlib/include/flightlib/common/integrator_rk4.hpp new file mode 100644 index 0000000..2b95d24 --- /dev/null +++ b/flightlib/include/flightlib/common/integrator_rk4.hpp @@ -0,0 +1,17 @@ +#pragma once + +#include "flightlib/common/integrator_base.hpp" + +namespace flightlib { + +class IntegratorRK4 : public IntegratorBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + using IntegratorBase::DynamicsFunction; + using IntegratorBase::IntegratorBase; + + bool step(const Ref> initial, const Scalar dt, + Ref> final) const; +}; + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/include/flightlib/common/logger.hpp b/flightlib/include/flightlib/common/logger.hpp new file mode 100644 index 0000000..101dcfb --- /dev/null +++ b/flightlib/include/flightlib/common/logger.hpp @@ -0,0 +1,102 @@ +// """credit: Philipp Foehn """ +#pragma once + +#include +#include +#include +#include + +namespace flightlib { + +class Logger { + public: + Logger(const std::string& name, const bool color = true); + Logger(const std::string& name, const std::string& filename); + ~Logger(); + + inline std::streamsize precision(const std::streamsize n); + inline void scientific(const bool on = true); + + template + void info(const std::string& message, const Args&... args) const; + void info(const std::string& message) const; + + template + void warn(const std::string& message, const Args&... args) const; + void warn(const std::string& message) const; + + template + void error(const std::string& message, const Args&... args) const; + void error(const std::string& message) const; + + template + void fatal(const std::string& message, const Args&... args) const; + void fatal(const std::string& message) const; + + template + std::ostream& operator<<(const T& printable) const; + + static constexpr int MAX_CHARS = 256; + + private: + static constexpr int DEFAULT_PRECISION = 3; + static constexpr int NAME_PADDING = 15; + static constexpr char RESET[] = "\033[0m"; + static constexpr char RED[] = "\033[31m"; + static constexpr char YELLOW[] = "\033[33m"; + static constexpr char INFO[] = "Info: "; + static constexpr char WARN[] = "Warning: "; + static constexpr char ERROR[] = "Error: "; + static constexpr char FATAL[] = "Fatal: "; + // + std::string name_; + mutable std::ostream sink_; + const bool colored_; +}; + +template +void Logger::info(const std::string& message, const Args&... args) const { + char buf[MAX_CHARS]; + const int n = std::snprintf(buf, MAX_CHARS, message.c_str(), args...); + if (n >= 0 && n < MAX_CHARS) + info(buf); + else + error("=== Logging error ===\n"); +} + +template +void Logger::warn(const std::string& message, const Args&... args) const { + char buf[MAX_CHARS]; + const int n = std::snprintf(buf, MAX_CHARS, message.c_str(), args...); + if (n >= 0 && n < MAX_CHARS) + warn(buf); + else + error("=== Logging error ===\n"); +} + +template +void Logger::error(const std::string& message, const Args&... args) const { + char buf[MAX_CHARS]; + const int n = std::snprintf(buf, MAX_CHARS, message.c_str(), args...); + if (n >= 0 && n < MAX_CHARS) + error(buf); + else + error("=== Logging error ===\n"); +} + +template +void Logger::fatal(const std::string& message, const Args&... args) const { + char buf[MAX_CHARS]; + const int n = std::snprintf(buf, MAX_CHARS, message.c_str(), args...); + if (n >= 0 && n < MAX_CHARS) + fatal(buf); + else + fatal("=== Logging error ===\n"); +} + +template +std::ostream& Logger::operator<<(const T& printable) const { + return sink_ << name_ << printable; +} + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/include/flightlib/common/math.hpp b/flightlib/include/flightlib/common/math.hpp new file mode 100755 index 0000000..49b354c --- /dev/null +++ b/flightlib/include/flightlib/common/math.hpp @@ -0,0 +1,54 @@ +#pragma once + +#include "flightlib/common/types.hpp" + +namespace flightlib { + +Matrix<3, 3> skew(const Vector<3>& v); + +Matrix<4, 4> Q_left(const Quaternion& q); + +Matrix<4, 4> Q_right(const Quaternion& q); + +Matrix<4, 3> qFromQeJacobian(const Quaternion& q); + +Matrix<4, 4> qConjugateJacobian(); + +Matrix<3, 3> qeRotJacobian(const Quaternion& q, const Matrix<3, 1>& t); + +Matrix<3, 3> qeInvRotJacobian(const Quaternion& q, const Matrix<3, 1>& t); + +void matrixToTripletList(const SparseMatrix& matrix, + std::vector* const list, + const int row_offset = 0, const int col_offset = 0); + +void matrixToTripletList(const Matrix<>& matrix, + std::vector* const list, + const int row_offset = 0, const int col_offset = 0); + +void insert(const SparseMatrix& from, SparseMatrix* const into, + const int row_offset = 0, const int col_offset = 0); + +void insert(const Matrix<>& from, SparseMatrix* const into, + const int row_offset = 0, const int col_offset = 0); + +void insert(const Matrix<>& from, Matrix<>* const into, + const int row_offset = 0, const int col_offset = 0); + +void quaternionToEuler(const Quaternion& quat, Ref> euler); + +std::vector transformationRos2Unity(const Matrix<4, 4>& ros_tran_mat); + +std::vector positionRos2Unity(const Vector<3>& ros_pos_vec); + +std::vector quaternionRos2Unity(const Quaternion& ros_quat); + +std::vector scalarRos2Unity(const Vector<3>& ros_scale); + +void get_euler_from_R(Vector<3> &e, const Matrix<3,3> &R); +float calculate_yaw(float yaw_cur, float yaw_ref, float sim_t); + +double wrapMinusPiToPi(const double angle); +double wrapZeroToTwoPi(const double angle); + +} // namespace flightlib diff --git a/flightlib/include/flightlib/common/parameter_base.hpp b/flightlib/include/flightlib/common/parameter_base.hpp new file mode 100644 index 0000000..25345c6 --- /dev/null +++ b/flightlib/include/flightlib/common/parameter_base.hpp @@ -0,0 +1,21 @@ +#pragma once + + +#include + +namespace flightlib { + +struct ParameterBase { + ParameterBase(); + ParameterBase(const std::string& cfg_path); + ParameterBase(const YAML::Node& cfg_node); + + virtual ~ParameterBase(); + + virtual bool valid() = 0; + virtual bool loadParam() = 0; + + YAML::Node cfg_node_; +}; + +} // namespace flightlib diff --git a/flightlib/include/flightlib/common/pend_state.hpp b/flightlib/include/flightlib/common/pend_state.hpp new file mode 100644 index 0000000..18fa2cb --- /dev/null +++ b/flightlib/include/flightlib/common/pend_state.hpp @@ -0,0 +1,92 @@ +#pragma once + +#include + +#include "flightlib/common/types.hpp" + +namespace flightlib { + +struct PendState { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + enum IDX : int { + POS = 0, + POSX = 0, + POSY = 1, + POSZ = 2, + NPOS = 3, + ATT = 3, + ATTW = 3, + ATTX = 4, + ATTY = 5, + ATTZ = 6, + NATT = 4, + VEL = 7, + VELX = 7, + VELY = 8, + VELZ = 9, + NVEL = 3, + OME = 10, + OMEX = 10, + OMEY = 11, + OMEZ = 12, + NOME = 3, + ACC = 13, + ACCX = 13, + ACCY = 14, + ACCZ = 15, + NACC = 3, + TAU = 16, + TAUX = 16, + TAUY = 17, + TAUZ = 18, + NTAU = 3, + BOME = 19, + BOMEX = 19, + BOMEY = 20, + BOMEZ = 21, + NBOME = 3, + BACC = 22, + BACCX = 22, + BACCY = 23, + BACCZ = 24, + NBACC = 3, + SIZE = 25, + DYN = 19 + }; + + PendState(); + PendState(const Vector& x, const Scalar t = NAN); + PendState(const PendState& state); + ~PendState(); + + inline static int size() { return SIZE; } + Quaternion q() const; + void q(const Quaternion quaternion); + Matrix<3, 3> R() const; + void setZero(); + + inline bool valid() const { return x.allFinite() && std::isfinite(t); } + + Vector x = Vector::Constant(NAN); + Scalar t{NAN}; + + Ref> p{x.segment(IDX::POS)}; + Ref> qx{x.segment(IDX::ATT)}; + Ref> v{x.segment(IDX::VEL)}; + Ref> w{x.segment(IDX::OME)}; + Ref> a{x.segment(IDX::ACC)}; + Ref> tau{x.segment(IDX::TAU)}; + Ref> bw{x.segment(IDX::BOME)}; + Ref> ba{x.segment(IDX::BACC)}; + + bool operator==(const PendState& rhs) const { + return t == rhs.t && x.isApprox(rhs.x, 1e-5); + } + + friend std::ostream& operator<<(std::ostream& os, const PendState& state); +}; + +using PS = PendState; + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/include/flightlib/common/quad_state.hpp b/flightlib/include/flightlib/common/quad_state.hpp new file mode 100644 index 0000000..737bf82 --- /dev/null +++ b/flightlib/include/flightlib/common/quad_state.hpp @@ -0,0 +1,109 @@ +#pragma once + +#include + +#include "flightlib/common/types.hpp" + +namespace flightlib { + +struct QuadState { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + enum IDX : int { + // position + POS = 0, + POSX = 0, + POSY = 1, + POSZ = 2, + NPOS = 3, + // quaternion + ATT = 3, + ATTW = 3, + ATTX = 4, + ATTY = 5, + ATTZ = 6, + NATT = 4, + // linear velocity + VEL = 7, + VELX = 7, + VELY = 8, + VELZ = 9, + NVEL = 3, + // body rate + OME = 10, + OMEX = 10, + OMEY = 11, + OMEZ = 12, + NOME = 3, + // linear acceleration + ACC = 13, + ACCX = 13, + ACCY = 14, + ACCZ = 15, + NACC = 3, + // body-torque + TAU = 16, + TAUX = 16, + TAUY = 17, + TAUZ = 18, + NTAU = 3, + // + BOME = 19, + BOMEX = 19, + BOMEY = 20, + BOMEZ = 21, + NBOME = 3, + // + BACC = 22, + BACCX = 22, + BACCY = 23, + BACCZ = 24, + NBACC = 3, + // + SIZE = 25, + NDYM = 19 + }; + + QuadState(); + QuadState(const Vector& x, const Scalar t = NAN); + QuadState(const QuadState& state); + ~QuadState(); + + inline static int size() { return SIZE; } + Quaternion q() const; + void q(const Quaternion quaternion); + Matrix<3, 3> R() const; + void setZero(); + + inline bool valid() const { return x.allFinite() && std::isfinite(t); } + + Vector x = Vector::Constant(NAN); + Scalar t{NAN}; + + // position + Ref> p{x.segment(IDX::POS)}; + // orientation (quaternion) + Ref> qx{x.segment(IDX::ATT)}; + // linear velocity + Ref> v{x.segment(IDX::VEL)}; + // angular velocity + Ref> w{x.segment(IDX::OME)}; + // linear accleration + Ref> a{x.segment(IDX::ACC)}; + // body torque + Ref> tau{x.segment(IDX::TAU)}; + // + Ref> bw{x.segment(IDX::BOME)}; + // + Ref> ba{x.segment(IDX::BACC)}; + + bool operator==(const QuadState& rhs) const { + return t == rhs.t && x.isApprox(rhs.x, 1e-5); + } + + friend std::ostream& operator<<(std::ostream& os, const QuadState& state); +}; + +using QS = QuadState; + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/include/flightlib/common/timer.hpp b/flightlib/include/flightlib/common/timer.hpp new file mode 100644 index 0000000..9c9395a --- /dev/null +++ b/flightlib/include/flightlib/common/timer.hpp @@ -0,0 +1,87 @@ +#pragma once + +#include +#include +#include + +#include "flightlib/common/types.hpp" + +namespace flightlib { + +/* + * Timer class to perform runtime analytics. + * + * This timer class provides a simple solution to time code. + * Simply construct a timer and call it's `tic()` and `toc()` functions to time + * code. It is intended to be used to time multiple calls of a function and not + * only reports the `last()` timing, but also statistics such as the `mean()`, + * `min()`, `max()` time, the `count()` of calls to the timer , and even + * standard deviation `std()`. + * + * The constructor can take a name for the timer (like "update") and a name for + * the module (like "Filter"). + * After construction it can be `reset()` if needed. + * + * A simple way to get the timing and stats is `std::cout << timer;` which can + * output to arbitrary streams, overloading the stream operator, + * or `print()` which always prints to console. + * + */ +class Timer { + public: + Timer(const std::string name = "", const std::string module = ""); + Timer(const Timer& other); + ~Timer() {} + + /// Start the timer. + void tic(); + + /// Stops timer, calculates timing, also tics again. + Scalar toc(); + + /// Reset saved timings and calls; + void reset(); + + // Accessors + Scalar operator()() const; + Scalar mean() const; + Scalar last() const; + Scalar min() const; + Scalar max() const; + Scalar std() const; + int count() const; + + /// Custom stream operator for outputs. + friend std::ostream& operator<<(std::ostream& os, const Timer& timer); + + /// Print timing information to console. + void print() const; + + private: + std::string name_, module_; + using TimePoint = std::chrono::high_resolution_clock::time_point; + TimePoint t_start_; + + // Initialize timing to impossible values. + Scalar timing_mean_; + Scalar timing_last_; + Scalar timing_S_; + Scalar timing_min_; + Scalar timing_max_; + + int n_samples_; +}; + +/* + * Simple class to time scopes. + * + * This effectively instantiates a timer and calls `tic()` in its constructor + * and `toc()` and ` print()` in its destructor. + */ +class ScopedTimer : public Timer { + public: + ScopedTimer(const std::string name = "", const std::string module = ""); + ~ScopedTimer(); +}; + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/include/flightlib/common/types.hpp b/flightlib/include/flightlib/common/types.hpp new file mode 100644 index 0000000..22a94bc --- /dev/null +++ b/flightlib/include/flightlib/common/types.hpp @@ -0,0 +1,101 @@ +#pragma once + +#include + +namespace flightlib { + +// ------------ General Stuff------------- + +// Define the scalar type used. +using Scalar = float; // numpy float32 + +// Define frame id for unity +using FrameID = uint64_t; + +using USecs = uint64_t; + +// Define frame id for unity +using SceneID = size_t; + + +// ------------ Eigen Stuff------------- +// Define `Dynamic` matrix size. +static constexpr int Dynamic = Eigen::Dynamic; + +// Using shorthand for 'DepthImg' with scalar type. +template +using DepthImgMatrix = Eigen::Matrix; + +// Using shorthand for `DepthImgVector` with scalar type. +template +using DepthImgVector = DepthImgMatrix; + +// Using shorthand for 'DepthImgRowMajor' with scalar type. +template +using DepthImgMatrixRowMajor = + Eigen::Matrix; + +// Using shorthand for 'ImgMatrix' with scalar type. +template +using ImgMatrix = Eigen::Matrix; + +// Using shorthand for `ImgVector` with scalar type. +template +using ImgVector = ImgMatrix; + +// Using shorthand for 'ImgMatrixRowMajor' with scalar type. +template +using ImgMatrixRowMajor = Eigen::Matrix; + +// Using shorthand for `Matrix` with scalar type. +template +using Matrix = Eigen::Matrix; + +// Using shorthand for `Matrix` with scalar type. +template +using MatrixRowMajor = Eigen::Matrix; + +// Using shorthand for `Vector` with scalar type. +template +using Vector = Matrix; + +// Vector bool +template +using BoolVector = Eigen::Matrix; + +// Vector int +template +using IntVector = Eigen::Matrix; + +// Using shorthand for `Array` with scalar type. +template +using Array = Eigen::Array; + +// Using `SparseMatrix` with type. +using SparseMatrix = Eigen::SparseMatrix; + +// Using SparseTriplet with type. +using SparseTriplet = Eigen::Triplet; + +// Using `Quaternion` with type. +using Quaternion = Eigen::Quaternion; + +// Using 'AngleAxis' with type +using AngleAxis = Eigen::AngleAxis; + +// Using `Ref` for modifier references. +template +using Ref = Eigen::Ref; + +// // Using `ConstRef` for constant references. +template +using ConstRef = const Eigen::Ref; + +// Using `Map`. +template +using Map = Eigen::Map; + +static constexpr Scalar Gz = -9.81; +const Vector<3> GVEC{0.0, 0.0, Gz}; + +} // namespace flightlib diff --git a/flightlib/include/flightlib/controller/PositionCommand.h b/flightlib/include/flightlib/controller/PositionCommand.h new file mode 100644 index 0000000..0159d80 --- /dev/null +++ b/flightlib/include/flightlib/controller/PositionCommand.h @@ -0,0 +1,400 @@ +// Generated by gencpp from file quadrotor_msgs/PositionCommand.msg +// DO NOT EDIT! + + +#ifndef QUADROTOR_MSGS_MESSAGE_POSITIONCOMMAND_H +#define QUADROTOR_MSGS_MESSAGE_POSITIONCOMMAND_H + + +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace quadrotor_msgs +{ +template +struct PositionCommand_ +{ + typedef PositionCommand_ Type; + + PositionCommand_() + : header() + , position() + , velocity() + , acceleration() + , yaw(0.0) + , yaw_dot(0.0) + , kx() + , kv() + , trajectory_id(0) + , trajectory_flag(0) { + kx.assign(0.0); + + kv.assign(0.0); + } + PositionCommand_(const ContainerAllocator& _alloc) + : header(_alloc) + , position(_alloc) + , velocity(_alloc) + , acceleration(_alloc) + , yaw(0.0) + , yaw_dot(0.0) + , kx() + , kv() + , trajectory_id(0) + , trajectory_flag(0) { + (void)_alloc; + kx.assign(0.0); + + kv.assign(0.0); + } + + + + typedef ::std_msgs::Header_ _header_type; + _header_type header; + + typedef ::geometry_msgs::Point_ _position_type; + _position_type position; + + typedef ::geometry_msgs::Vector3_ _velocity_type; + _velocity_type velocity; + + typedef ::geometry_msgs::Vector3_ _acceleration_type; + _acceleration_type acceleration; + + typedef double _yaw_type; + _yaw_type yaw; + + typedef double _yaw_dot_type; + _yaw_dot_type yaw_dot; + + typedef boost::array _kx_type; + _kx_type kx; + + typedef boost::array _kv_type; + _kv_type kv; + + typedef uint32_t _trajectory_id_type; + _trajectory_id_type trajectory_id; + + typedef uint8_t _trajectory_flag_type; + _trajectory_flag_type trajectory_flag; + + + +// reducing the odds to have name collisions with Windows.h +#if defined(_WIN32) && defined(TRAJECTORY_STATUS_EMPTY) + #undef TRAJECTORY_STATUS_EMPTY +#endif +#if defined(_WIN32) && defined(TRAJECTORY_STATUS_READY) + #undef TRAJECTORY_STATUS_READY +#endif +#if defined(_WIN32) && defined(TRAJECTORY_STATUS_COMPLETED) + #undef TRAJECTORY_STATUS_COMPLETED +#endif +#if defined(_WIN32) && defined(TRAJECTROY_STATUS_ABORT) + #undef TRAJECTROY_STATUS_ABORT +#endif +#if defined(_WIN32) && defined(TRAJECTORY_STATUS_ILLEGAL_START) + #undef TRAJECTORY_STATUS_ILLEGAL_START +#endif +#if defined(_WIN32) && defined(TRAJECTORY_STATUS_ILLEGAL_FINAL) + #undef TRAJECTORY_STATUS_ILLEGAL_FINAL +#endif +#if defined(_WIN32) && defined(TRAJECTORY_STATUS_IMPOSSIBLE) + #undef TRAJECTORY_STATUS_IMPOSSIBLE +#endif + + enum { + TRAJECTORY_STATUS_EMPTY = 0u, + TRAJECTORY_STATUS_READY = 1u, + TRAJECTORY_STATUS_COMPLETED = 3u, + TRAJECTROY_STATUS_ABORT = 4u, + TRAJECTORY_STATUS_ILLEGAL_START = 5u, + TRAJECTORY_STATUS_ILLEGAL_FINAL = 6u, + TRAJECTORY_STATUS_IMPOSSIBLE = 7u, + }; + + + typedef boost::shared_ptr< ::quadrotor_msgs::PositionCommand_ > Ptr; + typedef boost::shared_ptr< ::quadrotor_msgs::PositionCommand_ const> ConstPtr; + +}; // struct PositionCommand_ + +typedef ::quadrotor_msgs::PositionCommand_ > PositionCommand; + +typedef boost::shared_ptr< ::quadrotor_msgs::PositionCommand > PositionCommandPtr; +typedef boost::shared_ptr< ::quadrotor_msgs::PositionCommand const> PositionCommandConstPtr; + +// constants requiring out of line definition + + + + + + + + + + + + + + + + + +template +std::ostream& operator<<(std::ostream& s, const ::quadrotor_msgs::PositionCommand_ & v) +{ +ros::message_operations::Printer< ::quadrotor_msgs::PositionCommand_ >::stream(s, "", v); +return s; +} + + +template +bool operator==(const ::quadrotor_msgs::PositionCommand_ & lhs, const ::quadrotor_msgs::PositionCommand_ & rhs) +{ + return lhs.header == rhs.header && + lhs.position == rhs.position && + lhs.velocity == rhs.velocity && + lhs.acceleration == rhs.acceleration && + lhs.yaw == rhs.yaw && + lhs.yaw_dot == rhs.yaw_dot && + lhs.kx == rhs.kx && + lhs.kv == rhs.kv && + lhs.trajectory_id == rhs.trajectory_id && + lhs.trajectory_flag == rhs.trajectory_flag; +} + +template +bool operator!=(const ::quadrotor_msgs::PositionCommand_ & lhs, const ::quadrotor_msgs::PositionCommand_ & rhs) +{ + return !(lhs == rhs); +} + + +} // namespace quadrotor_msgs + +namespace ros +{ +namespace message_traits +{ + + + + + +template +struct IsMessage< ::quadrotor_msgs::PositionCommand_ > + : TrueType + { }; + +template +struct IsMessage< ::quadrotor_msgs::PositionCommand_ const> + : TrueType + { }; + +template +struct IsFixedSize< ::quadrotor_msgs::PositionCommand_ > + : FalseType + { }; + +template +struct IsFixedSize< ::quadrotor_msgs::PositionCommand_ const> + : FalseType + { }; + +template +struct HasHeader< ::quadrotor_msgs::PositionCommand_ > + : TrueType + { }; + +template +struct HasHeader< ::quadrotor_msgs::PositionCommand_ const> + : TrueType + { }; + + +template +struct MD5Sum< ::quadrotor_msgs::PositionCommand_ > +{ + static const char* value() + { + return "4712f0609ca29a79af79a35ca3e3967a"; + } + + static const char* value(const ::quadrotor_msgs::PositionCommand_&) { return value(); } + static const uint64_t static_value1 = 0x4712f0609ca29a79ULL; + static const uint64_t static_value2 = 0xaf79a35ca3e3967aULL; +}; + +template +struct DataType< ::quadrotor_msgs::PositionCommand_ > +{ + static const char* value() + { + return "quadrotor_msgs/PositionCommand"; + } + + static const char* value(const ::quadrotor_msgs::PositionCommand_&) { return value(); } +}; + +template +struct Definition< ::quadrotor_msgs::PositionCommand_ > +{ + static const char* value() + { + return "Header header\n" +"geometry_msgs/Point position\n" +"geometry_msgs/Vector3 velocity\n" +"geometry_msgs/Vector3 acceleration\n" +"float64 yaw\n" +"float64 yaw_dot\n" +"float64[3] kx\n" +"float64[3] kv \n" +"\n" +"uint32 trajectory_id\n" +"\n" +"uint8 TRAJECTORY_STATUS_EMPTY = 0\n" +"uint8 TRAJECTORY_STATUS_READY = 1\n" +"uint8 TRAJECTORY_STATUS_COMPLETED = 3\n" +"uint8 TRAJECTROY_STATUS_ABORT = 4\n" +"uint8 TRAJECTORY_STATUS_ILLEGAL_START = 5\n" +"uint8 TRAJECTORY_STATUS_ILLEGAL_FINAL = 6\n" +"uint8 TRAJECTORY_STATUS_IMPOSSIBLE = 7\n" +"\n" +"# Its ID number will start from 1, allowing you comparing it with 0.\n" +"uint8 trajectory_flag\n" +"\n" +"================================================================================\n" +"MSG: std_msgs/Header\n" +"# Standard metadata for higher-level stamped data types.\n" +"# This is generally used to communicate timestamped data \n" +"# in a particular coordinate frame.\n" +"# \n" +"# sequence ID: consecutively increasing ID \n" +"uint32 seq\n" +"#Two-integer timestamp that is expressed as:\n" +"# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n" +"# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n" +"# time-handling sugar is provided by the client library\n" +"time stamp\n" +"#Frame this data is associated with\n" +"string frame_id\n" +"\n" +"================================================================================\n" +"MSG: geometry_msgs/Point\n" +"# This contains the position of a point in free space\n" +"float64 x\n" +"float64 y\n" +"float64 z\n" +"\n" +"================================================================================\n" +"MSG: geometry_msgs/Vector3\n" +"# This represents a vector in free space. \n" +"# It is only meant to represent a direction. Therefore, it does not\n" +"# make sense to apply a translation to it (e.g., when applying a \n" +"# generic rigid transformation to a Vector3, tf2 will only apply the\n" +"# rotation). If you want your data to be translatable too, use the\n" +"# geometry_msgs/Point message instead.\n" +"\n" +"float64 x\n" +"float64 y\n" +"float64 z\n" +; + } + + static const char* value(const ::quadrotor_msgs::PositionCommand_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::quadrotor_msgs::PositionCommand_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.position); + stream.next(m.velocity); + stream.next(m.acceleration); + stream.next(m.yaw); + stream.next(m.yaw_dot); + stream.next(m.kx); + stream.next(m.kv); + stream.next(m.trajectory_id); + stream.next(m.trajectory_flag); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct PositionCommand_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::quadrotor_msgs::PositionCommand_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::quadrotor_msgs::PositionCommand_& v) + { + s << indent << "header: "; + s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "position: "; + s << std::endl; + Printer< ::geometry_msgs::Point_ >::stream(s, indent + " ", v.position); + s << indent << "velocity: "; + s << std::endl; + Printer< ::geometry_msgs::Vector3_ >::stream(s, indent + " ", v.velocity); + s << indent << "acceleration: "; + s << std::endl; + Printer< ::geometry_msgs::Vector3_ >::stream(s, indent + " ", v.acceleration); + s << indent << "yaw: "; + Printer::stream(s, indent + " ", v.yaw); + s << indent << "yaw_dot: "; + Printer::stream(s, indent + " ", v.yaw_dot); + s << indent << "kx[]" << std::endl; + for (size_t i = 0; i < v.kx.size(); ++i) + { + s << indent << " kx[" << i << "]: "; + Printer::stream(s, indent + " ", v.kx[i]); + } + s << indent << "kv[]" << std::endl; + for (size_t i = 0; i < v.kv.size(); ++i) + { + s << indent << " kv[" << i << "]: "; + Printer::stream(s, indent + " ", v.kv[i]); + } + s << indent << "trajectory_id: "; + Printer::stream(s, indent + " ", v.trajectory_id); + s << indent << "trajectory_flag: "; + Printer::stream(s, indent + " ", v.trajectory_flag); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // QUADROTOR_MSGS_MESSAGE_POSITIONCOMMAND_H diff --git a/flightlib/include/flightlib/controller/ctrl_ref.h b/flightlib/include/flightlib/controller/ctrl_ref.h new file mode 100755 index 0000000..e3a286a --- /dev/null +++ b/flightlib/include/flightlib/controller/ctrl_ref.h @@ -0,0 +1,290 @@ +// Generated by gencpp from file quad_pos_ctrl/ctrl_ref.msg +// DO NOT EDIT! + + +#ifndef QUAD_POS_CTRL_MESSAGE_CTRL_REF_H +#define QUAD_POS_CTRL_MESSAGE_CTRL_REF_H + + +#include +#include +#include + +#include +#include +#include +#include + +#include + +namespace quad_pos_ctrl +{ +template +struct ctrl_ref_ +{ + typedef ctrl_ref_ Type; + + ctrl_ref_() + : header() + , pos_ref() + , vel_ref() + , acc_ref() + , yaw_ref(0.0) + , ref_mask(0) { + pos_ref.assign(0.0); + + vel_ref.assign(0.0); + + acc_ref.assign(0.0); + } + ctrl_ref_(const ContainerAllocator& _alloc) + : header(_alloc) + , pos_ref() + , vel_ref() + , acc_ref() + , yaw_ref(0.0) + , ref_mask(0) { + (void)_alloc; + pos_ref.assign(0.0); + + vel_ref.assign(0.0); + + acc_ref.assign(0.0); + } + + + + typedef ::std_msgs::Header_ _header_type; + _header_type header; + + typedef boost::array _pos_ref_type; + _pos_ref_type pos_ref; + + typedef boost::array _vel_ref_type; + _vel_ref_type vel_ref; + + typedef boost::array _acc_ref_type; + _acc_ref_type acc_ref; + + typedef float _yaw_ref_type; + _yaw_ref_type yaw_ref; + + typedef uint8_t _ref_mask_type; + _ref_mask_type ref_mask; + + + + enum { + POS_CTRL_VALIED = 1u, + VEL_CTRL_VALIED = 2u, + ACC_CTRL_VALIED = 4u, + }; + + + typedef boost::shared_ptr< ::quad_pos_ctrl::ctrl_ref_ > Ptr; + typedef boost::shared_ptr< ::quad_pos_ctrl::ctrl_ref_ const> ConstPtr; + +}; // struct ctrl_ref_ + +typedef ::quad_pos_ctrl::ctrl_ref_ > ctrl_ref; + +typedef boost::shared_ptr< ::quad_pos_ctrl::ctrl_ref > ctrl_refPtr; +typedef boost::shared_ptr< ::quad_pos_ctrl::ctrl_ref const> ctrl_refConstPtr; + +// constants requiring out of line definition + + + + + + + + + +template +std::ostream& operator<<(std::ostream& s, const ::quad_pos_ctrl::ctrl_ref_ & v) +{ +ros::message_operations::Printer< ::quad_pos_ctrl::ctrl_ref_ >::stream(s, "", v); +return s; +} + +} // namespace quad_pos_ctrl + +namespace ros +{ +namespace message_traits +{ + + + +// BOOLTRAITS {'IsFixedSize': False, 'IsMessage': True, 'HasHeader': True} +// {'std_msgs': ['/opt/ros/kinetic/share/std_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/kinetic/share/geometry_msgs/cmake/../msg'], 'quad_pos_ctrl': ['/home/yiqianlingqi/Work/pos_px4lidar_ctrl_ws/src/quad_pos_ctrl/msg']} + +// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types'] + + + + +template +struct IsFixedSize< ::quad_pos_ctrl::ctrl_ref_ > + : FalseType + { }; + +template +struct IsFixedSize< ::quad_pos_ctrl::ctrl_ref_ const> + : FalseType + { }; + +template +struct IsMessage< ::quad_pos_ctrl::ctrl_ref_ > + : TrueType + { }; + +template +struct IsMessage< ::quad_pos_ctrl::ctrl_ref_ const> + : TrueType + { }; + +template +struct HasHeader< ::quad_pos_ctrl::ctrl_ref_ > + : TrueType + { }; + +template +struct HasHeader< ::quad_pos_ctrl::ctrl_ref_ const> + : TrueType + { }; + + +template +struct MD5Sum< ::quad_pos_ctrl::ctrl_ref_ > +{ + static const char* value() + { + return "c44a0c7d669f499d943b0196aea84d57"; + } + + static const char* value(const ::quad_pos_ctrl::ctrl_ref_&) { return value(); } + static const uint64_t static_value1 = 0xc44a0c7d669f499dULL; + static const uint64_t static_value2 = 0x943b0196aea84d57ULL; +}; + +template +struct DataType< ::quad_pos_ctrl::ctrl_ref_ > +{ + static const char* value() + { + return "quad_pos_ctrl/ctrl_ref"; + } + + static const char* value(const ::quad_pos_ctrl::ctrl_ref_&) { return value(); } +}; + +template +struct Definition< ::quad_pos_ctrl::ctrl_ref_ > +{ + static const char* value() + { + return "# enum mask\n\ +uint8 POS_CTRL_VALIED = 1\n\ +uint8 VEL_CTRL_VALIED = 2\n\ +uint8 ACC_CTRL_VALIED = 4\n\ +\n\ +# \n\ +Header header\n\ +float32[3] pos_ref\n\ +float32[3] vel_ref\n\ +float32[3] acc_ref\n\ +float32 yaw_ref\n\ +uint8 ref_mask\n\ +================================================================================\n\ +MSG: std_msgs/Header\n\ +# Standard metadata for higher-level stamped data types.\n\ +# This is generally used to communicate timestamped data \n\ +# in a particular coordinate frame.\n\ +# \n\ +# sequence ID: consecutively increasing ID \n\ +uint32 seq\n\ +#Two-integer timestamp that is expressed as:\n\ +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\ +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\ +# time-handling sugar is provided by the client library\n\ +time stamp\n\ +#Frame this data is associated with\n\ +# 0: no frame\n\ +# 1: global frame\n\ +string frame_id\n\ +"; + } + + static const char* value(const ::quad_pos_ctrl::ctrl_ref_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::quad_pos_ctrl::ctrl_ref_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.pos_ref); + stream.next(m.vel_ref); + stream.next(m.acc_ref); + stream.next(m.yaw_ref); + stream.next(m.ref_mask); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct ctrl_ref_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::quad_pos_ctrl::ctrl_ref_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::quad_pos_ctrl::ctrl_ref_& v) + { + s << indent << "header: "; + s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "pos_ref[]" << std::endl; + for (size_t i = 0; i < v.pos_ref.size(); ++i) + { + s << indent << " pos_ref[" << i << "]: "; + Printer::stream(s, indent + " ", v.pos_ref[i]); + } + s << indent << "vel_ref[]" << std::endl; + for (size_t i = 0; i < v.vel_ref.size(); ++i) + { + s << indent << " vel_ref[" << i << "]: "; + Printer::stream(s, indent + " ", v.vel_ref[i]); + } + s << indent << "acc_ref[]" << std::endl; + for (size_t i = 0; i < v.acc_ref.size(); ++i) + { + s << indent << " acc_ref[" << i << "]: "; + Printer::stream(s, indent + " ", v.acc_ref[i]); + } + s << indent << "yaw_ref: "; + Printer::stream(s, indent + " ", v.yaw_ref); + s << indent << "ref_mask: "; + Printer::stream(s, indent + " ", v.ref_mask); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // QUAD_POS_CTRL_MESSAGE_CTRL_REF_H diff --git a/flightlib/include/flightlib/dynamics/dynamics_base.hpp b/flightlib/include/flightlib/dynamics/dynamics_base.hpp new file mode 100644 index 0000000..468db07 --- /dev/null +++ b/flightlib/include/flightlib/dynamics/dynamics_base.hpp @@ -0,0 +1,21 @@ +#pragma once + +#include "flightlib/common/types.hpp" + +namespace flightlib { + +class DynamicsBase { + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + public: + using DynamicsFunction = std::function>, Ref>)>; + + DynamicsBase(); + virtual ~DynamicsBase(); + + // public get function + virtual DynamicsFunction getDynamicsFunction() const = 0; + + private: +}; + +} // namespace flightlib diff --git a/flightlib/include/flightlib/dynamics/quadrotor_dynamics.hpp b/flightlib/include/flightlib/dynamics/quadrotor_dynamics.hpp new file mode 100644 index 0000000..26ffb98 --- /dev/null +++ b/flightlib/include/flightlib/dynamics/quadrotor_dynamics.hpp @@ -0,0 +1,87 @@ +#pragma once + +#include + +#include +#include + +#include "flightlib/common/logger.hpp" +#include "flightlib/common/math.hpp" +#include "flightlib/common/quad_state.hpp" +#include "flightlib/dynamics/dynamics_base.hpp" + +namespace flightlib { + +class QuadrotorDynamics : DynamicsBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + QuadrotorDynamics(const Scalar mass = 1.0, const Scalar arm_l = 0.2); + ~QuadrotorDynamics(); + + // dynamics function + bool dState(const QuadState& state, QuadState* derivative) const; + bool dState(const Ref> state, Ref> derivative) const; + + // public get function + DynamicsFunction getDynamicsFunction() const; + + // help functions + bool valid() const; + bool updateParams(const YAML::Node& params); + + // Helpers to apply limits. + Vector<4> clampThrust(const Vector<4> thrusts) const; + Scalar clampThrust(const Scalar thrust) const; + Scalar clampCollectiveThrust(const Scalar thrust) const; + + Vector<4> clampMotorOmega(const Vector<4>& omega) const; + Vector<3> clampBodyrates(const Vector<3>& omega) const; + + inline Scalar collective_thrust_min() const { return 4.0 * thrust_min_; } + inline Scalar collective_thrust_max() const { return 4.0 * thrust_max_; } + + // Helpers for conversion + Vector<4> motorOmegaToThrust(const Vector<4>& omega) const; + Vector<4> motorThrustToOmega(const Vector<4>& thrusts) const; + Matrix<4, 4> getAllocationMatrix() const; + + // + inline Scalar getMass(void) const { return mass_; }; + inline Scalar getArmLength(void) const { return arm_l_; }; + inline Scalar getMotorTauInv() const { return motor_tau_inv_; }; + inline Matrix<3, 3> getJ(void) const { return J_; }; + inline Matrix<3, 3> getJInv(void) const { return J_inv_; }; + inline Vector<3> getOmegaMax(void) const { return omega_max_; }; + + bool setMass(const Scalar mass); + bool setArmLength(const Scalar arm_length); + bool setMotortauInv(const Scalar tau_inv); + + friend std::ostream& operator<<(std::ostream& os, const QuadrotorDynamics& quad_dymaics); + + private: + bool updateInertiaMarix(); + Scalar mass_; + Scalar arm_l_; + Matrix<3, 4> t_BM_; + Matrix<3, 3> J_; + Matrix<3, 3> J_inv_; + + // motors + Scalar motor_omega_min_; + Scalar motor_omega_max_; + Scalar motor_tau_inv_; + + // Propellers + Vector<3> thrust_map_; + Scalar kappa_; + Scalar thrust_min_; + Scalar thrust_max_; + Scalar collective_thrust_min_; + Scalar collective_thrust_max_; + + // Quadrotor limits + Vector<3> omega_max_; +}; + +} // namespace flightlib diff --git a/flightlib/include/flightlib/envs/env_base.hpp b/flightlib/include/flightlib/envs/env_base.hpp new file mode 100644 index 0000000..d4842ae --- /dev/null +++ b/flightlib/include/flightlib/envs/env_base.hpp @@ -0,0 +1,70 @@ +// +// This is inspired by RaiGym, thanks. +// +#pragma once + +#include +#include + +#include +#include +#include +#include + +#include "flightlib/common/types.hpp" + +namespace flightlib { + +class EnvBase { + public: + EnvBase() : obs_dim_(0), act_dim_(0), rew_dim_(0), sim_dt_(0.0), img_width_(0), img_height_(0) {}; + virtual ~EnvBase() {}; + + // (pure virtual) public methods (has to be implemented by child classes) + virtual bool reset(Ref> obs, const bool random = true) = 0; + virtual bool step(const Ref> act, Ref> obs, Ref> reward) = 0; + virtual bool getObs(Ref> obs) = 0; + + // (virtual) public methods (implementations are optional.) + virtual bool getDepthImage(Ref> img) { return false; } + virtual void close() {}; + // virtual void render(); + virtual void updateExtraInfo() {}; + virtual bool isTerminalState(Scalar &reward) { + reward = 0.f; + return false; + } + + // auxilirary functions + inline void setSeed(const int seed) { std::srand(seed); }; + inline int getObsDim() { return obs_dim_; }; + inline int getActDim() { return act_dim_; }; + inline int getRewDim() { return rew_dim_; }; + inline int getImgWidth() { return img_width_; }; + inline int getImgHeight() { return img_height_; }; + inline Scalar getSimTimeStep() { return sim_dt_; }; + inline int getExtraInfoDim() { return extra_info_.size(); }; + + // public variables + std::unordered_map extra_info_; + + protected: + // observation and action dimenstions (for Reinforcement learning) + int obs_dim_; + int act_dim_; + int rew_dim_; + + int img_width_; + int img_height_; + + // control time step + Scalar sim_dt_{0.02}; + + // random variable generator + std::normal_distribution norm_dist_{0.0, 1.0}; + std::uniform_real_distribution uniform_dist_{-1.0, 1.0}; + std::random_device rd_; + std::mt19937 random_gen_{rd_()}; +}; + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/include/flightlib/envs/quadrotor_env.hpp b/flightlib/include/flightlib/envs/quadrotor_env.hpp new file mode 100755 index 0000000..76cb5f4 --- /dev/null +++ b/flightlib/include/flightlib/envs/quadrotor_env.hpp @@ -0,0 +1,119 @@ +#pragma once + +// std lib +#include +#include +#include +#include +#include +#include + +#include +#include +// flightlib +#include "flightlib/bridges/unity_bridge.hpp" +#include "flightlib/common/command.hpp" +#include "flightlib/common/logger.hpp" +#include "flightlib/common/math.hpp" +#include "flightlib/common/quad_state.hpp" +#include "flightlib/common/types.hpp" +#include "flightlib/envs/env_base.hpp" +#include "flightlib/grad_traj_optimization/traj_optimization_bridge.h" +#include "flightlib/objects/quadrotor.hpp" +#include "flightlib/sensors/sgm_gpu/sgm_gpu.h" + +namespace flightlib { + +enum Ctl : int { + kNObs = 13, // observation dim + kNAct = 9, // action dim +}; + +class QuadrotorEnv final : public EnvBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + QuadrotorEnv(); + QuadrotorEnv(const std::string &cfg_path); + ~QuadrotorEnv(); + + /* set functions */ + bool reset(Ref> obs, const bool random = true) override; + void setState(ConstRef> state); + void setGoal(ConstRef> goal); + void setMapID(int id); + void setDAggerMode(bool dagger_mode) { dagger_mode_ = dagger_mode; } + bool step(const Ref> act, Ref> obs, Ref> reward) override; + void setInputCloud(const pcl::PointCloud &point_in); + void setESDF(const std::vector &esdf_map, const pcl::PointCloud &point_in); + void addKdtree(std::shared_ptr> kdtree) { kdtrees.push_back(kdtree); } + void addESDFMap(std::shared_ptr esdf_map) { esdf_maps.push_back(esdf_map); } + void addMapSize(Eigen::Vector3d map_boundary_min, Eigen::Vector3d map_boundary_max) { + min_map_boundaries.push_back(map_boundary_min); + max_map_boundaries.push_back(map_boundary_max); + } + + /* get functions */ + bool getObs(Ref> obs) override; + bool getAct(Ref> act) const; + bool getRGBImage(Ref> img, const bool rgb); + bool getDepthImage(Ref> img) override; + bool getStereoImage(Ref> img); + int getMapNum() { return kdtrees.size(); } + void getCostAndGradient(ConstRef> dp, int id, float &cost, Ref> grad); + inline std::vector getRewardNames() { return reward_names_; } + void getWorldBox(Ref> world_box) { + world_box << world_box_(0), world_box_(1), world_box_(2), world_box_(3), world_box_(4), world_box_(5); // xyz_min, xyz_max + }; + + /* other functions */ + void collisionCheck(float dis = 0.2); + bool configCamera(const YAML::Node &cfg_node); + bool loadParam(const YAML::Node &cfg); + void computeDepthImage(const cv::Mat &left_frame, const cv::Mat &right_frame, cv::Mat *const depth); + bool isTerminalState(Scalar &reward) override; + void addObjectsToUnity(std::shared_ptr bridge) { bridge->addQuadrotor(quadrotor_ptr_); } + void runControlAndUpdateState(Eigen::Vector3f p_ref, Eigen::Vector3f v_ref, Eigen::Vector3f a_ref); + + private: + // quadrotor state and observation + std::shared_ptr quadrotor_ptr_; + QuadState quad_state_; + Vector quad_obs_; + Vector quad_act_; + Logger logger_{"QaudrotorEnv"}; + Eigen::Vector3f desired_p_, desired_v_, desired_a_; + + // map + Matrix<3, 2> world_box_; + Vector<3> center_, scale_; + std::vector>> kdtrees; + std::vector> esdf_maps; + std::vector min_map_boundaries, max_map_boundaries; + + // camera params + Scalar fov_; + int width_, height_; + Scalar stereo_baseline_; + std::shared_ptr sgm_; + cv::Mat rgb_img_, gray_img_, depth_img_; + std::shared_ptr rgb_camera_left, rgb_camera_right; + + // trajectory optimization + int map_idx_{0}; + Vector<3> goal_; + TrajOptimizationBridge *traj_opt_bridge; + + // data collection + Scalar roll_var_, pitch_var_; + + // others + int steps_; + YAML::Node cfg_; + bool is_collision_; + Scalar nearest_obstacle{10}; + std::vector reward_names_; + bool collect_data_, dagger_mode_{false}; +}; + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/include/flightlib/envs/vec_env.hpp b/flightlib/include/flightlib/envs/vec_env.hpp new file mode 100644 index 0000000..a31fb9a --- /dev/null +++ b/flightlib/include/flightlib/envs/vec_env.hpp @@ -0,0 +1,106 @@ +// +// This is inspired by RaiGym, thanks. +// +#pragma once + +// std +#include +#include + +#include +#include +#include + +// pcl +#include +#include +#include + +// flightlib +#include "flightlib/bridges/unity_bridge.hpp" +#include "flightlib/common/logger.hpp" +#include "flightlib/common/types.hpp" +#include "flightlib/envs/env_base.hpp" +#include "flightlib/envs/quadrotor_env.hpp" +#include "flightlib/grad_traj_optimization/traj_optimization_bridge.h" + +namespace flightlib { + +template +class VecEnv { + public: + VecEnv(); + VecEnv(const std::string& cfgs, const bool from_file = true); + VecEnv(const YAML::Node& cfgs_node); + ~VecEnv(); + + /* unity functions */ + bool connectUnity(); + void disconnectUnity(); + bool setUnity(bool render); + void render(); + bool spawnTrees(); + bool savePointcloud(int ply_id); + bool spawnTreesAndSavePointcloud(int ply_id_in = -1, float spacing = -1); + void close(); + void setSeed(const int seed); + + /* set functions */ + bool reset(Ref> obs); + bool step(Ref> act, Ref> obs, Ref> reward, Ref> done); + void perAgentStep(int agent_id, Ref> act, Ref> obs, Ref> reward, Ref> done); + bool setState(ConstRef> state); // World Frame + bool setGoal(ConstRef> goal); // World Frame + void setMapID(ConstRef> id); + + /* get functions */ + inline int getObsDim(void) { return obs_dim_; }; + inline int getActDim(void) { return act_dim_; }; + inline int getRewDim(void) const { return rew_dim_; }; + inline int getImgHeight(void) const { return img_height_; }; + inline int getImgWidth(void) const { return img_width_; }; + inline int getNumOfEnvs(void) { return envs_.size(); }; + inline std::vector getRewardNames(void) { return envs_[0]->getRewardNames(); }; + inline void getWorldBox(Ref> world_box) { envs_[0]->getWorldBox(world_box); }; + void getObs(Ref> obs); + bool getRGBImage(Ref> img, const bool rgb_image); + bool getStereoImage(Ref> img); + bool getDepthImage(Ref> img); + void getCostAndGradient(ConstRef> dp, ConstRef> traj_id, Ref> cost, + Ref> grad); // Body Frame + + /* other functions */ + void init(void); + void generateMaps(); + int extract_number(const std::string& filename); + + private: + // create objects + Logger logger_{"VecEnv"}; + std::vector> envs_; + + // Flightmare(Unity3D) + std::shared_ptr unity_bridge_ptr_; + SceneID scene_id_{UnityScene::WAREHOUSE}; + bool unity_ready_{false}; + bool unity_render_{false}; + FrameID frameID{1}; + RenderMessage_t unity_output_; + uint16_t receive_id_{0}; + + // scenario generation + Scalar avg_tree_spacing_; + Vector<3> bounding_box_, bounding_box_origin_; + Scalar pointcloud_resolution_; + + // other variables + std::string ply_path_; + bool dagger_mode_{false}, supervised_mode_{false}; + int seed_, num_envs_, obs_dim_, act_dim_, rew_dim_, num_threads_; + int img_width_, img_height_; + + // yaml configurations + YAML::Node cfg_; +}; + +} // namespace flightlib diff --git a/flightlib/include/flightlib/grad_traj_optimization/grad_traj_optimizer.h b/flightlib/include/flightlib/grad_traj_optimization/grad_traj_optimizer.h new file mode 100644 index 0000000..4790aa4 --- /dev/null +++ b/flightlib/include/flightlib/grad_traj_optimization/grad_traj_optimizer.h @@ -0,0 +1,115 @@ +/* + This code is modified from https://github.com/HKUST-Aerial-Robotics/grad_traj_optimization, thanks to their excellent work. +*/ + +#ifndef _GRAD_TRAJ_OPTIMIZER_H_ +#define _GRAD_TRAJ_OPTIMIZER_H_ + +#include + +#include + +#include "flightlib/grad_traj_optimization/qp_generator.h" +#include "sdf_tools/collision_map.hpp" +#include "sdf_tools/sdf.hpp" + +#define GDTB getDistanceToBoundary + +using namespace std; + +class GradTrajOptimizer { + public: + GradTrajOptimizer(const YAML::Node &cfg); + + void getCoefficient(Eigen::MatrixXd &coeff) { coeff = this->coeff; }; + + double getCost() { return this->min_f; } + + void getSegmentTime(Eigen::VectorXd &T) { T = this->Time; } + + void setSignedDistanceField(std::shared_ptr s, double res); + + void setGoal(Eigen::Vector3d goal); + + void setBoundary(Eigen::Vector3d min, Eigen::Vector3d max); + + void getCostAndGradient(const std::vector &df, const std::vector &dp, double &cost, std::vector &grad) const; + + /** convert derivatives of end points to polynomials coefficient */ + void getCoefficientFromDerivative(Eigen::MatrixXd &coeff, const std::vector &_dp) const; + + private: + /** signed distance field */ + double resolution; + Eigen::Vector3d map_boundary_min, map_boundary_max; + std::shared_ptr sdf; + mutable Eigen::VectorXd boundary; // min x max x... min z,max z + + /** coefficient of polynomials*/ + mutable Eigen::MatrixXd coeff; + + /** important matrix and variables*/ + Eigen::MatrixXd A; + Eigen::MatrixXd C; + Eigen::MatrixXd L; + Eigen::MatrixXd R; + Eigen::MatrixXd Rff; + Eigen::MatrixXd Rpp; + Eigen::MatrixXd Rpf; + Eigen::MatrixXd Rfp; + Eigen::VectorXd Time; + Eigen::MatrixXd V; + mutable Eigen::MatrixXd Df; + Eigen::MatrixXd Dp; + Eigen::MatrixXd path; + Eigen::Vector3d goal; + + /** tractory params */ + double sgm_time; + int num_dp; + int num_df; + int num_point; + double min_f; + + // weight of cost + double w_smooth; + double w_collision; + double w_vel; + double w_acc; + double w_goal; + double w_long; + + // params of cost + double d0; + double r; + double alpha; + + double v0; + double rv; + double alphav; + + double a0; + double ra; + double alphaa; + + /** get distance and gradient in signed distance field ,by position query*/ + void getDistanceAndGradient(Eigen::Vector3d &pos, double &dist, Eigen::Vector3d &grad) const; + void getPositionFromCoeff(Eigen::Vector3d &pos, const Eigen::MatrixXd &coeff, const int &index, const double &time) const; + void getVelocityFromCoeff(Eigen::Vector3d &vel, const Eigen::MatrixXd &coeff, const int &index, const double &time) const; + void getAccelerationFromCoeff(Eigen::Vector3d &acc, const Eigen::MatrixXd &coeff, const int &index, const double &time) const; + + /** penalty and gradient */ + void getDistancePenalty(const double &distance, double &cost) const; + void getDistancePenaltyGradient(const double &distance, double &grad) const; + void getVelocityPenalty(const double &distance, double &cost) const; + void getVelocityPenaltyGradient(const double &vel, double &grad) const; + void getAccelerationPenalty(const double &distance, double &cost) const; + void getAccelerationPenaltyGradient(const double &acc, double &grad) const; + + void getTimeMatrix(const double &t, Eigen::MatrixXd &T) const; + void constrains(double &n, double min, double max) const; + double getDistanceToBoundary(const double &x, const double &y, const double &z) const; + void recaluculateGradient(const double &x, const double &y, const double &z, Eigen ::Vector3d &grad) const; +}; + +#endif \ No newline at end of file diff --git a/flightlib/include/flightlib/grad_traj_optimization/opt_utile.h b/flightlib/include/flightlib/grad_traj_optimization/opt_utile.h new file mode 100644 index 0000000..dc3a360 --- /dev/null +++ b/flightlib/include/flightlib/grad_traj_optimization/opt_utile.h @@ -0,0 +1,18 @@ +#ifndef _LATTICE_NODE_H_ +#define _LATTICE_NODE_H_ +#include + +// body frame +void getLatticeGuiding(std::vector> &lattice_nodes, int horizon_num, int vertical_num, int radio_num, + int vel_num, double horizon_fov, double vertical_fov, double radio_range, double vel_fov, double vel_prefile); + +void getPositionFromCoeff(Eigen::Vector3d &pos, Eigen::MatrixXd coeff, int index, double time); + +void getVelocityFromCoeff(Eigen::Vector3d &vel, Eigen::MatrixXd coeff, int index, double time); + +void getAccelerationFromCoeff(Eigen::Vector3d &acc, Eigen::MatrixXd coeff, int index, double time); + +Eigen::MatrixXd solveCoeffFromBoundaryState(const Eigen::Vector3d &Pos_init, const Eigen::Vector3d &Vel_init, const Eigen::Vector3d &Acc_init, + const Eigen::Vector3d &Pos_end, const Eigen::Vector3d &Vel_end, const Eigen::Vector3d &Acc_end, + double Time); +#endif \ No newline at end of file diff --git a/flightlib/include/flightlib/grad_traj_optimization/qp_generator.h b/flightlib/include/flightlib/grad_traj_optimization/qp_generator.h new file mode 100644 index 0000000..c7ed1a9 --- /dev/null +++ b/flightlib/include/flightlib/grad_traj_optimization/qp_generator.h @@ -0,0 +1,53 @@ +#ifndef _TRAJECTORY_GENERATOR_H_ +#define _TRAJECTORY_GENERATOR_H_ +#include +#include + + +class TrajectoryGenerator { + private: + int m = 1; // number of segments in the trajectory + Eigen::MatrixXd _A; // Mapping matrix + Eigen::MatrixXd _Q; // Hessian matrix + Eigen::MatrixXd _C; // Selection matrix + Eigen::MatrixXd _L; // A.inv() * C.transpose() + + Eigen::MatrixXd _R; + Eigen::MatrixXd _Rff; + Eigen::MatrixXd _Rpp; + Eigen::MatrixXd _Rpf; + Eigen::MatrixXd _Rfp; + + Eigen::VectorXd _Pxi; + Eigen::VectorXd _Pyi; + Eigen::VectorXd _Pzi; + + Eigen::VectorXd _Dx; + Eigen::VectorXd _Dy; + Eigen::VectorXd _Dz; + + public: + Eigen::MatrixXd _Path; + Eigen::VectorXd _Time; + + TrajectoryGenerator(); + + ~TrajectoryGenerator(); + + void QPGeneration(const Eigen::VectorXd &Time); + + void StackOptiDep(); // Stack the optimization's dependency, the intermediate matrix and initial derivatives + + Eigen::MatrixXd getA(); + Eigen::MatrixXd getQ(); + Eigen::MatrixXd getC(); + Eigen::MatrixXd getL(); + + Eigen::MatrixXd getR(); + Eigen::MatrixXd getRpp(); + Eigen::MatrixXd getRff(); + Eigen::MatrixXd getRfp(); + Eigen::MatrixXd getRpf(); +}; + +#endif diff --git a/flightlib/include/flightlib/grad_traj_optimization/traj_optimization_bridge.h b/flightlib/include/flightlib/grad_traj_optimization/traj_optimization_bridge.h new file mode 100644 index 0000000..71e42de --- /dev/null +++ b/flightlib/include/flightlib/grad_traj_optimization/traj_optimization_bridge.h @@ -0,0 +1,71 @@ +#ifndef _TRAJ_OPTIMIZATION_BRIDGE_H_ +#define _TRAJ_OPTIMIZATION_BRIDGE_H_ + +#include +#include +#include +#include +#include +#include + +#include + +#include "flightlib/grad_traj_optimization/grad_traj_optimizer.h" +#include "flightlib/grad_traj_optimization/opt_utile.h" + +namespace traj_opt { +std::shared_ptr SdfConstruction(pcl::PointCloud::Ptr cloud, Eigen::Vector3d &map_boundary_min_sdf, + Eigen::Vector3d &map_boundary_max_sdf); +} + +class TrajOptimizationBridge { + private: + YAML::Node cfg_; + // state of uav in world frame + Eigen::Vector3d pos_; + Eigen::Vector3d vel_; + Eigen::Vector3d acc_; + Eigen::Quaterniond q_wb_; + Eigen::Vector3d goal_; + Eigen::MatrixXd pred_coeff_; + + // std::string ply_file; + double resolution; + std::shared_ptr sdf_; + Eigen::Vector3d map_boundary_min_, map_boundary_max_; + + // x_pva, y_pva, z_pva in world frame + std::vector dp_; // df refers to the initial_state currently + std::vector df_; // dp refers to the end_state currently + + double goal_length; + int horizon_num, vertical_num, radio_num, vel_num; + double horizon_fov, vertical_fov, radio_range, vel_fov, vel_prefile; + std::vector> lattice_nodes; + + void loadParam(YAML::Node &cfg); + + public: + TrajOptimizationBridge(); + ~TrajOptimizationBridge(); + + void setMap(std::shared_ptr sdf_for_traj_optimization, Eigen::Vector3d &map_boundary_min, + Eigen::Vector3d &map_boundary_max); + + // in world frame + void setState(Eigen::Vector3d pos, Eigen::Quaterniond q, Eigen::Vector3d vel, Eigen::Vector3d acc); + + void setGoal(Eigen::Vector3d goal); + + // dp in body frame, grad in body frame + void getCostAndGradient(const std::vector &dp, int id, double &cost, std::vector &grad); + + void getNextStateAndCost(const std::vector &dp, double &cost, Eigen::Vector3d &pos, Eigen::Vector3d &vel, Eigen::Vector3d &acc, + double sim_t); + + void solveBVP(const std::vector &dp); + + void getNextState(Eigen::Vector3d &pos, Eigen::Vector3d &vel, Eigen::Vector3d &acc, double sim_t); +}; + +#endif \ No newline at end of file diff --git a/flightlib/include/flightlib/json/json.hpp b/flightlib/include/flightlib/json/json.hpp new file mode 100644 index 0000000..8a8fd81 --- /dev/null +++ b/flightlib/include/flightlib/json/json.hpp @@ -0,0 +1,11843 @@ +/* + __ _____ _____ _____ + __| | __| | | | JSON for Modern C++ +| | |__ | | | | | | version 2.1.1 +|_____|_____|_____|_|___| https://github.com/nlohmann/json + +Licensed under the MIT License . +Copyright (c) 2013-2017 Niels Lohmann . + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. +*/ + +#ifndef NLOHMANN_JSON_HPP +#define NLOHMANN_JSON_HPP + +#include // all_of, copy, fill, find, for_each, none_of, remove, reverse, transform +#include // array +#include // assert +#include // isdigit +#include // and, not, or +#include // isfinite, labs, ldexp, signbit +#include // nullptr_t, ptrdiff_t, size_t +#include // int64_t, uint64_t +#include // abort, strtod, strtof, strtold, strtoul, strtoll, strtoull +#include // strlen +#include // forward_list +#include // function, hash, less +#include // initializer_list +#include // setw +#include // istream, ostream +#include // advance, begin, back_inserter, bidirectional_iterator_tag, distance, end, inserter, iterator, iterator_traits, next, random_access_iterator_tag, reverse_iterator +#include // numeric_limits +#include // locale +#include // map +#include // addressof, allocator, allocator_traits, unique_ptr +#include // accumulate +#include // stringstream +#include // domain_error, invalid_argument, out_of_range +#include // getline, stoi, string, to_string +#include // add_pointer, conditional, decay, enable_if, false_type, integral_constant, is_arithmetic, is_base_of, is_const, is_constructible, is_convertible, is_default_constructible, is_enum, is_floating_point, is_integral, is_nothrow_move_assignable, is_nothrow_move_constructible, is_pointer, is_reference, is_same, is_scalar, is_signed, remove_const, remove_cv, remove_pointer, remove_reference, true_type, underlying_type +#include // declval, forward, make_pair, move, pair, swap +#include // vector + +// exclude unsupported compilers +#if defined(__clang__) +#if (__clang_major__ * 10000 + __clang_minor__ * 100 + __clang_patchlevel__) < \ + 30400 +#error \ + "unsupported Clang version - see https://github.com/nlohmann/json#supported-compilers" +#endif +#elif defined(__GNUC__) +#if (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__) < 40900 +#error \ + "unsupported GCC version - see https://github.com/nlohmann/json#supported-compilers" +#endif +#endif + +// disable float-equal warnings on GCC/clang +#if defined(__clang__) || defined(__GNUC__) || defined(__GNUG__) +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wfloat-equal" +#endif + +// disable documentation warnings on clang +#if defined(__clang__) +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wdocumentation" +#endif + +// allow for portable deprecation warnings +#if defined(__clang__) || defined(__GNUC__) || defined(__GNUG__) +#define JSON_DEPRECATED __attribute__((deprecated)) +#elif defined(_MSC_VER) +#define JSON_DEPRECATED __declspec(deprecated) +#else +#define JSON_DEPRECATED +#endif + +// allow to disable exceptions +#if not defined(JSON_NOEXCEPTION) || defined(__EXCEPTIONS) +#define JSON_THROW(exception) throw exception +#define JSON_TRY try +#define JSON_CATCH(exception) catch (exception) +#else +#define JSON_THROW(exception) std::abort() +#define JSON_TRY if (true) +#define JSON_CATCH(exception) if (false) +#endif + +/*! +@brief namespace for Niels Lohmann +@see https://github.com/nlohmann +@since version 1.0.0 +*/ +namespace nlohmann { + +/*! +@brief unnamed namespace with internal helper functions + +This namespace collects some functions that could not be defined inside the +@ref basic_json class. + +@since version 2.1.0 +*/ +namespace detail { +/////////////////////////// +// JSON type enumeration // +/////////////////////////// + +/*! +@brief the JSON type enumeration + +This enumeration collects the different JSON types. It is internally used to +distinguish the stored values, and the functions @ref basic_json::is_null(), +@ref basic_json::is_object(), @ref basic_json::is_array(), +@ref basic_json::is_string(), @ref basic_json::is_boolean(), +@ref basic_json::is_number() (with @ref basic_json::is_number_integer(), +@ref basic_json::is_number_unsigned(), and @ref basic_json::is_number_float()), +@ref basic_json::is_discarded(), @ref basic_json::is_primitive(), and +@ref basic_json::is_structured() rely on it. + +@note There are three enumeration entries (number_integer, number_unsigned, and +number_float), because the library distinguishes these three types for numbers: +@ref basic_json::number_unsigned_t is used for unsigned integers, +@ref basic_json::number_integer_t is used for signed integers, and +@ref basic_json::number_float_t is used for floating-point numbers or to +approximate integers which do not fit in the limits of their respective type. + +@sa @ref basic_json::basic_json(const value_t value_type) -- create a JSON +value with the default value for a given type + +@since version 1.0.0 +*/ +enum class value_t : uint8_t { + null, ///< null value + object, ///< object (unordered set of name/value pairs) + array, ///< array (ordered collection of values) + string, ///< string value + boolean, ///< boolean value + number_integer, ///< number value (signed integer) + number_unsigned, ///< number value (unsigned integer) + number_float, ///< number value (floating-point) + discarded ///< discarded by the the parser callback function +}; + +/*! +@brief comparison operator for JSON types + +Returns an ordering that is similar to Python: +- order: null < boolean < number < object < array < string +- furthermore, each type is not smaller than itself + +@since version 1.0.0 +*/ +inline bool operator<(const value_t lhs, const value_t rhs) noexcept { + static constexpr std::array order = {{ + 0, // null + 3, // object + 4, // array + 5, // string + 1, // boolean + 2, // integer + 2, // unsigned + 2, // float + }}; + + // discarded values are not comparable + if (lhs == value_t::discarded or rhs == value_t::discarded) { + return false; + } + + return order[static_cast(lhs)] < + order[static_cast(rhs)]; +} + +///////////// +// helpers // +///////////// + +// alias templates to reduce boilerplate +template +using enable_if_t = typename std::enable_if::type; + +template +using uncvref_t = + typename std::remove_cv::type>::type; + +// taken from http://stackoverflow.com/a/26936864/266378 +template +using is_unscoped_enum = + std::integral_constant::value and + std::is_enum::value>; + +/* +Implementation of two C++17 constructs: conjunction, negation. This is needed +to avoid evaluating all the traits in a condition + +For example: not std::is_same::value and has_value_type::value +will not compile when T = void (on MSVC at least). Whereas +conjunction>, has_value_type>::value will +stop evaluating if negation<...>::value == false + +Please note that those constructs must be used with caution, since symbols can +become very long quickly (which can slow down compilation and cause MSVC +internal compiler errors). Only use it when you have to (see example ahead). +*/ +template +struct conjunction : std::true_type {}; +template +struct conjunction : B1 {}; +template +struct conjunction + : std::conditional, B1>::type {}; + +template +struct negation : std::integral_constant {}; + +// dispatch utility (taken from ranges-v3) +template +struct priority_tag : priority_tag {}; +template<> +struct priority_tag<0> {}; + +////////////////// +// constructors // +////////////////// + +template +struct external_constructor; + +template<> +struct external_constructor { + template + static void construct(BasicJsonType& j, + typename BasicJsonType::boolean_t b) noexcept { + j.m_type = value_t::boolean; + j.m_value = b; + j.assert_invariant(); + } +}; + +template<> +struct external_constructor { + template + static void construct(BasicJsonType& j, + const typename BasicJsonType::string_t& s) { + j.m_type = value_t::string; + j.m_value = s; + j.assert_invariant(); + } +}; + +template<> +struct external_constructor { + template + static void construct(BasicJsonType& j, + typename BasicJsonType::number_float_t val) noexcept { + // replace infinity and NAN by null + if (not std::isfinite(val)) { + j = BasicJsonType{}; + } else { + j.m_type = value_t::number_float; + j.m_value = val; + } + j.assert_invariant(); + } +}; + +template<> +struct external_constructor { + template + static void construct( + BasicJsonType& j, typename BasicJsonType::number_unsigned_t val) noexcept { + j.m_type = value_t::number_unsigned; + j.m_value = val; + j.assert_invariant(); + } +}; + +template<> +struct external_constructor { + template + static void construct(BasicJsonType& j, + typename BasicJsonType::number_integer_t val) noexcept { + j.m_type = value_t::number_integer; + j.m_value = val; + j.assert_invariant(); + } +}; + +template<> +struct external_constructor { + template + static void construct(BasicJsonType& j, + const typename BasicJsonType::array_t& arr) { + j.m_type = value_t::array; + j.m_value = arr; + j.assert_invariant(); + } + + template::value, + int> = 0> + static void construct(BasicJsonType& j, const CompatibleArrayType& arr) { + using std::begin; + using std::end; + j.m_type = value_t::array; + j.m_value.array = + j.template create(begin(arr), end(arr)); + j.assert_invariant(); + } +}; + +template<> +struct external_constructor { + template + static void construct(BasicJsonType& j, + const typename BasicJsonType::object_t& obj) { + j.m_type = value_t::object; + j.m_value = obj; + j.assert_invariant(); + } + + template< + typename BasicJsonType, typename CompatibleObjectType, + enable_if_t::value, + int> = 0> + static void construct(BasicJsonType& j, const CompatibleObjectType& obj) { + using std::begin; + using std::end; + + j.m_type = value_t::object; + j.m_value.object = + j.template create(begin(obj), end(obj)); + j.assert_invariant(); + } +}; + +//////////////////////// +// has_/is_ functions // +//////////////////////// + +/*! +@brief Helper to determine whether there's a key_type for T. + +This helper is used to tell associative containers apart from other containers +such as sequence containers. For instance, `std::map` passes the test as it +contains a `mapped_type`, whereas `std::vector` fails the test. + +@sa http://stackoverflow.com/a/7728728/266378 +@since version 1.0.0, overworked in version 2.0.6 +*/ +#define NLOHMANN_JSON_HAS_HELPER(type) \ + template \ + struct has_##type { \ + private: \ + template \ + static int detect(U&&); \ + static void detect(...); \ + \ + public: \ + static constexpr bool value = \ + std::is_integral()))>::value; \ + } + +NLOHMANN_JSON_HAS_HELPER(mapped_type); +NLOHMANN_JSON_HAS_HELPER(key_type); +NLOHMANN_JSON_HAS_HELPER(value_type); +NLOHMANN_JSON_HAS_HELPER(iterator); + +#undef NLOHMANN_JSON_HAS_HELPER + +template +struct is_compatible_object_type_impl : std::false_type {}; + +template +struct is_compatible_object_type_impl { + static constexpr auto value = + std::is_constructible::value and + std::is_constructible::value; +}; + +template +struct is_compatible_object_type { + static auto constexpr value = is_compatible_object_type_impl< + conjunction>, + has_mapped_type, + has_key_type>::value, + typename BasicJsonType::object_t, CompatibleObjectType>::value; +}; + +template +struct is_basic_json_nested_type { + static auto constexpr value = + std::is_same::value or + std::is_same::value or + std::is_same::value or + std::is_same::value or + std::is_same::value; +}; + +template +struct is_compatible_array_type { + static auto constexpr value = conjunction< + negation>, + negation>, + negation>, + negation>, + has_value_type, + has_iterator>::value; +}; + +template +struct is_compatible_integer_type_impl : std::false_type {}; + +template +struct is_compatible_integer_type_impl { + // is there an assert somewhere on overflows? + using RealLimits = std::numeric_limits; + using CompatibleLimits = std::numeric_limits; + + static constexpr auto value = + std::is_constructible::value and + CompatibleLimits::is_integer and + RealLimits::is_signed == CompatibleLimits::is_signed; +}; + +template +struct is_compatible_integer_type { + static constexpr auto + value = is_compatible_integer_type_impl < + std::is_integral::value and + not std::is_same::value, + RealIntegerType, CompatibleNumberIntegerType > ::value; +}; + +// trait checking if JSONSerializer::from_json(json const&, udt&) exists +template +struct has_from_json { + private: + // also check the return type of from_json + template< + typename U, + typename = enable_if_t::from_json(std::declval(), + std::declval()))>::value>> + static int detect(U&&); + static void detect(...); + + public: + static constexpr bool value = std::is_integral>()))>::value; +}; + +// This trait checks if JSONSerializer::from_json(json const&) exists +// this overload is used for non-default-constructible user-defined-types +template +struct has_non_default_from_json { + private: + template::from_json( + std::declval()))>::value>> + static int detect(U&&); + static void detect(...); + + public: + static constexpr bool value = std::is_integral>()))>::value; +}; + +// This trait checks if BasicJsonType::json_serializer::to_json exists +template +struct has_to_json { + private: + template::to_json( + std::declval(), std::declval()))> + static int detect(U&&); + static void detect(...); + + public: + static constexpr bool value = std::is_integral>()))>::value; +}; + +///////////// +// to_json // +///////////// + +template::value, + int> = 0> +void to_json(BasicJsonType& j, T b) noexcept { + external_constructor::construct(j, b); +} + +template::value, + int> = 0> +void to_json(BasicJsonType& j, const CompatibleString& s) { + external_constructor::construct(j, s); +} + +template::value, int> = 0> +void to_json(BasicJsonType& j, FloatType val) noexcept { + external_constructor::construct( + j, static_cast(val)); +} + +template::value, + int> = 0> +void to_json(BasicJsonType& j, CompatibleNumberUnsignedType val) noexcept { + external_constructor::construct( + j, static_cast(val)); +} + +template::value, + int> = 0> +void to_json(BasicJsonType& j, CompatibleNumberIntegerType val) noexcept { + external_constructor::construct( + j, static_cast(val)); +} + +template::value, int> = 0> +void to_json(BasicJsonType& j, UnscopedEnumType e) noexcept { + external_constructor::construct(j, e); +} + +template< + typename BasicJsonType, typename CompatibleArrayType, + enable_if_t< + is_compatible_array_type::value or + std::is_same::value, + int> = 0> +void to_json(BasicJsonType& j, const CompatibleArrayType& arr) { + external_constructor::construct(j, arr); +} + +template::value, + int> = 0> +void to_json(BasicJsonType& j, const CompatibleObjectType& arr) { + external_constructor::construct(j, arr); +} + +/////////////// +// from_json // +/////////////// + +// overloads for basic_json template parameters +template< + typename BasicJsonType, typename ArithmeticType, + enable_if_t::value and + not std::is_same::value, + int> = 0> +void get_arithmetic_value(const BasicJsonType& j, ArithmeticType& val) { + switch (static_cast(j)) { + case value_t::number_unsigned: { + val = static_cast( + *j.template get_ptr< + const typename BasicJsonType::number_unsigned_t*>()); + break; + } + case value_t::number_integer: { + val = static_cast( + *j.template get_ptr()); + break; + } + case value_t::number_float: { + val = static_cast( + *j.template get_ptr()); + break; + } + default: { + JSON_THROW( + std::domain_error("type must be number, but is " + j.type_name())); + } + } +} + +template +void from_json(const BasicJsonType& j, typename BasicJsonType::boolean_t& b) { + if (not j.is_boolean()) { + JSON_THROW( + std::domain_error("type must be boolean, but is " + j.type_name())); + } + b = *j.template get_ptr(); +} + +template +void from_json(const BasicJsonType& j, typename BasicJsonType::string_t& s) { + if (not j.is_string()) { + JSON_THROW( + std::domain_error("type must be string, but is " + j.type_name())); + } + s = *j.template get_ptr(); +} + +template +void from_json(const BasicJsonType& j, + typename BasicJsonType::number_float_t& val) { + get_arithmetic_value(j, val); +} + +template +void from_json(const BasicJsonType& j, + typename BasicJsonType::number_unsigned_t& val) { + get_arithmetic_value(j, val); +} + +template +void from_json(const BasicJsonType& j, + typename BasicJsonType::number_integer_t& val) { + get_arithmetic_value(j, val); +} + +template::value, int> = 0> +void from_json(const BasicJsonType& j, UnscopedEnumType& e) { + typename std::underlying_type::type val; + get_arithmetic_value(j, val); + e = static_cast(val); +} + +template +void from_json(const BasicJsonType& j, typename BasicJsonType::array_t& arr) { + if (not j.is_array()) { + JSON_THROW( + std::domain_error("type must be array, but is " + j.type_name())); + } + arr = *j.template get_ptr(); +} + +// forward_list doesn't have an insert method +template +void from_json(const BasicJsonType& j, std::forward_list& l) { + // do not perform the check when user wants to retrieve jsons + // (except when it's null.. ?) + if (j.is_null()) { + JSON_THROW( + std::domain_error("type must be array, but is " + j.type_name())); + } + if (not std::is_same::value) { + if (not j.is_array()) { + JSON_THROW( + std::domain_error("type must be array, but is " + j.type_name())); + } + } + for (auto it = j.rbegin(), end = j.rend(); it != end; ++it) { + l.push_front(it->template get()); + } +} + +template +void from_json_array_impl(const BasicJsonType& j, CompatibleArrayType& arr, + priority_tag<0>) { + using std::begin; + using std::end; + + std::transform( + j.begin(), j.end(), std::inserter(arr, end(arr)), + [](const BasicJsonType& i) { + // get() returns *this, this won't call a from_json + // method when value_type is BasicJsonType + return i.template get(); + }); +} + +template +auto from_json_array_impl(const BasicJsonType& j, CompatibleArrayType& arr, + priority_tag<1>) + -> decltype( + arr.reserve(std::declval()), + void()) { + using std::begin; + using std::end; + + arr.reserve(j.size()); + std::transform( + j.begin(), j.end(), std::inserter(arr, end(arr)), + [](const BasicJsonType& i) { + // get() returns *this, this won't call a from_json + // method when value_type is BasicJsonType + return i.template get(); + }); +} + +template::value and + not std::is_same::value, + int> = 0> +void from_json(const BasicJsonType& j, CompatibleArrayType& arr) { + if (j.is_null()) { + JSON_THROW( + std::domain_error("type must be array, but is " + j.type_name())); + } + + // when T == BasicJsonType, do not check if value_t is correct + if (not std::is_same::value) { + if (not j.is_array()) { + JSON_THROW( + std::domain_error("type must be array, but is " + j.type_name())); + } + } + from_json_array_impl(j, arr, priority_tag<1>{}); +} + +template::value, + int> = 0> +void from_json(const BasicJsonType& j, CompatibleObjectType& obj) { + if (not j.is_object()) { + JSON_THROW( + std::domain_error("type must be object, but is " + j.type_name())); + } + + auto inner_object = + j.template get_ptr(); + using std::begin; + using std::end; + // we could avoid the assignment, but this might require a for loop, which + // might be less efficient than the container constructor for some + // containers (would it?) + obj = CompatibleObjectType(begin(*inner_object), end(*inner_object)); +} + +// overload for arithmetic types, not chosen for basic_json template arguments +// (BooleanType, etc..); note: Is it really necessary to provide explicit +// overloads for boolean_t etc. in case of a custom BooleanType which is not +// an arithmetic type? +template< + typename BasicJsonType, typename ArithmeticType, + enable_if_t< + std::is_arithmetic::value and + not std::is_same::value and + not std::is_same::value and + not std::is_same::value and + not std::is_same::value, + int> = 0> +void from_json(const BasicJsonType& j, ArithmeticType& val) { + switch (static_cast(j)) { + case value_t::number_unsigned: { + val = static_cast( + *j.template get_ptr< + const typename BasicJsonType::number_unsigned_t*>()); + break; + } + case value_t::number_integer: { + val = static_cast( + *j.template get_ptr()); + break; + } + case value_t::number_float: { + val = static_cast( + *j.template get_ptr()); + break; + } + case value_t::boolean: { + val = static_cast( + *j.template get_ptr()); + break; + } + default: { + JSON_THROW( + std::domain_error("type must be number, but is " + j.type_name())); + } + } +} + +struct to_json_fn { + private: + template + auto call(BasicJsonType& j, T&& val, priority_tag<1>) const + noexcept(noexcept(to_json(j, std::forward(val)))) + -> decltype(to_json(j, std::forward(val)), void()) { + return to_json(j, std::forward(val)); + } + + template + void call(BasicJsonType&, T&&, priority_tag<0>) const noexcept { + static_assert(sizeof(BasicJsonType) == 0, + "could not find to_json() method in T's namespace"); + } + + public: + template + void operator()(BasicJsonType& j, T&& val) const + noexcept(noexcept(std::declval().call(j, std::forward(val), + priority_tag<1>{}))) { + return call(j, std::forward(val), priority_tag<1>{}); + } +}; + +struct from_json_fn { + private: + template + auto call(const BasicJsonType& j, T& val, priority_tag<1>) const + noexcept(noexcept(from_json(j, val))) + -> decltype(from_json(j, val), void()) { + return from_json(j, val); + } + + template + void call(const BasicJsonType&, T&, priority_tag<0>) const noexcept { + static_assert(sizeof(BasicJsonType) == 0, + "could not find from_json() method in T's namespace"); + } + + public: + template + void operator()(const BasicJsonType& j, T& val) const + noexcept(noexcept(std::declval().call(j, val, + priority_tag<1>{}))) { + return call(j, val, priority_tag<1>{}); + } +}; + +// taken from ranges-v3 +template +struct static_const { + static constexpr T value{}; +}; + +template +constexpr T static_const::value; +} // namespace detail + +/// namespace to hold default `to_json` / `from_json` functions +namespace { +constexpr const auto& to_json = detail::static_const::value; +constexpr const auto& from_json = + detail::static_const::value; +} // namespace + +/*! +@brief default JSONSerializer template argument + +This serializer ignores the template arguments and uses ADL +([argument-dependent lookup](http://en.cppreference.com/w/cpp/language/adl)) +for serialization. +*/ +template +struct adl_serializer { + /*! + @brief convert a JSON value to any value type + + This function is usually called by the `get()` function of the + @ref basic_json class (either explicit or via conversion operators). + + @param[in] j JSON value to read from + @param[in,out] val value to write to + */ + template + static void from_json(BasicJsonType&& j, ValueType& val) noexcept( + noexcept(::nlohmann::from_json(std::forward(j), val))) { + ::nlohmann::from_json(std::forward(j), val); + } + + /*! + @brief convert any value type to a JSON value + + This function is usually called by the constructors of the @ref basic_json + class. + + @param[in,out] j JSON value to write to + @param[in] val value to read from + */ + template + static void to_json(BasicJsonType& j, ValueType&& val) noexcept( + noexcept(::nlohmann::to_json(j, std::forward(val)))) { + ::nlohmann::to_json(j, std::forward(val)); + } +}; + +/*! +@brief a class to store JSON values + +@tparam ObjectType type for JSON objects (`std::map` by default; will be used +in @ref object_t) +@tparam ArrayType type for JSON arrays (`std::vector` by default; will be used +in @ref array_t) +@tparam StringType type for JSON strings and object keys (`std::string` by +default; will be used in @ref string_t) +@tparam BooleanType type for JSON booleans (`bool` by default; will be used +in @ref boolean_t) +@tparam NumberIntegerType type for JSON integer numbers (`int64_t` by +default; will be used in @ref number_integer_t) +@tparam NumberUnsignedType type for JSON unsigned integer numbers (@c +`uint64_t` by default; will be used in @ref number_unsigned_t) +@tparam NumberFloatType type for JSON floating-point numbers (`double` by +default; will be used in @ref number_float_t) +@tparam AllocatorType type of the allocator to use (`std::allocator` by +default) +@tparam JSONSerializer the serializer to resolve internal calls to `to_json()` +and `from_json()` (@ref adl_serializer by default) + +@requirement The class satisfies the following concept requirements: +- Basic + - +[DefaultConstructible](http://en.cppreference.com/w/cpp/concept/DefaultConstructible): + JSON values can be default constructed. The result will be a JSON null + value. + - +[MoveConstructible](http://en.cppreference.com/w/cpp/concept/MoveConstructible): + A JSON value can be constructed from an rvalue argument. + - +[CopyConstructible](http://en.cppreference.com/w/cpp/concept/CopyConstructible): + A JSON value can be copy-constructed from an lvalue expression. + - [MoveAssignable](http://en.cppreference.com/w/cpp/concept/MoveAssignable): + A JSON value van be assigned from an rvalue argument. + - [CopyAssignable](http://en.cppreference.com/w/cpp/concept/CopyAssignable): + A JSON value can be copy-assigned from an lvalue expression. + - [Destructible](http://en.cppreference.com/w/cpp/concept/Destructible): + JSON values can be destructed. +- Layout + - +[StandardLayoutType](http://en.cppreference.com/w/cpp/concept/StandardLayoutType): + JSON values have + [standard +layout](http://en.cppreference.com/w/cpp/language/data_members#Standard_layout): + All non-static data members are private and standard layout types, the + class has no virtual functions or (virtual) base classes. +- Library-wide + - +[EqualityComparable](http://en.cppreference.com/w/cpp/concept/EqualityComparable): + JSON values can be compared with `==`, see @ref + operator==(const_reference,const_reference). + - +[LessThanComparable](http://en.cppreference.com/w/cpp/concept/LessThanComparable): + JSON values can be compared with `<`, see @ref + operator<(const_reference,const_reference). + - [Swappable](http://en.cppreference.com/w/cpp/concept/Swappable): + Any JSON lvalue or rvalue of can be swapped with any lvalue or rvalue of + other compatible types, using unqualified function call @ref swap(). + - [NullablePointer](http://en.cppreference.com/w/cpp/concept/NullablePointer): + JSON values can be compared against `std::nullptr_t` objects which are used + to model the `null` value. +- Container + - [Container](http://en.cppreference.com/w/cpp/concept/Container): + JSON values can be used like STL containers and provide iterator access. + - +[ReversibleContainer](http://en.cppreference.com/w/cpp/concept/ReversibleContainer); + JSON values can be used like STL containers and provide reverse iterator + access. + +@invariant The member variables @a m_value and @a m_type have the following +relationship: +- If `m_type == value_t::object`, then `m_value.object != nullptr`. +- If `m_type == value_t::array`, then `m_value.array != nullptr`. +- If `m_type == value_t::string`, then `m_value.string != nullptr`. +The invariants are checked by member function assert_invariant(). + +@internal +@note ObjectType trick from http://stackoverflow.com/a/9860911 +@endinternal + +@see [RFC 7159: The JavaScript Object Notation (JSON) Data Interchange +Format](http://rfc7159.net/rfc7159) + +@since version 1.0.0 + +@nosubgrouping +*/ +template class ObjectType = + std::map, + template class ArrayType = std::vector, + class StringType = std::string, class BooleanType = bool, + class NumberIntegerType = std::int64_t, + class NumberUnsignedType = std::uint64_t, + class NumberFloatType = double, + template class AllocatorType = std::allocator, + template class JSONSerializer = + adl_serializer> +class basic_json { + private: + template + friend struct detail::external_constructor; + /// workaround type for MSVC + using basic_json_t = + basic_json; + + public: + using value_t = detail::value_t; + // forward declarations + template + class iter_impl; + template + class json_reverse_iterator; + class json_pointer; + template + using json_serializer = JSONSerializer; + + ///////////////////// + // container types // + ///////////////////// + + /// @name container types + /// The canonic container types to use @ref basic_json like any other STL + /// container. + /// @{ + + /// the type of elements in a basic_json container + using value_type = basic_json; + + /// the type of an element reference + using reference = value_type&; + /// the type of an element const reference + using const_reference = const value_type&; + + /// a type to represent differences between iterators + using difference_type = std::ptrdiff_t; + /// a type to represent container sizes + using size_type = std::size_t; + + /// the allocator type + using allocator_type = AllocatorType; + + /// the type of an element pointer + using pointer = typename std::allocator_traits::pointer; + /// the type of an element const pointer + using const_pointer = + typename std::allocator_traits::const_pointer; + + /// an iterator for a basic_json container + using iterator = iter_impl; + /// a const iterator for a basic_json container + using const_iterator = iter_impl; + /// a reverse iterator for a basic_json container + using reverse_iterator = json_reverse_iterator; + /// a const reverse iterator for a basic_json container + using const_reverse_iterator = + json_reverse_iterator; + + /// @} + + /*! + @brief returns the allocator associated with the container + */ + static allocator_type get_allocator() { return allocator_type(); } + + /*! + @brief returns version information on the library + + This function returns a JSON object with information about the library, + including the version number and information on the platform and compiler. + + @return JSON object holding version information + key | description + ----------- | --------------- + `compiler` | Information on the used compiler. It is an object with the + following keys: `c++` (the used C++ standard), `family` (the compiler family; + possible values are `clang`, `icc`, `gcc`, `ilecpp`, `msvc`, `pgcpp`, + `sunpro`, and `unknown`), and `version` (the compiler version). + `copyright` | The copyright line for the library as string. + `name` | The name of the library as string. + `platform` | The used platform as string. Possible values are `win32`, + `linux`, `apple`, `unix`, and `unknown`. + `url` | The URL of the project as string. + `version` | The version of the library. It is an object with the following + keys: `major`, `minor`, and `patch` as defined by [Semantic + Versioning](http://semver.org), and `string` (the version string). + + @liveexample{The following code shows an example output of the `meta()` + function.,meta} + + @complexity Constant. + + @since 2.1.0 + */ + static basic_json meta() { + basic_json result; + + result["copyright"] = "(C) 2013-2017 Niels Lohmann"; + result["name"] = "JSON for Modern C++"; + result["url"] = "https://github.com/nlohmann/json"; + result["version"] = { + {"string", "2.1.1"}, {"major", 2}, {"minor", 1}, {"patch", 1}}; + +#ifdef _WIN32 + result["platform"] = "win32"; +#elif defined __linux__ + result["platform"] = "linux"; +#elif defined __APPLE__ + result["platform"] = "apple"; +#elif defined __unix__ + result["platform"] = "unix"; +#else + result["platform"] = "unknown"; +#endif + +#if defined(__clang__) + result["compiler"] = {{"family", "clang"}, {"version", __clang_version__}}; +#elif defined(__ICC) || defined(__INTEL_COMPILER) + result["compiler"] = {{"family", "icc"}, {"version", __INTEL_COMPILER}}; +#elif defined(__GNUC__) || defined(__GNUG__) + result["compiler"] = {{"family", "gcc"}, + {"version", std::to_string(__GNUC__) + "." + + std::to_string(__GNUC_MINOR__) + "." + + std::to_string(__GNUC_PATCHLEVEL__)}}; +#elif defined(__HP_cc) || defined(__HP_aCC) + result["compiler"] = "hp" +#elif defined(__IBMCPP__) + result["compiler"] = {{"family", "ilecpp"}, {"version", __IBMCPP__}}; +#elif defined(_MSC_VER) + result["compiler"] = {{"family", "msvc"}, {"version", _MSC_VER}}; +#elif defined(__PGI) + result["compiler"] = {{"family", "pgcpp"}, {"version", __PGI}}; +#elif defined(__SUNPRO_CC) + result["compiler"] = {{"family", "sunpro"}, {"version", __SUNPRO_CC}}; +#else + result["compiler"] = {{"family", "unknown"}, {"version", "unknown"}}; +#endif + +#ifdef __cplusplus + result["compiler"]["c++"] = std::to_string(__cplusplus); +#else + result["compiler"]["c++"] = "unknown"; +#endif + return result; + } + + /////////////////////////// + // JSON value data types // + /////////////////////////// + + /// @name JSON value data types + /// The data types to store a JSON value. These types are derived from + /// the template arguments passed to class @ref basic_json. + /// @{ + + /*! + @brief a type for an object + + [RFC 7159](http://rfc7159.net/rfc7159) describes JSON objects as follows: + > An object is an unordered collection of zero or more name/value pairs, + > where a name is a string and a value is a string, number, boolean, null, + > object, or array. + + To store objects in C++, a type is defined by the template parameters + described below. + + @tparam ObjectType the container to store objects (e.g., `std::map` or + `std::unordered_map`) + @tparam StringType the type of the keys or names (e.g., `std::string`). + The comparison function `std::less` is used to order elements + inside the container. + @tparam AllocatorType the allocator to use for objects (e.g., + `std::allocator`) + + #### Default type + + With the default values for @a ObjectType (`std::map`), @a StringType + (`std::string`), and @a AllocatorType (`std::allocator`), the default + value for @a object_t is: + + @code {.cpp} + std::map< + std::string, // key_type + basic_json, // value_type + std::less, // key_compare + std::allocator> // allocator_type + > + @endcode + + #### Behavior + + The choice of @a object_t influences the behavior of the JSON class. With + the default type, objects have the following behavior: + + - When all names are unique, objects will be interoperable in the sense + that all software implementations receiving that object will agree on + the name-value mappings. + - When the names within an object are not unique, later stored name/value + pairs overwrite previously stored name/value pairs, leaving the used + names unique. For instance, `{"key": 1}` and `{"key": 2, "key": 1}` will + be treated as equal and both stored as `{"key": 1}`. + - Internally, name/value pairs are stored in lexicographical order of the + names. Objects will also be serialized (see @ref dump) in this order. + For instance, `{"b": 1, "a": 2}` and `{"a": 2, "b": 1}` will be stored + and serialized as `{"a": 2, "b": 1}`. + - When comparing objects, the order of the name/value pairs is irrelevant. + This makes objects interoperable in the sense that they will not be + affected by these differences. For instance, `{"b": 1, "a": 2}` and + `{"a": 2, "b": 1}` will be treated as equal. + + #### Limits + + [RFC 7159](http://rfc7159.net/rfc7159) specifies: + > An implementation may set limits on the maximum depth of nesting. + + In this class, the object's limit of nesting is not constraint explicitly. + However, a maximum depth of nesting may be introduced by the compiler or + runtime environment. A theoretical limit can be queried by calling the + @ref max_size function of a JSON object. + + #### Storage + + Objects are stored as pointers in a @ref basic_json type. That is, for any + access to object values, a pointer of type `object_t*` must be + dereferenced. + + @sa @ref array_t -- type for an array value + + @since version 1.0.0 + + @note The order name/value pairs are added to the object is *not* + preserved by the library. Therefore, iterating an object may return + name/value pairs in a different order than they were originally stored. In + fact, keys will be traversed in alphabetical order as `std::map` with + `std::less` is used by default. Please note this behavior conforms to [RFC + 7159](http://rfc7159.net/rfc7159), because any order implements the + specified "unordered" nature of JSON objects. + */ + using object_t = + ObjectType, + AllocatorType>>; + + /*! + @brief a type for an array + + [RFC 7159](http://rfc7159.net/rfc7159) describes JSON arrays as follows: + > An array is an ordered sequence of zero or more values. + + To store objects in C++, a type is defined by the template parameters + explained below. + + @tparam ArrayType container type to store arrays (e.g., `std::vector` or + `std::list`) + @tparam AllocatorType allocator to use for arrays (e.g., `std::allocator`) + + #### Default type + + With the default values for @a ArrayType (`std::vector`) and @a + AllocatorType (`std::allocator`), the default value for @a array_t is: + + @code {.cpp} + std::vector< + basic_json, // value_type + std::allocator // allocator_type + > + @endcode + + #### Limits + + [RFC 7159](http://rfc7159.net/rfc7159) specifies: + > An implementation may set limits on the maximum depth of nesting. + + In this class, the array's limit of nesting is not constraint explicitly. + However, a maximum depth of nesting may be introduced by the compiler or + runtime environment. A theoretical limit can be queried by calling the + @ref max_size function of a JSON array. + + #### Storage + + Arrays are stored as pointers in a @ref basic_json type. That is, for any + access to array values, a pointer of type `array_t*` must be dereferenced. + + @sa @ref object_t -- type for an object value + + @since version 1.0.0 + */ + using array_t = ArrayType>; + + /*! + @brief a type for a string + + [RFC 7159](http://rfc7159.net/rfc7159) describes JSON strings as follows: + > A string is a sequence of zero or more Unicode characters. + + To store objects in C++, a type is defined by the template parameter + described below. Unicode values are split by the JSON class into + byte-sized characters during deserialization. + + @tparam StringType the container to store strings (e.g., `std::string`). + Note this container is used for keys/names in objects, see @ref object_t. + + #### Default type + + With the default values for @a StringType (`std::string`), the default + value for @a string_t is: + + @code {.cpp} + std::string + @endcode + + #### Encoding + + Strings are stored in UTF-8 encoding. Therefore, functions like + `std::string::size()` or `std::string::length()` return the number of + bytes in the string rather than the number of characters or glyphs. + + #### String comparison + + [RFC 7159](http://rfc7159.net/rfc7159) states: + > Software implementations are typically required to test names of object + > members for equality. Implementations that transform the textual + > representation into sequences of Unicode code units and then perform the + > comparison numerically, code unit by code unit, are interoperable in the + > sense that implementations will agree in all cases on equality or + > inequality of two strings. For example, implementations that compare + > strings with escaped characters unconverted may incorrectly find that + > `"a\\b"` and `"a\u005Cb"` are not equal. + + This implementation is interoperable as it does compare strings code unit + by code unit. + + #### Storage + + String values are stored as pointers in a @ref basic_json type. That is, + for any access to string values, a pointer of type `string_t*` must be + dereferenced. + + @since version 1.0.0 + */ + using string_t = StringType; + + /*! + @brief a type for a boolean + + [RFC 7159](http://rfc7159.net/rfc7159) implicitly describes a boolean as a + type which differentiates the two literals `true` and `false`. + + To store objects in C++, a type is defined by the template parameter @a + BooleanType which chooses the type to use. + + #### Default type + + With the default values for @a BooleanType (`bool`), the default value for + @a boolean_t is: + + @code {.cpp} + bool + @endcode + + #### Storage + + Boolean values are stored directly inside a @ref basic_json type. + + @since version 1.0.0 + */ + using boolean_t = BooleanType; + + /*! + @brief a type for a number (integer) + + [RFC 7159](http://rfc7159.net/rfc7159) describes numbers as follows: + > The representation of numbers is similar to that used in most + > programming languages. A number is represented in base 10 using decimal + > digits. It contains an integer component that may be prefixed with an + > optional minus sign, which may be followed by a fraction part and/or an + > exponent part. Leading zeros are not allowed. (...) Numeric values that + > cannot be represented in the grammar below (such as Infinity and NaN) + > are not permitted. + + This description includes both integer and floating-point numbers. + However, C++ allows more precise storage if it is known whether the number + is a signed integer, an unsigned integer or a floating-point number. + Therefore, three different types, @ref number_integer_t, @ref + number_unsigned_t and @ref number_float_t are used. + + To store integer numbers in C++, a type is defined by the template + parameter @a NumberIntegerType which chooses the type to use. + + #### Default type + + With the default values for @a NumberIntegerType (`int64_t`), the default + value for @a number_integer_t is: + + @code {.cpp} + int64_t + @endcode + + #### Default behavior + + - The restrictions about leading zeros is not enforced in C++. Instead, + leading zeros in integer literals lead to an interpretation as octal + number. Internally, the value will be stored as decimal number. For + instance, the C++ integer literal `010` will be serialized to `8`. + During deserialization, leading zeros yield an error. + - Not-a-number (NaN) values will be serialized to `null`. + + #### Limits + + [RFC 7159](http://rfc7159.net/rfc7159) specifies: + > An implementation may set limits on the range and precision of numbers. + + When the default type is used, the maximal integer number that can be + stored is `9223372036854775807` (INT64_MAX) and the minimal integer number + that can be stored is `-9223372036854775808` (INT64_MIN). Integer numbers + that are out of range will yield over/underflow when used in a + constructor. During deserialization, too large or small integer numbers + will be automatically be stored as @ref number_unsigned_t or @ref + number_float_t. + + [RFC 7159](http://rfc7159.net/rfc7159) further states: + > Note that when such software is used, numbers that are integers and are + > in the range \f$[-2^{53}+1, 2^{53}-1]\f$ are interoperable in the sense + > that implementations will agree exactly on their numeric values. + + As this range is a subrange of the exactly supported range [INT64_MIN, + INT64_MAX], this class's integer type is interoperable. + + #### Storage + + Integer number values are stored directly inside a @ref basic_json type. + + @sa @ref number_float_t -- type for number values (floating-point) + + @sa @ref number_unsigned_t -- type for number values (unsigned integer) + + @since version 1.0.0 + */ + using number_integer_t = NumberIntegerType; + + /*! + @brief a type for a number (unsigned) + + [RFC 7159](http://rfc7159.net/rfc7159) describes numbers as follows: + > The representation of numbers is similar to that used in most + > programming languages. A number is represented in base 10 using decimal + > digits. It contains an integer component that may be prefixed with an + > optional minus sign, which may be followed by a fraction part and/or an + > exponent part. Leading zeros are not allowed. (...) Numeric values that + > cannot be represented in the grammar below (such as Infinity and NaN) + > are not permitted. + + This description includes both integer and floating-point numbers. + However, C++ allows more precise storage if it is known whether the number + is a signed integer, an unsigned integer or a floating-point number. + Therefore, three different types, @ref number_integer_t, @ref + number_unsigned_t and @ref number_float_t are used. + + To store unsigned integer numbers in C++, a type is defined by the + template parameter @a NumberUnsignedType which chooses the type to use. + + #### Default type + + With the default values for @a NumberUnsignedType (`uint64_t`), the + default value for @a number_unsigned_t is: + + @code {.cpp} + uint64_t + @endcode + + #### Default behavior + + - The restrictions about leading zeros is not enforced in C++. Instead, + leading zeros in integer literals lead to an interpretation as octal + number. Internally, the value will be stored as decimal number. For + instance, the C++ integer literal `010` will be serialized to `8`. + During deserialization, leading zeros yield an error. + - Not-a-number (NaN) values will be serialized to `null`. + + #### Limits + + [RFC 7159](http://rfc7159.net/rfc7159) specifies: + > An implementation may set limits on the range and precision of numbers. + + When the default type is used, the maximal integer number that can be + stored is `18446744073709551615` (UINT64_MAX) and the minimal integer + number that can be stored is `0`. Integer numbers that are out of range + will yield over/underflow when used in a constructor. During + deserialization, too large or small integer numbers will be automatically + be stored as @ref number_integer_t or @ref number_float_t. + + [RFC 7159](http://rfc7159.net/rfc7159) further states: + > Note that when such software is used, numbers that are integers and are + > in the range \f$[-2^{53}+1, 2^{53}-1]\f$ are interoperable in the sense + > that implementations will agree exactly on their numeric values. + + As this range is a subrange (when considered in conjunction with the + number_integer_t type) of the exactly supported range [0, UINT64_MAX], + this class's integer type is interoperable. + + #### Storage + + Integer number values are stored directly inside a @ref basic_json type. + + @sa @ref number_float_t -- type for number values (floating-point) + @sa @ref number_integer_t -- type for number values (integer) + + @since version 2.0.0 + */ + using number_unsigned_t = NumberUnsignedType; + + /*! + @brief a type for a number (floating-point) + + [RFC 7159](http://rfc7159.net/rfc7159) describes numbers as follows: + > The representation of numbers is similar to that used in most + > programming languages. A number is represented in base 10 using decimal + > digits. It contains an integer component that may be prefixed with an + > optional minus sign, which may be followed by a fraction part and/or an + > exponent part. Leading zeros are not allowed. (...) Numeric values that + > cannot be represented in the grammar below (such as Infinity and NaN) + > are not permitted. + + This description includes both integer and floating-point numbers. + However, C++ allows more precise storage if it is known whether the number + is a signed integer, an unsigned integer or a floating-point number. + Therefore, three different types, @ref number_integer_t, @ref + number_unsigned_t and @ref number_float_t are used. + + To store floating-point numbers in C++, a type is defined by the template + parameter @a NumberFloatType which chooses the type to use. + + #### Default type + + With the default values for @a NumberFloatType (`double`), the default + value for @a number_float_t is: + + @code {.cpp} + double + @endcode + + #### Default behavior + + - The restrictions about leading zeros is not enforced in C++. Instead, + leading zeros in floating-point literals will be ignored. Internally, + the value will be stored as decimal number. For instance, the C++ + floating-point literal `01.2` will be serialized to `1.2`. During + deserialization, leading zeros yield an error. + - Not-a-number (NaN) values will be serialized to `null`. + + #### Limits + + [RFC 7159](http://rfc7159.net/rfc7159) states: + > This specification allows implementations to set limits on the range and + > precision of numbers accepted. Since software that implements IEEE + > 754-2008 binary64 (double precision) numbers is generally available and + > widely used, good interoperability can be achieved by implementations + > that expect no more precision or range than these provide, in the sense + > that implementations will approximate JSON numbers within the expected + > precision. + + This implementation does exactly follow this approach, as it uses double + precision floating-point numbers. Note values smaller than + `-1.79769313486232e+308` and values greater than `1.79769313486232e+308` + will be stored as NaN internally and be serialized to `null`. + + #### Storage + + Floating-point number values are stored directly inside a @ref basic_json + type. + + @sa @ref number_integer_t -- type for number values (integer) + + @sa @ref number_unsigned_t -- type for number values (unsigned integer) + + @since version 1.0.0 + */ + using number_float_t = NumberFloatType; + + /// @} + + private: + /// helper for exception-safe object creation + template + static T* create(Args&&... args) { + AllocatorType alloc; + auto deleter = [&](T* object) { alloc.deallocate(object, 1); }; + std::unique_ptr object(alloc.allocate(1), deleter); + alloc.construct(object.get(), std::forward(args)...); + assert(object != nullptr); + return object.release(); + } + + //////////////////////// + // JSON value storage // + //////////////////////// + + /*! + @brief a JSON value + + The actual storage for a JSON value of the @ref basic_json class. This + union combines the different storage types for the JSON value types + defined in @ref value_t. + + JSON type | value_t type | used type + --------- | --------------- | ------------------------ + object | object | pointer to @ref object_t + array | array | pointer to @ref array_t + string | string | pointer to @ref string_t + boolean | boolean | @ref boolean_t + number | number_integer | @ref number_integer_t + number | number_unsigned | @ref number_unsigned_t + number | number_float | @ref number_float_t + null | null | *no value is stored* + + @note Variable-length types (objects, arrays, and strings) are stored as + pointers. The size of the union should not exceed 64 bits if the default + value types are used. + + @since version 1.0.0 + */ + union json_value { + /// object (stored with pointer to save storage) + object_t* object; + /// array (stored with pointer to save storage) + array_t* array; + /// string (stored with pointer to save storage) + string_t* string; + /// boolean + boolean_t boolean; + /// number (integer) + number_integer_t number_integer; + /// number (unsigned integer) + number_unsigned_t number_unsigned; + /// number (floating-point) + number_float_t number_float; + + /// default constructor (for null values) + json_value() = default; + /// constructor for booleans + json_value(boolean_t v) noexcept : boolean(v) {} + /// constructor for numbers (integer) + json_value(number_integer_t v) noexcept : number_integer(v) {} + /// constructor for numbers (unsigned) + json_value(number_unsigned_t v) noexcept : number_unsigned(v) {} + /// constructor for numbers (floating-point) + json_value(number_float_t v) noexcept : number_float(v) {} + /// constructor for empty values of a given type + json_value(value_t t) { + switch (t) { + case value_t::object: { + object = create(); + break; + } + + case value_t::array: { + array = create(); + break; + } + + case value_t::string: { + string = create(""); + break; + } + + case value_t::boolean: { + boolean = boolean_t(false); + break; + } + + case value_t::number_integer: { + number_integer = number_integer_t(0); + break; + } + + case value_t::number_unsigned: { + number_unsigned = number_unsigned_t(0); + break; + } + + case value_t::number_float: { + number_float = number_float_t(0.0); + break; + } + + case value_t::null: { + break; + } + + default: { + if (t == value_t::null) { + JSON_THROW( + std::domain_error("961c151d2e87f2686a955a9be24d316f1362bf21 " + "2.1.1")); // LCOV_EXCL_LINE + } + break; + } + } + } + + /// constructor for strings + json_value(const string_t& value) { string = create(value); } + + /// constructor for objects + json_value(const object_t& value) { object = create(value); } + + /// constructor for arrays + json_value(const array_t& value) { array = create(value); } + }; + + /*! + @brief checks the class invariants + + This function asserts the class invariants. It needs to be called at the + end of every constructor to make sure that created objects respect the + invariant. Furthermore, it has to be called each time the type of a JSON + value is changed, because the invariant expresses a relationship between + @a m_type and @a m_value. + */ + void assert_invariant() const { + assert(m_type != value_t::object or m_value.object != nullptr); + assert(m_type != value_t::array or m_value.array != nullptr); + assert(m_type != value_t::string or m_value.string != nullptr); + } + + public: + ////////////////////////// + // JSON parser callback // + ////////////////////////// + + /*! + @brief JSON callback events + + This enumeration lists the parser events that can trigger calling a + callback function of type @ref parser_callback_t during parsing. + + @image html callback_events.png "Example when certain parse events are + triggered" + + @since version 1.0.0 + */ + enum class parse_event_t : uint8_t { + /// the parser read `{` and started to process a JSON object + object_start, + /// the parser read `}` and finished processing a JSON object + object_end, + /// the parser read `[` and started to process a JSON array + array_start, + /// the parser read `]` and finished processing a JSON array + array_end, + /// the parser read a key of a value in an object + key, + /// the parser finished reading a JSON value + value + }; + + /*! + @brief per-element parser callback type + + With a parser callback function, the result of parsing a JSON text can be + influenced. When passed to @ref parse(std::istream&, const + parser_callback_t) or @ref parse(const CharT, const parser_callback_t), + it is called on certain events (passed as @ref parse_event_t via parameter + @a event) with a set recursion depth @a depth and context JSON value + @a parsed. The return value of the callback function is a boolean + indicating whether the element that emitted the callback shall be kept or + not. + + We distinguish six scenarios (determined by the event type) in which the + callback function can be called. The following table describes the values + of the parameters @a depth, @a event, and @a parsed. + + parameter @a event | description | parameter @a depth | parameter @a parsed + ------------------ | ----------- | ------------------ | ------------------- + parse_event_t::object_start | the parser read `{` and started to process a + JSON object | depth of the parent of the JSON object | a JSON value with type + discarded + parse_event_t::key | the parser read a key of a value in an object | depth of + the currently parsed JSON object | a JSON string containing the key + parse_event_t::object_end | the parser read `}` and finished processing a JSON + object | depth of the parent of the JSON object | the parsed JSON object + parse_event_t::array_start | the parser read `[` and started to process a JSON + array | depth of the parent of the JSON array | a JSON value with type + discarded + parse_event_t::array_end | the parser read `]` and finished processing a JSON + array | depth of the parent of the JSON array | the parsed JSON array + parse_event_t::value | the parser finished reading a JSON value | depth of the + value | the parsed JSON value + + @image html callback_events.png "Example when certain parse events are + triggered" + + Discarding a value (i.e., returning `false`) has different effects + depending on the context in which function was called: + + - Discarded values in structured types are skipped. That is, the parser + will behave as if the discarded value was never read. + - In case a value outside a structured type is skipped, it is replaced + with `null`. This case happens if the top-level element is skipped. + + @param[in] depth the depth of the recursion during parsing + + @param[in] event an event of type parse_event_t indicating the context in + the callback function has been called + + @param[in,out] parsed the current intermediate parse result; note that + writing to this value has no effect for parse_event_t::key events + + @return Whether the JSON value which called the function during parsing + should be kept (`true`) or not (`false`). In the latter case, it is either + skipped completely or replaced by an empty discarded object. + + @sa @ref parse(std::istream&, parser_callback_t) or + @ref parse(const CharT, const parser_callback_t) for examples + + @since version 1.0.0 + */ + using parser_callback_t = + std::function; + + ////////////////// + // constructors // + ////////////////// + + /// @name constructors and destructors + /// Constructors of class @ref basic_json, copy/move constructor, copy + /// assignment, static functions creating objects, and the destructor. + /// @{ + + /*! + @brief create an empty value with a given type + + Create an empty JSON value with a given type. The value will be default + initialized with an empty value which depends on the type: + + Value type | initial value + ----------- | ------------- + null | `null` + boolean | `false` + string | `""` + number | `0` + object | `{}` + array | `[]` + + @param[in] value_type the type of the value to create + + @complexity Constant. + + @throw std::bad_alloc if allocation for object, array, or string value + fails + + @liveexample{The following code shows the constructor for different @ref + value_t values,basic_json__value_t} + + @since version 1.0.0 + */ + basic_json(const value_t value_type) + : m_type(value_type), m_value(value_type) { + assert_invariant(); + } + + /*! + @brief create a null object + + Create a `null` JSON value. It either takes a null pointer as parameter + (explicitly creating `null`) or no parameter (implicitly creating `null`). + The passed null pointer itself is not read -- it is only used to choose + the right constructor. + + @complexity Constant. + + @exceptionsafety No-throw guarantee: this constructor never throws + exceptions. + + @liveexample{The following code shows the constructor with and without a + null pointer parameter.,basic_json__nullptr_t} + + @since version 1.0.0 + */ + basic_json(std::nullptr_t = nullptr) noexcept : basic_json(value_t::null) { + assert_invariant(); + } + + /*! + @brief create a JSON value + + This is a "catch all" constructor for all compatible JSON types; that is, + types for which a `to_json()` method exsits. The constructor forwards the + parameter @a val to that method (to `json_serializer::to_json` method + with `U = uncvref_t`, to be exact). + + Template type @a CompatibleType includes, but is not limited to, the + following types: + - **arrays**: @ref array_t and all kinds of compatible containers such as + `std::vector`, `std::deque`, `std::list`, `std::forward_list`, + `std::array`, `std::set`, `std::unordered_set`, `std::multiset`, and + `unordered_multiset` with a `value_type` from which a @ref basic_json + value can be constructed. + - **objects**: @ref object_t and all kinds of compatible associative + containers such as `std::map`, `std::unordered_map`, `std::multimap`, + and `std::unordered_multimap` with a `key_type` compatible to + @ref string_t and a `value_type` from which a @ref basic_json value can + be constructed. + - **strings**: @ref string_t, string literals, and all compatible string + containers can be used. + - **numbers**: @ref number_integer_t, @ref number_unsigned_t, + @ref number_float_t, and all convertible number types such as `int`, + `size_t`, `int64_t`, `float` or `double` can be used. + - **boolean**: @ref boolean_t / `bool` can be used. + + See the examples below. + + @tparam CompatibleType a type such that: + - @a CompatibleType is not derived from `std::istream`, + - @a CompatibleType is not @ref basic_json (to avoid hijacking copy/move + constructors), + - @a CompatibleType is not a @ref basic_json nested type (e.g., + @ref json_pointer, @ref iterator, etc ...) + - @ref @ref json_serializer has a + `to_json(basic_json_t&, CompatibleType&&)` method + + @tparam U = `uncvref_t` + + @param[in] val the value to be forwarded + + @complexity Usually linear in the size of the passed @a val, also + depending on the implementation of the called `to_json()` + method. + + @throw what `json_serializer::to_json()` throws + + @liveexample{The following code shows the constructor with several + compatible types.,basic_json__CompatibleType} + + @since version 2.1.0 + */ + template, + detail::enable_if_t< + not std::is_base_of::value and + not std::is_same::value and + not detail::is_basic_json_nested_type::value and + detail::has_to_json::value, + int> = 0> + basic_json(CompatibleType&& val) noexcept(noexcept(JSONSerializer::to_json( + std::declval(), std::forward(val)))) { + JSONSerializer::to_json(*this, std::forward(val)); + assert_invariant(); + } + + /*! + @brief create a container (array or object) from an initializer list + + Creates a JSON value of type array or object from the passed initializer + list @a init. In case @a type_deduction is `true` (default), the type of + the JSON value to be created is deducted from the initializer list @a init + according to the following rules: + + 1. If the list is empty, an empty JSON object value `{}` is created. + 2. If the list consists of pairs whose first element is a string, a JSON + object value is created where the first elements of the pairs are + treated as keys and the second elements are as values. + 3. In all other cases, an array is created. + + The rules aim to create the best fit between a C++ initializer list and + JSON values. The rationale is as follows: + + 1. The empty initializer list is written as `{}` which is exactly an empty + JSON object. + 2. C++ has now way of describing mapped types other than to list a list of + pairs. As JSON requires that keys must be of type string, rule 2 is the + weakest constraint one can pose on initializer lists to interpret them + as an object. + 3. In all other cases, the initializer list could not be interpreted as + JSON object type, so interpreting it as JSON array type is safe. + + With the rules described above, the following JSON values cannot be + expressed by an initializer list: + + - the empty array (`[]`): use @ref array(std::initializer_list) + with an empty initializer list in this case + - arrays whose elements satisfy rule 2: use @ref + array(std::initializer_list) with the same initializer list + in this case + + @note When used without parentheses around an empty initializer list, @ref + basic_json() is called instead of this function, yielding the JSON null + value. + + @param[in] init initializer list with JSON values + + @param[in] type_deduction internal parameter; when set to `true`, the type + of the JSON value is deducted from the initializer list @a init; when set + to `false`, the type provided via @a manual_type is forced. This mode is + used by the functions @ref array(std::initializer_list) and + @ref object(std::initializer_list). + + @param[in] manual_type internal parameter; when @a type_deduction is set + to `false`, the created JSON value will use the provided type (only @ref + value_t::array and @ref value_t::object are valid); when @a type_deduction + is set to `true`, this parameter has no effect + + @throw std::domain_error if @a type_deduction is `false`, @a manual_type + is `value_t::object`, but @a init contains an element which is not a pair + whose first element is a string; example: `"cannot create object from + initializer list"` + + @complexity Linear in the size of the initializer list @a init. + + @liveexample{The example below shows how JSON values are created from + initializer lists.,basic_json__list_init_t} + + @sa @ref array(std::initializer_list) -- create a JSON array + value from an initializer list + @sa @ref object(std::initializer_list) -- create a JSON object + value from an initializer list + + @since version 1.0.0 + */ + basic_json(std::initializer_list init, bool type_deduction = true, + value_t manual_type = value_t::array) { + // check if each element is an array with two elements whose first + // element is a string + bool is_an_object = + std::all_of(init.begin(), init.end(), [](const basic_json& element) { + return element.is_array() and element.size() == 2 and + element[0].is_string(); + }); + + // adjust type if type deduction is not wanted + if (not type_deduction) { + // if array is wanted, do not create an object though possible + if (manual_type == value_t::array) { + is_an_object = false; + } + + // if object is wanted but impossible, throw an exception + if (manual_type == value_t::object and not is_an_object) { + JSON_THROW( + std::domain_error("cannot create object from initializer list")); + } + } + + if (is_an_object) { + // the initializer list is a list of pairs -> create object + m_type = value_t::object; + m_value = value_t::object; + + std::for_each( + init.begin(), init.end(), [this](const basic_json& element) { + m_value.object->emplace(*(element[0].m_value.string), element[1]); + }); + } else { + // the initializer list describes an array -> create array + m_type = value_t::array; + m_value.array = create(init); + } + + assert_invariant(); + } + + /*! + @brief explicitly create an array from an initializer list + + Creates a JSON array value from a given initializer list. That is, given a + list of values `a, b, c`, creates the JSON value `[a, b, c]`. If the + initializer list is empty, the empty array `[]` is created. + + @note This function is only needed to express two edge cases that cannot + be realized with the initializer list constructor (@ref + basic_json(std::initializer_list, bool, value_t)). These cases + are: + 1. creating an array whose elements are all pairs whose first element is a + string -- in this case, the initializer list constructor would create an + object, taking the first elements as keys + 2. creating an empty array -- passing the empty initializer list to the + initializer list constructor yields an empty object + + @param[in] init initializer list with JSON values to create an array from + (optional) + + @return JSON array value + + @complexity Linear in the size of @a init. + + @liveexample{The following code shows an example for the `array` + function.,array} + + @sa @ref basic_json(std::initializer_list, bool, value_t) -- + create a JSON value from an initializer list + @sa @ref object(std::initializer_list) -- create a JSON object + value from an initializer list + + @since version 1.0.0 + */ + static basic_json array(std::initializer_list init = + std::initializer_list()) { + return basic_json(init, false, value_t::array); + } + + /*! + @brief explicitly create an object from an initializer list + + Creates a JSON object value from a given initializer list. The initializer + lists elements must be pairs, and their first elements must be strings. If + the initializer list is empty, the empty object `{}` is created. + + @note This function is only added for symmetry reasons. In contrast to the + related function @ref array(std::initializer_list), there are + no cases which can only be expressed by this function. That is, any + initializer list @a init can also be passed to the initializer list + constructor @ref basic_json(std::initializer_list, bool, + value_t). + + @param[in] init initializer list to create an object from (optional) + + @return JSON object value + + @throw std::domain_error if @a init is not a pair whose first elements are + strings; thrown by + @ref basic_json(std::initializer_list, bool, value_t) + + @complexity Linear in the size of @a init. + + @liveexample{The following code shows an example for the `object` + function.,object} + + @sa @ref basic_json(std::initializer_list, bool, value_t) -- + create a JSON value from an initializer list + @sa @ref array(std::initializer_list) -- create a JSON array + value from an initializer list + + @since version 1.0.0 + */ + static basic_json object(std::initializer_list init = + std::initializer_list()) { + return basic_json(init, false, value_t::object); + } + + /*! + @brief construct an array with count copies of given value + + Constructs a JSON array value by creating @a cnt copies of a passed value. + In case @a cnt is `0`, an empty array is created. As postcondition, + `std::distance(begin(),end()) == cnt` holds. + + @param[in] cnt the number of JSON copies of @a val to create + @param[in] val the JSON value to copy + + @complexity Linear in @a cnt. + + @liveexample{The following code shows examples for the @ref + basic_json(size_type\, const basic_json&) + constructor.,basic_json__size_type_basic_json} + + @since version 1.0.0 + */ + basic_json(size_type cnt, const basic_json& val) : m_type(value_t::array) { + m_value.array = create(cnt, val); + assert_invariant(); + } + + /*! + @brief construct a JSON container given an iterator range + + Constructs the JSON value with the contents of the range `[first, last)`. + The semantics depends on the different types a JSON value can have: + - In case of primitive types (number, boolean, or string), @a first must + be `begin()` and @a last must be `end()`. In this case, the value is + copied. Otherwise, std::out_of_range is thrown. + - In case of structured types (array, object), the constructor behaves as + similar versions for `std::vector`. + - In case of a null type, std::domain_error is thrown. + + @tparam InputIT an input iterator type (@ref iterator or @ref + const_iterator) + + @param[in] first begin of the range to copy from (included) + @param[in] last end of the range to copy from (excluded) + + @pre Iterators @a first and @a last must be initialized. **This + precondition is enforced with an assertion.** + + @throw std::domain_error if iterators are not compatible; that is, do not + belong to the same JSON value; example: `"iterators are not compatible"` + @throw std::out_of_range if iterators are for a primitive type (number, + boolean, or string) where an out of range error can be detected easily; + example: `"iterators out of range"` + @throw std::bad_alloc if allocation for object, array, or string fails + @throw std::domain_error if called with a null value; example: `"cannot + use construct with iterators from null"` + + @complexity Linear in distance between @a first and @a last. + + @liveexample{The example below shows several ways to create JSON values by + specifying a subrange with iterators.,basic_json__InputIt_InputIt} + + @since version 1.0.0 + */ + template< + class InputIT, + typename std::enable_if< + std::is_same::value or + std::is_same::value, + int>::type = 0> + basic_json(InputIT first, InputIT last) { + assert(first.m_object != nullptr); + assert(last.m_object != nullptr); + + // make sure iterator fits the current value + if (first.m_object != last.m_object) { + JSON_THROW(std::domain_error("iterators are not compatible")); + } + + // copy type from first iterator + m_type = first.m_object->m_type; + + // check if iterator range is complete for primitive values + switch (m_type) { + case value_t::boolean: + case value_t::number_float: + case value_t::number_integer: + case value_t::number_unsigned: + case value_t::string: { + if (not first.m_it.primitive_iterator.is_begin() or + not last.m_it.primitive_iterator.is_end()) { + JSON_THROW(std::out_of_range("iterators out of range")); + } + break; + } + + default: { break; } + } + + switch (m_type) { + case value_t::number_integer: { + m_value.number_integer = first.m_object->m_value.number_integer; + break; + } + + case value_t::number_unsigned: { + m_value.number_unsigned = first.m_object->m_value.number_unsigned; + break; + } + + case value_t::number_float: { + m_value.number_float = first.m_object->m_value.number_float; + break; + } + + case value_t::boolean: { + m_value.boolean = first.m_object->m_value.boolean; + break; + } + + case value_t::string: { + m_value = *first.m_object->m_value.string; + break; + } + + case value_t::object: { + m_value.object = create(first.m_it.object_iterator, + last.m_it.object_iterator); + break; + } + + case value_t::array: { + m_value.array = + create(first.m_it.array_iterator, last.m_it.array_iterator); + break; + } + + default: { + JSON_THROW( + std::domain_error("cannot use construct with iterators from " + + first.m_object->type_name())); + } + } + + assert_invariant(); + } + + /*! + @brief construct a JSON value given an input stream + + @param[in,out] i stream to read a serialized JSON value from + @param[in] cb a parser callback function of type @ref parser_callback_t + which is used to control the deserialization by filtering unwanted values + (optional) + + @complexity Linear in the length of the input. The parser is a predictive + LL(1) parser. The complexity can be higher if the parser callback function + @a cb has a super-linear complexity. + + @note A UTF-8 byte order mark is silently ignored. + + @deprecated This constructor is deprecated and will be removed in version + 3.0.0 to unify the interface of the library. Deserialization will be + done by stream operators or by calling one of the `parse` functions, + e.g. @ref parse(std::istream&, const parser_callback_t). That is, calls + like `json j(i);` for an input stream @a i need to be replaced by + `json j = json::parse(i);`. See the example below. + + @liveexample{The example below demonstrates constructing a JSON value from + a `std::stringstream` with and without callback + function.,basic_json__istream} + + @since version 2.0.0, deprecated in version 2.0.3, to be removed in + version 3.0.0 + */ + JSON_DEPRECATED + explicit basic_json(std::istream& i, const parser_callback_t cb = nullptr) { + *this = parser(i, cb).parse(); + assert_invariant(); + } + + /////////////////////////////////////// + // other constructors and destructor // + /////////////////////////////////////// + + /*! + @brief copy constructor + + Creates a copy of a given JSON value. + + @param[in] other the JSON value to copy + + @complexity Linear in the size of @a other. + + @requirement This function helps `basic_json` satisfying the + [Container](http://en.cppreference.com/w/cpp/concept/Container) + requirements: + - The complexity is linear. + - As postcondition, it holds: `other == basic_json(other)`. + + @throw std::bad_alloc if allocation for object, array, or string fails. + + @liveexample{The following code shows an example for the copy + constructor.,basic_json__basic_json} + + @since version 1.0.0 + */ + basic_json(const basic_json& other) : m_type(other.m_type) { + // check of passed value is valid + other.assert_invariant(); + + switch (m_type) { + case value_t::object: { + m_value = *other.m_value.object; + break; + } + + case value_t::array: { + m_value = *other.m_value.array; + break; + } + + case value_t::string: { + m_value = *other.m_value.string; + break; + } + + case value_t::boolean: { + m_value = other.m_value.boolean; + break; + } + + case value_t::number_integer: { + m_value = other.m_value.number_integer; + break; + } + + case value_t::number_unsigned: { + m_value = other.m_value.number_unsigned; + break; + } + + case value_t::number_float: { + m_value = other.m_value.number_float; + break; + } + + default: { break; } + } + + assert_invariant(); + } + + /*! + @brief move constructor + + Move constructor. Constructs a JSON value with the contents of the given + value @a other using move semantics. It "steals" the resources from @a + other and leaves it as JSON null value. + + @param[in,out] other value to move to this object + + @post @a other is a JSON null value + + @complexity Constant. + + @liveexample{The code below shows the move constructor explicitly called + via std::move.,basic_json__moveconstructor} + + @since version 1.0.0 + */ + basic_json(basic_json&& other) noexcept + : m_type(std::move(other.m_type)), m_value(std::move(other.m_value)) { + // check that passed value is valid + other.assert_invariant(); + + // invalidate payload + other.m_type = value_t::null; + other.m_value = {}; + + assert_invariant(); + } + + /*! + @brief copy assignment + + Copy assignment operator. Copies a JSON value via the "copy and swap" + strategy: It is expressed in terms of the copy constructor, destructor, + and the swap() member function. + + @param[in] other value to copy from + + @complexity Linear. + + @requirement This function helps `basic_json` satisfying the + [Container](http://en.cppreference.com/w/cpp/concept/Container) + requirements: + - The complexity is linear. + + @liveexample{The code below shows and example for the copy assignment. It + creates a copy of value `a` which is then swapped with `b`. Finally\, the + copy of `a` (which is the null value after the swap) is + destroyed.,basic_json__copyassignment} + + @since version 1.0.0 + */ + reference& operator=(basic_json other) noexcept( + std::is_nothrow_move_constructible::value and + std::is_nothrow_move_assignable::value and + std::is_nothrow_move_constructible::value and + std::is_nothrow_move_assignable::value) { + // check that passed value is valid + other.assert_invariant(); + + using std::swap; + swap(m_type, other.m_type); + swap(m_value, other.m_value); + + assert_invariant(); + return *this; + } + + /*! + @brief destructor + + Destroys the JSON value and frees all allocated memory. + + @complexity Linear. + + @requirement This function helps `basic_json` satisfying the + [Container](http://en.cppreference.com/w/cpp/concept/Container) + requirements: + - The complexity is linear. + - All stored elements are destroyed and all memory is freed. + + @since version 1.0.0 + */ + ~basic_json() { + assert_invariant(); + + switch (m_type) { + case value_t::object: { + AllocatorType alloc; + alloc.destroy(m_value.object); + alloc.deallocate(m_value.object, 1); + break; + } + + case value_t::array: { + AllocatorType alloc; + alloc.destroy(m_value.array); + alloc.deallocate(m_value.array, 1); + break; + } + + case value_t::string: { + AllocatorType alloc; + alloc.destroy(m_value.string); + alloc.deallocate(m_value.string, 1); + break; + } + + default: { + // all other types need no specific destructor + break; + } + } + } + + /// @} + + public: + /////////////////////// + // object inspection // + /////////////////////// + + /// @name object inspection + /// Functions to inspect the type of a JSON value. + /// @{ + + /*! + @brief serialization + + Serialization function for JSON values. The function tries to mimic + Python's `json.dumps()` function, and currently supports its @a indent + parameter. + + @param[in] indent If indent is nonnegative, then array elements and object + members will be pretty-printed with that indent level. An indent level of + `0` will only insert newlines. `-1` (the default) selects the most compact + representation. + + @return string containing the serialization of the JSON value + + @complexity Linear. + + @liveexample{The following example shows the effect of different @a indent + parameters to the result of the serialization.,dump} + + @see https://docs.python.org/2/library/json.html#json.dump + + @since version 1.0.0 + */ + string_t dump(const int indent = -1) const { + std::stringstream ss; + + if (indent >= 0) { + dump(ss, true, static_cast(indent)); + } else { + dump(ss, false, 0); + } + + return ss.str(); + } + + /*! + @brief return the type of the JSON value (explicit) + + Return the type of the JSON value as a value from the @ref value_t + enumeration. + + @return the type of the JSON value + + @complexity Constant. + + @exceptionsafety No-throw guarantee: this member function never throws + exceptions. + + @liveexample{The following code exemplifies `type()` for all JSON + types.,type} + + @since version 1.0.0 + */ + constexpr value_t type() const noexcept { return m_type; } + + /*! + @brief return whether type is primitive + + This function returns true iff the JSON type is primitive (string, number, + boolean, or null). + + @return `true` if type is primitive (string, number, boolean, or null), + `false` otherwise. + + @complexity Constant. + + @exceptionsafety No-throw guarantee: this member function never throws + exceptions. + + @liveexample{The following code exemplifies `is_primitive()` for all JSON + types.,is_primitive} + + @sa @ref is_structured() -- returns whether JSON value is structured + @sa @ref is_null() -- returns whether JSON value is `null` + @sa @ref is_string() -- returns whether JSON value is a string + @sa @ref is_boolean() -- returns whether JSON value is a boolean + @sa @ref is_number() -- returns whether JSON value is a number + + @since version 1.0.0 + */ + constexpr bool is_primitive() const noexcept { + return is_null() or is_string() or is_boolean() or is_number(); + } + + /*! + @brief return whether type is structured + + This function returns true iff the JSON type is structured (array or + object). + + @return `true` if type is structured (array or object), `false` otherwise. + + @complexity Constant. + + @exceptionsafety No-throw guarantee: this member function never throws + exceptions. + + @liveexample{The following code exemplifies `is_structured()` for all JSON + types.,is_structured} + + @sa @ref is_primitive() -- returns whether value is primitive + @sa @ref is_array() -- returns whether value is an array + @sa @ref is_object() -- returns whether value is an object + + @since version 1.0.0 + */ + constexpr bool is_structured() const noexcept { + return is_array() or is_object(); + } + + /*! + @brief return whether value is null + + This function returns true iff the JSON value is null. + + @return `true` if type is null, `false` otherwise. + + @complexity Constant. + + @exceptionsafety No-throw guarantee: this member function never throws + exceptions. + + @liveexample{The following code exemplifies `is_null()` for all JSON + types.,is_null} + + @since version 1.0.0 + */ + constexpr bool is_null() const noexcept { return m_type == value_t::null; } + + /*! + @brief return whether value is a boolean + + This function returns true iff the JSON value is a boolean. + + @return `true` if type is boolean, `false` otherwise. + + @complexity Constant. + + @exceptionsafety No-throw guarantee: this member function never throws + exceptions. + + @liveexample{The following code exemplifies `is_boolean()` for all JSON + types.,is_boolean} + + @since version 1.0.0 + */ + constexpr bool is_boolean() const noexcept { + return m_type == value_t::boolean; + } + + /*! + @brief return whether value is a number + + This function returns true iff the JSON value is a number. This includes + both integer and floating-point values. + + @return `true` if type is number (regardless whether integer, unsigned + integer or floating-type), `false` otherwise. + + @complexity Constant. + + @exceptionsafety No-throw guarantee: this member function never throws + exceptions. + + @liveexample{The following code exemplifies `is_number()` for all JSON + types.,is_number} + + @sa @ref is_number_integer() -- check if value is an integer or unsigned + integer number + @sa @ref is_number_unsigned() -- check if value is an unsigned integer + number + @sa @ref is_number_float() -- check if value is a floating-point number + + @since version 1.0.0 + */ + constexpr bool is_number() const noexcept { + return is_number_integer() or is_number_float(); + } + + /*! + @brief return whether value is an integer number + + This function returns true iff the JSON value is an integer or unsigned + integer number. This excludes floating-point values. + + @return `true` if type is an integer or unsigned integer number, `false` + otherwise. + + @complexity Constant. + + @exceptionsafety No-throw guarantee: this member function never throws + exceptions. + + @liveexample{The following code exemplifies `is_number_integer()` for all + JSON types.,is_number_integer} + + @sa @ref is_number() -- check if value is a number + @sa @ref is_number_unsigned() -- check if value is an unsigned integer + number + @sa @ref is_number_float() -- check if value is a floating-point number + + @since version 1.0.0 + */ + constexpr bool is_number_integer() const noexcept { + return m_type == value_t::number_integer or + m_type == value_t::number_unsigned; + } + + /*! + @brief return whether value is an unsigned integer number + + This function returns true iff the JSON value is an unsigned integer + number. This excludes floating-point and (signed) integer values. + + @return `true` if type is an unsigned integer number, `false` otherwise. + + @complexity Constant. + + @exceptionsafety No-throw guarantee: this member function never throws + exceptions. + + @liveexample{The following code exemplifies `is_number_unsigned()` for all + JSON types.,is_number_unsigned} + + @sa @ref is_number() -- check if value is a number + @sa @ref is_number_integer() -- check if value is an integer or unsigned + integer number + @sa @ref is_number_float() -- check if value is a floating-point number + + @since version 2.0.0 + */ + constexpr bool is_number_unsigned() const noexcept { + return m_type == value_t::number_unsigned; + } + + /*! + @brief return whether value is a floating-point number + + This function returns true iff the JSON value is a floating-point number. + This excludes integer and unsigned integer values. + + @return `true` if type is a floating-point number, `false` otherwise. + + @complexity Constant. + + @exceptionsafety No-throw guarantee: this member function never throws + exceptions. + + @liveexample{The following code exemplifies `is_number_float()` for all + JSON types.,is_number_float} + + @sa @ref is_number() -- check if value is number + @sa @ref is_number_integer() -- check if value is an integer number + @sa @ref is_number_unsigned() -- check if value is an unsigned integer + number + + @since version 1.0.0 + */ + constexpr bool is_number_float() const noexcept { + return m_type == value_t::number_float; + } + + /*! + @brief return whether value is an object + + This function returns true iff the JSON value is an object. + + @return `true` if type is object, `false` otherwise. + + @complexity Constant. + + @exceptionsafety No-throw guarantee: this member function never throws + exceptions. + + @liveexample{The following code exemplifies `is_object()` for all JSON + types.,is_object} + + @since version 1.0.0 + */ + constexpr bool is_object() const noexcept { + return m_type == value_t::object; + } + + /*! + @brief return whether value is an array + + This function returns true iff the JSON value is an array. + + @return `true` if type is array, `false` otherwise. + + @complexity Constant. + + @exceptionsafety No-throw guarantee: this member function never throws + exceptions. + + @liveexample{The following code exemplifies `is_array()` for all JSON + types.,is_array} + + @since version 1.0.0 + */ + constexpr bool is_array() const noexcept { return m_type == value_t::array; } + + /*! + @brief return whether value is a string + + This function returns true iff the JSON value is a string. + + @return `true` if type is string, `false` otherwise. + + @complexity Constant. + + @exceptionsafety No-throw guarantee: this member function never throws + exceptions. + + @liveexample{The following code exemplifies `is_string()` for all JSON + types.,is_string} + + @since version 1.0.0 + */ + constexpr bool is_string() const noexcept { + return m_type == value_t::string; + } + + /*! + @brief return whether value is discarded + + This function returns true iff the JSON value was discarded during parsing + with a callback function (see @ref parser_callback_t). + + @note This function will always be `false` for JSON values after parsing. + That is, discarded values can only occur during parsing, but will be + removed when inside a structured value or replaced by null in other cases. + + @return `true` if type is discarded, `false` otherwise. + + @complexity Constant. + + @exceptionsafety No-throw guarantee: this member function never throws + exceptions. + + @liveexample{The following code exemplifies `is_discarded()` for all JSON + types.,is_discarded} + + @since version 1.0.0 + */ + constexpr bool is_discarded() const noexcept { + return m_type == value_t::discarded; + } + + /*! + @brief return the type of the JSON value (implicit) + + Implicitly return the type of the JSON value as a value from the @ref + value_t enumeration. + + @return the type of the JSON value + + @complexity Constant. + + @exceptionsafety No-throw guarantee: this member function never throws + exceptions. + + @liveexample{The following code exemplifies the @ref value_t operator for + all JSON types.,operator__value_t} + + @since version 1.0.0 + */ + constexpr operator value_t() const noexcept { return m_type; } + + /// @} + + private: + ////////////////// + // value access // + ////////////////// + + /// get a boolean (explicit) + boolean_t get_impl(boolean_t* /*unused*/) const { + if (is_boolean()) { + return m_value.boolean; + } + + JSON_THROW( + std::domain_error("type must be boolean, but is " + type_name())); + } + + /// get a pointer to the value (object) + object_t* get_impl_ptr(object_t* /*unused*/) noexcept { + return is_object() ? m_value.object : nullptr; + } + + /// get a pointer to the value (object) + constexpr const object_t* get_impl_ptr(const object_t* /*unused*/) const + noexcept { + return is_object() ? m_value.object : nullptr; + } + + /// get a pointer to the value (array) + array_t* get_impl_ptr(array_t* /*unused*/) noexcept { + return is_array() ? m_value.array : nullptr; + } + + /// get a pointer to the value (array) + constexpr const array_t* get_impl_ptr(const array_t* /*unused*/) const + noexcept { + return is_array() ? m_value.array : nullptr; + } + + /// get a pointer to the value (string) + string_t* get_impl_ptr(string_t* /*unused*/) noexcept { + return is_string() ? m_value.string : nullptr; + } + + /// get a pointer to the value (string) + constexpr const string_t* get_impl_ptr(const string_t* /*unused*/) const + noexcept { + return is_string() ? m_value.string : nullptr; + } + + /// get a pointer to the value (boolean) + boolean_t* get_impl_ptr(boolean_t* /*unused*/) noexcept { + return is_boolean() ? &m_value.boolean : nullptr; + } + + /// get a pointer to the value (boolean) + constexpr const boolean_t* get_impl_ptr(const boolean_t* /*unused*/) const + noexcept { + return is_boolean() ? &m_value.boolean : nullptr; + } + + /// get a pointer to the value (integer number) + number_integer_t* get_impl_ptr(number_integer_t* /*unused*/) noexcept { + return is_number_integer() ? &m_value.number_integer : nullptr; + } + + /// get a pointer to the value (integer number) + constexpr const number_integer_t* get_impl_ptr( + const number_integer_t* /*unused*/) const noexcept { + return is_number_integer() ? &m_value.number_integer : nullptr; + } + + /// get a pointer to the value (unsigned number) + number_unsigned_t* get_impl_ptr(number_unsigned_t* /*unused*/) noexcept { + return is_number_unsigned() ? &m_value.number_unsigned : nullptr; + } + + /// get a pointer to the value (unsigned number) + constexpr const number_unsigned_t* get_impl_ptr( + const number_unsigned_t* /*unused*/) const noexcept { + return is_number_unsigned() ? &m_value.number_unsigned : nullptr; + } + + /// get a pointer to the value (floating-point number) + number_float_t* get_impl_ptr(number_float_t* /*unused*/) noexcept { + return is_number_float() ? &m_value.number_float : nullptr; + } + + /// get a pointer to the value (floating-point number) + constexpr const number_float_t* get_impl_ptr( + const number_float_t* /*unused*/) const noexcept { + return is_number_float() ? &m_value.number_float : nullptr; + } + + /*! + @brief helper function to implement get_ref() + + This funcion helps to implement get_ref() without code duplication for + const and non-const overloads + + @tparam ThisType will be deduced as `basic_json` or `const basic_json` + + @throw std::domain_error if ReferenceType does not match underlying value + type of the current JSON + */ + template + static ReferenceType get_ref_impl(ThisType& obj) { + // helper type + using PointerType = typename std::add_pointer::type; + + // delegate the call to get_ptr<>() + auto ptr = obj.template get_ptr(); + + if (ptr != nullptr) { + return *ptr; + } + + JSON_THROW(std::domain_error( + "incompatible ReferenceType for get_ref, actual type is " + + obj.type_name())); + } + + public: + /// @name value access + /// Direct access to the stored value of a JSON value. + /// @{ + + /*! + @brief get special-case overload + + This overloads avoids a lot of template boilerplate, it can be seen as the + identity method + + @tparam BasicJsonType == @ref basic_json + + @return a copy of *this + + @complexity Constant. + + @since version 2.1.0 + */ + template::type, + basic_json_t>::value, + int> = 0> + basic_json get() const { + return *this; + } + + /*! + @brief get a value (explicit) + + Explicit type conversion between the JSON value and a compatible value + which is + [CopyConstructible](http://en.cppreference.com/w/cpp/concept/CopyConstructible) + and + [DefaultConstructible](http://en.cppreference.com/w/cpp/concept/DefaultConstructible). + The value is converted by calling the @ref json_serializer + `from_json()` method. + + The function is equivalent to executing + @code {.cpp} + ValueType ret; + JSONSerializer::from_json(*this, ret); + return ret; + @endcode + + This overloads is chosen if: + - @a ValueType is not @ref basic_json, + - @ref json_serializer has a `from_json()` method of the form + `void from_json(const @ref basic_json&, ValueType&)`, and + - @ref json_serializer does not have a `from_json()` method of + the form `ValueType from_json(const @ref basic_json&)` + + @tparam ValueTypeCV the provided value type + @tparam ValueType the returned value type + + @return copy of the JSON value, converted to @a ValueType + + @throw what @ref json_serializer `from_json()` method throws + + @liveexample{The example below shows several conversions from JSON values + to other types. There a few things to note: (1) Floating-point numbers can + be converted to integers\, (2) A JSON array can be converted to a standard + `std::vector`\, (3) A JSON object can be converted to C++ + associative containers such as `std::unordered_map`.,get__ValueType_const} + + @since version 2.1.0 + */ + template< + typename ValueTypeCV, typename ValueType = detail::uncvref_t, + detail::enable_if_t< + not std::is_same::value and + detail::has_from_json::value and + not detail::has_non_default_from_json::value, + int> = 0> + ValueType get() const noexcept(noexcept(JSONSerializer::from_json( + std::declval(), std::declval()))) { + // we cannot static_assert on ValueTypeCV being non-const, because + // there is support for get(), which is why we + // still need the uncvref + static_assert(not std::is_reference::value, + "get() cannot be used with reference types, you might want " + "to use get_ref()"); + static_assert(std::is_default_constructible::value, + "types must be DefaultConstructible when used with get()"); + + ValueType ret; + JSONSerializer::from_json(*this, ret); + return ret; + } + + /*! + @brief get a value (explicit); special case + + Explicit type conversion between the JSON value and a compatible value + which is **not** + [CopyConstructible](http://en.cppreference.com/w/cpp/concept/CopyConstructible) + and **not** + [DefaultConstructible](http://en.cppreference.com/w/cpp/concept/DefaultConstructible). + The value is converted by calling the @ref json_serializer + `from_json()` method. + + The function is equivalent to executing + @code {.cpp} + return JSONSerializer::from_json(*this); + @endcode + + This overloads is chosen if: + - @a ValueType is not @ref basic_json and + - @ref json_serializer has a `from_json()` method of the form + `ValueType from_json(const @ref basic_json&)` + + @note If @ref json_serializer has both overloads of + `from_json()`, this one is chosen. + + @tparam ValueTypeCV the provided value type + @tparam ValueType the returned value type + + @return copy of the JSON value, converted to @a ValueType + + @throw what @ref json_serializer `from_json()` method throws + + @since version 2.1.0 + */ + template< + typename ValueTypeCV, typename ValueType = detail::uncvref_t, + detail::enable_if_t< + not std::is_same::value and + detail::has_non_default_from_json::value, + int> = 0> + ValueType get() const + noexcept(noexcept(JSONSerializer::from_json( + std::declval()))) { + static_assert(not std::is_reference::value, + "get() cannot be used with reference types, you might want " + "to use get_ref()"); + return JSONSerializer::from_json(*this); + } + + /*! + @brief get a pointer value (explicit) + + Explicit pointer access to the internally stored JSON value. No copies are + made. + + @warning The pointer becomes invalid if the underlying JSON object + changes. + + @tparam PointerType pointer type; must be a pointer to @ref array_t, @ref + object_t, @ref string_t, @ref boolean_t, @ref number_integer_t, + @ref number_unsigned_t, or @ref number_float_t. + + @return pointer to the internally stored JSON value if the requested + pointer type @a PointerType fits to the JSON value; `nullptr` otherwise + + @complexity Constant. + + @liveexample{The example below shows how pointers to internal values of a + JSON value can be requested. Note that no type conversions are made and a + `nullptr` is returned if the value and the requested pointer type does not + match.,get__PointerType} + + @sa @ref get_ptr() for explicit pointer-member access + + @since version 1.0.0 + */ + template< + typename PointerType, + typename std::enable_if::value, int>::type = 0> + PointerType get() noexcept { + // delegate the call to get_ptr + return get_ptr(); + } + + /*! + @brief get a pointer value (explicit) + @copydoc get() + */ + template< + typename PointerType, + typename std::enable_if::value, int>::type = 0> + constexpr const PointerType get() const noexcept { + // delegate the call to get_ptr + return get_ptr(); + } + + /*! + @brief get a pointer value (implicit) + + Implicit pointer access to the internally stored JSON value. No copies are + made. + + @warning Writing data to the pointee of the result yields an undefined + state. + + @tparam PointerType pointer type; must be a pointer to @ref array_t, @ref + object_t, @ref string_t, @ref boolean_t, @ref number_integer_t, + @ref number_unsigned_t, or @ref number_float_t. Enforced by a static + assertion. + + @return pointer to the internally stored JSON value if the requested + pointer type @a PointerType fits to the JSON value; `nullptr` otherwise + + @complexity Constant. + + @liveexample{The example below shows how pointers to internal values of a + JSON value can be requested. Note that no type conversions are made and a + `nullptr` is returned if the value and the requested pointer type does not + match.,get_ptr} + + @since version 1.0.0 + */ + template< + typename PointerType, + typename std::enable_if::value, int>::type = 0> + PointerType get_ptr() noexcept { + // get the type of the PointerType (remove pointer and const) + using pointee_t = typename std::remove_const::type>::type>::type; + // make sure the type matches the allowed types + static_assert(std::is_same::value or + std::is_same::value or + std::is_same::value or + std::is_same::value or + std::is_same::value or + std::is_same::value or + std::is_same::value, + "incompatible pointer type"); + + // delegate the call to get_impl_ptr<>() + return get_impl_ptr(static_cast(nullptr)); + } + + /*! + @brief get a pointer value (implicit) + @copydoc get_ptr() + */ + template< + typename PointerType, + typename std::enable_if< + std::is_pointer::value and + std::is_const::type>::value, + int>::type = 0> + constexpr const PointerType get_ptr() const noexcept { + // get the type of the PointerType (remove pointer and const) + using pointee_t = typename std::remove_const::type>::type>::type; + // make sure the type matches the allowed types + static_assert(std::is_same::value or + std::is_same::value or + std::is_same::value or + std::is_same::value or + std::is_same::value or + std::is_same::value or + std::is_same::value, + "incompatible pointer type"); + + // delegate the call to get_impl_ptr<>() const + return get_impl_ptr(static_cast(nullptr)); + } + + /*! + @brief get a reference value (implicit) + + Implicit reference access to the internally stored JSON value. No copies + are made. + + @warning Writing data to the referee of the result yields an undefined + state. + + @tparam ReferenceType reference type; must be a reference to @ref array_t, + @ref object_t, @ref string_t, @ref boolean_t, @ref number_integer_t, or + @ref number_float_t. Enforced by static assertion. + + @return reference to the internally stored JSON value if the requested + reference type @a ReferenceType fits to the JSON value; throws + std::domain_error otherwise + + @throw std::domain_error in case passed type @a ReferenceType is + incompatible with the stored JSON value + + @complexity Constant. + + @liveexample{The example shows several calls to `get_ref()`.,get_ref} + + @since version 1.1.0 + */ + template::value, + int>::type = 0> + ReferenceType get_ref() { + // delegate call to get_ref_impl + return get_ref_impl(*this); + } + + /*! + @brief get a reference value (implicit) + @copydoc get_ref() + */ + template< + typename ReferenceType, + typename std::enable_if::value and + std::is_const::type>::value, + int>::type = 0> + ReferenceType get_ref() const { + // delegate call to get_ref_impl + return get_ref_impl(*this); + } + + /*! + @brief get a value (implicit) + + Implicit type conversion between the JSON value and a compatible value. + The call is realized by calling @ref get() const. + + @tparam ValueType non-pointer type compatible to the JSON value, for + instance `int` for JSON integer numbers, `bool` for JSON booleans, or + `std::vector` types for JSON arrays. The character type of @ref string_t + as well as an initializer list of this type is excluded to avoid + ambiguities as these types implicitly convert to `std::string`. + + @return copy of the JSON value, converted to type @a ValueType + + @throw std::domain_error in case passed type @a ValueType is incompatible + to JSON, thrown by @ref get() const + + @complexity Linear in the size of the JSON value. + + @liveexample{The example below shows several conversions from JSON values + to other types. There a few things to note: (1) Floating-point numbers can + be converted to integers\, (2) A JSON array can be converted to a standard + `std::vector`\, (3) A JSON object can be converted to C++ + associative containers such as `std::unordered_map`.,operator__ValueType} + + @since version 1.0.0 + */ + template< + typename ValueType, + typename std::enable_if< + not std::is_pointer::value and + not std::is_same::value +#ifndef _MSC_VER // fix for issue #167 operator<< ambiguity under VS2015 + and not std::is_same>::value +#endif + , + int>::type = 0> + operator ValueType() const { + // delegate the call to get<>() const + return get(); + } + + /// @} + + //////////////////// + // element access // + //////////////////// + + /// @name element access + /// Access to the JSON value. + /// @{ + + /*! + @brief access specified array element with bounds checking + + Returns a reference to the element at specified location @a idx, with + bounds checking. + + @param[in] idx index of the element to access + + @return reference to the element at index @a idx + + @throw std::domain_error if the JSON value is not an array; example: + `"cannot use at() with string"` + @throw std::out_of_range if the index @a idx is out of range of the array; + that is, `idx >= size()`; example: `"array index 7 is out of range"` + + @complexity Constant. + + @liveexample{The example below shows how array elements can be read and + written using `at()`.,at__size_type} + + @since version 1.0.0 + */ + reference at(size_type idx) { + // at only works for arrays + if (is_array()) { + JSON_TRY { return m_value.array->at(idx); } + JSON_CATCH(std::out_of_range&) { + // create better exception explanation + JSON_THROW(std::out_of_range("array index " + std::to_string(idx) + + " is out of range")); + } + } else { + JSON_THROW(std::domain_error("cannot use at() with " + type_name())); + } + } + + /*! + @brief access specified array element with bounds checking + + Returns a const reference to the element at specified location @a idx, + with bounds checking. + + @param[in] idx index of the element to access + + @return const reference to the element at index @a idx + + @throw std::domain_error if the JSON value is not an array; example: + `"cannot use at() with string"` + @throw std::out_of_range if the index @a idx is out of range of the array; + that is, `idx >= size()`; example: `"array index 7 is out of range"` + + @complexity Constant. + + @liveexample{The example below shows how array elements can be read using + `at()`.,at__size_type_const} + + @since version 1.0.0 + */ + const_reference at(size_type idx) const { + // at only works for arrays + if (is_array()) { + JSON_TRY { return m_value.array->at(idx); } + JSON_CATCH(std::out_of_range&) { + // create better exception explanation + JSON_THROW(std::out_of_range("array index " + std::to_string(idx) + + " is out of range")); + } + } else { + JSON_THROW(std::domain_error("cannot use at() with " + type_name())); + } + } + + /*! + @brief access specified object element with bounds checking + + Returns a reference to the element at with specified key @a key, with + bounds checking. + + @param[in] key key of the element to access + + @return reference to the element at key @a key + + @throw std::domain_error if the JSON value is not an object; example: + `"cannot use at() with boolean"` + @throw std::out_of_range if the key @a key is is not stored in the object; + that is, `find(key) == end()`; example: `"key "the fast" not found"` + + @complexity Logarithmic in the size of the container. + + @liveexample{The example below shows how object elements can be read and + written using `at()`.,at__object_t_key_type} + + @sa @ref operator[](const typename object_t::key_type&) for unchecked + access by reference + @sa @ref value() for access by value with a default value + + @since version 1.0.0 + */ + reference at(const typename object_t::key_type& key) { + // at only works for objects + if (is_object()) { + JSON_TRY { return m_value.object->at(key); } + JSON_CATCH(std::out_of_range&) { + // create better exception explanation + JSON_THROW(std::out_of_range("key '" + key + "' not found")); + } + } else { + JSON_THROW(std::domain_error("cannot use at() with " + type_name())); + } + } + + /*! + @brief access specified object element with bounds checking + + Returns a const reference to the element at with specified key @a key, + with bounds checking. + + @param[in] key key of the element to access + + @return const reference to the element at key @a key + + @throw std::domain_error if the JSON value is not an object; example: + `"cannot use at() with boolean"` + @throw std::out_of_range if the key @a key is is not stored in the object; + that is, `find(key) == end()`; example: `"key "the fast" not found"` + + @complexity Logarithmic in the size of the container. + + @liveexample{The example below shows how object elements can be read using + `at()`.,at__object_t_key_type_const} + + @sa @ref operator[](const typename object_t::key_type&) for unchecked + access by reference + @sa @ref value() for access by value with a default value + + @since version 1.0.0 + */ + const_reference at(const typename object_t::key_type& key) const { + // at only works for objects + if (is_object()) { + JSON_TRY { return m_value.object->at(key); } + JSON_CATCH(std::out_of_range&) { + // create better exception explanation + JSON_THROW(std::out_of_range("key '" + key + "' not found")); + } + } else { + JSON_THROW(std::domain_error("cannot use at() with " + type_name())); + } + } + + /*! + @brief access specified array element + + Returns a reference to the element at specified location @a idx. + + @note If @a idx is beyond the range of the array (i.e., `idx >= size()`), + then the array is silently filled up with `null` values to make `idx` a + valid reference to the last stored element. + + @param[in] idx index of the element to access + + @return reference to the element at index @a idx + + @throw std::domain_error if JSON is not an array or null; example: + `"cannot use operator[] with string"` + + @complexity Constant if @a idx is in the range of the array. Otherwise + linear in `idx - size()`. + + @liveexample{The example below shows how array elements can be read and + written using `[]` operator. Note the addition of `null` + values.,operatorarray__size_type} + + @since version 1.0.0 + */ + reference operator[](size_type idx) { + // implicitly convert null value to an empty array + if (is_null()) { + m_type = value_t::array; + m_value.array = create(); + assert_invariant(); + } + + // operator[] only works for arrays + if (is_array()) { + // fill up array with null values if given idx is outside range + if (idx >= m_value.array->size()) { + m_value.array->insert(m_value.array->end(), + idx - m_value.array->size() + 1, basic_json()); + } + + return m_value.array->operator[](idx); + } + + JSON_THROW(std::domain_error("cannot use operator[] with " + type_name())); + } + + /*! + @brief access specified array element + + Returns a const reference to the element at specified location @a idx. + + @param[in] idx index of the element to access + + @return const reference to the element at index @a idx + + @throw std::domain_error if JSON is not an array; example: `"cannot use + operator[] with null"` + + @complexity Constant. + + @liveexample{The example below shows how array elements can be read using + the `[]` operator.,operatorarray__size_type_const} + + @since version 1.0.0 + */ + const_reference operator[](size_type idx) const { + // const operator[] only works for arrays + if (is_array()) { + return m_value.array->operator[](idx); + } + + JSON_THROW(std::domain_error("cannot use operator[] with " + type_name())); + } + + /*! + @brief access specified object element + + Returns a reference to the element at with specified key @a key. + + @note If @a key is not found in the object, then it is silently added to + the object and filled with a `null` value to make `key` a valid reference. + In case the value was `null` before, it is converted to an object. + + @param[in] key key of the element to access + + @return reference to the element at key @a key + + @throw std::domain_error if JSON is not an object or null; example: + `"cannot use operator[] with string"` + + @complexity Logarithmic in the size of the container. + + @liveexample{The example below shows how object elements can be read and + written using the `[]` operator.,operatorarray__key_type} + + @sa @ref at(const typename object_t::key_type&) for access by reference + with range checking + @sa @ref value() for access by value with a default value + + @since version 1.0.0 + */ + reference operator[](const typename object_t::key_type& key) { + // implicitly convert null value to an empty object + if (is_null()) { + m_type = value_t::object; + m_value.object = create(); + assert_invariant(); + } + + // operator[] only works for objects + if (is_object()) { + return m_value.object->operator[](key); + } + + JSON_THROW(std::domain_error("cannot use operator[] with " + type_name())); + } + + /*! + @brief read-only access specified object element + + Returns a const reference to the element at with specified key @a key. No + bounds checking is performed. + + @warning If the element with key @a key does not exist, the behavior is + undefined. + + @param[in] key key of the element to access + + @return const reference to the element at key @a key + + @pre The element with key @a key must exist. **This precondition is + enforced with an assertion.** + + @throw std::domain_error if JSON is not an object; example: `"cannot use + operator[] with null"` + + @complexity Logarithmic in the size of the container. + + @liveexample{The example below shows how object elements can be read using + the `[]` operator.,operatorarray__key_type_const} + + @sa @ref at(const typename object_t::key_type&) for access by reference + with range checking + @sa @ref value() for access by value with a default value + + @since version 1.0.0 + */ + const_reference operator[](const typename object_t::key_type& key) const { + // const operator[] only works for objects + if (is_object()) { + assert(m_value.object->find(key) != m_value.object->end()); + return m_value.object->find(key)->second; + } + + JSON_THROW(std::domain_error("cannot use operator[] with " + type_name())); + } + + /*! + @brief access specified object element + + Returns a reference to the element at with specified key @a key. + + @note If @a key is not found in the object, then it is silently added to + the object and filled with a `null` value to make `key` a valid reference. + In case the value was `null` before, it is converted to an object. + + @param[in] key key of the element to access + + @return reference to the element at key @a key + + @throw std::domain_error if JSON is not an object or null; example: + `"cannot use operator[] with string"` + + @complexity Logarithmic in the size of the container. + + @liveexample{The example below shows how object elements can be read and + written using the `[]` operator.,operatorarray__key_type} + + @sa @ref at(const typename object_t::key_type&) for access by reference + with range checking + @sa @ref value() for access by value with a default value + + @since version 1.0.0 + */ + template + reference operator[](T* (&key)[n]) { + return operator[](static_cast(key)); + } + + /*! + @brief read-only access specified object element + + Returns a const reference to the element at with specified key @a key. No + bounds checking is performed. + + @warning If the element with key @a key does not exist, the behavior is + undefined. + + @note This function is required for compatibility reasons with Clang. + + @param[in] key key of the element to access + + @return const reference to the element at key @a key + + @throw std::domain_error if JSON is not an object; example: `"cannot use + operator[] with null"` + + @complexity Logarithmic in the size of the container. + + @liveexample{The example below shows how object elements can be read using + the `[]` operator.,operatorarray__key_type_const} + + @sa @ref at(const typename object_t::key_type&) for access by reference + with range checking + @sa @ref value() for access by value with a default value + + @since version 1.0.0 + */ + template + const_reference operator[](T* (&key)[n]) const { + return operator[](static_cast(key)); + } + + /*! + @brief access specified object element + + Returns a reference to the element at with specified key @a key. + + @note If @a key is not found in the object, then it is silently added to + the object and filled with a `null` value to make `key` a valid reference. + In case the value was `null` before, it is converted to an object. + + @param[in] key key of the element to access + + @return reference to the element at key @a key + + @throw std::domain_error if JSON is not an object or null; example: + `"cannot use operator[] with string"` + + @complexity Logarithmic in the size of the container. + + @liveexample{The example below shows how object elements can be read and + written using the `[]` operator.,operatorarray__key_type} + + @sa @ref at(const typename object_t::key_type&) for access by reference + with range checking + @sa @ref value() for access by value with a default value + + @since version 1.1.0 + */ + template + reference operator[](T* key) { + // implicitly convert null to object + if (is_null()) { + m_type = value_t::object; + m_value = value_t::object; + assert_invariant(); + } + + // at only works for objects + if (is_object()) { + return m_value.object->operator[](key); + } + + JSON_THROW(std::domain_error("cannot use operator[] with " + type_name())); + } + + /*! + @brief read-only access specified object element + + Returns a const reference to the element at with specified key @a key. No + bounds checking is performed. + + @warning If the element with key @a key does not exist, the behavior is + undefined. + + @param[in] key key of the element to access + + @return const reference to the element at key @a key + + @pre The element with key @a key must exist. **This precondition is + enforced with an assertion.** + + @throw std::domain_error if JSON is not an object; example: `"cannot use + operator[] with null"` + + @complexity Logarithmic in the size of the container. + + @liveexample{The example below shows how object elements can be read using + the `[]` operator.,operatorarray__key_type_const} + + @sa @ref at(const typename object_t::key_type&) for access by reference + with range checking + @sa @ref value() for access by value with a default value + + @since version 1.1.0 + */ + template + const_reference operator[](T* key) const { + // at only works for objects + if (is_object()) { + assert(m_value.object->find(key) != m_value.object->end()); + return m_value.object->find(key)->second; + } + + JSON_THROW(std::domain_error("cannot use operator[] with " + type_name())); + } + + /*! + @brief access specified object element with default value + + Returns either a copy of an object's element at the specified key @a key + or a given default value if no element with key @a key exists. + + The function is basically equivalent to executing + @code {.cpp} + try { + return at(key); + } catch(std::out_of_range) { + return default_value; + } + @endcode + + @note Unlike @ref at(const typename object_t::key_type&), this function + does not throw if the given key @a key was not found. + + @note Unlike @ref operator[](const typename object_t::key_type& key), this + function does not implicitly add an element to the position defined by @a + key. This function is furthermore also applicable to const objects. + + @param[in] key key of the element to access + @param[in] default_value the value to return if @a key is not found + + @tparam ValueType type compatible to JSON values, for instance `int` for + JSON integer numbers, `bool` for JSON booleans, or `std::vector` types for + JSON arrays. Note the type of the expected value at @a key and the default + value @a default_value must be compatible. + + @return copy of the element at key @a key or @a default_value if @a key + is not found + + @throw std::domain_error if JSON is not an object; example: `"cannot use + value() with null"` + + @complexity Logarithmic in the size of the container. + + @liveexample{The example below shows how object elements can be queried + with a default value.,basic_json__value} + + @sa @ref at(const typename object_t::key_type&) for access by reference + with range checking + @sa @ref operator[](const typename object_t::key_type&) for unchecked + access by reference + + @since version 1.0.0 + */ + template< + class ValueType, + typename std::enable_if::value, + int>::type = 0> + ValueType value(const typename object_t::key_type& key, + ValueType default_value) const { + // at only works for objects + if (is_object()) { + // if key is found, return value and given default value otherwise + const auto it = find(key); + if (it != end()) { + return *it; + } + + return default_value; + } else { + JSON_THROW(std::domain_error("cannot use value() with " + type_name())); + } + } + + /*! + @brief overload for a default value of type const char* + @copydoc basic_json::value(const typename object_t::key_type&, ValueType) + const + */ + string_t value(const typename object_t::key_type& key, + const char* default_value) const { + return value(key, string_t(default_value)); + } + + /*! + @brief access specified object element via JSON Pointer with default value + + Returns either a copy of an object's element at the specified key @a key + or a given default value if no element with key @a key exists. + + The function is basically equivalent to executing + @code {.cpp} + try { + return at(ptr); + } catch(std::out_of_range) { + return default_value; + } + @endcode + + @note Unlike @ref at(const json_pointer&), this function does not throw + if the given key @a key was not found. + + @param[in] ptr a JSON pointer to the element to access + @param[in] default_value the value to return if @a ptr found no value + + @tparam ValueType type compatible to JSON values, for instance `int` for + JSON integer numbers, `bool` for JSON booleans, or `std::vector` types for + JSON arrays. Note the type of the expected value at @a key and the default + value @a default_value must be compatible. + + @return copy of the element at key @a key or @a default_value if @a key + is not found + + @throw std::domain_error if JSON is not an object; example: `"cannot use + value() with null"` + + @complexity Logarithmic in the size of the container. + + @liveexample{The example below shows how object elements can be queried + with a default value.,basic_json__value_ptr} + + @sa @ref operator[](const json_pointer&) for unchecked access by reference + + @since version 2.0.2 + */ + template< + class ValueType, + typename std::enable_if::value, + int>::type = 0> + ValueType value(const json_pointer& ptr, ValueType default_value) const { + // at only works for objects + if (is_object()) { + // if pointer resolves a value, return it or use default value + JSON_TRY { return ptr.get_checked(this); } + JSON_CATCH(std::out_of_range&) { return default_value; } + } + + JSON_THROW(std::domain_error("cannot use value() with " + type_name())); + } + + /*! + @brief overload for a default value of type const char* + @copydoc basic_json::value(const json_pointer&, ValueType) const + */ + string_t value(const json_pointer& ptr, const char* default_value) const { + return value(ptr, string_t(default_value)); + } + + /*! + @brief access the first element + + Returns a reference to the first element in the container. For a JSON + container `c`, the expression `c.front()` is equivalent to `*c.begin()`. + + @return In case of a structured type (array or object), a reference to the + first element is returned. In case of number, string, or boolean values, a + reference to the value is returned. + + @complexity Constant. + + @pre The JSON value must not be `null` (would throw `std::out_of_range`) + or an empty array or object (undefined behavior, **guarded by + assertions**). + @post The JSON value remains unchanged. + + @throw std::out_of_range when called on `null` value + + @liveexample{The following code shows an example for `front()`.,front} + + @sa @ref back() -- access the last element + + @since version 1.0.0 + */ + reference front() { return *begin(); } + + /*! + @copydoc basic_json::front() + */ + const_reference front() const { return *cbegin(); } + + /*! + @brief access the last element + + Returns a reference to the last element in the container. For a JSON + container `c`, the expression `c.back()` is equivalent to + @code {.cpp} + auto tmp = c.end(); + --tmp; + return *tmp; + @endcode + + @return In case of a structured type (array or object), a reference to the + last element is returned. In case of number, string, or boolean values, a + reference to the value is returned. + + @complexity Constant. + + @pre The JSON value must not be `null` (would throw `std::out_of_range`) + or an empty array or object (undefined behavior, **guarded by + assertions**). + @post The JSON value remains unchanged. + + @throw std::out_of_range when called on `null` value. + + @liveexample{The following code shows an example for `back()`.,back} + + @sa @ref front() -- access the first element + + @since version 1.0.0 + */ + reference back() { + auto tmp = end(); + --tmp; + return *tmp; + } + + /*! + @copydoc basic_json::back() + */ + const_reference back() const { + auto tmp = cend(); + --tmp; + return *tmp; + } + + /*! + @brief remove element given an iterator + + Removes the element specified by iterator @a pos. The iterator @a pos must + be valid and dereferenceable. Thus the `end()` iterator (which is valid, + but is not dereferenceable) cannot be used as a value for @a pos. + + If called on a primitive type other than `null`, the resulting JSON value + will be `null`. + + @param[in] pos iterator to the element to remove + @return Iterator following the last removed element. If the iterator @a + pos refers to the last element, the `end()` iterator is returned. + + @tparam IteratorType an @ref iterator or @ref const_iterator + + @post Invalidates iterators and references at or after the point of the + erase, including the `end()` iterator. + + @throw std::domain_error if called on a `null` value; example: `"cannot + use erase() with null"` + @throw std::domain_error if called on an iterator which does not belong to + the current JSON value; example: `"iterator does not fit current value"` + @throw std::out_of_range if called on a primitive type with invalid + iterator (i.e., any iterator which is not `begin()`); example: `"iterator + out of range"` + + @complexity The complexity depends on the type: + - objects: amortized constant + - arrays: linear in distance between @a pos and the end of the container + - strings: linear in the length of the string + - other types: constant + + @liveexample{The example shows the result of `erase()` for different JSON + types.,erase__IteratorType} + + @sa @ref erase(IteratorType, IteratorType) -- removes the elements in + the given range + @sa @ref erase(const typename object_t::key_type&) -- removes the element + from an object at the given key + @sa @ref erase(const size_type) -- removes the element from an array at + the given index + + @since version 1.0.0 + */ + template< + class IteratorType, + typename std::enable_if< + std::is_same::value or + std::is_same::value, + int>::type = 0> + IteratorType erase(IteratorType pos) { + // make sure iterator fits the current value + if (this != pos.m_object) { + JSON_THROW(std::domain_error("iterator does not fit current value")); + } + + IteratorType result = end(); + + switch (m_type) { + case value_t::boolean: + case value_t::number_float: + case value_t::number_integer: + case value_t::number_unsigned: + case value_t::string: { + if (not pos.m_it.primitive_iterator.is_begin()) { + JSON_THROW(std::out_of_range("iterator out of range")); + } + + if (is_string()) { + AllocatorType alloc; + alloc.destroy(m_value.string); + alloc.deallocate(m_value.string, 1); + m_value.string = nullptr; + } + + m_type = value_t::null; + assert_invariant(); + break; + } + + case value_t::object: { + result.m_it.object_iterator = + m_value.object->erase(pos.m_it.object_iterator); + break; + } + + case value_t::array: { + result.m_it.array_iterator = + m_value.array->erase(pos.m_it.array_iterator); + break; + } + + default: { + JSON_THROW(std::domain_error("cannot use erase() with " + type_name())); + } + } + + return result; + } + + /*! + @brief remove elements given an iterator range + + Removes the element specified by the range `[first; last)`. The iterator + @a first does not need to be dereferenceable if `first == last`: erasing + an empty range is a no-op. + + If called on a primitive type other than `null`, the resulting JSON value + will be `null`. + + @param[in] first iterator to the beginning of the range to remove + @param[in] last iterator past the end of the range to remove + @return Iterator following the last removed element. If the iterator @a + second refers to the last element, the `end()` iterator is returned. + + @tparam IteratorType an @ref iterator or @ref const_iterator + + @post Invalidates iterators and references at or after the point of the + erase, including the `end()` iterator. + + @throw std::domain_error if called on a `null` value; example: `"cannot + use erase() with null"` + @throw std::domain_error if called on iterators which does not belong to + the current JSON value; example: `"iterators do not fit current value"` + @throw std::out_of_range if called on a primitive type with invalid + iterators (i.e., if `first != begin()` and `last != end()`); example: + `"iterators out of range"` + + @complexity The complexity depends on the type: + - objects: `log(size()) + std::distance(first, last)` + - arrays: linear in the distance between @a first and @a last, plus linear + in the distance between @a last and end of the container + - strings: linear in the length of the string + - other types: constant + + @liveexample{The example shows the result of `erase()` for different JSON + types.,erase__IteratorType_IteratorType} + + @sa @ref erase(IteratorType) -- removes the element at a given position + @sa @ref erase(const typename object_t::key_type&) -- removes the element + from an object at the given key + @sa @ref erase(const size_type) -- removes the element from an array at + the given index + + @since version 1.0.0 + */ + template< + class IteratorType, + typename std::enable_if< + std::is_same::value or + std::is_same::value, + int>::type = 0> + IteratorType erase(IteratorType first, IteratorType last) { + // make sure iterator fits the current value + if (this != first.m_object or this != last.m_object) { + JSON_THROW(std::domain_error("iterators do not fit current value")); + } + + IteratorType result = end(); + + switch (m_type) { + case value_t::boolean: + case value_t::number_float: + case value_t::number_integer: + case value_t::number_unsigned: + case value_t::string: { + if (not first.m_it.primitive_iterator.is_begin() or + not last.m_it.primitive_iterator.is_end()) { + JSON_THROW(std::out_of_range("iterators out of range")); + } + + if (is_string()) { + AllocatorType alloc; + alloc.destroy(m_value.string); + alloc.deallocate(m_value.string, 1); + m_value.string = nullptr; + } + + m_type = value_t::null; + assert_invariant(); + break; + } + + case value_t::object: { + result.m_it.object_iterator = m_value.object->erase( + first.m_it.object_iterator, last.m_it.object_iterator); + break; + } + + case value_t::array: { + result.m_it.array_iterator = m_value.array->erase( + first.m_it.array_iterator, last.m_it.array_iterator); + break; + } + + default: { + JSON_THROW(std::domain_error("cannot use erase() with " + type_name())); + } + } + + return result; + } + + /*! + @brief remove element from a JSON object given a key + + Removes elements from a JSON object with the key value @a key. + + @param[in] key value of the elements to remove + + @return Number of elements removed. If @a ObjectType is the default + `std::map` type, the return value will always be `0` (@a key was not + found) or `1` (@a key was found). + + @post References and iterators to the erased elements are invalidated. + Other references and iterators are not affected. + + @throw std::domain_error when called on a type other than JSON object; + example: `"cannot use erase() with null"` + + @complexity `log(size()) + count(key)` + + @liveexample{The example shows the effect of `erase()`.,erase__key_type} + + @sa @ref erase(IteratorType) -- removes the element at a given position + @sa @ref erase(IteratorType, IteratorType) -- removes the elements in + the given range + @sa @ref erase(const size_type) -- removes the element from an array at + the given index + + @since version 1.0.0 + */ + size_type erase(const typename object_t::key_type& key) { + // this erase only works for objects + if (is_object()) { + return m_value.object->erase(key); + } + + JSON_THROW(std::domain_error("cannot use erase() with " + type_name())); + } + + /*! + @brief remove element from a JSON array given an index + + Removes element from a JSON array at the index @a idx. + + @param[in] idx index of the element to remove + + @throw std::domain_error when called on a type other than JSON array; + example: `"cannot use erase() with null"` + @throw std::out_of_range when `idx >= size()`; example: `"array index 17 + is out of range"` + + @complexity Linear in distance between @a idx and the end of the container. + + @liveexample{The example shows the effect of `erase()`.,erase__size_type} + + @sa @ref erase(IteratorType) -- removes the element at a given position + @sa @ref erase(IteratorType, IteratorType) -- removes the elements in + the given range + @sa @ref erase(const typename object_t::key_type&) -- removes the element + from an object at the given key + + @since version 1.0.0 + */ + void erase(const size_type idx) { + // this erase only works for arrays + if (is_array()) { + if (idx >= size()) { + JSON_THROW(std::out_of_range("array index " + std::to_string(idx) + + " is out of range")); + } + + m_value.array->erase(m_value.array->begin() + + static_cast(idx)); + } else { + JSON_THROW(std::domain_error("cannot use erase() with " + type_name())); + } + } + + /// @} + + //////////// + // lookup // + //////////// + + /// @name lookup + /// @{ + + /*! + @brief find an element in a JSON object + + Finds an element in a JSON object with key equivalent to @a key. If the + element is not found or the JSON value is not an object, end() is + returned. + + @note This method always returns @ref end() when executed on a JSON type + that is not an object. + + @param[in] key key value of the element to search for + + @return Iterator to an element with key equivalent to @a key. If no such + element is found or the JSON value is not an object, past-the-end (see + @ref end()) iterator is returned. + + @complexity Logarithmic in the size of the JSON object. + + @liveexample{The example shows how `find()` is used.,find__key_type} + + @since version 1.0.0 + */ + iterator find(typename object_t::key_type key) { + auto result = end(); + + if (is_object()) { + result.m_it.object_iterator = m_value.object->find(key); + } + + return result; + } + + /*! + @brief find an element in a JSON object + @copydoc find(typename object_t::key_type) + */ + const_iterator find(typename object_t::key_type key) const { + auto result = cend(); + + if (is_object()) { + result.m_it.object_iterator = m_value.object->find(key); + } + + return result; + } + + /*! + @brief returns the number of occurrences of a key in a JSON object + + Returns the number of elements with key @a key. If ObjectType is the + default `std::map` type, the return value will always be `0` (@a key was + not found) or `1` (@a key was found). + + @note This method always returns `0` when executed on a JSON type that is + not an object. + + @param[in] key key value of the element to count + + @return Number of elements with key @a key. If the JSON value is not an + object, the return value will be `0`. + + @complexity Logarithmic in the size of the JSON object. + + @liveexample{The example shows how `count()` is used.,count} + + @since version 1.0.0 + */ + size_type count(typename object_t::key_type key) const { + // return 0 for all nonobject types + return is_object() ? m_value.object->count(key) : 0; + } + + /// @} + + /////////////// + // iterators // + /////////////// + + /// @name iterators + /// @{ + + /*! + @brief returns an iterator to the first element + + Returns an iterator to the first element. + + @image html range-begin-end.svg "Illustration from cppreference.com" + + @return iterator to the first element + + @complexity Constant. + + @requirement This function helps `basic_json` satisfying the + [Container](http://en.cppreference.com/w/cpp/concept/Container) + requirements: + - The complexity is constant. + + @liveexample{The following code shows an example for `begin()`.,begin} + + @sa @ref cbegin() -- returns a const iterator to the beginning + @sa @ref end() -- returns an iterator to the end + @sa @ref cend() -- returns a const iterator to the end + + @since version 1.0.0 + */ + iterator begin() noexcept { + iterator result(this); + result.set_begin(); + return result; + } + + /*! + @copydoc basic_json::cbegin() + */ + const_iterator begin() const noexcept { return cbegin(); } + + /*! + @brief returns a const iterator to the first element + + Returns a const iterator to the first element. + + @image html range-begin-end.svg "Illustration from cppreference.com" + + @return const iterator to the first element + + @complexity Constant. + + @requirement This function helps `basic_json` satisfying the + [Container](http://en.cppreference.com/w/cpp/concept/Container) + requirements: + - The complexity is constant. + - Has the semantics of `const_cast(*this).begin()`. + + @liveexample{The following code shows an example for `cbegin()`.,cbegin} + + @sa @ref begin() -- returns an iterator to the beginning + @sa @ref end() -- returns an iterator to the end + @sa @ref cend() -- returns a const iterator to the end + + @since version 1.0.0 + */ + const_iterator cbegin() const noexcept { + const_iterator result(this); + result.set_begin(); + return result; + } + + /*! + @brief returns an iterator to one past the last element + + Returns an iterator to one past the last element. + + @image html range-begin-end.svg "Illustration from cppreference.com" + + @return iterator one past the last element + + @complexity Constant. + + @requirement This function helps `basic_json` satisfying the + [Container](http://en.cppreference.com/w/cpp/concept/Container) + requirements: + - The complexity is constant. + + @liveexample{The following code shows an example for `end()`.,end} + + @sa @ref cend() -- returns a const iterator to the end + @sa @ref begin() -- returns an iterator to the beginning + @sa @ref cbegin() -- returns a const iterator to the beginning + + @since version 1.0.0 + */ + iterator end() noexcept { + iterator result(this); + result.set_end(); + return result; + } + + /*! + @copydoc basic_json::cend() + */ + const_iterator end() const noexcept { return cend(); } + + /*! + @brief returns a const iterator to one past the last element + + Returns a const iterator to one past the last element. + + @image html range-begin-end.svg "Illustration from cppreference.com" + + @return const iterator one past the last element + + @complexity Constant. + + @requirement This function helps `basic_json` satisfying the + [Container](http://en.cppreference.com/w/cpp/concept/Container) + requirements: + - The complexity is constant. + - Has the semantics of `const_cast(*this).end()`. + + @liveexample{The following code shows an example for `cend()`.,cend} + + @sa @ref end() -- returns an iterator to the end + @sa @ref begin() -- returns an iterator to the beginning + @sa @ref cbegin() -- returns a const iterator to the beginning + + @since version 1.0.0 + */ + const_iterator cend() const noexcept { + const_iterator result(this); + result.set_end(); + return result; + } + + /*! + @brief returns an iterator to the reverse-beginning + + Returns an iterator to the reverse-beginning; that is, the last element. + + @image html range-rbegin-rend.svg "Illustration from cppreference.com" + + @complexity Constant. + + @requirement This function helps `basic_json` satisfying the + [ReversibleContainer](http://en.cppreference.com/w/cpp/concept/ReversibleContainer) + requirements: + - The complexity is constant. + - Has the semantics of `reverse_iterator(end())`. + + @liveexample{The following code shows an example for `rbegin()`.,rbegin} + + @sa @ref crbegin() -- returns a const reverse iterator to the beginning + @sa @ref rend() -- returns a reverse iterator to the end + @sa @ref crend() -- returns a const reverse iterator to the end + + @since version 1.0.0 + */ + reverse_iterator rbegin() noexcept { return reverse_iterator(end()); } + + /*! + @copydoc basic_json::crbegin() + */ + const_reverse_iterator rbegin() const noexcept { return crbegin(); } + + /*! + @brief returns an iterator to the reverse-end + + Returns an iterator to the reverse-end; that is, one before the first + element. + + @image html range-rbegin-rend.svg "Illustration from cppreference.com" + + @complexity Constant. + + @requirement This function helps `basic_json` satisfying the + [ReversibleContainer](http://en.cppreference.com/w/cpp/concept/ReversibleContainer) + requirements: + - The complexity is constant. + - Has the semantics of `reverse_iterator(begin())`. + + @liveexample{The following code shows an example for `rend()`.,rend} + + @sa @ref crend() -- returns a const reverse iterator to the end + @sa @ref rbegin() -- returns a reverse iterator to the beginning + @sa @ref crbegin() -- returns a const reverse iterator to the beginning + + @since version 1.0.0 + */ + reverse_iterator rend() noexcept { return reverse_iterator(begin()); } + + /*! + @copydoc basic_json::crend() + */ + const_reverse_iterator rend() const noexcept { return crend(); } + + /*! + @brief returns a const reverse iterator to the last element + + Returns a const iterator to the reverse-beginning; that is, the last + element. + + @image html range-rbegin-rend.svg "Illustration from cppreference.com" + + @complexity Constant. + + @requirement This function helps `basic_json` satisfying the + [ReversibleContainer](http://en.cppreference.com/w/cpp/concept/ReversibleContainer) + requirements: + - The complexity is constant. + - Has the semantics of `const_cast(*this).rbegin()`. + + @liveexample{The following code shows an example for `crbegin()`.,crbegin} + + @sa @ref rbegin() -- returns a reverse iterator to the beginning + @sa @ref rend() -- returns a reverse iterator to the end + @sa @ref crend() -- returns a const reverse iterator to the end + + @since version 1.0.0 + */ + const_reverse_iterator crbegin() const noexcept { + return const_reverse_iterator(cend()); + } + + /*! + @brief returns a const reverse iterator to one before the first + + Returns a const reverse iterator to the reverse-end; that is, one before + the first element. + + @image html range-rbegin-rend.svg "Illustration from cppreference.com" + + @complexity Constant. + + @requirement This function helps `basic_json` satisfying the + [ReversibleContainer](http://en.cppreference.com/w/cpp/concept/ReversibleContainer) + requirements: + - The complexity is constant. + - Has the semantics of `const_cast(*this).rend()`. + + @liveexample{The following code shows an example for `crend()`.,crend} + + @sa @ref rend() -- returns a reverse iterator to the end + @sa @ref rbegin() -- returns a reverse iterator to the beginning + @sa @ref crbegin() -- returns a const reverse iterator to the beginning + + @since version 1.0.0 + */ + const_reverse_iterator crend() const noexcept { + return const_reverse_iterator(cbegin()); + } + + private: + // forward declaration + template + class iteration_proxy; + + public: + /*! + @brief wrapper to access iterator member functions in range-based for + + This function allows to access @ref iterator::key() and @ref + iterator::value() during range-based for loops. In these loops, a + reference to the JSON values is returned, so there is no access to the + underlying iterator. + + @note The name of this function is not yet final and may change in the + future. + */ + static iteration_proxy iterator_wrapper(reference cont) { + return iteration_proxy(cont); + } + + /*! + @copydoc iterator_wrapper(reference) + */ + static iteration_proxy iterator_wrapper( + const_reference cont) { + return iteration_proxy(cont); + } + + /// @} + + ////////////// + // capacity // + ////////////// + + /// @name capacity + /// @{ + + /*! + @brief checks whether the container is empty + + Checks if a JSON value has no elements. + + @return The return value depends on the different types and is + defined as follows: + Value type | return value + ----------- | ------------- + null | `true` + boolean | `false` + string | `false` + number | `false` + object | result of function `object_t::empty()` + array | result of function `array_t::empty()` + + @note This function does not return whether a string stored as JSON value + is empty - it returns whether the JSON container itself is empty which is + false in the case of a string. + + @complexity Constant, as long as @ref array_t and @ref object_t satisfy + the Container concept; that is, their `empty()` functions have constant + complexity. + + @requirement This function helps `basic_json` satisfying the + [Container](http://en.cppreference.com/w/cpp/concept/Container) + requirements: + - The complexity is constant. + - Has the semantics of `begin() == end()`. + + @liveexample{The following code uses `empty()` to check if a JSON + object contains any elements.,empty} + + @sa @ref size() -- returns the number of elements + + @since version 1.0.0 + */ + bool empty() const noexcept { + switch (m_type) { + case value_t::null: { + // null values are empty + return true; + } + + case value_t::array: { + // delegate call to array_t::empty() + return m_value.array->empty(); + } + + case value_t::object: { + // delegate call to object_t::empty() + return m_value.object->empty(); + } + + default: { + // all other types are nonempty + return false; + } + } + } + + /*! + @brief returns the number of elements + + Returns the number of elements in a JSON value. + + @return The return value depends on the different types and is + defined as follows: + Value type | return value + ----------- | ------------- + null | `0` + boolean | `1` + string | `1` + number | `1` + object | result of function object_t::size() + array | result of function array_t::size() + + @note This function does not return the length of a string stored as JSON + value - it returns the number of elements in the JSON value which is 1 in + the case of a string. + + @complexity Constant, as long as @ref array_t and @ref object_t satisfy + the Container concept; that is, their size() functions have constant + complexity. + + @requirement This function helps `basic_json` satisfying the + [Container](http://en.cppreference.com/w/cpp/concept/Container) + requirements: + - The complexity is constant. + - Has the semantics of `std::distance(begin(), end())`. + + @liveexample{The following code calls `size()` on the different value + types.,size} + + @sa @ref empty() -- checks whether the container is empty + @sa @ref max_size() -- returns the maximal number of elements + + @since version 1.0.0 + */ + size_type size() const noexcept { + switch (m_type) { + case value_t::null: { + // null values are empty + return 0; + } + + case value_t::array: { + // delegate call to array_t::size() + return m_value.array->size(); + } + + case value_t::object: { + // delegate call to object_t::size() + return m_value.object->size(); + } + + default: { + // all other types have size 1 + return 1; + } + } + } + + /*! + @brief returns the maximum possible number of elements + + Returns the maximum number of elements a JSON value is able to hold due to + system or library implementation limitations, i.e. `std::distance(begin(), + end())` for the JSON value. + + @return The return value depends on the different types and is + defined as follows: + Value type | return value + ----------- | ------------- + null | `0` (same as `size()`) + boolean | `1` (same as `size()`) + string | `1` (same as `size()`) + number | `1` (same as `size()`) + object | result of function `object_t::max_size()` + array | result of function `array_t::max_size()` + + @complexity Constant, as long as @ref array_t and @ref object_t satisfy + the Container concept; that is, their `max_size()` functions have constant + complexity. + + @requirement This function helps `basic_json` satisfying the + [Container](http://en.cppreference.com/w/cpp/concept/Container) + requirements: + - The complexity is constant. + - Has the semantics of returning `b.size()` where `b` is the largest + possible JSON value. + + @liveexample{The following code calls `max_size()` on the different value + types. Note the output is implementation specific.,max_size} + + @sa @ref size() -- returns the number of elements + + @since version 1.0.0 + */ + size_type max_size() const noexcept { + switch (m_type) { + case value_t::array: { + // delegate call to array_t::max_size() + return m_value.array->max_size(); + } + + case value_t::object: { + // delegate call to object_t::max_size() + return m_value.object->max_size(); + } + + default: { + // all other types have max_size() == size() + return size(); + } + } + } + + /// @} + + /////////////// + // modifiers // + /////////////// + + /// @name modifiers + /// @{ + + /*! + @brief clears the contents + + Clears the content of a JSON value and resets it to the default value as + if @ref basic_json(value_t) would have been called: + + Value type | initial value + ----------- | ------------- + null | `null` + boolean | `false` + string | `""` + number | `0` + object | `{}` + array | `[]` + + @complexity Linear in the size of the JSON value. + + @liveexample{The example below shows the effect of `clear()` to different + JSON types.,clear} + + @since version 1.0.0 + */ + void clear() noexcept { + switch (m_type) { + case value_t::number_integer: { + m_value.number_integer = 0; + break; + } + + case value_t::number_unsigned: { + m_value.number_unsigned = 0; + break; + } + + case value_t::number_float: { + m_value.number_float = 0.0; + break; + } + + case value_t::boolean: { + m_value.boolean = false; + break; + } + + case value_t::string: { + m_value.string->clear(); + break; + } + + case value_t::array: { + m_value.array->clear(); + break; + } + + case value_t::object: { + m_value.object->clear(); + break; + } + + default: { break; } + } + } + + /*! + @brief add an object to an array + + Appends the given element @a val to the end of the JSON value. If the + function is called on a JSON null value, an empty array is created before + appending @a val. + + @param[in] val the value to add to the JSON array + + @throw std::domain_error when called on a type other than JSON array or + null; example: `"cannot use push_back() with number"` + + @complexity Amortized constant. + + @liveexample{The example shows how `push_back()` and `+=` can be used to + add elements to a JSON array. Note how the `null` value was silently + converted to a JSON array.,push_back} + + @since version 1.0.0 + */ + void push_back(basic_json&& val) { + // push_back only works for null objects or arrays + if (not(is_null() or is_array())) { + JSON_THROW( + std::domain_error("cannot use push_back() with " + type_name())); + } + + // transform null object into an array + if (is_null()) { + m_type = value_t::array; + m_value = value_t::array; + assert_invariant(); + } + + // add element to array (move semantics) + m_value.array->push_back(std::move(val)); + // invalidate object + val.m_type = value_t::null; + } + + /*! + @brief add an object to an array + @copydoc push_back(basic_json&&) + */ + reference operator+=(basic_json&& val) { + push_back(std::move(val)); + return *this; + } + + /*! + @brief add an object to an array + @copydoc push_back(basic_json&&) + */ + void push_back(const basic_json& val) { + // push_back only works for null objects or arrays + if (not(is_null() or is_array())) { + JSON_THROW( + std::domain_error("cannot use push_back() with " + type_name())); + } + + // transform null object into an array + if (is_null()) { + m_type = value_t::array; + m_value = value_t::array; + assert_invariant(); + } + + // add element to array + m_value.array->push_back(val); + } + + /*! + @brief add an object to an array + @copydoc push_back(basic_json&&) + */ + reference operator+=(const basic_json& val) { + push_back(val); + return *this; + } + + /*! + @brief add an object to an object + + Inserts the given element @a val to the JSON object. If the function is + called on a JSON null value, an empty object is created before inserting + @a val. + + @param[in] val the value to add to the JSON object + + @throw std::domain_error when called on a type other than JSON object or + null; example: `"cannot use push_back() with number"` + + @complexity Logarithmic in the size of the container, O(log(`size()`)). + + @liveexample{The example shows how `push_back()` and `+=` can be used to + add elements to a JSON object. Note how the `null` value was silently + converted to a JSON object.,push_back__object_t__value} + + @since version 1.0.0 + */ + void push_back(const typename object_t::value_type& val) { + // push_back only works for null objects or objects + if (not(is_null() or is_object())) { + JSON_THROW( + std::domain_error("cannot use push_back() with " + type_name())); + } + + // transform null object into an object + if (is_null()) { + m_type = value_t::object; + m_value = value_t::object; + assert_invariant(); + } + + // add element to array + m_value.object->insert(val); + } + + /*! + @brief add an object to an object + @copydoc push_back(const typename object_t::value_type&) + */ + reference operator+=(const typename object_t::value_type& val) { + push_back(val); + return *this; + } + + /*! + @brief add an object to an object + + This function allows to use `push_back` with an initializer list. In case + + 1. the current value is an object, + 2. the initializer list @a init contains only two elements, and + 3. the first element of @a init is a string, + + @a init is converted into an object element and added using + @ref push_back(const typename object_t::value_type&). Otherwise, @a init + is converted to a JSON value and added using @ref push_back(basic_json&&). + + @param init an initializer list + + @complexity Linear in the size of the initializer list @a init. + + @note This function is required to resolve an ambiguous overload error, + because pairs like `{"key", "value"}` can be both interpreted as + `object_t::value_type` or `std::initializer_list`, see + https://github.com/nlohmann/json/issues/235 for more information. + + @liveexample{The example shows how initializer lists are treated as + objects when possible.,push_back__initializer_list} + */ + void push_back(std::initializer_list init) { + if (is_object() and init.size() == 2 and init.begin()->is_string()) { + const string_t key = *init.begin(); + push_back(typename object_t::value_type(key, *(init.begin() + 1))); + } else { + push_back(basic_json(init)); + } + } + + /*! + @brief add an object to an object + @copydoc push_back(std::initializer_list) + */ + reference operator+=(std::initializer_list init) { + push_back(init); + return *this; + } + + /*! + @brief add an object to an array + + Creates a JSON value from the passed parameters @a args to the end of the + JSON value. If the function is called on a JSON null value, an empty array + is created before appending the value created from @a args. + + @param[in] args arguments to forward to a constructor of @ref basic_json + @tparam Args compatible types to create a @ref basic_json object + + @throw std::domain_error when called on a type other than JSON array or + null; example: `"cannot use emplace_back() with number"` + + @complexity Amortized constant. + + @liveexample{The example shows how `push_back()` can be used to add + elements to a JSON array. Note how the `null` value was silently converted + to a JSON array.,emplace_back} + + @since version 2.0.8 + */ + template + void emplace_back(Args&&... args) { + // emplace_back only works for null objects or arrays + if (not(is_null() or is_array())) { + JSON_THROW( + std::domain_error("cannot use emplace_back() with " + type_name())); + } + + // transform null object into an array + if (is_null()) { + m_type = value_t::array; + m_value = value_t::array; + assert_invariant(); + } + + // add element to array (perfect forwarding) + m_value.array->emplace_back(std::forward(args)...); + } + + /*! + @brief add an object to an object if key does not exist + + Inserts a new element into a JSON object constructed in-place with the + given @a args if there is no element with the key in the container. If the + function is called on a JSON null value, an empty object is created before + appending the value created from @a args. + + @param[in] args arguments to forward to a constructor of @ref basic_json + @tparam Args compatible types to create a @ref basic_json object + + @return a pair consisting of an iterator to the inserted element, or the + already-existing element if no insertion happened, and a bool + denoting whether the insertion took place. + + @throw std::domain_error when called on a type other than JSON object or + null; example: `"cannot use emplace() with number"` + + @complexity Logarithmic in the size of the container, O(log(`size()`)). + + @liveexample{The example shows how `emplace()` can be used to add elements + to a JSON object. Note how the `null` value was silently converted to a + JSON object. Further note how no value is added if there was already one + value stored with the same key.,emplace} + + @since version 2.0.8 + */ + template + std::pair emplace(Args&&... args) { + // emplace only works for null objects or arrays + if (not(is_null() or is_object())) { + JSON_THROW(std::domain_error("cannot use emplace() with " + type_name())); + } + + // transform null object into an object + if (is_null()) { + m_type = value_t::object; + m_value = value_t::object; + assert_invariant(); + } + + // add element to array (perfect forwarding) + auto res = m_value.object->emplace(std::forward(args)...); + // create result iterator and set iterator to the result of emplace + auto it = begin(); + it.m_it.object_iterator = res.first; + + // return pair of iterator and boolean + return {it, res.second}; + } + + /*! + @brief inserts element + + Inserts element @a val before iterator @a pos. + + @param[in] pos iterator before which the content will be inserted; may be + the end() iterator + @param[in] val element to insert + @return iterator pointing to the inserted @a val. + + @throw std::domain_error if called on JSON values other than arrays; + example: `"cannot use insert() with string"` + @throw std::domain_error if @a pos is not an iterator of *this; example: + `"iterator does not fit current value"` + + @complexity Constant plus linear in the distance between @a pos and end of + the container. + + @liveexample{The example shows how `insert()` is used.,insert} + + @since version 1.0.0 + */ + iterator insert(const_iterator pos, const basic_json& val) { + // insert only works for arrays + if (is_array()) { + // check if iterator pos fits to this JSON value + if (pos.m_object != this) { + JSON_THROW(std::domain_error("iterator does not fit current value")); + } + + // insert to array and return iterator + iterator result(this); + result.m_it.array_iterator = + m_value.array->insert(pos.m_it.array_iterator, val); + return result; + } + + JSON_THROW(std::domain_error("cannot use insert() with " + type_name())); + } + + /*! + @brief inserts element + @copydoc insert(const_iterator, const basic_json&) + */ + iterator insert(const_iterator pos, basic_json&& val) { + return insert(pos, val); + } + + /*! + @brief inserts elements + + Inserts @a cnt copies of @a val before iterator @a pos. + + @param[in] pos iterator before which the content will be inserted; may be + the end() iterator + @param[in] cnt number of copies of @a val to insert + @param[in] val element to insert + @return iterator pointing to the first element inserted, or @a pos if + `cnt==0` + + @throw std::domain_error if called on JSON values other than arrays; + example: `"cannot use insert() with string"` + @throw std::domain_error if @a pos is not an iterator of *this; example: + `"iterator does not fit current value"` + + @complexity Linear in @a cnt plus linear in the distance between @a pos + and end of the container. + + @liveexample{The example shows how `insert()` is used.,insert__count} + + @since version 1.0.0 + */ + iterator insert(const_iterator pos, size_type cnt, const basic_json& val) { + // insert only works for arrays + if (is_array()) { + // check if iterator pos fits to this JSON value + if (pos.m_object != this) { + JSON_THROW(std::domain_error("iterator does not fit current value")); + } + + // insert to array and return iterator + iterator result(this); + result.m_it.array_iterator = + m_value.array->insert(pos.m_it.array_iterator, cnt, val); + return result; + } + + JSON_THROW(std::domain_error("cannot use insert() with " + type_name())); + } + + /*! + @brief inserts elements + + Inserts elements from range `[first, last)` before iterator @a pos. + + @param[in] pos iterator before which the content will be inserted; may be + the end() iterator + @param[in] first begin of the range of elements to insert + @param[in] last end of the range of elements to insert + + @throw std::domain_error if called on JSON values other than arrays; + example: `"cannot use insert() with string"` + @throw std::domain_error if @a pos is not an iterator of *this; example: + `"iterator does not fit current value"` + @throw std::domain_error if @a first and @a last do not belong to the same + JSON value; example: `"iterators do not fit"` + @throw std::domain_error if @a first or @a last are iterators into + container for which insert is called; example: `"passed iterators may not + belong to container"` + + @return iterator pointing to the first element inserted, or @a pos if + `first==last` + + @complexity Linear in `std::distance(first, last)` plus linear in the + distance between @a pos and end of the container. + + @liveexample{The example shows how `insert()` is used.,insert__range} + + @since version 1.0.0 + */ + iterator insert(const_iterator pos, const_iterator first, + const_iterator last) { + // insert only works for arrays + if (not is_array()) { + JSON_THROW(std::domain_error("cannot use insert() with " + type_name())); + } + + // check if iterator pos fits to this JSON value + if (pos.m_object != this) { + JSON_THROW(std::domain_error("iterator does not fit current value")); + } + + // check if range iterators belong to the same JSON object + if (first.m_object != last.m_object) { + JSON_THROW(std::domain_error("iterators do not fit")); + } + + if (first.m_object == this or last.m_object == this) { + JSON_THROW( + std::domain_error("passed iterators may not belong to container")); + } + + // insert to array and return iterator + iterator result(this); + result.m_it.array_iterator = + m_value.array->insert(pos.m_it.array_iterator, first.m_it.array_iterator, + last.m_it.array_iterator); + return result; + } + + /*! + @brief inserts elements + + Inserts elements from initializer list @a ilist before iterator @a pos. + + @param[in] pos iterator before which the content will be inserted; may be + the end() iterator + @param[in] ilist initializer list to insert the values from + + @throw std::domain_error if called on JSON values other than arrays; + example: `"cannot use insert() with string"` + @throw std::domain_error if @a pos is not an iterator of *this; example: + `"iterator does not fit current value"` + + @return iterator pointing to the first element inserted, or @a pos if + `ilist` is empty + + @complexity Linear in `ilist.size()` plus linear in the distance between + @a pos and end of the container. + + @liveexample{The example shows how `insert()` is used.,insert__ilist} + + @since version 1.0.0 + */ + iterator insert(const_iterator pos, std::initializer_list ilist) { + // insert only works for arrays + if (not is_array()) { + JSON_THROW(std::domain_error("cannot use insert() with " + type_name())); + } + + // check if iterator pos fits to this JSON value + if (pos.m_object != this) { + JSON_THROW(std::domain_error("iterator does not fit current value")); + } + + // insert to array and return iterator + iterator result(this); + result.m_it.array_iterator = + m_value.array->insert(pos.m_it.array_iterator, ilist); + return result; + } + + /*! + @brief exchanges the values + + Exchanges the contents of the JSON value with those of @a other. Does not + invoke any move, copy, or swap operations on individual elements. All + iterators and references remain valid. The past-the-end iterator is + invalidated. + + @param[in,out] other JSON value to exchange the contents with + + @complexity Constant. + + @liveexample{The example below shows how JSON values can be swapped with + `swap()`.,swap__reference} + + @since version 1.0.0 + */ + void swap(reference other) noexcept( + std::is_nothrow_move_constructible::value and + std::is_nothrow_move_assignable::value and + std::is_nothrow_move_constructible::value and + std::is_nothrow_move_assignable::value) { + std::swap(m_type, other.m_type); + std::swap(m_value, other.m_value); + assert_invariant(); + } + + /*! + @brief exchanges the values + + Exchanges the contents of a JSON array with those of @a other. Does not + invoke any move, copy, or swap operations on individual elements. All + iterators and references remain valid. The past-the-end iterator is + invalidated. + + @param[in,out] other array to exchange the contents with + + @throw std::domain_error when JSON value is not an array; example: + `"cannot use swap() with string"` + + @complexity Constant. + + @liveexample{The example below shows how arrays can be swapped with + `swap()`.,swap__array_t} + + @since version 1.0.0 + */ + void swap(array_t& other) { + // swap only works for arrays + if (is_array()) { + std::swap(*(m_value.array), other); + } else { + JSON_THROW(std::domain_error("cannot use swap() with " + type_name())); + } + } + + /*! + @brief exchanges the values + + Exchanges the contents of a JSON object with those of @a other. Does not + invoke any move, copy, or swap operations on individual elements. All + iterators and references remain valid. The past-the-end iterator is + invalidated. + + @param[in,out] other object to exchange the contents with + + @throw std::domain_error when JSON value is not an object; example: + `"cannot use swap() with string"` + + @complexity Constant. + + @liveexample{The example below shows how objects can be swapped with + `swap()`.,swap__object_t} + + @since version 1.0.0 + */ + void swap(object_t& other) { + // swap only works for objects + if (is_object()) { + std::swap(*(m_value.object), other); + } else { + JSON_THROW(std::domain_error("cannot use swap() with " + type_name())); + } + } + + /*! + @brief exchanges the values + + Exchanges the contents of a JSON string with those of @a other. Does not + invoke any move, copy, or swap operations on individual elements. All + iterators and references remain valid. The past-the-end iterator is + invalidated. + + @param[in,out] other string to exchange the contents with + + @throw std::domain_error when JSON value is not a string; example: `"cannot + use swap() with boolean"` + + @complexity Constant. + + @liveexample{The example below shows how strings can be swapped with + `swap()`.,swap__string_t} + + @since version 1.0.0 + */ + void swap(string_t& other) { + // swap only works for strings + if (is_string()) { + std::swap(*(m_value.string), other); + } else { + JSON_THROW(std::domain_error("cannot use swap() with " + type_name())); + } + } + + /// @} + + public: + ////////////////////////////////////////// + // lexicographical comparison operators // + ////////////////////////////////////////// + + /// @name lexicographical comparison operators + /// @{ + + /*! + @brief comparison: equal + + Compares two JSON values for equality according to the following rules: + - Two JSON values are equal if (1) they are from the same type and (2) + their stored values are the same. + - Integer and floating-point numbers are automatically converted before + comparison. Floating-point numbers are compared indirectly: two + floating-point numbers `f1` and `f2` are considered equal if neither + `f1 > f2` nor `f2 > f1` holds. + - Two JSON null values are equal. + + @param[in] lhs first JSON value to consider + @param[in] rhs second JSON value to consider + @return whether the values @a lhs and @a rhs are equal + + @complexity Linear. + + @liveexample{The example demonstrates comparing several JSON + types.,operator__equal} + + @since version 1.0.0 + */ + friend bool operator==(const_reference lhs, const_reference rhs) noexcept { + const auto lhs_type = lhs.type(); + const auto rhs_type = rhs.type(); + + if (lhs_type == rhs_type) { + switch (lhs_type) { + case value_t::array: { + return *lhs.m_value.array == *rhs.m_value.array; + } + case value_t::object: { + return *lhs.m_value.object == *rhs.m_value.object; + } + case value_t::null: { + return true; + } + case value_t::string: { + return *lhs.m_value.string == *rhs.m_value.string; + } + case value_t::boolean: { + return lhs.m_value.boolean == rhs.m_value.boolean; + } + case value_t::number_integer: { + return lhs.m_value.number_integer == rhs.m_value.number_integer; + } + case value_t::number_unsigned: { + return lhs.m_value.number_unsigned == rhs.m_value.number_unsigned; + } + case value_t::number_float: { + return lhs.m_value.number_float == rhs.m_value.number_float; + } + default: { return false; } + } + } else if (lhs_type == value_t::number_integer and + rhs_type == value_t::number_float) { + return static_cast(lhs.m_value.number_integer) == + rhs.m_value.number_float; + } else if (lhs_type == value_t::number_float and + rhs_type == value_t::number_integer) { + return lhs.m_value.number_float == + static_cast(rhs.m_value.number_integer); + } else if (lhs_type == value_t::number_unsigned and + rhs_type == value_t::number_float) { + return static_cast(lhs.m_value.number_unsigned) == + rhs.m_value.number_float; + } else if (lhs_type == value_t::number_float and + rhs_type == value_t::number_unsigned) { + return lhs.m_value.number_float == + static_cast(rhs.m_value.number_unsigned); + } else if (lhs_type == value_t::number_unsigned and + rhs_type == value_t::number_integer) { + return static_cast(lhs.m_value.number_unsigned) == + rhs.m_value.number_integer; + } else if (lhs_type == value_t::number_integer and + rhs_type == value_t::number_unsigned) { + return lhs.m_value.number_integer == + static_cast(rhs.m_value.number_unsigned); + } + + return false; + } + + /*! + @brief comparison: equal + @copydoc operator==(const_reference, const_reference) + */ + template< + typename ScalarType, + typename std::enable_if::value, int>::type = 0> + friend bool operator==(const_reference lhs, const ScalarType rhs) noexcept { + return (lhs == basic_json(rhs)); + } + + /*! + @brief comparison: equal + @copydoc operator==(const_reference, const_reference) + */ + template< + typename ScalarType, + typename std::enable_if::value, int>::type = 0> + friend bool operator==(const ScalarType lhs, const_reference rhs) noexcept { + return (basic_json(lhs) == rhs); + } + + /*! + @brief comparison: not equal + + Compares two JSON values for inequality by calculating `not (lhs == rhs)`. + + @param[in] lhs first JSON value to consider + @param[in] rhs second JSON value to consider + @return whether the values @a lhs and @a rhs are not equal + + @complexity Linear. + + @liveexample{The example demonstrates comparing several JSON + types.,operator__notequal} + + @since version 1.0.0 + */ + friend bool operator!=(const_reference lhs, const_reference rhs) noexcept { + return not(lhs == rhs); + } + + /*! + @brief comparison: not equal + @copydoc operator!=(const_reference, const_reference) + */ + template< + typename ScalarType, + typename std::enable_if::value, int>::type = 0> + friend bool operator!=(const_reference lhs, const ScalarType rhs) noexcept { + return (lhs != basic_json(rhs)); + } + + /*! + @brief comparison: not equal + @copydoc operator!=(const_reference, const_reference) + */ + template< + typename ScalarType, + typename std::enable_if::value, int>::type = 0> + friend bool operator!=(const ScalarType lhs, const_reference rhs) noexcept { + return (basic_json(lhs) != rhs); + } + + /*! + @brief comparison: less than + + Compares whether one JSON value @a lhs is less than another JSON value @a + rhs according to the following rules: + - If @a lhs and @a rhs have the same type, the values are compared using + the default `<` operator. + - Integer and floating-point numbers are automatically converted before + comparison + - In case @a lhs and @a rhs have different types, the values are ignored + and the order of the types is considered, see + @ref operator<(const value_t, const value_t). + + @param[in] lhs first JSON value to consider + @param[in] rhs second JSON value to consider + @return whether @a lhs is less than @a rhs + + @complexity Linear. + + @liveexample{The example demonstrates comparing several JSON + types.,operator__less} + + @since version 1.0.0 + */ + friend bool operator<(const_reference lhs, const_reference rhs) noexcept { + const auto lhs_type = lhs.type(); + const auto rhs_type = rhs.type(); + + if (lhs_type == rhs_type) { + switch (lhs_type) { + case value_t::array: { + // fix: https://github.com/nlohmann/json/issues/590 + return (*lhs.m_value.array) < *rhs.m_value.array; + } + case value_t::object: { + return *lhs.m_value.object < *rhs.m_value.object; + } + case value_t::null: { + return false; + } + case value_t::string: { + return *lhs.m_value.string < *rhs.m_value.string; + } + case value_t::boolean: { + return lhs.m_value.boolean < rhs.m_value.boolean; + } + case value_t::number_integer: { + return lhs.m_value.number_integer < rhs.m_value.number_integer; + } + case value_t::number_unsigned: { + return lhs.m_value.number_unsigned < rhs.m_value.number_unsigned; + } + case value_t::number_float: { + return lhs.m_value.number_float < rhs.m_value.number_float; + } + default: { return false; } + } + } else if (lhs_type == value_t::number_integer and + rhs_type == value_t::number_float) { + return static_cast(lhs.m_value.number_integer) < + rhs.m_value.number_float; + } else if (lhs_type == value_t::number_float and + rhs_type == value_t::number_integer) { + return lhs.m_value.number_float < + static_cast(rhs.m_value.number_integer); + } else if (lhs_type == value_t::number_unsigned and + rhs_type == value_t::number_float) { + return static_cast(lhs.m_value.number_unsigned) < + rhs.m_value.number_float; + } else if (lhs_type == value_t::number_float and + rhs_type == value_t::number_unsigned) { + return lhs.m_value.number_float < + static_cast(rhs.m_value.number_unsigned); + } else if (lhs_type == value_t::number_integer and + rhs_type == value_t::number_unsigned) { + return lhs.m_value.number_integer < + static_cast(rhs.m_value.number_unsigned); + } else if (lhs_type == value_t::number_unsigned and + rhs_type == value_t::number_integer) { + return static_cast(lhs.m_value.number_unsigned) < + rhs.m_value.number_integer; + } + + // We only reach this line if we cannot compare values. In that case, + // we compare types. Note we have to call the operator explicitly, + // because MSVC has problems otherwise. + return operator<(lhs_type, rhs_type); + } + + /*! + @brief comparison: less than or equal + + Compares whether one JSON value @a lhs is less than or equal to another + JSON value by calculating `not (rhs < lhs)`. + + @param[in] lhs first JSON value to consider + @param[in] rhs second JSON value to consider + @return whether @a lhs is less than or equal to @a rhs + + @complexity Linear. + + @liveexample{The example demonstrates comparing several JSON + types.,operator__greater} + + @since version 1.0.0 + */ + friend bool operator<=(const_reference lhs, const_reference rhs) noexcept { + return not(rhs < lhs); + } + + /*! + @brief comparison: greater than + + Compares whether one JSON value @a lhs is greater than another + JSON value by calculating `not (lhs <= rhs)`. + + @param[in] lhs first JSON value to consider + @param[in] rhs second JSON value to consider + @return whether @a lhs is greater than to @a rhs + + @complexity Linear. + + @liveexample{The example demonstrates comparing several JSON + types.,operator__lessequal} + + @since version 1.0.0 + */ + friend bool operator>(const_reference lhs, const_reference rhs) noexcept { + return not(lhs <= rhs); + } + + /*! + @brief comparison: greater than or equal + + Compares whether one JSON value @a lhs is greater than or equal to another + JSON value by calculating `not (lhs < rhs)`. + + @param[in] lhs first JSON value to consider + @param[in] rhs second JSON value to consider + @return whether @a lhs is greater than or equal to @a rhs + + @complexity Linear. + + @liveexample{The example demonstrates comparing several JSON + types.,operator__greaterequal} + + @since version 1.0.0 + */ + friend bool operator>=(const_reference lhs, const_reference rhs) noexcept { + return not(lhs < rhs); + } + + /// @} + + /////////////////// + // serialization // + /////////////////// + + /// @name serialization + /// @{ + + /*! + @brief serialize to stream + + Serialize the given JSON value @a j to the output stream @a o. The JSON + value will be serialized using the @ref dump member function. The + indentation of the output can be controlled with the member variable + `width` of the output stream @a o. For instance, using the manipulator + `std::setw(4)` on @a o sets the indentation level to `4` and the + serialization result is the same as calling `dump(4)`. + + @param[in,out] o stream to serialize to + @param[in] j JSON value to serialize + + @return the stream @a o + + @complexity Linear. + + @liveexample{The example below shows the serialization with different + parameters to `width` to adjust the indentation level.,operator_serialize} + + @since version 1.0.0 + */ + friend std::ostream& operator<<(std::ostream& o, const basic_json& j) { + // read width member and use it as indentation parameter if nonzero + const bool pretty_print = (o.width() > 0); + const auto indentation = (pretty_print ? o.width() : 0); + + // reset width to 0 for subsequent calls to this stream + o.width(0); + + // do the actual serialization + j.dump(o, pretty_print, static_cast(indentation)); + + return o; + } + + /*! + @brief serialize to stream + @copydoc operator<<(std::ostream&, const basic_json&) + */ + friend std::ostream& operator>>(const basic_json& j, std::ostream& o) { + return o << j; + } + + /// @} + + ///////////////////// + // deserialization // + ///////////////////// + + /// @name deserialization + /// @{ + + /*! + @brief deserialize from an array + + This function reads from an array of 1-byte values. + + @pre Each element of the container has a size of 1 byte. Violating this + precondition yields undefined behavior. **This precondition is enforced + with a static assertion.** + + @param[in] array array to read from + @param[in] cb a parser callback function of type @ref parser_callback_t + which is used to control the deserialization by filtering unwanted values + (optional) + + @return result of the deserialization + + @complexity Linear in the length of the input. The parser is a predictive + LL(1) parser. The complexity can be higher if the parser callback function + @a cb has a super-linear complexity. + + @note A UTF-8 byte order mark is silently ignored. + + @liveexample{The example below demonstrates the `parse()` function reading + from an array.,parse__array__parser_callback_t} + + @since version 2.0.3 + */ + template + static basic_json parse(T (&array)[N], const parser_callback_t cb = nullptr) { + // delegate the call to the iterator-range parse overload + return parse(std::begin(array), std::end(array), cb); + } + + /*! + @brief deserialize from string literal + + @tparam CharT character/literal type with size of 1 byte + @param[in] s string literal to read a serialized JSON value from + @param[in] cb a parser callback function of type @ref parser_callback_t + which is used to control the deserialization by filtering unwanted values + (optional) + + @return result of the deserialization + + @complexity Linear in the length of the input. The parser is a predictive + LL(1) parser. The complexity can be higher if the parser callback function + @a cb has a super-linear complexity. + + @note A UTF-8 byte order mark is silently ignored. + @note String containers like `std::string` or @ref string_t can be parsed + with @ref parse(const ContiguousContainer&, const parser_callback_t) + + @liveexample{The example below demonstrates the `parse()` function with + and without callback function.,parse__string__parser_callback_t} + + @sa @ref parse(std::istream&, const parser_callback_t) for a version that + reads from an input stream + + @since version 1.0.0 (originally for @ref string_t) + */ + template< + typename CharT, + typename std::enable_if< + std::is_pointer::value and + std::is_integral::type>::value and + sizeof(typename std::remove_pointer::type) == 1, + int>::type = 0> + static basic_json parse(const CharT s, const parser_callback_t cb = nullptr) { + return parser(reinterpret_cast(s), cb).parse(); + } + + /*! + @brief deserialize from stream + + @param[in,out] i stream to read a serialized JSON value from + @param[in] cb a parser callback function of type @ref parser_callback_t + which is used to control the deserialization by filtering unwanted values + (optional) + + @return result of the deserialization + + @complexity Linear in the length of the input. The parser is a predictive + LL(1) parser. The complexity can be higher if the parser callback function + @a cb has a super-linear complexity. + + @note A UTF-8 byte order mark is silently ignored. + + @liveexample{The example below demonstrates the `parse()` function with + and without callback function.,parse__istream__parser_callback_t} + + @sa @ref parse(const CharT, const parser_callback_t) for a version + that reads from a string + + @since version 1.0.0 + */ + static basic_json parse(std::istream& i, + const parser_callback_t cb = nullptr) { + return parser(i, cb).parse(); + } + + /*! + @copydoc parse(std::istream&, const parser_callback_t) + */ + static basic_json parse(std::istream&& i, + const parser_callback_t cb = nullptr) { + return parser(i, cb).parse(); + } + + /*! + @brief deserialize from an iterator range with contiguous storage + + This function reads from an iterator range of a container with contiguous + storage of 1-byte values. Compatible container types include + `std::vector`, `std::string`, `std::array`, `std::valarray`, and + `std::initializer_list`. Furthermore, C-style arrays can be used with + `std::begin()`/`std::end()`. User-defined containers can be used as long + as they implement random-access iterators and a contiguous storage. + + @pre The iterator range is contiguous. Violating this precondition yields + undefined behavior. **This precondition is enforced with an assertion.** + @pre Each element in the range has a size of 1 byte. Violating this + precondition yields undefined behavior. **This precondition is enforced + with a static assertion.** + + @warning There is no way to enforce all preconditions at compile-time. If + the function is called with noncompliant iterators and with + assertions switched off, the behavior is undefined and will most + likely yield segmentation violation. + + @tparam IteratorType iterator of container with contiguous storage + @param[in] first begin of the range to parse (included) + @param[in] last end of the range to parse (excluded) + @param[in] cb a parser callback function of type @ref parser_callback_t + which is used to control the deserialization by filtering unwanted values + (optional) + + @return result of the deserialization + + @complexity Linear in the length of the input. The parser is a predictive + LL(1) parser. The complexity can be higher if the parser callback function + @a cb has a super-linear complexity. + + @note A UTF-8 byte order mark is silently ignored. + + @liveexample{The example below demonstrates the `parse()` function reading + from an iterator range.,parse__iteratortype__parser_callback_t} + + @since version 2.0.3 + */ + template::iterator_category>::value, + int>::type = 0> + static basic_json parse(IteratorType first, IteratorType last, + const parser_callback_t cb = nullptr) { + // assertion to check that the iterator range is indeed contiguous, + // see http://stackoverflow.com/a/35008842/266378 for more discussion + assert(std::accumulate( + first, last, std::pair(true, 0), + [&first](std::pair res, decltype(*first) val) { + res.first &= + (val == *(std::next(std::addressof(*first), res.second++))); + return res; + }) + .first); + + // assertion to check that each element is 1 byte long + static_assert( + sizeof(typename std::iterator_traits::value_type) == 1, + "each element in the iterator range must have the size of 1 byte"); + + // if iterator range is empty, create a parser with an empty string + // to generate "unexpected EOF" error message + if (std::distance(first, last) <= 0) { + return parser("").parse(); + } + + return parser(first, last, cb).parse(); + } + + /*! + @brief deserialize from a container with contiguous storage + + This function reads from a container with contiguous storage of 1-byte + values. Compatible container types include `std::vector`, `std::string`, + `std::array`, and `std::initializer_list`. User-defined containers can be + used as long as they implement random-access iterators and a contiguous + storage. + + @pre The container storage is contiguous. Violating this precondition + yields undefined behavior. **This precondition is enforced with an + assertion.** + @pre Each element of the container has a size of 1 byte. Violating this + precondition yields undefined behavior. **This precondition is enforced + with a static assertion.** + + @warning There is no way to enforce all preconditions at compile-time. If + the function is called with a noncompliant container and with + assertions switched off, the behavior is undefined and will most + likely yield segmentation violation. + + @tparam ContiguousContainer container type with contiguous storage + @param[in] c container to read from + @param[in] cb a parser callback function of type @ref parser_callback_t + which is used to control the deserialization by filtering unwanted values + (optional) + + @return result of the deserialization + + @complexity Linear in the length of the input. The parser is a predictive + LL(1) parser. The complexity can be higher if the parser callback function + @a cb has a super-linear complexity. + + @note A UTF-8 byte order mark is silently ignored. + + @liveexample{The example below demonstrates the `parse()` function reading + from a contiguous container.,parse__contiguouscontainer__parser_callback_t} + + @since version 2.0.3 + */ + template< + class ContiguousContainer, + typename std::enable_if< + not std::is_pointer::value and + std::is_base_of()))>:: + iterator_category>::value, + int>::type = 0> + static basic_json parse(const ContiguousContainer& c, + const parser_callback_t cb = nullptr) { + // delegate the call to the iterator-range parse overload + return parse(std::begin(c), std::end(c), cb); + } + + /*! + @brief deserialize from stream + + Deserializes an input stream to a JSON value. + + @param[in,out] i input stream to read a serialized JSON value from + @param[in,out] j JSON value to write the deserialized input to + + @throw std::invalid_argument in case of parse errors + + @complexity Linear in the length of the input. The parser is a predictive + LL(1) parser. + + @note A UTF-8 byte order mark is silently ignored. + + @liveexample{The example below shows how a JSON value is constructed by + reading a serialization from a stream.,operator_deserialize} + + @sa parse(std::istream&, const parser_callback_t) for a variant with a + parser callback function to filter values while parsing + + @since version 1.0.0 + */ + friend std::istream& operator<<(basic_json& j, std::istream& i) { + j = parser(i).parse(); + return i; + } + + /*! + @brief deserialize from stream + @copydoc operator<<(basic_json&, std::istream&) + */ + friend std::istream& operator>>(std::istream& i, basic_json& j) { + j = parser(i).parse(); + return i; + } + + /// @} + + ////////////////////////////////////////// + // binary serialization/deserialization // + ////////////////////////////////////////// + + /// @name binary serialization/deserialization support + /// @{ + + private: + /*! + @note Some code in the switch cases has been copied, because otherwise + copilers would complain about implicit fallthrough and there is no + portable attribute to mute such warnings. + */ + template + static void add_to_vector(std::vector& vec, size_t bytes, + const T number) { + assert(bytes == 1 or bytes == 2 or bytes == 4 or bytes == 8); + + switch (bytes) { + case 8: { + vec.push_back( + static_cast((static_cast(number) >> 070) & 0xff)); + vec.push_back( + static_cast((static_cast(number) >> 060) & 0xff)); + vec.push_back( + static_cast((static_cast(number) >> 050) & 0xff)); + vec.push_back( + static_cast((static_cast(number) >> 040) & 0xff)); + vec.push_back(static_cast((number >> 030) & 0xff)); + vec.push_back(static_cast((number >> 020) & 0xff)); + vec.push_back(static_cast((number >> 010) & 0xff)); + vec.push_back(static_cast(number & 0xff)); + break; + } + + case 4: { + vec.push_back(static_cast((number >> 030) & 0xff)); + vec.push_back(static_cast((number >> 020) & 0xff)); + vec.push_back(static_cast((number >> 010) & 0xff)); + vec.push_back(static_cast(number & 0xff)); + break; + } + + case 2: { + vec.push_back(static_cast((number >> 010) & 0xff)); + vec.push_back(static_cast(number & 0xff)); + break; + } + + case 1: { + vec.push_back(static_cast(number & 0xff)); + break; + } + } + } + + /*! + @brief take sufficient bytes from a vector to fill an integer variable + + In the context of binary serialization formats, we need to read several + bytes from a byte vector and combine them to multi-byte integral data + types. + + @param[in] vec byte vector to read from + @param[in] current_index the position in the vector after which to read + + @return the next sizeof(T) bytes from @a vec, in reverse order as T + + @tparam T the integral return type + + @throw std::out_of_range if there are less than sizeof(T)+1 bytes in the + vector @a vec to read + + In the for loop, the bytes from the vector are copied in reverse order into + the return value. In the figures below, let sizeof(T)=4 and `i` be the loop + variable. + + Precondition: + + vec: | | | a | b | c | d | T: | | | | | + ^ ^ ^ ^ + current_index i ptr sizeof(T) + + Postcondition: + + vec: | | | a | b | c | d | T: | d | c | b | a | + ^ ^ ^ + | i ptr + current_index + + @sa Code adapted from . + */ + template + static T get_from_vector(const std::vector& vec, + const size_t current_index) { + if (current_index + sizeof(T) + 1 > vec.size()) { + JSON_THROW(std::out_of_range("cannot read " + std::to_string(sizeof(T)) + + " bytes from vector")); + } + + T result; + auto* ptr = reinterpret_cast(&result); + for (size_t i = 0; i < sizeof(T); ++i) { + *ptr++ = vec[current_index + sizeof(T) - i]; + } + return result; + } + + /*! + @brief create a MessagePack serialization of a given JSON value + + This is a straightforward implementation of the MessagePack specification. + + @param[in] j JSON value to serialize + @param[in,out] v byte vector to write the serialization to + + @sa https://github.com/msgpack/msgpack/blob/master/spec.md + */ + static void to_msgpack_internal(const basic_json& j, + std::vector& v) { + switch (j.type()) { + case value_t::null: { + // nil + v.push_back(0xc0); + break; + } + + case value_t::boolean: { + // true and false + v.push_back(j.m_value.boolean ? 0xc3 : 0xc2); + break; + } + + case value_t::number_integer: { + if (j.m_value.number_integer >= 0) { + // MessagePack does not differentiate between positive + // signed integers and unsigned integers. Therefore, we + // used the code from the value_t::number_unsigned case + // here. + if (j.m_value.number_unsigned < 128) { + // positive fixnum + add_to_vector(v, 1, j.m_value.number_unsigned); + } else if (j.m_value.number_unsigned <= + std::numeric_limits::max()) { + // uint 8 + v.push_back(0xcc); + add_to_vector(v, 1, j.m_value.number_unsigned); + } else if (j.m_value.number_unsigned <= + std::numeric_limits::max()) { + // uint 16 + v.push_back(0xcd); + add_to_vector(v, 2, j.m_value.number_unsigned); + } else if (j.m_value.number_unsigned <= + std::numeric_limits::max()) { + // uint 32 + v.push_back(0xce); + add_to_vector(v, 4, j.m_value.number_unsigned); + } else if (j.m_value.number_unsigned <= + std::numeric_limits::max()) { + // uint 64 + v.push_back(0xcf); + add_to_vector(v, 8, j.m_value.number_unsigned); + } + } else { + if (j.m_value.number_integer >= -32) { + // negative fixnum + add_to_vector(v, 1, j.m_value.number_integer); + } else if (j.m_value.number_integer >= + std::numeric_limits::min() and + j.m_value.number_integer <= + std::numeric_limits::max()) { + // int 8 + v.push_back(0xd0); + add_to_vector(v, 1, j.m_value.number_integer); + } else if (j.m_value.number_integer >= + std::numeric_limits::min() and + j.m_value.number_integer <= + std::numeric_limits::max()) { + // int 16 + v.push_back(0xd1); + add_to_vector(v, 2, j.m_value.number_integer); + } else if (j.m_value.number_integer >= + std::numeric_limits::min() and + j.m_value.number_integer <= + std::numeric_limits::max()) { + // int 32 + v.push_back(0xd2); + add_to_vector(v, 4, j.m_value.number_integer); + } else if (j.m_value.number_integer >= + std::numeric_limits::min() and + j.m_value.number_integer <= + std::numeric_limits::max()) { + // int 64 + v.push_back(0xd3); + add_to_vector(v, 8, j.m_value.number_integer); + } + } + break; + } + + case value_t::number_unsigned: { + if (j.m_value.number_unsigned < 128) { + // positive fixnum + add_to_vector(v, 1, j.m_value.number_unsigned); + } else if (j.m_value.number_unsigned <= + std::numeric_limits::max()) { + // uint 8 + v.push_back(0xcc); + add_to_vector(v, 1, j.m_value.number_unsigned); + } else if (j.m_value.number_unsigned <= + std::numeric_limits::max()) { + // uint 16 + v.push_back(0xcd); + add_to_vector(v, 2, j.m_value.number_unsigned); + } else if (j.m_value.number_unsigned <= + std::numeric_limits::max()) { + // uint 32 + v.push_back(0xce); + add_to_vector(v, 4, j.m_value.number_unsigned); + } else if (j.m_value.number_unsigned <= + std::numeric_limits::max()) { + // uint 64 + v.push_back(0xcf); + add_to_vector(v, 8, j.m_value.number_unsigned); + } + break; + } + + case value_t::number_float: { + // float 64 + v.push_back(0xcb); + const auto* helper = + reinterpret_cast(&(j.m_value.number_float)); + for (size_t i = 0; i < 8; ++i) { + v.push_back(helper[7 - i]); + } + break; + } + + case value_t::string: { + const auto N = j.m_value.string->size(); + if (N <= 31) { + // fixstr + v.push_back(static_cast(0xa0 | N)); + } else if (N <= 255) { + // str 8 + v.push_back(0xd9); + add_to_vector(v, 1, N); + } else if (N <= 65535) { + // str 16 + v.push_back(0xda); + add_to_vector(v, 2, N); + } else if (N <= 4294967295) { + // str 32 + v.push_back(0xdb); + add_to_vector(v, 4, N); + } + + // append string + std::copy(j.m_value.string->begin(), j.m_value.string->end(), + std::back_inserter(v)); + break; + } + + case value_t::array: { + const auto N = j.m_value.array->size(); + if (N <= 15) { + // fixarray + v.push_back(static_cast(0x90 | N)); + } else if (N <= 0xffff) { + // array 16 + v.push_back(0xdc); + add_to_vector(v, 2, N); + } else if (N <= 0xffffffff) { + // array 32 + v.push_back(0xdd); + add_to_vector(v, 4, N); + } + + // append each element + for (const auto& el : *j.m_value.array) { + to_msgpack_internal(el, v); + } + break; + } + + case value_t::object: { + const auto N = j.m_value.object->size(); + if (N <= 15) { + // fixmap + v.push_back(static_cast(0x80 | (N & 0xf))); + } else if (N <= 65535) { + // map 16 + v.push_back(0xde); + add_to_vector(v, 2, N); + } else if (N <= 4294967295) { + // map 32 + v.push_back(0xdf); + add_to_vector(v, 4, N); + } + + // append each element + for (const auto& el : *j.m_value.object) { + to_msgpack_internal(el.first, v); + to_msgpack_internal(el.second, v); + } + break; + } + + default: { break; } + } + } + + /*! + @brief create a CBOR serialization of a given JSON value + + This is a straightforward implementation of the CBOR specification. + + @param[in] j JSON value to serialize + @param[in,out] v byte vector to write the serialization to + + @sa https://tools.ietf.org/html/rfc7049 + */ + static void to_cbor_internal(const basic_json& j, std::vector& v) { + switch (j.type()) { + case value_t::null: { + v.push_back(0xf6); + break; + } + + case value_t::boolean: { + v.push_back(j.m_value.boolean ? 0xf5 : 0xf4); + break; + } + + case value_t::number_integer: { + if (j.m_value.number_integer >= 0) { + // CBOR does not differentiate between positive signed + // integers and unsigned integers. Therefore, we used the + // code from the value_t::number_unsigned case here. + if (j.m_value.number_integer <= 0x17) { + add_to_vector(v, 1, j.m_value.number_integer); + } else if (j.m_value.number_integer <= + std::numeric_limits::max()) { + v.push_back(0x18); + // one-byte uint8_t + add_to_vector(v, 1, j.m_value.number_integer); + } else if (j.m_value.number_integer <= + std::numeric_limits::max()) { + v.push_back(0x19); + // two-byte uint16_t + add_to_vector(v, 2, j.m_value.number_integer); + } else if (j.m_value.number_integer <= + std::numeric_limits::max()) { + v.push_back(0x1a); + // four-byte uint32_t + add_to_vector(v, 4, j.m_value.number_integer); + } else { + v.push_back(0x1b); + // eight-byte uint64_t + add_to_vector(v, 8, j.m_value.number_integer); + } + } else { + // The conversions below encode the sign in the first + // byte, and the value is converted to a positive number. + const auto positive_number = -1 - j.m_value.number_integer; + if (j.m_value.number_integer >= -24) { + v.push_back(static_cast(0x20 + positive_number)); + } else if (positive_number <= std::numeric_limits::max()) { + // int 8 + v.push_back(0x38); + add_to_vector(v, 1, positive_number); + } else if (positive_number <= std::numeric_limits::max()) { + // int 16 + v.push_back(0x39); + add_to_vector(v, 2, positive_number); + } else if (positive_number <= std::numeric_limits::max()) { + // int 32 + v.push_back(0x3a); + add_to_vector(v, 4, positive_number); + } else { + // int 64 + v.push_back(0x3b); + add_to_vector(v, 8, positive_number); + } + } + break; + } + + case value_t::number_unsigned: { + if (j.m_value.number_unsigned <= 0x17) { + v.push_back(static_cast(j.m_value.number_unsigned)); + } else if (j.m_value.number_unsigned <= 0xff) { + v.push_back(0x18); + // one-byte uint8_t + add_to_vector(v, 1, j.m_value.number_unsigned); + } else if (j.m_value.number_unsigned <= 0xffff) { + v.push_back(0x19); + // two-byte uint16_t + add_to_vector(v, 2, j.m_value.number_unsigned); + } else if (j.m_value.number_unsigned <= 0xffffffff) { + v.push_back(0x1a); + // four-byte uint32_t + add_to_vector(v, 4, j.m_value.number_unsigned); + } else if (j.m_value.number_unsigned <= 0xffffffffffffffff) { + v.push_back(0x1b); + // eight-byte uint64_t + add_to_vector(v, 8, j.m_value.number_unsigned); + } + break; + } + + case value_t::number_float: { + // Double-Precision Float + v.push_back(0xfb); + const auto* helper = + reinterpret_cast(&(j.m_value.number_float)); + for (size_t i = 0; i < 8; ++i) { + v.push_back(helper[7 - i]); + } + break; + } + + case value_t::string: { + const auto N = j.m_value.string->size(); + if (N <= 0x17) { + v.push_back(0x60 + + static_cast(N)); // 1 byte for string + size + } else if (N <= 0xff) { + v.push_back(0x78); // one-byte uint8_t for N + add_to_vector(v, 1, N); + } else if (N <= 0xffff) { + v.push_back(0x79); // two-byte uint16_t for N + add_to_vector(v, 2, N); + } else if (N <= 0xffffffff) { + v.push_back(0x7a); // four-byte uint32_t for N + add_to_vector(v, 4, N); + } + // LCOV_EXCL_START + else if (N <= 0xffffffffffffffff) { + v.push_back(0x7b); // eight-byte uint64_t for N + add_to_vector(v, 8, N); + } + // LCOV_EXCL_STOP + + // append string + std::copy(j.m_value.string->begin(), j.m_value.string->end(), + std::back_inserter(v)); + break; + } + + case value_t::array: { + const auto N = j.m_value.array->size(); + if (N <= 0x17) { + v.push_back(0x80 + + static_cast(N)); // 1 byte for array + size + } else if (N <= 0xff) { + v.push_back(0x98); // one-byte uint8_t for N + add_to_vector(v, 1, N); + } else if (N <= 0xffff) { + v.push_back(0x99); // two-byte uint16_t for N + add_to_vector(v, 2, N); + } else if (N <= 0xffffffff) { + v.push_back(0x9a); // four-byte uint32_t for N + add_to_vector(v, 4, N); + } + // LCOV_EXCL_START + else if (N <= 0xffffffffffffffff) { + v.push_back(0x9b); // eight-byte uint64_t for N + add_to_vector(v, 8, N); + } + // LCOV_EXCL_STOP + + // append each element + for (const auto& el : *j.m_value.array) { + to_cbor_internal(el, v); + } + break; + } + + case value_t::object: { + const auto N = j.m_value.object->size(); + if (N <= 0x17) { + v.push_back(0xa0 + + static_cast(N)); // 1 byte for object + size + } else if (N <= 0xff) { + v.push_back(0xb8); + add_to_vector(v, 1, N); // one-byte uint8_t for N + } else if (N <= 0xffff) { + v.push_back(0xb9); + add_to_vector(v, 2, N); // two-byte uint16_t for N + } else if (N <= 0xffffffff) { + v.push_back(0xba); + add_to_vector(v, 4, N); // four-byte uint32_t for N + } + // LCOV_EXCL_START + else if (N <= 0xffffffffffffffff) { + v.push_back(0xbb); + add_to_vector(v, 8, N); // eight-byte uint64_t for N + } + // LCOV_EXCL_STOP + + // append each element + for (const auto& el : *j.m_value.object) { + to_cbor_internal(el.first, v); + to_cbor_internal(el.second, v); + } + break; + } + + default: { break; } + } + } + + /* + @brief checks if given lengths do not exceed the size of a given vector + + To secure the access to the byte vector during CBOR/MessagePack + deserialization, bytes are copied from the vector into buffers. This + function checks if the number of bytes to copy (@a len) does not exceed + the size @s size of the vector. Additionally, an @a offset is given from + where to start reading the bytes. + + This function checks whether reading the bytes is safe; that is, offset is + a valid index in the vector, offset+len + + @param[in] size size of the byte vector + @param[in] len number of bytes to read + @param[in] offset offset where to start reading + + vec: x x x x x X X X X X + ^ ^ ^ + 0 offset len + + @throws out_of_range if `len > v.size()` + */ + static void check_length(const size_t size, const size_t len, + const size_t offset) { + // simple case: requested length is greater than the vector's length + if (len > size or offset > size) { + JSON_THROW(std::out_of_range("len out of range")); + } + + // second case: adding offset would result in overflow + if ((size > (std::numeric_limits::max() - offset))) { + JSON_THROW(std::out_of_range("len+offset out of range")); + } + + // last case: reading past the end of the vector + if (len + offset > size) { + JSON_THROW(std::out_of_range("len+offset out of range")); + } + } + + /*! + @brief create a JSON value from a given MessagePack vector + + @param[in] v MessagePack serialization + @param[in] idx byte index to start reading from @a v + + @return deserialized JSON value + + @throw std::invalid_argument if unsupported features from MessagePack were + used in the given vector @a v or if the input is not valid MessagePack + @throw std::out_of_range if the given vector ends prematurely + + @sa https://github.com/msgpack/msgpack/blob/master/spec.md + */ + static basic_json from_msgpack_internal(const std::vector& v, + size_t& idx) { + // make sure reading 1 byte is safe + check_length(v.size(), 1, idx); + + // store and increment index + const size_t current_idx = idx++; + + if (v[current_idx] <= 0xbf) { + if (v[current_idx] <= 0x7f) // positive fixint + { + return v[current_idx]; + } + if (v[current_idx] <= 0x8f) // fixmap + { + basic_json result = value_t::object; + const size_t len = v[current_idx] & 0x0f; + for (size_t i = 0; i < len; ++i) { + std::string key = from_msgpack_internal(v, idx); + result[key] = from_msgpack_internal(v, idx); + } + return result; + } else if (v[current_idx] <= 0x9f) // fixarray + { + basic_json result = value_t::array; + const size_t len = v[current_idx] & 0x0f; + for (size_t i = 0; i < len; ++i) { + result.push_back(from_msgpack_internal(v, idx)); + } + return result; + } else // fixstr + { + const size_t len = v[current_idx] & 0x1f; + const size_t offset = current_idx + 1; + idx += len; // skip content bytes + check_length(v.size(), len, offset); + return std::string(reinterpret_cast(v.data()) + offset, + len); + } + } else if (v[current_idx] >= 0xe0) // negative fixint + { + return static_cast(v[current_idx]); + } else { + switch (v[current_idx]) { + case 0xc0: // nil + { + return value_t::null; + } + + case 0xc2: // false + { + return false; + } + + case 0xc3: // true + { + return true; + } + + case 0xca: // float 32 + { + // copy bytes in reverse order into the double variable + float res; + for (size_t byte = 0; byte < sizeof(float); ++byte) { + reinterpret_cast(&res)[sizeof(float) - byte - 1] = + v.at(current_idx + 1 + byte); + } + idx += sizeof(float); // skip content bytes + return res; + } + + case 0xcb: // float 64 + { + // copy bytes in reverse order into the double variable + double res; + for (size_t byte = 0; byte < sizeof(double); ++byte) { + reinterpret_cast(&res)[sizeof(double) - byte - 1] = + v.at(current_idx + 1 + byte); + } + idx += sizeof(double); // skip content bytes + return res; + } + + case 0xcc: // uint 8 + { + idx += 1; // skip content byte + return get_from_vector(v, current_idx); + } + + case 0xcd: // uint 16 + { + idx += 2; // skip 2 content bytes + return get_from_vector(v, current_idx); + } + + case 0xce: // uint 32 + { + idx += 4; // skip 4 content bytes + return get_from_vector(v, current_idx); + } + + case 0xcf: // uint 64 + { + idx += 8; // skip 8 content bytes + return get_from_vector(v, current_idx); + } + + case 0xd0: // int 8 + { + idx += 1; // skip content byte + return get_from_vector(v, current_idx); + } + + case 0xd1: // int 16 + { + idx += 2; // skip 2 content bytes + return get_from_vector(v, current_idx); + } + + case 0xd2: // int 32 + { + idx += 4; // skip 4 content bytes + return get_from_vector(v, current_idx); + } + + case 0xd3: // int 64 + { + idx += 8; // skip 8 content bytes + return get_from_vector(v, current_idx); + } + + case 0xd9: // str 8 + { + const auto len = + static_cast(get_from_vector(v, current_idx)); + const size_t offset = current_idx + 2; + idx += len + 1; // skip size byte + content bytes + check_length(v.size(), len, offset); + return std::string(reinterpret_cast(v.data()) + offset, + len); + } + + case 0xda: // str 16 + { + const auto len = + static_cast(get_from_vector(v, current_idx)); + const size_t offset = current_idx + 3; + idx += len + 2; // skip 2 size bytes + content bytes + check_length(v.size(), len, offset); + return std::string(reinterpret_cast(v.data()) + offset, + len); + } + + case 0xdb: // str 32 + { + const auto len = + static_cast(get_from_vector(v, current_idx)); + const size_t offset = current_idx + 5; + idx += len + 4; // skip 4 size bytes + content bytes + check_length(v.size(), len, offset); + return std::string(reinterpret_cast(v.data()) + offset, + len); + } + + case 0xdc: // array 16 + { + basic_json result = value_t::array; + const auto len = + static_cast(get_from_vector(v, current_idx)); + idx += 2; // skip 2 size bytes + for (size_t i = 0; i < len; ++i) { + result.push_back(from_msgpack_internal(v, idx)); + } + return result; + } + + case 0xdd: // array 32 + { + basic_json result = value_t::array; + const auto len = + static_cast(get_from_vector(v, current_idx)); + idx += 4; // skip 4 size bytes + for (size_t i = 0; i < len; ++i) { + result.push_back(from_msgpack_internal(v, idx)); + } + return result; + } + + case 0xde: // map 16 + { + basic_json result = value_t::object; + const auto len = + static_cast(get_from_vector(v, current_idx)); + idx += 2; // skip 2 size bytes + for (size_t i = 0; i < len; ++i) { + std::string key = from_msgpack_internal(v, idx); + result[key] = from_msgpack_internal(v, idx); + } + return result; + } + + case 0xdf: // map 32 + { + basic_json result = value_t::object; + const auto len = + static_cast(get_from_vector(v, current_idx)); + idx += 4; // skip 4 size bytes + for (size_t i = 0; i < len; ++i) { + std::string key = from_msgpack_internal(v, idx); + result[key] = from_msgpack_internal(v, idx); + } + return result; + } + + default: { + JSON_THROW(std::invalid_argument( + "error parsing a msgpack @ " + std::to_string(current_idx) + ": " + + std::to_string(static_cast(v[current_idx])))); + } + } + } + } + + /*! + @brief create a JSON value from a given CBOR vector + + @param[in] v CBOR serialization + @param[in] idx byte index to start reading from @a v + + @return deserialized JSON value + + @throw std::invalid_argument if unsupported features from CBOR were used in + the given vector @a v or if the input is not valid CBOR + @throw std::out_of_range if the given vector ends prematurely + + @sa https://tools.ietf.org/html/rfc7049 + */ + static basic_json from_cbor_internal(const std::vector& v, + size_t& idx) { + // store and increment index + const size_t current_idx = idx++; + + switch (v.at(current_idx)) { + // Integer 0x00..0x17 (0..23) + case 0x00: + case 0x01: + case 0x02: + case 0x03: + case 0x04: + case 0x05: + case 0x06: + case 0x07: + case 0x08: + case 0x09: + case 0x0a: + case 0x0b: + case 0x0c: + case 0x0d: + case 0x0e: + case 0x0f: + case 0x10: + case 0x11: + case 0x12: + case 0x13: + case 0x14: + case 0x15: + case 0x16: + case 0x17: { + return v[current_idx]; + } + + case 0x18: // Unsigned integer (one-byte uint8_t follows) + { + idx += 1; // skip content byte + return get_from_vector(v, current_idx); + } + + case 0x19: // Unsigned integer (two-byte uint16_t follows) + { + idx += 2; // skip 2 content bytes + return get_from_vector(v, current_idx); + } + + case 0x1a: // Unsigned integer (four-byte uint32_t follows) + { + idx += 4; // skip 4 content bytes + return get_from_vector(v, current_idx); + } + + case 0x1b: // Unsigned integer (eight-byte uint64_t follows) + { + idx += 8; // skip 8 content bytes + return get_from_vector(v, current_idx); + } + + // Negative integer -1-0x00..-1-0x17 (-1..-24) + case 0x20: + case 0x21: + case 0x22: + case 0x23: + case 0x24: + case 0x25: + case 0x26: + case 0x27: + case 0x28: + case 0x29: + case 0x2a: + case 0x2b: + case 0x2c: + case 0x2d: + case 0x2e: + case 0x2f: + case 0x30: + case 0x31: + case 0x32: + case 0x33: + case 0x34: + case 0x35: + case 0x36: + case 0x37: { + return static_cast(0x20 - 1 - v[current_idx]); + } + + case 0x38: // Negative integer (one-byte uint8_t follows) + { + idx += 1; // skip content byte + // must be uint8_t ! + return static_cast(-1) - + get_from_vector(v, current_idx); + } + + case 0x39: // Negative integer -1-n (two-byte uint16_t follows) + { + idx += 2; // skip 2 content bytes + return static_cast(-1) - + get_from_vector(v, current_idx); + } + + case 0x3a: // Negative integer -1-n (four-byte uint32_t follows) + { + idx += 4; // skip 4 content bytes + return static_cast(-1) - + get_from_vector(v, current_idx); + } + + case 0x3b: // Negative integer -1-n (eight-byte uint64_t follows) + { + idx += 8; // skip 8 content bytes + return static_cast(-1) - + static_cast( + get_from_vector(v, current_idx)); + } + + // UTF-8 string (0x00..0x17 bytes follow) + case 0x60: + case 0x61: + case 0x62: + case 0x63: + case 0x64: + case 0x65: + case 0x66: + case 0x67: + case 0x68: + case 0x69: + case 0x6a: + case 0x6b: + case 0x6c: + case 0x6d: + case 0x6e: + case 0x6f: + case 0x70: + case 0x71: + case 0x72: + case 0x73: + case 0x74: + case 0x75: + case 0x76: + case 0x77: { + const auto len = static_cast(v[current_idx] - 0x60); + const size_t offset = current_idx + 1; + idx += len; // skip content bytes + check_length(v.size(), len, offset); + return std::string(reinterpret_cast(v.data()) + offset, + len); + } + + case 0x78: // UTF-8 string (one-byte uint8_t for n follows) + { + const auto len = + static_cast(get_from_vector(v, current_idx)); + const size_t offset = current_idx + 2; + idx += len + 1; // skip size byte + content bytes + check_length(v.size(), len, offset); + return std::string(reinterpret_cast(v.data()) + offset, + len); + } + + case 0x79: // UTF-8 string (two-byte uint16_t for n follow) + { + const auto len = + static_cast(get_from_vector(v, current_idx)); + const size_t offset = current_idx + 3; + idx += len + 2; // skip 2 size bytes + content bytes + check_length(v.size(), len, offset); + return std::string(reinterpret_cast(v.data()) + offset, + len); + } + + case 0x7a: // UTF-8 string (four-byte uint32_t for n follow) + { + const auto len = + static_cast(get_from_vector(v, current_idx)); + const size_t offset = current_idx + 5; + idx += len + 4; // skip 4 size bytes + content bytes + check_length(v.size(), len, offset); + return std::string(reinterpret_cast(v.data()) + offset, + len); + } + + case 0x7b: // UTF-8 string (eight-byte uint64_t for n follow) + { + const auto len = + static_cast(get_from_vector(v, current_idx)); + const size_t offset = current_idx + 9; + idx += len + 8; // skip 8 size bytes + content bytes + check_length(v.size(), len, offset); + return std::string(reinterpret_cast(v.data()) + offset, + len); + } + + case 0x7f: // UTF-8 string (indefinite length) + { + std::string result; + while (v.at(idx) != 0xff) { + string_t s = from_cbor_internal(v, idx); + result += s; + } + // skip break byte (0xFF) + idx += 1; + return result; + } + + // array (0x00..0x17 data items follow) + case 0x80: + case 0x81: + case 0x82: + case 0x83: + case 0x84: + case 0x85: + case 0x86: + case 0x87: + case 0x88: + case 0x89: + case 0x8a: + case 0x8b: + case 0x8c: + case 0x8d: + case 0x8e: + case 0x8f: + case 0x90: + case 0x91: + case 0x92: + case 0x93: + case 0x94: + case 0x95: + case 0x96: + case 0x97: { + basic_json result = value_t::array; + const auto len = static_cast(v[current_idx] - 0x80); + for (size_t i = 0; i < len; ++i) { + result.push_back(from_cbor_internal(v, idx)); + } + return result; + } + + case 0x98: // array (one-byte uint8_t for n follows) + { + basic_json result = value_t::array; + const auto len = + static_cast(get_from_vector(v, current_idx)); + idx += 1; // skip 1 size byte + for (size_t i = 0; i < len; ++i) { + result.push_back(from_cbor_internal(v, idx)); + } + return result; + } + + case 0x99: // array (two-byte uint16_t for n follow) + { + basic_json result = value_t::array; + const auto len = + static_cast(get_from_vector(v, current_idx)); + idx += 2; // skip 4 size bytes + for (size_t i = 0; i < len; ++i) { + result.push_back(from_cbor_internal(v, idx)); + } + return result; + } + + case 0x9a: // array (four-byte uint32_t for n follow) + { + basic_json result = value_t::array; + const auto len = + static_cast(get_from_vector(v, current_idx)); + idx += 4; // skip 4 size bytes + for (size_t i = 0; i < len; ++i) { + result.push_back(from_cbor_internal(v, idx)); + } + return result; + } + + case 0x9b: // array (eight-byte uint64_t for n follow) + { + basic_json result = value_t::array; + const auto len = + static_cast(get_from_vector(v, current_idx)); + idx += 8; // skip 8 size bytes + for (size_t i = 0; i < len; ++i) { + result.push_back(from_cbor_internal(v, idx)); + } + return result; + } + + case 0x9f: // array (indefinite length) + { + basic_json result = value_t::array; + while (v.at(idx) != 0xff) { + result.push_back(from_cbor_internal(v, idx)); + } + // skip break byte (0xFF) + idx += 1; + return result; + } + + // map (0x00..0x17 pairs of data items follow) + case 0xa0: + case 0xa1: + case 0xa2: + case 0xa3: + case 0xa4: + case 0xa5: + case 0xa6: + case 0xa7: + case 0xa8: + case 0xa9: + case 0xaa: + case 0xab: + case 0xac: + case 0xad: + case 0xae: + case 0xaf: + case 0xb0: + case 0xb1: + case 0xb2: + case 0xb3: + case 0xb4: + case 0xb5: + case 0xb6: + case 0xb7: { + basic_json result = value_t::object; + const auto len = static_cast(v[current_idx] - 0xa0); + for (size_t i = 0; i < len; ++i) { + std::string key = from_cbor_internal(v, idx); + result[key] = from_cbor_internal(v, idx); + } + return result; + } + + case 0xb8: // map (one-byte uint8_t for n follows) + { + basic_json result = value_t::object; + const auto len = + static_cast(get_from_vector(v, current_idx)); + idx += 1; // skip 1 size byte + for (size_t i = 0; i < len; ++i) { + std::string key = from_cbor_internal(v, idx); + result[key] = from_cbor_internal(v, idx); + } + return result; + } + + case 0xb9: // map (two-byte uint16_t for n follow) + { + basic_json result = value_t::object; + const auto len = + static_cast(get_from_vector(v, current_idx)); + idx += 2; // skip 2 size bytes + for (size_t i = 0; i < len; ++i) { + std::string key = from_cbor_internal(v, idx); + result[key] = from_cbor_internal(v, idx); + } + return result; + } + + case 0xba: // map (four-byte uint32_t for n follow) + { + basic_json result = value_t::object; + const auto len = + static_cast(get_from_vector(v, current_idx)); + idx += 4; // skip 4 size bytes + for (size_t i = 0; i < len; ++i) { + std::string key = from_cbor_internal(v, idx); + result[key] = from_cbor_internal(v, idx); + } + return result; + } + + case 0xbb: // map (eight-byte uint64_t for n follow) + { + basic_json result = value_t::object; + const auto len = + static_cast(get_from_vector(v, current_idx)); + idx += 8; // skip 8 size bytes + for (size_t i = 0; i < len; ++i) { + std::string key = from_cbor_internal(v, idx); + result[key] = from_cbor_internal(v, idx); + } + return result; + } + + case 0xbf: // map (indefinite length) + { + basic_json result = value_t::object; + while (v.at(idx) != 0xff) { + std::string key = from_cbor_internal(v, idx); + result[key] = from_cbor_internal(v, idx); + } + // skip break byte (0xFF) + idx += 1; + return result; + } + + case 0xf4: // false + { + return false; + } + + case 0xf5: // true + { + return true; + } + + case 0xf6: // null + { + return value_t::null; + } + + case 0xf9: // Half-Precision Float (two-byte IEEE 754) + { + idx += 2; // skip two content bytes + + // code from RFC 7049, Appendix D, Figure 3: + // As half-precision floating-point numbers were only added to + // IEEE 754 in 2008, today's programming platforms often still + // only have limited support for them. It is very easy to + // include at least decoding support for them even without such + // support. An example of a small decoder for half-precision + // floating-point numbers in the C language is shown in Fig. 3. + const int half = (v.at(current_idx + 1) << 8) + v.at(current_idx + 2); + const int exp = (half >> 10) & 0x1f; + const int mant = half & 0x3ff; + double val; + if (exp == 0) { + val = std::ldexp(mant, -24); + } else if (exp != 31) { + val = std::ldexp(mant + 1024, exp - 25); + } else { + val = mant == 0 ? std::numeric_limits::infinity() + : std::numeric_limits::quiet_NaN(); + } + return (half & 0x8000) != 0 ? -val : val; + } + + case 0xfa: // Single-Precision Float (four-byte IEEE 754) + { + // copy bytes in reverse order into the float variable + float res; + for (size_t byte = 0; byte < sizeof(float); ++byte) { + reinterpret_cast(&res)[sizeof(float) - byte - 1] = + v.at(current_idx + 1 + byte); + } + idx += sizeof(float); // skip content bytes + return res; + } + + case 0xfb: // Double-Precision Float (eight-byte IEEE 754) + { + // copy bytes in reverse order into the double variable + double res; + for (size_t byte = 0; byte < sizeof(double); ++byte) { + reinterpret_cast(&res)[sizeof(double) - byte - 1] = + v.at(current_idx + 1 + byte); + } + idx += sizeof(double); // skip content bytes + return res; + } + + default: // anything else (0xFF is handled inside the other types) + { + JSON_THROW(std::invalid_argument( + "error parsing a CBOR @ " + std::to_string(current_idx) + ": " + + std::to_string(static_cast(v[current_idx])))); + } + } + } + + public: + /*! + @brief create a MessagePack serialization of a given JSON value + + Serializes a given JSON value @a j to a byte vector using the MessagePack + serialization format. MessagePack is a binary serialization format which + aims to be more compact than JSON itself, yet more efficient to parse. + + @param[in] j JSON value to serialize + @return MessagePack serialization as byte vector + + @complexity Linear in the size of the JSON value @a j. + + @liveexample{The example shows the serialization of a JSON value to a byte + vector in MessagePack format.,to_msgpack} + + @sa http://msgpack.org + @sa @ref from_msgpack(const std::vector&, const size_t) for the + analogous deserialization + @sa @ref to_cbor(const basic_json& for the related CBOR format + + @since version 2.0.9 + */ + static std::vector to_msgpack(const basic_json& j) { + std::vector result; + to_msgpack_internal(j, result); + return result; + } + + /*! + @brief create a JSON value from a byte vector in MessagePack format + + Deserializes a given byte vector @a v to a JSON value using the MessagePack + serialization format. + + @param[in] v a byte vector in MessagePack format + @param[in] start_index the index to start reading from @a v (0 by default) + @return deserialized JSON value + + @throw std::invalid_argument if unsupported features from MessagePack were + used in the given vector @a v or if the input is not valid MessagePack + @throw std::out_of_range if the given vector ends prematurely + + @complexity Linear in the size of the byte vector @a v. + + @liveexample{The example shows the deserialization of a byte vector in + MessagePack format to a JSON value.,from_msgpack} + + @sa http://msgpack.org + @sa @ref to_msgpack(const basic_json&) for the analogous serialization + @sa @ref from_cbor(const std::vector&, const size_t) for the + related CBOR format + + @since version 2.0.9, parameter @a start_index since 2.1.1 + */ + static basic_json from_msgpack(const std::vector& v, + const size_t start_index = 0) { + size_t i = start_index; + return from_msgpack_internal(v, i); + } + + /*! + @brief create a MessagePack serialization of a given JSON value + + Serializes a given JSON value @a j to a byte vector using the CBOR (Concise + Binary Object Representation) serialization format. CBOR is a binary + serialization format which aims to be more compact than JSON itself, yet + more efficient to parse. + + @param[in] j JSON value to serialize + @return MessagePack serialization as byte vector + + @complexity Linear in the size of the JSON value @a j. + + @liveexample{The example shows the serialization of a JSON value to a byte + vector in CBOR format.,to_cbor} + + @sa http://cbor.io + @sa @ref from_cbor(const std::vector&, const size_t) for the + analogous deserialization + @sa @ref to_msgpack(const basic_json& for the related MessagePack format + + @since version 2.0.9 + */ + static std::vector to_cbor(const basic_json& j) { + std::vector result; + to_cbor_internal(j, result); + return result; + } + + /*! + @brief create a JSON value from a byte vector in CBOR format + + Deserializes a given byte vector @a v to a JSON value using the CBOR + (Concise Binary Object Representation) serialization format. + + @param[in] v a byte vector in CBOR format + @param[in] start_index the index to start reading from @a v (0 by default) + @return deserialized JSON value + + @throw std::invalid_argument if unsupported features from CBOR were used in + the given vector @a v or if the input is not valid MessagePack + @throw std::out_of_range if the given vector ends prematurely + + @complexity Linear in the size of the byte vector @a v. + + @liveexample{The example shows the deserialization of a byte vector in CBOR + format to a JSON value.,from_cbor} + + @sa http://cbor.io + @sa @ref to_cbor(const basic_json&) for the analogous serialization + @sa @ref from_msgpack(const std::vector&, const size_t) for the + related MessagePack format + + @since version 2.0.9, parameter @a start_index since 2.1.1 + */ + static basic_json from_cbor(const std::vector& v, + const size_t start_index = 0) { + size_t i = start_index; + return from_cbor_internal(v, i); + } + + /// @} + + /////////////////////////// + // convenience functions // + /////////////////////////// + + /*! + @brief return the type as string + + Returns the type name as string to be used in error messages - usually to + indicate that a function was called on a wrong JSON type. + + @return basically a string representation of a the @a m_type member + + @complexity Constant. + + @liveexample{The following code exemplifies `type_name()` for all JSON + types.,type_name} + + @since version 1.0.0, public since 2.1.0 + */ + std::string type_name() const { + { + switch (m_type) { + case value_t::null: + return "null"; + case value_t::object: + return "object"; + case value_t::array: + return "array"; + case value_t::string: + return "string"; + case value_t::boolean: + return "boolean"; + case value_t::discarded: + return "discarded"; + default: + return "number"; + } + } + } + + private: + /*! + @brief calculates the extra space to escape a JSON string + + @param[in] s the string to escape + @return the number of characters required to escape string @a s + + @complexity Linear in the length of string @a s. + */ + static std::size_t extra_space(const string_t& s) noexcept { + return std::accumulate(s.begin(), s.end(), size_t{}, + [](size_t res, typename string_t::value_type c) { + switch (c) { + case '"': + case '\\': + case '\b': + case '\f': + case '\n': + case '\r': + case '\t': { + // from c (1 byte) to \x (2 bytes) + return res + 1; + } + + default: { + if (c >= 0x00 and c <= 0x1f) { + // from c (1 byte) to \uxxxx (6 bytes) + return res + 5; + } + + return res; + } + } + }); + } + + /*! + @brief escape a string + + Escape a string by replacing certain special characters by a sequence of + an escape character (backslash) and another character and other control + characters by a sequence of "\u" followed by a four-digit hex + representation. + + @param[in] s the string to escape + @return the escaped string + + @complexity Linear in the length of string @a s. + */ + static string_t escape_string(const string_t& s) { + const auto space = extra_space(s); + if (space == 0) { + return s; + } + + // create a result string of necessary size + string_t result(s.size() + space, '\\'); + std::size_t pos = 0; + + for (const auto& c : s) { + switch (c) { + // quotation mark (0x22) + case '"': { + result[pos + 1] = '"'; + pos += 2; + break; + } + + // reverse solidus (0x5c) + case '\\': { + // nothing to change + pos += 2; + break; + } + + // backspace (0x08) + case '\b': { + result[pos + 1] = 'b'; + pos += 2; + break; + } + + // formfeed (0x0c) + case '\f': { + result[pos + 1] = 'f'; + pos += 2; + break; + } + + // newline (0x0a) + case '\n': { + result[pos + 1] = 'n'; + pos += 2; + break; + } + + // carriage return (0x0d) + case '\r': { + result[pos + 1] = 'r'; + pos += 2; + break; + } + + // horizontal tab (0x09) + case '\t': { + result[pos + 1] = 't'; + pos += 2; + break; + } + + default: { + if (c >= 0x00 and c <= 0x1f) { + // convert a number 0..15 to its hex representation + // (0..f) + static const char hexify[16] = {'0', '1', '2', '3', '4', '5', + '6', '7', '8', '9', 'a', 'b', + 'c', 'd', 'e', 'f'}; + + // print character c as \uxxxx + for (const char m : + {'u', '0', '0', hexify[c >> 4], hexify[c & 0x0f]}) { + result[++pos] = m; + } + + ++pos; + } else { + // all other characters are added as-is + result[pos++] = c; + } + break; + } + } + } + + return result; + } + + /*! + @brief locale-independent serialization for built-in arithmetic types + */ + struct numtostr { + public: + template + numtostr(NumberType value) { + x_write(value, std::is_integral()); + } + + const char* c_str() const { return m_buf.data(); } + + private: + /// a (hopefully) large enough character buffer + std::array m_buf{{}}; + + template + void x_write(NumberType x, /*is_integral=*/std::true_type) { + // special case for "0" + if (x == 0) { + m_buf[0] = '0'; + return; + } + + const bool is_negative = x < 0; + size_t i = 0; + + // spare 1 byte for '\0' + while (x != 0 and i < m_buf.size() - 1) { + const auto digit = std::labs(static_cast(x % 10)); + m_buf[i++] = static_cast('0' + digit); + x /= 10; + } + + // make sure the number has been processed completely + assert(x == 0); + + if (is_negative) { + // make sure there is capacity for the '-' + assert(i < m_buf.size() - 2); + m_buf[i++] = '-'; + } + + std::reverse(m_buf.begin(), m_buf.begin() + i); + } + + template + void x_write(NumberType x, /*is_integral=*/std::false_type) { + // special case for 0.0 and -0.0 + if (x == 0) { + size_t i = 0; + if (std::signbit(x)) { + m_buf[i++] = '-'; + } + m_buf[i++] = '0'; + m_buf[i++] = '.'; + m_buf[i] = '0'; + return; + } + + // get number of digits for a text -> float -> text round-trip + static constexpr auto d = std::numeric_limits::digits10; + + // the actual conversion + const auto written_bytes = + snprintf(m_buf.data(), m_buf.size(), "%.*g", d, x); + + // negative value indicates an error + assert(written_bytes > 0); + // check if buffer was large enough + assert(static_cast(written_bytes) < m_buf.size()); + + // read information from locale + const auto loc = localeconv(); + assert(loc != nullptr); + const char thousands_sep = + !loc->thousands_sep ? '\0' : loc->thousands_sep[0]; + + const char decimal_point = + !loc->decimal_point ? '\0' : loc->decimal_point[0]; + + // erase thousands separator + if (thousands_sep != '\0') { + const auto end = std::remove( + m_buf.begin(), m_buf.begin() + written_bytes, thousands_sep); + std::fill(end, m_buf.end(), '\0'); + } + + // convert decimal point to '.' + if (decimal_point != '\0' and decimal_point != '.') { + for (auto& c : m_buf) { + if (c == decimal_point) { + c = '.'; + break; + } + } + } + + // determine if need to append ".0" + size_t i = 0; + bool value_is_int_like = true; + for (i = 0; i < m_buf.size(); ++i) { + // break when end of number is reached + if (m_buf[i] == '\0') { + break; + } + + // check if we find non-int character + value_is_int_like = value_is_int_like and m_buf[i] != '.' and + m_buf[i] != 'e' and m_buf[i] != 'E'; + } + + if (value_is_int_like) { + // there must be 2 bytes left for ".0" + assert((i + 2) < m_buf.size()); + // we write to the end of the number + assert(m_buf[i] == '\0'); + assert(m_buf[i - 1] != '\0'); + + // add ".0" + m_buf[i] = '.'; + m_buf[i + 1] = '0'; + + // the resulting string is properly terminated + assert(m_buf[i + 2] == '\0'); + } + } + }; + + /*! + @brief internal implementation of the serialization function + + This function is called by the public member function dump and organizes + the serialization internally. The indentation level is propagated as + additional parameter. In case of arrays and objects, the function is + called recursively. Note that + + - strings and object keys are escaped using `escape_string()` + - integer numbers are converted implicitly via `operator<<` + - floating-point numbers are converted to a string using `"%g"` format + + @param[out] o stream to write to + @param[in] pretty_print whether the output shall be pretty-printed + @param[in] indent_step the indent level + @param[in] current_indent the current indent level (only used internally) + */ + void dump(std::ostream& o, const bool pretty_print, + const unsigned int indent_step, + const unsigned int current_indent = 0) const { + // variable to hold indentation for recursive calls + unsigned int new_indent = current_indent; + + switch (m_type) { + case value_t::object: { + if (m_value.object->empty()) { + o << "{}"; + return; + } + + o << "{"; + + // increase indentation + if (pretty_print) { + new_indent += indent_step; + o << "\n"; + } + + for (auto i = m_value.object->cbegin(); i != m_value.object->cend(); + ++i) { + if (i != m_value.object->cbegin()) { + o << (pretty_print ? ",\n" : ","); + } + o << string_t(new_indent, ' ') << "\"" << escape_string(i->first) + << "\":" << (pretty_print ? " " : ""); + i->second.dump(o, pretty_print, indent_step, new_indent); + } + + // decrease indentation + if (pretty_print) { + new_indent -= indent_step; + o << "\n"; + } + + o << string_t(new_indent, ' ') + "}"; + return; + } + + case value_t::array: { + if (m_value.array->empty()) { + o << "[]"; + return; + } + + o << "["; + + // increase indentation + if (pretty_print) { + new_indent += indent_step; + o << "\n"; + } + + for (auto i = m_value.array->cbegin(); i != m_value.array->cend(); + ++i) { + if (i != m_value.array->cbegin()) { + o << (pretty_print ? ",\n" : ","); + } + o << string_t(new_indent, ' '); + i->dump(o, pretty_print, indent_step, new_indent); + } + + // decrease indentation + if (pretty_print) { + new_indent -= indent_step; + o << "\n"; + } + + o << string_t(new_indent, ' ') << "]"; + return; + } + + case value_t::string: { + o << string_t("\"") << escape_string(*m_value.string) << "\""; + return; + } + + case value_t::boolean: { + o << (m_value.boolean ? "true" : "false"); + return; + } + + case value_t::number_integer: { + o << numtostr(m_value.number_integer).c_str(); + return; + } + + case value_t::number_unsigned: { + o << numtostr(m_value.number_unsigned).c_str(); + return; + } + + case value_t::number_float: { + o << numtostr(m_value.number_float).c_str(); + return; + } + + case value_t::discarded: { + o << ""; + return; + } + + case value_t::null: { + o << "null"; + return; + } + } + } + + private: + ////////////////////// + // member variables // + ////////////////////// + + /// the type of the current element + value_t m_type = value_t::null; + + /// the value of the current element + json_value m_value = {}; + + private: + /////////////// + // iterators // + /////////////// + + /*! + @brief an iterator for primitive JSON types + + This class models an iterator for primitive JSON types (boolean, number, + string). It's only purpose is to allow the iterator/const_iterator classes + to "iterate" over primitive values. Internally, the iterator is modeled by + a `difference_type` variable. Value begin_value (`0`) models the begin, + end_value (`1`) models past the end. + */ + class primitive_iterator_t { + public: + difference_type get_value() const noexcept { return m_it; } + /// set iterator to a defined beginning + void set_begin() noexcept { m_it = begin_value; } + + /// set iterator to a defined past the end + void set_end() noexcept { m_it = end_value; } + + /// return whether the iterator can be dereferenced + constexpr bool is_begin() const noexcept { return (m_it == begin_value); } + + /// return whether the iterator is at end + constexpr bool is_end() const noexcept { return (m_it == end_value); } + + friend constexpr bool operator==(primitive_iterator_t lhs, + primitive_iterator_t rhs) noexcept { + return lhs.m_it == rhs.m_it; + } + + friend constexpr bool operator!=(primitive_iterator_t lhs, + primitive_iterator_t rhs) noexcept { + return !(lhs == rhs); + } + + friend constexpr bool operator<(primitive_iterator_t lhs, + primitive_iterator_t rhs) noexcept { + return lhs.m_it < rhs.m_it; + } + + friend constexpr bool operator<=(primitive_iterator_t lhs, + primitive_iterator_t rhs) noexcept { + return lhs.m_it <= rhs.m_it; + } + + friend constexpr bool operator>(primitive_iterator_t lhs, + primitive_iterator_t rhs) noexcept { + return lhs.m_it > rhs.m_it; + } + + friend constexpr bool operator>=(primitive_iterator_t lhs, + primitive_iterator_t rhs) noexcept { + return lhs.m_it >= rhs.m_it; + } + + primitive_iterator_t operator+(difference_type i) { + auto result = *this; + result += i; + return result; + } + + friend constexpr difference_type operator-( + primitive_iterator_t lhs, primitive_iterator_t rhs) noexcept { + return lhs.m_it - rhs.m_it; + } + + friend std::ostream& operator<<(std::ostream& os, primitive_iterator_t it) { + return os << it.m_it; + } + + primitive_iterator_t& operator++() { + ++m_it; + return *this; + } + + primitive_iterator_t operator++(int) { + auto result = *this; + m_it++; + return result; + } + + primitive_iterator_t& operator--() { + --m_it; + return *this; + } + + primitive_iterator_t operator--(int) { + auto result = *this; + m_it--; + return result; + } + + primitive_iterator_t& operator+=(difference_type n) { + m_it += n; + return *this; + } + + primitive_iterator_t& operator-=(difference_type n) { + m_it -= n; + return *this; + } + + private: + static constexpr difference_type begin_value = 0; + static constexpr difference_type end_value = begin_value + 1; + + /// iterator as signed integer type + difference_type m_it = std::numeric_limits::denorm_min(); + }; + + /*! + @brief an iterator value + + @note This structure could easily be a union, but MSVC currently does not + allow unions members with complex constructors, see + https://github.com/nlohmann/json/pull/105. + */ + struct internal_iterator { + /// iterator for JSON objects + typename object_t::iterator object_iterator; + /// iterator for JSON arrays + typename array_t::iterator array_iterator; + /// generic iterator for all other types + primitive_iterator_t primitive_iterator; + + /// create an uninitialized internal_iterator + internal_iterator() noexcept + : object_iterator(), array_iterator(), primitive_iterator() {} + }; + + /// proxy class for the iterator_wrapper functions + template + class iteration_proxy { + private: + /// helper class for iteration + class iteration_proxy_internal { + private: + /// the iterator + IteratorType anchor; + /// an index for arrays (used to create key names) + size_t array_index = 0; + + public: + explicit iteration_proxy_internal(IteratorType it) noexcept + : anchor(it) {} + + /// dereference operator (needed for range-based for) + iteration_proxy_internal& operator*() { return *this; } + + /// increment operator (needed for range-based for) + iteration_proxy_internal& operator++() { + ++anchor; + ++array_index; + + return *this; + } + + /// inequality operator (needed for range-based for) + bool operator!=(const iteration_proxy_internal& o) const { + return anchor != o.anchor; + } + + /// return key of the iterator + typename basic_json::string_t key() const { + assert(anchor.m_object != nullptr); + + switch (anchor.m_object->type()) { + // use integer array index as key + case value_t::array: { + return std::to_string(array_index); + } + + // use key from the object + case value_t::object: { + return anchor.key(); + } + + // use an empty key for all primitive types + default: { return ""; } + } + } + + /// return value of the iterator + typename IteratorType::reference value() const { return anchor.value(); } + }; + + /// the container to iterate + typename IteratorType::reference container; + + public: + /// construct iteration proxy from a container + explicit iteration_proxy(typename IteratorType::reference cont) + : container(cont) {} + + /// return iterator begin (needed for range-based for) + iteration_proxy_internal begin() noexcept { + return iteration_proxy_internal(container.begin()); + } + + /// return iterator end (needed for range-based for) + iteration_proxy_internal end() noexcept { + return iteration_proxy_internal(container.end()); + } + }; + + public: + /*! + @brief a template for a random access iterator for the @ref basic_json class + + This class implements a both iterators (iterator and const_iterator) for the + @ref basic_json class. + + @note An iterator is called *initialized* when a pointer to a JSON value + has been set (e.g., by a constructor or a copy assignment). If the + iterator is default-constructed, it is *uninitialized* and most + methods are undefined. **The library uses assertions to detect calls + on uninitialized iterators.** + + @requirement The class satisfies the following concept requirements: + - + [RandomAccessIterator](http://en.cppreference.com/w/cpp/concept/RandomAccessIterator): + The iterator that can be moved to point (forward and backward) to any + element in constant time. + + @since version 1.0.0, simplified in version 2.0.9 + */ + template + class iter_impl : public std::iterator { + /// allow basic_json to access private members + friend class basic_json; + + // make sure U is basic_json or const basic_json + static_assert(std::is_same::value or + std::is_same::value, + "iter_impl only accepts (const) basic_json"); + + public: + /// the type of the values when the iterator is dereferenced + using value_type = typename basic_json::value_type; + /// a type to represent differences between iterators + using difference_type = typename basic_json::difference_type; + /// defines a pointer to the type iterated over (value_type) + using pointer = + typename std::conditional::value, + typename basic_json::const_pointer, + typename basic_json::pointer>::type; + /// defines a reference to the type iterated over (value_type) + using reference = + typename std::conditional::value, + typename basic_json::const_reference, + typename basic_json::reference>::type; + /// the category of the iterator + using iterator_category = std::bidirectional_iterator_tag; + + /// default constructor + iter_impl() = default; + + /*! + @brief constructor for a given JSON instance + @param[in] object pointer to a JSON object for this iterator + @pre object != nullptr + @post The iterator is initialized; i.e. `m_object != nullptr`. + */ + explicit iter_impl(pointer object) noexcept : m_object(object) { + assert(m_object != nullptr); + + switch (m_object->m_type) { + case basic_json::value_t::object: { + m_it.object_iterator = typename object_t::iterator(); + break; + } + + case basic_json::value_t::array: { + m_it.array_iterator = typename array_t::iterator(); + break; + } + + default: { + m_it.primitive_iterator = primitive_iterator_t(); + break; + } + } + } + + /* + Use operator `const_iterator` instead of `const_iterator(const iterator& + other) noexcept` to avoid two class definitions for @ref iterator and + @ref const_iterator. + + This function is only called if this class is an @ref iterator. If this + class is a @ref const_iterator this function is not called. + */ + operator const_iterator() const { + const_iterator ret; + + if (m_object) { + ret.m_object = m_object; + ret.m_it = m_it; + } + + return ret; + } + + /*! + @brief copy constructor + @param[in] other iterator to copy from + @note It is not checked whether @a other is initialized. + */ + iter_impl(const iter_impl& other) noexcept + : m_object(other.m_object), m_it(other.m_it) {} + + /*! + @brief copy assignment + @param[in,out] other iterator to copy from + @note It is not checked whether @a other is initialized. + */ + iter_impl& operator=(iter_impl other) noexcept( + std::is_nothrow_move_constructible::value and + std::is_nothrow_move_assignable::value and + std::is_nothrow_move_constructible::value and + std::is_nothrow_move_assignable::value) { + std::swap(m_object, other.m_object); + std::swap(m_it, other.m_it); + return *this; + } + + private: + /*! + @brief set the iterator to the first value + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + void set_begin() noexcept { + assert(m_object != nullptr); + + switch (m_object->m_type) { + case basic_json::value_t::object: { + m_it.object_iterator = m_object->m_value.object->begin(); + break; + } + + case basic_json::value_t::array: { + m_it.array_iterator = m_object->m_value.array->begin(); + break; + } + + case basic_json::value_t::null: { + // set to end so begin()==end() is true: null is empty + m_it.primitive_iterator.set_end(); + break; + } + + default: { + m_it.primitive_iterator.set_begin(); + break; + } + } + } + + /*! + @brief set the iterator past the last value + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + void set_end() noexcept { + assert(m_object != nullptr); + + switch (m_object->m_type) { + case basic_json::value_t::object: { + m_it.object_iterator = m_object->m_value.object->end(); + break; + } + + case basic_json::value_t::array: { + m_it.array_iterator = m_object->m_value.array->end(); + break; + } + + default: { + m_it.primitive_iterator.set_end(); + break; + } + } + } + + public: + /*! + @brief return a reference to the value pointed to by the iterator + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + reference operator*() const { + assert(m_object != nullptr); + + switch (m_object->m_type) { + case basic_json::value_t::object: { + assert(m_it.object_iterator != m_object->m_value.object->end()); + return m_it.object_iterator->second; + } + + case basic_json::value_t::array: { + assert(m_it.array_iterator != m_object->m_value.array->end()); + return *m_it.array_iterator; + } + + case basic_json::value_t::null: { + JSON_THROW(std::out_of_range("cannot get value")); + } + + default: { + if (m_it.primitive_iterator.is_begin()) { + return *m_object; + } + + JSON_THROW(std::out_of_range("cannot get value")); + } + } + } + + /*! + @brief dereference the iterator + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + pointer operator->() const { + assert(m_object != nullptr); + + switch (m_object->m_type) { + case basic_json::value_t::object: { + assert(m_it.object_iterator != m_object->m_value.object->end()); + return &(m_it.object_iterator->second); + } + + case basic_json::value_t::array: { + assert(m_it.array_iterator != m_object->m_value.array->end()); + return &*m_it.array_iterator; + } + + default: { + if (m_it.primitive_iterator.is_begin()) { + return m_object; + } + + JSON_THROW(std::out_of_range("cannot get value")); + } + } + } + + /*! + @brief post-increment (it++) + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + iter_impl operator++(int) { + auto result = *this; + ++(*this); + return result; + } + + /*! + @brief pre-increment (++it) + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + iter_impl& operator++() { + assert(m_object != nullptr); + + switch (m_object->m_type) { + case basic_json::value_t::object: { + std::advance(m_it.object_iterator, 1); + break; + } + + case basic_json::value_t::array: { + std::advance(m_it.array_iterator, 1); + break; + } + + default: { + ++m_it.primitive_iterator; + break; + } + } + + return *this; + } + + /*! + @brief post-decrement (it--) + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + iter_impl operator--(int) { + auto result = *this; + --(*this); + return result; + } + + /*! + @brief pre-decrement (--it) + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + iter_impl& operator--() { + assert(m_object != nullptr); + + switch (m_object->m_type) { + case basic_json::value_t::object: { + std::advance(m_it.object_iterator, -1); + break; + } + + case basic_json::value_t::array: { + std::advance(m_it.array_iterator, -1); + break; + } + + default: { + --m_it.primitive_iterator; + break; + } + } + + return *this; + } + + /*! + @brief comparison: equal + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + bool operator==(const iter_impl& other) const { + // if objects are not the same, the comparison is undefined + if (m_object != other.m_object) { + JSON_THROW(std::domain_error( + "cannot compare iterators of different containers")); + } + + assert(m_object != nullptr); + + switch (m_object->m_type) { + case basic_json::value_t::object: { + return (m_it.object_iterator == other.m_it.object_iterator); + } + + case basic_json::value_t::array: { + return (m_it.array_iterator == other.m_it.array_iterator); + } + + default: { + return (m_it.primitive_iterator == other.m_it.primitive_iterator); + } + } + } + + /*! + @brief comparison: not equal + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + bool operator!=(const iter_impl& other) const { + return not operator==(other); + } + + /*! + @brief comparison: smaller + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + bool operator<(const iter_impl& other) const { + // if objects are not the same, the comparison is undefined + if (m_object != other.m_object) { + JSON_THROW(std::domain_error( + "cannot compare iterators of different containers")); + } + + assert(m_object != nullptr); + + switch (m_object->m_type) { + case basic_json::value_t::object: { + JSON_THROW( + std::domain_error("cannot compare order of object iterators")); + } + + case basic_json::value_t::array: { + return (m_it.array_iterator < other.m_it.array_iterator); + } + + default: { + return (m_it.primitive_iterator < other.m_it.primitive_iterator); + } + } + } + + /*! + @brief comparison: less than or equal + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + bool operator<=(const iter_impl& other) const { + return not other.operator<(*this); + } + + /*! + @brief comparison: greater than + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + bool operator>(const iter_impl& other) const { + return not operator<=(other); + } + + /*! + @brief comparison: greater than or equal + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + bool operator>=(const iter_impl& other) const { + return not operator<(other); + } + + /*! + @brief add to iterator + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + iter_impl& operator+=(difference_type i) { + assert(m_object != nullptr); + + switch (m_object->m_type) { + case basic_json::value_t::object: { + JSON_THROW( + std::domain_error("cannot use offsets with object iterators")); + } + + case basic_json::value_t::array: { + std::advance(m_it.array_iterator, i); + break; + } + + default: { + m_it.primitive_iterator += i; + break; + } + } + + return *this; + } + + /*! + @brief subtract from iterator + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + iter_impl& operator-=(difference_type i) { return operator+=(-i); } + + /*! + @brief add to iterator + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + iter_impl operator+(difference_type i) { + auto result = *this; + result += i; + return result; + } + + /*! + @brief subtract from iterator + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + iter_impl operator-(difference_type i) { + auto result = *this; + result -= i; + return result; + } + + /*! + @brief return difference + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + difference_type operator-(const iter_impl& other) const { + assert(m_object != nullptr); + + switch (m_object->m_type) { + case basic_json::value_t::object: { + JSON_THROW( + std::domain_error("cannot use offsets with object iterators")); + } + + case basic_json::value_t::array: { + return m_it.array_iterator - other.m_it.array_iterator; + } + + default: { + return m_it.primitive_iterator - other.m_it.primitive_iterator; + } + } + } + + /*! + @brief access to successor + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + reference operator[](difference_type n) const { + assert(m_object != nullptr); + + switch (m_object->m_type) { + case basic_json::value_t::object: { + JSON_THROW( + std::domain_error("cannot use operator[] for object iterators")); + } + + case basic_json::value_t::array: { + return *std::next(m_it.array_iterator, n); + } + + case basic_json::value_t::null: { + JSON_THROW(std::out_of_range("cannot get value")); + } + + default: { + if (m_it.primitive_iterator.get_value() == -n) { + return *m_object; + } + + JSON_THROW(std::out_of_range("cannot get value")); + } + } + } + + /*! + @brief return the key of an object iterator + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + typename object_t::key_type key() const { + assert(m_object != nullptr); + + if (m_object->is_object()) { + return m_it.object_iterator->first; + } + + JSON_THROW( + std::domain_error("cannot use key() for non-object iterators")); + } + + /*! + @brief return the value of an iterator + @pre The iterator is initialized; i.e. `m_object != nullptr`. + */ + reference value() const { return operator*(); } + + private: + /// associated JSON instance + pointer m_object = nullptr; + /// the actual iterator of the associated instance + internal_iterator m_it = internal_iterator(); + }; + + /*! + @brief a template for a reverse iterator class + + @tparam Base the base iterator type to reverse. Valid types are @ref + iterator (to create @ref reverse_iterator) and @ref const_iterator (to + create @ref const_reverse_iterator). + + @requirement The class satisfies the following concept requirements: + - + [RandomAccessIterator](http://en.cppreference.com/w/cpp/concept/RandomAccessIterator): + The iterator that can be moved to point (forward and backward) to any + element in constant time. + - [OutputIterator](http://en.cppreference.com/w/cpp/concept/OutputIterator): + It is possible to write to the pointed-to element (only if @a Base is + @ref iterator). + + @since version 1.0.0 + */ + template + class json_reverse_iterator : public std::reverse_iterator { + public: + /// shortcut to the reverse iterator adaptor + using base_iterator = std::reverse_iterator; + /// the reference type for the pointed-to element + using reference = typename Base::reference; + + /// create reverse iterator from iterator + json_reverse_iterator( + const typename base_iterator::iterator_type& it) noexcept + : base_iterator(it) {} + + /// create reverse iterator from base class + json_reverse_iterator(const base_iterator& it) noexcept + : base_iterator(it) {} + + /// post-increment (it++) + json_reverse_iterator operator++(int) { + return base_iterator::operator++(1); + } + + /// pre-increment (++it) + json_reverse_iterator& operator++() { + base_iterator::operator++(); + return *this; + } + + /// post-decrement (it--) + json_reverse_iterator operator--(int) { + return base_iterator::operator--(1); + } + + /// pre-decrement (--it) + json_reverse_iterator& operator--() { + base_iterator::operator--(); + return *this; + } + + /// add to iterator + json_reverse_iterator& operator+=(difference_type i) { + base_iterator::operator+=(i); + return *this; + } + + /// add to iterator + json_reverse_iterator operator+(difference_type i) const { + auto result = *this; + result += i; + return result; + } + + /// subtract from iterator + json_reverse_iterator operator-(difference_type i) const { + auto result = *this; + result -= i; + return result; + } + + /// return difference + difference_type operator-(const json_reverse_iterator& other) const { + return this->base() - other.base(); + } + + /// access to successor + reference operator[](difference_type n) const { + return *(this->operator+(n)); + } + + /// return the key of an object iterator + typename object_t::key_type key() const { + auto it = --this->base(); + return it.key(); + } + + /// return the value of an iterator + reference value() const { + auto it = --this->base(); + return it.operator*(); + } + }; + + private: + ////////////////////// + // lexer and parser // + ////////////////////// + + /*! + @brief lexical analysis + + This class organizes the lexical analysis during JSON deserialization. The + core of it is a scanner generated by [re2c](http://re2c.org) that + processes a buffer and recognizes tokens according to RFC 7159. + */ + class lexer { + public: + /// token types for the parser + enum class token_type { + uninitialized, ///< indicating the scanner is uninitialized + literal_true, ///< the `true` literal + literal_false, ///< the `false` literal + literal_null, ///< the `null` literal + value_string, ///< a string -- use get_string() for actual value + value_unsigned, ///< an unsigned integer -- use get_number() for actual + /// value + value_integer, ///< a signed integer -- use get_number() for actual value + value_float, ///< an floating point number -- use get_number() for actual + /// value + begin_array, ///< the character for array begin `[` + begin_object, ///< the character for object begin `{` + end_array, ///< the character for array end `]` + end_object, ///< the character for object end `}` + name_separator, ///< the name separator `:` + value_separator, ///< the value separator `,` + parse_error, ///< indicating a parse error + end_of_input ///< indicating the end of the input buffer + }; + + /// the char type to use in the lexer + using lexer_char_t = unsigned char; + + /// a lexer from a buffer with given length + lexer(const lexer_char_t* buff, const size_t len) noexcept + : m_content(buff) { + assert(m_content != nullptr); + m_start = m_cursor = m_content; + m_limit = m_content + len; + } + + /// a lexer from an input stream + explicit lexer(std::istream& s) : m_stream(&s), m_line_buffer() { + // immediately abort if stream is erroneous + if (s.fail()) { + JSON_THROW(std::invalid_argument("stream error")); + } + + // fill buffer + fill_line_buffer(); + + // skip UTF-8 byte-order mark + if (m_line_buffer.size() >= 3 and + m_line_buffer.substr(0, 3) == "\xEF\xBB\xBF") { + m_line_buffer[0] = ' '; + m_line_buffer[1] = ' '; + m_line_buffer[2] = ' '; + } + } + + // switch off unwanted functions (due to pointer members) + lexer() = delete; + lexer(const lexer&) = delete; + lexer operator=(const lexer&) = delete; + + /*! + @brief create a string from one or two Unicode code points + + There are two cases: (1) @a codepoint1 is in the Basic Multilingual + Plane (U+0000 through U+FFFF) and @a codepoint2 is 0, or (2) + @a codepoint1 and @a codepoint2 are a UTF-16 surrogate pair to + represent a code point above U+FFFF. + + @param[in] codepoint1 the code point (can be high surrogate) + @param[in] codepoint2 the code point (can be low surrogate or 0) + + @return string representation of the code point; the length of the + result string is between 1 and 4 characters. + + @throw std::out_of_range if code point is > 0x10ffff; example: `"code + points above 0x10FFFF are invalid"` + @throw std::invalid_argument if the low surrogate is invalid; example: + `""missing or wrong low surrogate""` + + @complexity Constant. + + @see + */ + static string_t to_unicode(const std::size_t codepoint1, + const std::size_t codepoint2 = 0) { + // calculate the code point from the given code points + std::size_t codepoint = codepoint1; + + // check if codepoint1 is a high surrogate + if (codepoint1 >= 0xD800 and codepoint1 <= 0xDBFF) { + // check if codepoint2 is a low surrogate + if (codepoint2 >= 0xDC00 and codepoint2 <= 0xDFFF) { + codepoint = + // high surrogate occupies the most significant 22 bits + (codepoint1 << 10) + // low surrogate occupies the least significant 15 bits + + codepoint2 + // there is still the 0xD800, 0xDC00 and 0x10000 noise + // in the result so we have to subtract with: + // (0xD800 << 10) + DC00 - 0x10000 = 0x35FDC00 + - 0x35FDC00; + } else { + JSON_THROW(std::invalid_argument("missing or wrong low surrogate")); + } + } + + string_t result; + + if (codepoint < 0x80) { + // 1-byte characters: 0xxxxxxx (ASCII) + result.append(1, static_cast(codepoint)); + } else if (codepoint <= 0x7ff) { + // 2-byte characters: 110xxxxx 10xxxxxx + result.append(1, static_cast( + 0xC0 | ((codepoint >> 6) & 0x1F))); + result.append(1, static_cast( + 0x80 | (codepoint & 0x3F))); + } else if (codepoint <= 0xffff) { + // 3-byte characters: 1110xxxx 10xxxxxx 10xxxxxx + result.append(1, static_cast( + 0xE0 | ((codepoint >> 12) & 0x0F))); + result.append(1, static_cast( + 0x80 | ((codepoint >> 6) & 0x3F))); + result.append(1, static_cast( + 0x80 | (codepoint & 0x3F))); + } else if (codepoint <= 0x10ffff) { + // 4-byte characters: 11110xxx 10xxxxxx 10xxxxxx 10xxxxxx + result.append(1, static_cast( + 0xF0 | ((codepoint >> 18) & 0x07))); + result.append(1, static_cast( + 0x80 | ((codepoint >> 12) & 0x3F))); + result.append(1, static_cast( + 0x80 | ((codepoint >> 6) & 0x3F))); + result.append(1, static_cast( + 0x80 | (codepoint & 0x3F))); + } else { + JSON_THROW(std::out_of_range("code points above 0x10FFFF are invalid")); + } + + return result; + } + + /// return name of values of type token_type (only used for errors) + static std::string token_type_name(const token_type t) { + switch (t) { + case token_type::uninitialized: + return ""; + case token_type::literal_true: + return "true literal"; + case token_type::literal_false: + return "false literal"; + case token_type::literal_null: + return "null literal"; + case token_type::value_string: + return "string literal"; + case lexer::token_type::value_unsigned: + case lexer::token_type::value_integer: + case lexer::token_type::value_float: + return "number literal"; + case token_type::begin_array: + return "'['"; + case token_type::begin_object: + return "'{'"; + case token_type::end_array: + return "']'"; + case token_type::end_object: + return "'}'"; + case token_type::name_separator: + return "':'"; + case token_type::value_separator: + return "','"; + case token_type::parse_error: + return ""; + case token_type::end_of_input: + return "end of input"; + default: { + // catch non-enum values + return "unknown token"; // LCOV_EXCL_LINE + } + } + } + + /*! + This function implements a scanner for JSON. It is specified using + regular expressions that try to follow RFC 7159 as close as possible. + These regular expressions are then translated into a minimized + deterministic finite automaton (DFA) by the tool + [re2c](http://re2c.org). As a result, the translated code for this + function consists of a large block of code with `goto` jumps. + + @return the class of the next token read from the buffer + + @complexity Linear in the length of the input.\n + + Proposition: The loop below will always terminate for finite input.\n + + Proof (by contradiction): Assume a finite input. To loop forever, the + loop must never hit code with a `break` statement. The only code + snippets without a `break` statement are the continue statements for + whitespace and byte-order-marks. To loop forever, the input must be an + infinite sequence of whitespace or byte-order-marks. This contradicts + the assumption of finite input, q.e.d. + */ + token_type scan() { + while (true) { + // pointer for backtracking information + m_marker = nullptr; + + // remember the begin of the token + m_start = m_cursor; + assert(m_start != nullptr); + + { + lexer_char_t yych; + unsigned int yyaccept = 0; + static const unsigned char yybm[] = { + 0, 0, 0, 0, 0, 0, 0, 0, 0, 32, 32, 0, 0, + 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 160, 128, 0, 128, 128, 128, 128, + 128, 128, 128, 128, 128, 128, 128, 128, 128, 192, 192, 192, 192, + 192, 192, 192, 192, 192, 192, 128, 128, 128, 128, 128, 128, 128, + 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, + 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, + 128, 0, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, + 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, + 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, + }; + if ((m_limit - m_cursor) < 5) { + fill_line_buffer(5); // LCOV_EXCL_LINE + } + yych = *m_cursor; + if (yybm[0 + yych] & 32) { + goto basic_json_parser_6; + } + if (yych <= '[') { + if (yych <= '-') { + if (yych <= '"') { + if (yych <= 0x00) { + goto basic_json_parser_2; + } + if (yych <= '!') { + goto basic_json_parser_4; + } + goto basic_json_parser_9; + } else { + if (yych <= '+') { + goto basic_json_parser_4; + } + if (yych <= ',') { + goto basic_json_parser_10; + } + goto basic_json_parser_12; + } + } else { + if (yych <= '9') { + if (yych <= '/') { + goto basic_json_parser_4; + } + if (yych <= '0') { + goto basic_json_parser_13; + } + goto basic_json_parser_15; + } else { + if (yych <= ':') { + goto basic_json_parser_17; + } + if (yych <= 'Z') { + goto basic_json_parser_4; + } + goto basic_json_parser_19; + } + } + } else { + if (yych <= 'n') { + if (yych <= 'e') { + if (yych == ']') { + goto basic_json_parser_21; + } + goto basic_json_parser_4; + } else { + if (yych <= 'f') { + goto basic_json_parser_23; + } + if (yych <= 'm') { + goto basic_json_parser_4; + } + goto basic_json_parser_24; + } + } else { + if (yych <= 'z') { + if (yych == 't') { + goto basic_json_parser_25; + } + goto basic_json_parser_4; + } else { + if (yych <= '{') { + goto basic_json_parser_26; + } + if (yych == '}') { + goto basic_json_parser_28; + } + goto basic_json_parser_4; + } + } + } + basic_json_parser_2: + ++m_cursor; + { + last_token_type = token_type::end_of_input; + break; + } + basic_json_parser_4: + ++m_cursor; + basic_json_parser_5 : { + last_token_type = token_type::parse_error; + break; + } + basic_json_parser_6: + ++m_cursor; + if (m_limit <= m_cursor) { + fill_line_buffer(1); // LCOV_EXCL_LINE + } + yych = *m_cursor; + if (yybm[0 + yych] & 32) { + goto basic_json_parser_6; + } + { continue; } + basic_json_parser_9: + yyaccept = 0; + yych = *(m_marker = ++m_cursor); + if (yych <= 0x1F) { + goto basic_json_parser_5; + } + if (yych <= 0x7F) { + goto basic_json_parser_31; + } + if (yych <= 0xC1) { + goto basic_json_parser_5; + } + if (yych <= 0xF4) { + goto basic_json_parser_31; + } + goto basic_json_parser_5; + basic_json_parser_10: + ++m_cursor; + { + last_token_type = token_type::value_separator; + break; + } + basic_json_parser_12: + yych = *++m_cursor; + if (yych <= '/') { + goto basic_json_parser_5; + } + if (yych <= '0') { + goto basic_json_parser_43; + } + if (yych <= '9') { + goto basic_json_parser_45; + } + goto basic_json_parser_5; + basic_json_parser_13: + yyaccept = 1; + yych = *(m_marker = ++m_cursor); + if (yych <= '9') { + if (yych == '.') { + goto basic_json_parser_47; + } + if (yych >= '0') { + goto basic_json_parser_48; + } + } else { + if (yych <= 'E') { + if (yych >= 'E') { + goto basic_json_parser_51; + } + } else { + if (yych == 'e') { + goto basic_json_parser_51; + } + } + } + basic_json_parser_14 : { + last_token_type = token_type::value_unsigned; + break; + } + basic_json_parser_15: + yyaccept = 1; + m_marker = ++m_cursor; + if ((m_limit - m_cursor) < 3) { + fill_line_buffer(3); // LCOV_EXCL_LINE + } + yych = *m_cursor; + if (yybm[0 + yych] & 64) { + goto basic_json_parser_15; + } + if (yych <= 'D') { + if (yych == '.') { + goto basic_json_parser_47; + } + goto basic_json_parser_14; + } else { + if (yych <= 'E') { + goto basic_json_parser_51; + } + if (yych == 'e') { + goto basic_json_parser_51; + } + goto basic_json_parser_14; + } + basic_json_parser_17: + ++m_cursor; + { + last_token_type = token_type::name_separator; + break; + } + basic_json_parser_19: + ++m_cursor; + { + last_token_type = token_type::begin_array; + break; + } + basic_json_parser_21: + ++m_cursor; + { + last_token_type = token_type::end_array; + break; + } + basic_json_parser_23: + yyaccept = 0; + yych = *(m_marker = ++m_cursor); + if (yych == 'a') { + goto basic_json_parser_52; + } + goto basic_json_parser_5; + basic_json_parser_24: + yyaccept = 0; + yych = *(m_marker = ++m_cursor); + if (yych == 'u') { + goto basic_json_parser_53; + } + goto basic_json_parser_5; + basic_json_parser_25: + yyaccept = 0; + yych = *(m_marker = ++m_cursor); + if (yych == 'r') { + goto basic_json_parser_54; + } + goto basic_json_parser_5; + basic_json_parser_26: + ++m_cursor; + { + last_token_type = token_type::begin_object; + break; + } + basic_json_parser_28: + ++m_cursor; + { + last_token_type = token_type::end_object; + break; + } + basic_json_parser_30: + ++m_cursor; + if (m_limit <= m_cursor) { + fill_line_buffer(1); // LCOV_EXCL_LINE + } + yych = *m_cursor; + basic_json_parser_31: + if (yybm[0 + yych] & 128) { + goto basic_json_parser_30; + } + if (yych <= 0xE0) { + if (yych <= '\\') { + if (yych <= 0x1F) { + goto basic_json_parser_32; + } + if (yych <= '"') { + goto basic_json_parser_33; + } + goto basic_json_parser_35; + } else { + if (yych <= 0xC1) { + goto basic_json_parser_32; + } + if (yych <= 0xDF) { + goto basic_json_parser_36; + } + goto basic_json_parser_37; + } + } else { + if (yych <= 0xEF) { + if (yych == 0xED) { + goto basic_json_parser_39; + } + goto basic_json_parser_38; + } else { + if (yych <= 0xF0) { + goto basic_json_parser_40; + } + if (yych <= 0xF3) { + goto basic_json_parser_41; + } + if (yych <= 0xF4) { + goto basic_json_parser_42; + } + } + } + basic_json_parser_32: + m_cursor = m_marker; + if (yyaccept <= 1) { + if (yyaccept == 0) { + goto basic_json_parser_5; + } else { + goto basic_json_parser_14; + } + } else { + if (yyaccept == 2) { + goto basic_json_parser_44; + } else { + goto basic_json_parser_58; + } + } + basic_json_parser_33: + ++m_cursor; + { + last_token_type = token_type::value_string; + break; + } + basic_json_parser_35: + ++m_cursor; + if (m_limit <= m_cursor) { + fill_line_buffer(1); // LCOV_EXCL_LINE + } + yych = *m_cursor; + if (yych <= 'e') { + if (yych <= '/') { + if (yych == '"') { + goto basic_json_parser_30; + } + if (yych <= '.') { + goto basic_json_parser_32; + } + goto basic_json_parser_30; + } else { + if (yych <= '\\') { + if (yych <= '[') { + goto basic_json_parser_32; + } + goto basic_json_parser_30; + } else { + if (yych == 'b') { + goto basic_json_parser_30; + } + goto basic_json_parser_32; + } + } + } else { + if (yych <= 'q') { + if (yych <= 'f') { + goto basic_json_parser_30; + } + if (yych == 'n') { + goto basic_json_parser_30; + } + goto basic_json_parser_32; + } else { + if (yych <= 's') { + if (yych <= 'r') { + goto basic_json_parser_30; + } + goto basic_json_parser_32; + } else { + if (yych <= 't') { + goto basic_json_parser_30; + } + if (yych <= 'u') { + goto basic_json_parser_55; + } + goto basic_json_parser_32; + } + } + } + basic_json_parser_36: + ++m_cursor; + if (m_limit <= m_cursor) { + fill_line_buffer(1); // LCOV_EXCL_LINE + } + yych = *m_cursor; + if (yych <= 0x7F) { + goto basic_json_parser_32; + } + if (yych <= 0xBF) { + goto basic_json_parser_30; + } + goto basic_json_parser_32; + basic_json_parser_37: + ++m_cursor; + if (m_limit <= m_cursor) { + fill_line_buffer(1); // LCOV_EXCL_LINE + } + yych = *m_cursor; + if (yych <= 0x9F) { + goto basic_json_parser_32; + } + if (yych <= 0xBF) { + goto basic_json_parser_36; + } + goto basic_json_parser_32; + basic_json_parser_38: + ++m_cursor; + if (m_limit <= m_cursor) { + fill_line_buffer(1); // LCOV_EXCL_LINE + } + yych = *m_cursor; + if (yych <= 0x7F) { + goto basic_json_parser_32; + } + if (yych <= 0xBF) { + goto basic_json_parser_36; + } + goto basic_json_parser_32; + basic_json_parser_39: + ++m_cursor; + if (m_limit <= m_cursor) { + fill_line_buffer(1); // LCOV_EXCL_LINE + } + yych = *m_cursor; + if (yych <= 0x7F) { + goto basic_json_parser_32; + } + if (yych <= 0x9F) { + goto basic_json_parser_36; + } + goto basic_json_parser_32; + basic_json_parser_40: + ++m_cursor; + if (m_limit <= m_cursor) { + fill_line_buffer(1); // LCOV_EXCL_LINE + } + yych = *m_cursor; + if (yych <= 0x8F) { + goto basic_json_parser_32; + } + if (yych <= 0xBF) { + goto basic_json_parser_38; + } + goto basic_json_parser_32; + basic_json_parser_41: + ++m_cursor; + if (m_limit <= m_cursor) { + fill_line_buffer(1); // LCOV_EXCL_LINE + } + yych = *m_cursor; + if (yych <= 0x7F) { + goto basic_json_parser_32; + } + if (yych <= 0xBF) { + goto basic_json_parser_38; + } + goto basic_json_parser_32; + basic_json_parser_42: + ++m_cursor; + if (m_limit <= m_cursor) { + fill_line_buffer(1); // LCOV_EXCL_LINE + } + yych = *m_cursor; + if (yych <= 0x7F) { + goto basic_json_parser_32; + } + if (yych <= 0x8F) { + goto basic_json_parser_38; + } + goto basic_json_parser_32; + basic_json_parser_43: + yyaccept = 2; + yych = *(m_marker = ++m_cursor); + if (yych <= '9') { + if (yych == '.') { + goto basic_json_parser_47; + } + if (yych >= '0') { + goto basic_json_parser_48; + } + } else { + if (yych <= 'E') { + if (yych >= 'E') { + goto basic_json_parser_51; + } + } else { + if (yych == 'e') { + goto basic_json_parser_51; + } + } + } + basic_json_parser_44 : { + last_token_type = token_type::value_integer; + break; + } + basic_json_parser_45: + yyaccept = 2; + m_marker = ++m_cursor; + if ((m_limit - m_cursor) < 3) { + fill_line_buffer(3); // LCOV_EXCL_LINE + } + yych = *m_cursor; + if (yych <= '9') { + if (yych == '.') { + goto basic_json_parser_47; + } + if (yych <= '/') { + goto basic_json_parser_44; + } + goto basic_json_parser_45; + } else { + if (yych <= 'E') { + if (yych <= 'D') { + goto basic_json_parser_44; + } + goto basic_json_parser_51; + } else { + if (yych == 'e') { + goto basic_json_parser_51; + } + goto basic_json_parser_44; + } + } + basic_json_parser_47: + yych = *++m_cursor; + if (yych <= '/') { + goto basic_json_parser_32; + } + if (yych <= '9') { + goto basic_json_parser_56; + } + goto basic_json_parser_32; + basic_json_parser_48: + ++m_cursor; + if (m_limit <= m_cursor) { + fill_line_buffer(1); // LCOV_EXCL_LINE + } + yych = *m_cursor; + if (yych <= '/') { + goto basic_json_parser_50; + } + if (yych <= '9') { + goto basic_json_parser_48; + } + basic_json_parser_50 : { + last_token_type = token_type::parse_error; + break; + } + basic_json_parser_51: + yych = *++m_cursor; + if (yych <= ',') { + if (yych == '+') { + goto basic_json_parser_59; + } + goto basic_json_parser_32; + } else { + if (yych <= '-') { + goto basic_json_parser_59; + } + if (yych <= '/') { + goto basic_json_parser_32; + } + if (yych <= '9') { + goto basic_json_parser_60; + } + goto basic_json_parser_32; + } + basic_json_parser_52: + yych = *++m_cursor; + if (yych == 'l') { + goto basic_json_parser_62; + } + goto basic_json_parser_32; + basic_json_parser_53: + yych = *++m_cursor; + if (yych == 'l') { + goto basic_json_parser_63; + } + goto basic_json_parser_32; + basic_json_parser_54: + yych = *++m_cursor; + if (yych == 'u') { + goto basic_json_parser_64; + } + goto basic_json_parser_32; + basic_json_parser_55: + ++m_cursor; + if (m_limit <= m_cursor) { + fill_line_buffer(1); // LCOV_EXCL_LINE + } + yych = *m_cursor; + if (yych <= '@') { + if (yych <= '/') { + goto basic_json_parser_32; + } + if (yych <= '9') { + goto basic_json_parser_65; + } + goto basic_json_parser_32; + } else { + if (yych <= 'F') { + goto basic_json_parser_65; + } + if (yych <= '`') { + goto basic_json_parser_32; + } + if (yych <= 'f') { + goto basic_json_parser_65; + } + goto basic_json_parser_32; + } + basic_json_parser_56: + yyaccept = 3; + m_marker = ++m_cursor; + if ((m_limit - m_cursor) < 3) { + fill_line_buffer(3); // LCOV_EXCL_LINE + } + yych = *m_cursor; + if (yych <= 'D') { + if (yych <= '/') { + goto basic_json_parser_58; + } + if (yych <= '9') { + goto basic_json_parser_56; + } + } else { + if (yych <= 'E') { + goto basic_json_parser_51; + } + if (yych == 'e') { + goto basic_json_parser_51; + } + } + basic_json_parser_58 : { + last_token_type = token_type::value_float; + break; + } + basic_json_parser_59: + yych = *++m_cursor; + if (yych <= '/') { + goto basic_json_parser_32; + } + if (yych >= ':') { + goto basic_json_parser_32; + } + basic_json_parser_60: + ++m_cursor; + if (m_limit <= m_cursor) { + fill_line_buffer(1); // LCOV_EXCL_LINE + } + yych = *m_cursor; + if (yych <= '/') { + goto basic_json_parser_58; + } + if (yych <= '9') { + goto basic_json_parser_60; + } + goto basic_json_parser_58; + basic_json_parser_62: + yych = *++m_cursor; + if (yych == 's') { + goto basic_json_parser_66; + } + goto basic_json_parser_32; + basic_json_parser_63: + yych = *++m_cursor; + if (yych == 'l') { + goto basic_json_parser_67; + } + goto basic_json_parser_32; + basic_json_parser_64: + yych = *++m_cursor; + if (yych == 'e') { + goto basic_json_parser_69; + } + goto basic_json_parser_32; + basic_json_parser_65: + ++m_cursor; + if (m_limit <= m_cursor) { + fill_line_buffer(1); // LCOV_EXCL_LINE + } + yych = *m_cursor; + if (yych <= '@') { + if (yych <= '/') { + goto basic_json_parser_32; + } + if (yych <= '9') { + goto basic_json_parser_71; + } + goto basic_json_parser_32; + } else { + if (yych <= 'F') { + goto basic_json_parser_71; + } + if (yych <= '`') { + goto basic_json_parser_32; + } + if (yych <= 'f') { + goto basic_json_parser_71; + } + goto basic_json_parser_32; + } + basic_json_parser_66: + yych = *++m_cursor; + if (yych == 'e') { + goto basic_json_parser_72; + } + goto basic_json_parser_32; + basic_json_parser_67: + ++m_cursor; + { + last_token_type = token_type::literal_null; + break; + } + basic_json_parser_69: + ++m_cursor; + { + last_token_type = token_type::literal_true; + break; + } + basic_json_parser_71: + ++m_cursor; + if (m_limit <= m_cursor) { + fill_line_buffer(1); // LCOV_EXCL_LINE + } + yych = *m_cursor; + if (yych <= '@') { + if (yych <= '/') { + goto basic_json_parser_32; + } + if (yych <= '9') { + goto basic_json_parser_74; + } + goto basic_json_parser_32; + } else { + if (yych <= 'F') { + goto basic_json_parser_74; + } + if (yych <= '`') { + goto basic_json_parser_32; + } + if (yych <= 'f') { + goto basic_json_parser_74; + } + goto basic_json_parser_32; + } + basic_json_parser_72: + ++m_cursor; + { + last_token_type = token_type::literal_false; + break; + } + basic_json_parser_74: + ++m_cursor; + if (m_limit <= m_cursor) { + fill_line_buffer(1); // LCOV_EXCL_LINE + } + yych = *m_cursor; + if (yych <= '@') { + if (yych <= '/') { + goto basic_json_parser_32; + } + if (yych <= '9') { + goto basic_json_parser_30; + } + goto basic_json_parser_32; + } else { + if (yych <= 'F') { + goto basic_json_parser_30; + } + if (yych <= '`') { + goto basic_json_parser_32; + } + if (yych <= 'f') { + goto basic_json_parser_30; + } + goto basic_json_parser_32; + } + } + } + + return last_token_type; + } + + /*! + @brief append data from the stream to the line buffer + + This function is called by the scan() function when the end of the + buffer (`m_limit`) is reached and the `m_cursor` pointer cannot be + incremented without leaving the limits of the line buffer. Note re2c + decides when to call this function. + + If the lexer reads from contiguous storage, there is no trailing null + byte. Therefore, this function must make sure to add these padding + null bytes. + + If the lexer reads from an input stream, this function reads the next + line of the input. + + @pre + p p p p p p u u u u u x . . . . . . + ^ ^ ^ ^ + m_content m_start | m_limit + m_cursor + + @post + u u u u u x x x x x x x . . . . . . + ^ ^ ^ + | m_cursor m_limit + m_start + m_content + */ + void fill_line_buffer(size_t n = 0) { + // if line buffer is used, m_content points to its data + assert(m_line_buffer.empty() or + m_content == + reinterpret_cast(m_line_buffer.data())); + + // if line buffer is used, m_limit is set past the end of its data + assert(m_line_buffer.empty() or + m_limit == m_content + m_line_buffer.size()); + + // pointer relationships + assert(m_content <= m_start); + assert(m_start <= m_cursor); + assert(m_cursor <= m_limit); + assert(m_marker == nullptr or m_marker <= m_limit); + + // number of processed characters (p) + const auto num_processed_chars = static_cast(m_start - m_content); + // offset for m_marker wrt. to m_start + const auto offset_marker = (m_marker == nullptr) ? 0 : m_marker - m_start; + // number of unprocessed characters (u) + const auto offset_cursor = m_cursor - m_start; + + // no stream is used or end of file is reached + if (m_stream == nullptr or m_stream->eof()) { + // m_start may or may not be pointing into m_line_buffer at + // this point. We trust the standard library to do the right + // thing. See http://stackoverflow.com/q/28142011/266378 + m_line_buffer.assign(m_start, m_limit); + + // append n characters to make sure that there is sufficient + // space between m_cursor and m_limit + m_line_buffer.append(1, '\x00'); + if (n > 0) { + m_line_buffer.append(n - 1, '\x01'); + } + } else { + // delete processed characters from line buffer + m_line_buffer.erase(0, num_processed_chars); + // read next line from input stream + m_line_buffer_tmp.clear(); + std::getline(*m_stream, m_line_buffer_tmp, '\n'); + + // add line with newline symbol to the line buffer + m_line_buffer += m_line_buffer_tmp; + m_line_buffer.push_back('\n'); + } + + // set pointers + m_content = reinterpret_cast(m_line_buffer.data()); + assert(m_content != nullptr); + m_start = m_content; + m_marker = m_start + offset_marker; + m_cursor = m_start + offset_cursor; + m_limit = m_start + m_line_buffer.size(); + } + + /// return string representation of last read token + string_t get_token_string() const { + assert(m_start != nullptr); + return string_t( + reinterpret_cast(m_start), + static_cast(m_cursor - m_start)); + } + + /*! + @brief return string value for string tokens + + The function iterates the characters between the opening and closing + quotes of the string value. The complete string is the range + [m_start,m_cursor). Consequently, we iterate from m_start+1 to + m_cursor-1. + + We differentiate two cases: + + 1. Escaped characters. In this case, a new character is constructed + according to the nature of the escape. Some escapes create new + characters (e.g., `"\\n"` is replaced by `"\n"`), some are copied + as is (e.g., `"\\\\"`). Furthermore, Unicode escapes of the shape + `"\\uxxxx"` need special care. In this case, to_unicode takes care + of the construction of the values. + 2. Unescaped characters are copied as is. + + @pre `m_cursor - m_start >= 2`, meaning the length of the last token + is at least 2 bytes which is trivially true for any string (which + consists of at least two quotes). + + " c1 c2 c3 ... " + ^ ^ + m_start m_cursor + + @complexity Linear in the length of the string.\n + + Lemma: The loop body will always terminate.\n + + Proof (by contradiction): Assume the loop body does not terminate. As + the loop body does not contain another loop, one of the called + functions must never return. The called functions are `std::strtoul` + and to_unicode. Neither function can loop forever, so the loop body + will never loop forever which contradicts the assumption that the loop + body does not terminate, q.e.d.\n + + Lemma: The loop condition for the for loop is eventually false.\n + + Proof (by contradiction): Assume the loop does not terminate. Due to + the above lemma, this can only be due to a tautological loop + condition; that is, the loop condition i < m_cursor - 1 must always be + true. Let x be the change of i for any loop iteration. Then + m_start + 1 + x < m_cursor - 1 must hold to loop indefinitely. This + can be rephrased to m_cursor - m_start - 2 > x. With the + precondition, we x <= 0, meaning that the loop condition holds + indefinitely if i is always decreased. However, observe that the value + of i is strictly increasing with each iteration, as it is incremented + by 1 in the iteration expression and never decremented inside the loop + body. Hence, the loop condition will eventually be false which + contradicts the assumption that the loop condition is a tautology, + q.e.d. + + @return string value of current token without opening and closing + quotes + @throw std::out_of_range if to_unicode fails + */ + string_t get_string() const { + assert(m_cursor - m_start >= 2); + + string_t result; + result.reserve(static_cast(m_cursor - m_start - 2)); + + // iterate the result between the quotes + for (const lexer_char_t* i = m_start + 1; i < m_cursor - 1; ++i) { + // find next escape character + auto e = std::find(i, m_cursor - 1, '\\'); + if (e != i) { + // see + // https://github.com/nlohmann/json/issues/365#issuecomment-262874705 + for (auto k = i; k < e; k++) { + result.push_back(static_cast(*k)); + } + i = e - 1; // -1 because of ++i + } else { + // processing escaped character + // read next character + ++i; + + switch (*i) { + // the default escapes + case 't': { + result += "\t"; + break; + } + case 'b': { + result += "\b"; + break; + } + case 'f': { + result += "\f"; + break; + } + case 'n': { + result += "\n"; + break; + } + case 'r': { + result += "\r"; + break; + } + case '\\': { + result += "\\"; + break; + } + case '/': { + result += "/"; + break; + } + case '"': { + result += "\""; + break; + } + + // unicode + case 'u': { + // get code xxxx from uxxxx + auto codepoint = std::strtoul( + std::string( + reinterpret_cast(i + 1), 4) + .c_str(), + nullptr, 16); + + // check if codepoint is a high surrogate + if (codepoint >= 0xD800 and codepoint <= 0xDBFF) { + // make sure there is a subsequent unicode + if ((i + 6 >= m_limit) or *(i + 5) != '\\' or *(i + 6) != 'u') { + JSON_THROW(std::invalid_argument("missing low surrogate")); + } + + // get code yyyy from uxxxx\uyyyy + auto codepoint2 = std::strtoul( + std::string( + reinterpret_cast(i + 7), + 4) + .c_str(), + nullptr, 16); + result += to_unicode(codepoint, codepoint2); + // skip the next 10 characters (xxxx\uyyyy) + i += 10; + } else if (codepoint >= 0xDC00 and codepoint <= 0xDFFF) { + // we found a lone low surrogate + JSON_THROW(std::invalid_argument("missing high surrogate")); + } else { + // add unicode character(s) + result += to_unicode(codepoint); + // skip the next four characters (xxxx) + i += 4; + } + break; + } + } + } + } + + return result; + } + + /*! + @brief parse string into a built-in arithmetic type as if the current + locale is POSIX. + + @note in floating-point case strtod may parse past the token's end - + this is not an error + + @note any leading blanks are not handled + */ + struct strtonum { + public: + strtonum(const char* start, const char* end) + : m_start(start), m_end(end) {} + + /*! + @return true iff parsed successfully as number of type T + + @param[in,out] val shall contain parsed value, or undefined value + if could not parse + */ + template::value>::type> + bool to(T& val) const { + return parse(val, std::is_integral()); + } + + private: + const char* const m_start = nullptr; + const char* const m_end = nullptr; + + // floating-point conversion + + // overloaded wrappers for strtod/strtof/strtold + // that will be called from parse + static void strtof(float& f, const char* str, char** endptr) { + f = std::strtof(str, endptr); + } + + static void strtof(double& f, const char* str, char** endptr) { + f = std::strtod(str, endptr); + } + + static void strtof(long double& f, const char* str, char** endptr) { + f = std::strtold(str, endptr); + } + + template + bool parse(T& value, /*is_integral=*/std::false_type) const { + // replace decimal separator with locale-specific version, + // when necessary; data will point to either the original + // string, or buf, or tempstr containing the fixed string. + std::string tempstr; + std::array buf; + const size_t len = static_cast(m_end - m_start); + + // lexer will reject empty numbers + assert(len > 0); + + // since dealing with strtod family of functions, we're + // getting the decimal point char from the C locale facilities + // instead of C++'s numpunct facet of the current std::locale + const auto loc = localeconv(); + assert(loc != nullptr); + const char decimal_point_char = + (loc->decimal_point == nullptr) ? '.' : loc->decimal_point[0]; + + const char* data = m_start; + + if (decimal_point_char != '.') { + const size_t ds_pos = + static_cast(std::find(m_start, m_end, '.') - m_start); + + if (ds_pos != len) { + // copy the data into the local buffer or tempstr, if + // buffer is too small; replace decimal separator, and + // update data to point to the modified bytes + if ((len + 1) < buf.size()) { + std::copy(m_start, m_end, buf.begin()); + buf[len] = 0; + buf[ds_pos] = decimal_point_char; + data = buf.data(); + } else { + tempstr.assign(m_start, m_end); + tempstr[ds_pos] = decimal_point_char; + data = tempstr.c_str(); + } + } + } + + char* endptr = nullptr; + value = 0; + // this calls appropriate overload depending on T + strtof(value, data, &endptr); + + // parsing was successful iff strtof parsed exactly the number + // of characters determined by the lexer (len) + const bool ok = (endptr == (data + len)); + + if (ok and (value == static_cast(0.0)) and (*data == '-')) { + // some implementations forget to negate the zero + value = -0.0; + } + + return ok; + } + + // integral conversion + + signed long long parse_integral(char** endptr, + /*is_signed*/ std::true_type) const { + return std::strtoll(m_start, endptr, 10); + } + + unsigned long long parse_integral(char** endptr, + /*is_signed*/ std::false_type) const { + return std::strtoull(m_start, endptr, 10); + } + + template + bool parse(T& value, /*is_integral=*/std::true_type) const { + char* endptr = nullptr; + errno = 0; // these are thread-local + const auto x = parse_integral(&endptr, std::is_signed()); + + // called right overload? + static_assert(std::is_signed() == std::is_signed(), ""); + + value = static_cast(x); + + return (x == + static_cast(value)) // x fits into destination T + and (x < 0) == (value < 0) // preserved sign + // and ((x != 0) or is_integral()) // strto[u]ll did nto + // fail + and (errno == 0) // strto[u]ll did not overflow + and (m_start < m_end) // token was not empty + and (endptr == m_end); // parsed entire token exactly + } + }; + + /*! + @brief return number value for number tokens + + This function translates the last token into the most appropriate + number type (either integer, unsigned integer or floating point), + which is passed back to the caller via the result parameter. + + integral numbers that don't fit into the the range of the respective + type are parsed as number_float_t + + floating-point values do not satisfy std::isfinite predicate + are converted to value_t::null + + throws if the entire string [m_start .. m_cursor) cannot be + interpreted as a number + + @param[out] result @ref basic_json object to receive the number. + @param[in] token the type of the number token + */ + bool get_number(basic_json& result, const token_type token) const { + assert(m_start != nullptr); + assert(m_start < m_cursor); + assert((token == token_type::value_unsigned) or + (token == token_type::value_integer) or + (token == token_type::value_float)); + + strtonum num_converter(reinterpret_cast(m_start), + reinterpret_cast(m_cursor)); + + switch (token) { + case lexer::token_type::value_unsigned: { + number_unsigned_t val; + if (num_converter.to(val)) { + // parsing successful + result.m_type = value_t::number_unsigned; + result.m_value = val; + return true; + } + break; + } + + case lexer::token_type::value_integer: { + number_integer_t val; + if (num_converter.to(val)) { + // parsing successful + result.m_type = value_t::number_integer; + result.m_value = val; + return true; + } + break; + } + + default: { break; } + } + + // parse float (either explicitly or because a previous conversion + // failed) + number_float_t val; + if (num_converter.to(val)) { + // parsing successful + result.m_type = value_t::number_float; + result.m_value = val; + + // replace infinity and NAN by null + if (not std::isfinite(result.m_value.number_float)) { + result.m_type = value_t::null; + result.m_value = basic_json::json_value(); + } + + return true; + } + + // couldn't parse number in any format + return false; + } + + private: + /// optional input stream + std::istream* m_stream = nullptr; + /// line buffer buffer for m_stream + string_t m_line_buffer{}; + /// used for filling m_line_buffer + string_t m_line_buffer_tmp{}; + /// the buffer pointer + const lexer_char_t* m_content = nullptr; + /// pointer to the beginning of the current symbol + const lexer_char_t* m_start = nullptr; + /// pointer for backtracking information + const lexer_char_t* m_marker = nullptr; + /// pointer to the current symbol + const lexer_char_t* m_cursor = nullptr; + /// pointer to the end of the buffer + const lexer_char_t* m_limit = nullptr; + /// the last token type + token_type last_token_type = token_type::end_of_input; + }; + + /*! + @brief syntax analysis + + This class implements a recursive decent parser. + */ + class parser { + public: + /// a parser reading from a string literal + parser(const char* buff, const parser_callback_t cb = nullptr) + : callback(cb), + m_lexer(reinterpret_cast(buff), + std::strlen(buff)) {} + + /// a parser reading from an input stream + parser(std::istream& is, const parser_callback_t cb = nullptr) + : callback(cb), m_lexer(is) {} + + /// a parser reading from an iterator range with contiguous storage + template::iterator_category, + std::random_access_iterator_tag>::value, + int>::type = 0> + parser(IteratorType first, IteratorType last, + const parser_callback_t cb = nullptr) + : callback(cb), + m_lexer( + reinterpret_cast(&(*first)), + static_cast(std::distance(first, last))) {} + + /// public parser interface + basic_json parse() { + // read first token + get_token(); + + basic_json result = parse_internal(true); + result.assert_invariant(); + + expect(lexer::token_type::end_of_input); + + // return parser result and replace it with null in case the + // top-level value was discarded by the callback function + return result.is_discarded() ? basic_json() : std::move(result); + } + + private: + /// the actual parser + basic_json parse_internal(bool keep) { + auto result = basic_json(value_t::discarded); + + switch (last_token) { + case lexer::token_type::begin_object: { + if (keep and (not callback or + ((keep = callback(depth++, parse_event_t::object_start, + result)) != 0))) { + // explicitly set result to object to cope with {} + result.m_type = value_t::object; + result.m_value = value_t::object; + } + + // read next token + get_token(); + + // closing } -> we are done + if (last_token == lexer::token_type::end_object) { + get_token(); + if (keep and callback and + not callback(--depth, parse_event_t::object_end, result)) { + result = basic_json(value_t::discarded); + } + return result; + } + + // no comma is expected here + unexpect(lexer::token_type::value_separator); + + // otherwise: parse key-value pairs + do { + // ugly, but could be fixed with loop reorganization + if (last_token == lexer::token_type::value_separator) { + get_token(); + } + + // store key + expect(lexer::token_type::value_string); + const auto key = m_lexer.get_string(); + + bool keep_tag = false; + if (keep) { + if (callback) { + basic_json k(key); + keep_tag = callback(depth, parse_event_t::key, k); + } else { + keep_tag = true; + } + } + + // parse separator (:) + get_token(); + expect(lexer::token_type::name_separator); + + // parse and add value + get_token(); + auto value = parse_internal(keep); + if (keep and keep_tag and not value.is_discarded()) { + result[key] = std::move(value); + } + } while (last_token == lexer::token_type::value_separator); + + // closing } + expect(lexer::token_type::end_object); + get_token(); + if (keep and callback and + not callback(--depth, parse_event_t::object_end, result)) { + result = basic_json(value_t::discarded); + } + + return result; + } + + case lexer::token_type::begin_array: { + if (keep and (not callback or + ((keep = callback(depth++, parse_event_t::array_start, + result)) != 0))) { + // explicitly set result to object to cope with [] + result.m_type = value_t::array; + result.m_value = value_t::array; + } + + // read next token + get_token(); + + // closing ] -> we are done + if (last_token == lexer::token_type::end_array) { + get_token(); + if (callback and + not callback(--depth, parse_event_t::array_end, result)) { + result = basic_json(value_t::discarded); + } + return result; + } + + // no comma is expected here + unexpect(lexer::token_type::value_separator); + + // otherwise: parse values + do { + // ugly, but could be fixed with loop reorganization + if (last_token == lexer::token_type::value_separator) { + get_token(); + } + + // parse value + auto value = parse_internal(keep); + if (keep and not value.is_discarded()) { + result.push_back(std::move(value)); + } + } while (last_token == lexer::token_type::value_separator); + + // closing ] + expect(lexer::token_type::end_array); + get_token(); + if (keep and callback and + not callback(--depth, parse_event_t::array_end, result)) { + result = basic_json(value_t::discarded); + } + + return result; + } + + case lexer::token_type::literal_null: { + get_token(); + result.m_type = value_t::null; + break; + } + + case lexer::token_type::value_string: { + const auto s = m_lexer.get_string(); + get_token(); + result = basic_json(s); + break; + } + + case lexer::token_type::literal_true: { + get_token(); + result.m_type = value_t::boolean; + result.m_value = true; + break; + } + + case lexer::token_type::literal_false: { + get_token(); + result.m_type = value_t::boolean; + result.m_value = false; + break; + } + + case lexer::token_type::value_unsigned: + case lexer::token_type::value_integer: + case lexer::token_type::value_float: { + m_lexer.get_number(result, last_token); + get_token(); + break; + } + + default: { + // the last token was unexpected + unexpect(last_token); + } + } + + if (keep and callback and + not callback(depth, parse_event_t::value, result)) { + result = basic_json(value_t::discarded); + } + return result; + } + + /// get next token from lexer + typename lexer::token_type get_token() { + last_token = m_lexer.scan(); + return last_token; + } + + void expect(typename lexer::token_type t) const { + if (t != last_token) { + std::string error_msg = "parse error - unexpected "; + error_msg += (last_token == lexer::token_type::parse_error + ? ("'" + m_lexer.get_token_string() + "'") + : lexer::token_type_name(last_token)); + error_msg += "; expected " + lexer::token_type_name(t); + JSON_THROW(std::invalid_argument(error_msg)); + } + } + + void unexpect(typename lexer::token_type t) const { + if (t == last_token) { + std::string error_msg = "parse error - unexpected "; + error_msg += (last_token == lexer::token_type::parse_error + ? ("'" + m_lexer.get_token_string() + "'") + : lexer::token_type_name(last_token)); + JSON_THROW(std::invalid_argument(error_msg)); + } + } + + private: + /// current level of recursion + int depth = 0; + /// callback function + const parser_callback_t callback = nullptr; + /// the type of the last read token + typename lexer::token_type last_token = lexer::token_type::uninitialized; + /// the lexer + lexer m_lexer; + }; + + public: + /*! + @brief JSON Pointer + + A JSON pointer defines a string syntax for identifying a specific value + within a JSON document. It can be used with functions `at` and + `operator[]`. Furthermore, JSON pointers are the base for JSON patches. + + @sa [RFC 6901](https://tools.ietf.org/html/rfc6901) + + @since version 2.0.0 + */ + class json_pointer { + /// allow basic_json to access private members + friend class basic_json; + + public: + /*! + @brief create JSON pointer + + Create a JSON pointer according to the syntax described in + [Section 3 of RFC6901](https://tools.ietf.org/html/rfc6901#section-3). + + @param[in] s string representing the JSON pointer; if omitted, the + empty string is assumed which references the whole JSON + value + + @throw std::domain_error if reference token is nonempty and does not + begin with a slash (`/`); example: `"JSON pointer must be empty or + begin with /"` + @throw std::domain_error if a tilde (`~`) is not followed by `0` + (representing `~`) or `1` (representing `/`); example: `"escape error: + ~ must be followed with 0 or 1"` + + @liveexample{The example shows the construction several valid JSON + pointers as well as the exceptional behavior.,json_pointer} + + @since version 2.0.0 + */ + explicit json_pointer(const std::string& s = "") + : reference_tokens(split(s)) {} + + /*! + @brief return a string representation of the JSON pointer + + @invariant For each JSON pointer `ptr`, it holds: + @code {.cpp} + ptr == json_pointer(ptr.to_string()); + @endcode + + @return a string representation of the JSON pointer + + @liveexample{The example shows the result of `to_string`., + json_pointer__to_string} + + @since version 2.0.0 + */ + std::string to_string() const noexcept { + return std::accumulate(reference_tokens.begin(), reference_tokens.end(), + std::string{}, + [](const std::string& a, const std::string& b) { + return a + "/" + escape(b); + }); + } + + /// @copydoc to_string() + operator std::string() const { return to_string(); } + + private: + /// remove and return last reference pointer + std::string pop_back() { + if (is_root()) { + JSON_THROW(std::domain_error("JSON pointer has no parent")); + } + + auto last = reference_tokens.back(); + reference_tokens.pop_back(); + return last; + } + + /// return whether pointer points to the root document + bool is_root() const { return reference_tokens.empty(); } + + json_pointer top() const { + if (is_root()) { + JSON_THROW(std::domain_error("JSON pointer has no parent")); + } + + json_pointer result = *this; + result.reference_tokens = {reference_tokens[0]}; + return result; + } + + /*! + @brief create and return a reference to the pointed to value + + @complexity Linear in the number of reference tokens. + */ + reference get_and_create(reference j) const { + pointer result = &j; + + // in case no reference tokens exist, return a reference to the + // JSON value j which will be overwritten by a primitive value + for (const auto& reference_token : reference_tokens) { + switch (result->m_type) { + case value_t::null: { + if (reference_token == "0") { + // start a new array if reference token is 0 + result = &result->operator[](0); + } else { + // start a new object otherwise + result = &result->operator[](reference_token); + } + break; + } + + case value_t::object: { + // create an entry in the object + result = &result->operator[](reference_token); + break; + } + + case value_t::array: { + // create an entry in the array + result = &result->operator[]( + static_cast(std::stoi(reference_token))); + break; + } + + /* + The following code is only reached if there exists a + reference token _and_ the current value is primitive. In + this case, we have an error situation, because primitive + values may only occur as single value; that is, with an + empty list of reference tokens. + */ + default: { + JSON_THROW(std::domain_error("invalid value to unflatten")); + } + } + } + + return *result; + } + + /*! + @brief return a reference to the pointed to value + + @note This version does not throw if a value is not present, but tries + to create nested values instead. For instance, calling this function + with pointer `"/this/that"` on a null value is equivalent to calling + `operator[]("this").operator[]("that")` on that value, effectively + changing the null value to an object. + + @param[in] ptr a JSON value + + @return reference to the JSON value pointed to by the JSON pointer + + @complexity Linear in the length of the JSON pointer. + + @throw std::out_of_range if the JSON pointer can not be resolved + @throw std::domain_error if an array index begins with '0' + @throw std::invalid_argument if an array index was not a number + */ + reference get_unchecked(pointer ptr) const { + for (const auto& reference_token : reference_tokens) { + // convert null values to arrays or objects before continuing + if (ptr->m_type == value_t::null) { + // check if reference token is a number + const bool nums = + std::all_of(reference_token.begin(), reference_token.end(), + [](const char x) { return std::isdigit(x); }); + + // change value to array for numbers or "-" or to object + // otherwise + if (nums or reference_token == "-") { + *ptr = value_t::array; + } else { + *ptr = value_t::object; + } + } + + switch (ptr->m_type) { + case value_t::object: { + // use unchecked object access + ptr = &ptr->operator[](reference_token); + break; + } + + case value_t::array: { + // error condition (cf. RFC 6901, Sect. 4) + if (reference_token.size() > 1 and reference_token[0] == '0') { + JSON_THROW( + std::domain_error("array index must not begin with '0'")); + } + + if (reference_token == "-") { + // explicitly treat "-" as index beyond the end + ptr = &ptr->operator[](ptr->m_value.array->size()); + } else { + // convert array index to number; unchecked access + ptr = &ptr->operator[]( + static_cast(std::stoi(reference_token))); + } + break; + } + + default: { + JSON_THROW(std::out_of_range("unresolved reference token '" + + reference_token + "'")); + } + } + } + + return *ptr; + } + + reference get_checked(pointer ptr) const { + for (const auto& reference_token : reference_tokens) { + switch (ptr->m_type) { + case value_t::object: { + // note: at performs range check + ptr = &ptr->at(reference_token); + break; + } + + case value_t::array: { + if (reference_token == "-") { + // "-" always fails the range check + JSON_THROW( + std::out_of_range("array index '-' (" + + std::to_string(ptr->m_value.array->size()) + + ") is out of range")); + } + + // error condition (cf. RFC 6901, Sect. 4) + if (reference_token.size() > 1 and reference_token[0] == '0') { + JSON_THROW( + std::domain_error("array index must not begin with '0'")); + } + + // note: at performs range check + ptr = &ptr->at(static_cast(std::stoi(reference_token))); + break; + } + + default: { + JSON_THROW(std::out_of_range("unresolved reference token '" + + reference_token + "'")); + } + } + } + + return *ptr; + } + + /*! + @brief return a const reference to the pointed to value + + @param[in] ptr a JSON value + + @return const reference to the JSON value pointed to by the JSON + pointer + */ + const_reference get_unchecked(const_pointer ptr) const { + for (const auto& reference_token : reference_tokens) { + switch (ptr->m_type) { + case value_t::object: { + // use unchecked object access + ptr = &ptr->operator[](reference_token); + break; + } + + case value_t::array: { + if (reference_token == "-") { + // "-" cannot be used for const access + JSON_THROW( + std::out_of_range("array index '-' (" + + std::to_string(ptr->m_value.array->size()) + + ") is out of range")); + } + + // error condition (cf. RFC 6901, Sect. 4) + if (reference_token.size() > 1 and reference_token[0] == '0') { + JSON_THROW( + std::domain_error("array index must not begin with '0'")); + } + + // use unchecked array access + ptr = &ptr->operator[]( + static_cast(std::stoi(reference_token))); + break; + } + + default: { + JSON_THROW(std::out_of_range("unresolved reference token '" + + reference_token + "'")); + } + } + } + + return *ptr; + } + + const_reference get_checked(const_pointer ptr) const { + for (const auto& reference_token : reference_tokens) { + switch (ptr->m_type) { + case value_t::object: { + // note: at performs range check + ptr = &ptr->at(reference_token); + break; + } + + case value_t::array: { + if (reference_token == "-") { + // "-" always fails the range check + JSON_THROW( + std::out_of_range("array index '-' (" + + std::to_string(ptr->m_value.array->size()) + + ") is out of range")); + } + + // error condition (cf. RFC 6901, Sect. 4) + if (reference_token.size() > 1 and reference_token[0] == '0') { + JSON_THROW( + std::domain_error("array index must not begin with '0'")); + } + + // note: at performs range check + ptr = &ptr->at(static_cast(std::stoi(reference_token))); + break; + } + + default: { + JSON_THROW(std::out_of_range("unresolved reference token '" + + reference_token + "'")); + } + } + } + + return *ptr; + } + + /// split the string input to reference tokens + static std::vector split(const std::string& reference_string) { + std::vector result; + + // special case: empty reference string -> no reference tokens + if (reference_string.empty()) { + return result; + } + + // check if nonempty reference string begins with slash + if (reference_string[0] != '/') { + JSON_THROW( + std::domain_error("JSON pointer must be empty or begin with '/'")); + } + + // extract the reference tokens: + // - slash: position of the last read slash (or end of string) + // - start: position after the previous slash + for ( + // search for the first slash after the first character + size_t slash = reference_string.find_first_of('/', 1), + // set the beginning of the first reference token + start = 1; + // we can stop if start == string::npos+1 = 0 + start != 0; + // set the beginning of the next reference token + // (will eventually be 0 if slash == std::string::npos) + start = slash + 1, + // find next slash + slash = reference_string.find_first_of('/', start)) { + // use the text between the beginning of the reference token + // (start) and the last slash (slash). + auto reference_token = reference_string.substr(start, slash - start); + + // check reference tokens are properly escaped + for (size_t pos = reference_token.find_first_of('~'); + pos != std::string::npos; + pos = reference_token.find_first_of('~', pos + 1)) { + assert(reference_token[pos] == '~'); + + // ~ must be followed by 0 or 1 + if (pos == reference_token.size() - 1 or + (reference_token[pos + 1] != '0' and + reference_token[pos + 1] != '1')) { + JSON_THROW(std::domain_error( + "escape error: '~' must be followed with '0' or '1'")); + } + } + + // finally, store the reference token + unescape(reference_token); + result.push_back(reference_token); + } + + return result; + } + + private: + /*! + @brief replace all occurrences of a substring by another string + + @param[in,out] s the string to manipulate; changed so that all + occurrences of @a f are replaced with @a t + @param[in] f the substring to replace with @a t + @param[in] t the string to replace @a f + + @pre The search string @a f must not be empty. + + @since version 2.0.0 + */ + static void replace_substring(std::string& s, const std::string& f, + const std::string& t) { + assert(not f.empty()); + + for (size_t pos = s.find(f); // find first occurrence of f + pos != std::string::npos; // make sure f was found + s.replace(pos, f.size(), t), // replace with t + pos = s.find(f, pos + t.size()) // find next occurrence of f + ) + ; + } + + /// escape tilde and slash + static std::string escape(std::string s) { + // escape "~"" to "~0" and "/" to "~1" + replace_substring(s, "~", "~0"); + replace_substring(s, "/", "~1"); + return s; + } + + /// unescape tilde and slash + static void unescape(std::string& s) { + // first transform any occurrence of the sequence '~1' to '/' + replace_substring(s, "~1", "/"); + // then transform any occurrence of the sequence '~0' to '~' + replace_substring(s, "~0", "~"); + } + + /*! + @param[in] reference_string the reference string to the current value + @param[in] value the value to consider + @param[in,out] result the result object to insert values to + + @note Empty objects or arrays are flattened to `null`. + */ + static void flatten(const std::string& reference_string, + const basic_json& value, basic_json& result) { + switch (value.m_type) { + case value_t::array: { + if (value.m_value.array->empty()) { + // flatten empty array as null + result[reference_string] = nullptr; + } else { + // iterate array and use index as reference string + for (size_t i = 0; i < value.m_value.array->size(); ++i) { + flatten(reference_string + "/" + std::to_string(i), + value.m_value.array->operator[](i), result); + } + } + break; + } + + case value_t::object: { + if (value.m_value.object->empty()) { + // flatten empty object as null + result[reference_string] = nullptr; + } else { + // iterate object and use keys as reference string + for (const auto& element : *value.m_value.object) { + flatten(reference_string + "/" + escape(element.first), + element.second, result); + } + } + break; + } + + default: { + // add primitive value with its reference string + result[reference_string] = value; + break; + } + } + } + + /*! + @param[in] value flattened JSON + + @return unflattened JSON + */ + static basic_json unflatten(const basic_json& value) { + if (not value.is_object()) { + JSON_THROW(std::domain_error("only objects can be unflattened")); + } + + basic_json result; + + // iterate the JSON object values + for (const auto& element : *value.m_value.object) { + if (not element.second.is_primitive()) { + JSON_THROW(std::domain_error("values in object must be primitive")); + } + + // assign value to reference pointed to by JSON pointer; Note + // that if the JSON pointer is "" (i.e., points to the whole + // value), function get_and_create returns a reference to + // result itself. An assignment will then create a primitive + // value. + json_pointer(element.first).get_and_create(result) = element.second; + } + + return result; + } + + private: + friend bool operator==(json_pointer const& lhs, + json_pointer const& rhs) noexcept { + return lhs.reference_tokens == rhs.reference_tokens; + } + + friend bool operator!=(json_pointer const& lhs, + json_pointer const& rhs) noexcept { + return !(lhs == rhs); + } + + /// the reference tokens + std::vector reference_tokens{}; + }; + + ////////////////////////// + // JSON Pointer support // + ////////////////////////// + + /// @name JSON Pointer functions + /// @{ + + /*! + @brief access specified element via JSON Pointer + + Uses a JSON pointer to retrieve a reference to the respective JSON value. + No bound checking is performed. Similar to @ref operator[](const typename + object_t::key_type&), `null` values are created in arrays and objects if + necessary. + + In particular: + - If the JSON pointer points to an object key that does not exist, it + is created an filled with a `null` value before a reference to it + is returned. + - If the JSON pointer points to an array index that does not exist, it + is created an filled with a `null` value before a reference to it + is returned. All indices between the current maximum and the given + index are also filled with `null`. + - The special value `-` is treated as a synonym for the index past the + end. + + @param[in] ptr a JSON pointer + + @return reference to the element pointed to by @a ptr + + @complexity Constant. + + @throw std::out_of_range if the JSON pointer can not be resolved + @throw std::domain_error if an array index begins with '0' + @throw std::invalid_argument if an array index was not a number + + @liveexample{The behavior is shown in the example.,operatorjson_pointer} + + @since version 2.0.0 + */ + reference operator[](const json_pointer& ptr) { + return ptr.get_unchecked(this); + } + + /*! + @brief access specified element via JSON Pointer + + Uses a JSON pointer to retrieve a reference to the respective JSON value. + No bound checking is performed. The function does not change the JSON + value; no `null` values are created. In particular, the the special value + `-` yields an exception. + + @param[in] ptr JSON pointer to the desired element + + @return const reference to the element pointed to by @a ptr + + @complexity Constant. + + @throw std::out_of_range if the JSON pointer can not be resolved + @throw std::domain_error if an array index begins with '0' + @throw std::invalid_argument if an array index was not a number + + @liveexample{The behavior is shown in the example.,operatorjson_pointer_const} + + @since version 2.0.0 + */ + const_reference operator[](const json_pointer& ptr) const { + return ptr.get_unchecked(this); + } + + /*! + @brief access specified element via JSON Pointer + + Returns a reference to the element at with specified JSON pointer @a ptr, + with bounds checking. + + @param[in] ptr JSON pointer to the desired element + + @return reference to the element pointed to by @a ptr + + @complexity Constant. + + @throw std::out_of_range if the JSON pointer can not be resolved + @throw std::domain_error if an array index begins with '0' + @throw std::invalid_argument if an array index was not a number + + @liveexample{The behavior is shown in the example.,at_json_pointer} + + @since version 2.0.0 + */ + reference at(const json_pointer& ptr) { return ptr.get_checked(this); } + + /*! + @brief access specified element via JSON Pointer + + Returns a const reference to the element at with specified JSON pointer @a + ptr, with bounds checking. + + @param[in] ptr JSON pointer to the desired element + + @return reference to the element pointed to by @a ptr + + @complexity Constant. + + @throw std::out_of_range if the JSON pointer can not be resolved + @throw std::domain_error if an array index begins with '0' + @throw std::invalid_argument if an array index was not a number + + @liveexample{The behavior is shown in the example.,at_json_pointer_const} + + @since version 2.0.0 + */ + const_reference at(const json_pointer& ptr) const { + return ptr.get_checked(this); + } + + /*! + @brief return flattened JSON value + + The function creates a JSON object whose keys are JSON pointers (see [RFC + 6901](https://tools.ietf.org/html/rfc6901)) and whose values are all + primitive. The original JSON value can be restored using the @ref + unflatten() function. + + @return an object that maps JSON pointers to primitive values + + @note Empty objects and arrays are flattened to `null` and will not be + reconstructed correctly by the @ref unflatten() function. + + @complexity Linear in the size the JSON value. + + @liveexample{The following code shows how a JSON object is flattened to an + object whose keys consist of JSON pointers.,flatten} + + @sa @ref unflatten() for the reverse function + + @since version 2.0.0 + */ + basic_json flatten() const { + basic_json result(value_t::object); + json_pointer::flatten("", *this, result); + return result; + } + + /*! + @brief unflatten a previously flattened JSON value + + The function restores the arbitrary nesting of a JSON value that has been + flattened before using the @ref flatten() function. The JSON value must + meet certain constraints: + 1. The value must be an object. + 2. The keys must be JSON pointers (see + [RFC 6901](https://tools.ietf.org/html/rfc6901)) + 3. The mapped values must be primitive JSON types. + + @return the original JSON from a flattened version + + @note Empty objects and arrays are flattened by @ref flatten() to `null` + values and can not unflattened to their original type. Apart from + this example, for a JSON value `j`, the following is always true: + `j == j.flatten().unflatten()`. + + @complexity Linear in the size the JSON value. + + @liveexample{The following code shows how a flattened JSON object is + unflattened into the original nested JSON object.,unflatten} + + @sa @ref flatten() for the reverse function + + @since version 2.0.0 + */ + basic_json unflatten() const { return json_pointer::unflatten(*this); } + + /// @} + + ////////////////////////// + // JSON Patch functions // + ////////////////////////// + + /// @name JSON Patch functions + /// @{ + + /*! + @brief applies a JSON patch + + [JSON Patch](http://jsonpatch.com) defines a JSON document structure for + expressing a sequence of operations to apply to a JSON) document. With + this function, a JSON Patch is applied to the current JSON value by + executing all operations from the patch. + + @param[in] json_patch JSON patch document + @return patched document + + @note The application of a patch is atomic: Either all operations succeed + and the patched document is returned or an exception is thrown. In + any case, the original value is not changed: the patch is applied + to a copy of the value. + + @throw std::out_of_range if a JSON pointer inside the patch could not + be resolved successfully in the current JSON value; example: `"key baz + not found"` + @throw invalid_argument if the JSON patch is malformed (e.g., mandatory + attributes are missing); example: `"operation add must have member path"` + + @complexity Linear in the size of the JSON value and the length of the + JSON patch. As usually only a fraction of the JSON value is affected by + the patch, the complexity can usually be neglected. + + @liveexample{The following code shows how a JSON patch is applied to a + value.,patch} + + @sa @ref diff -- create a JSON patch by comparing two JSON values + + @sa [RFC 6902 (JSON Patch)](https://tools.ietf.org/html/rfc6902) + @sa [RFC 6901 (JSON Pointer)](https://tools.ietf.org/html/rfc6901) + + @since version 2.0.0 + */ + basic_json patch(const basic_json& json_patch) const { + // make a working copy to apply the patch to + basic_json result = *this; + + // the valid JSON Patch operations + enum class patch_operations { + add, + remove, + replace, + move, + copy, + test, + invalid + }; + + const auto get_op = [](const std::string op) { + if (op == "add") { + return patch_operations::add; + } + if (op == "remove") { + return patch_operations::remove; + } + if (op == "replace") { + return patch_operations::replace; + } + if (op == "move") { + return patch_operations::move; + } + if (op == "copy") { + return patch_operations::copy; + } + if (op == "test") { + return patch_operations::test; + } + + return patch_operations::invalid; + }; + + // wrapper for "add" operation; add value at ptr + const auto operation_add = [&result](json_pointer& ptr, basic_json val) { + // adding to the root of the target document means replacing it + if (ptr.is_root()) { + result = val; + } else { + // make sure the top element of the pointer exists + json_pointer top_pointer = ptr.top(); + if (top_pointer != ptr) { + result.at(top_pointer); + } + + // get reference to parent of JSON pointer ptr + const auto last_path = ptr.pop_back(); + basic_json& parent = result[ptr]; + + switch (parent.m_type) { + case value_t::null: + case value_t::object: { + // use operator[] to add value + parent[last_path] = val; + break; + } + + case value_t::array: { + if (last_path == "-") { + // special case: append to back + parent.push_back(val); + } else { + const auto idx = std::stoi(last_path); + if (static_cast(idx) > parent.size()) { + // avoid undefined behavior + JSON_THROW(std::out_of_range( + "array index " + std::to_string(idx) + " is out of range")); + } else { + // default case: insert add offset + parent.insert( + parent.begin() + static_cast(idx), val); + } + } + break; + } + + default: { + // if there exists a parent it cannot be primitive + assert(false); // LCOV_EXCL_LINE + } + } + } + }; + + // wrapper for "remove" operation; remove value at ptr + const auto operation_remove = [&result](json_pointer& ptr) { + // get reference to parent of JSON pointer ptr + const auto last_path = ptr.pop_back(); + basic_json& parent = result.at(ptr); + + // remove child + if (parent.is_object()) { + // perform range check + auto it = parent.find(last_path); + if (it != parent.end()) { + parent.erase(it); + } else { + JSON_THROW(std::out_of_range("key '" + last_path + "' not found")); + } + } else if (parent.is_array()) { + // note erase performs range check + parent.erase(static_cast(std::stoi(last_path))); + } + }; + + // type check + if (not json_patch.is_array()) { + // a JSON patch must be an array of objects + JSON_THROW( + std::invalid_argument("JSON patch must be an array of objects")); + } + + // iterate and apply the operations + for (const auto& val : json_patch) { + // wrapper to get a value for an operation + const auto get_value = [&val](const std::string& op, + const std::string& member, + bool string_type) -> basic_json& { + // find value + auto it = val.m_value.object->find(member); + + // context-sensitive error message + const auto error_msg = + (op == "op") ? "operation" : "operation '" + op + "'"; + + // check if desired value is present + if (it == val.m_value.object->end()) { + JSON_THROW(std::invalid_argument(error_msg + " must have member '" + + member + "'")); + } + + // check if result is of type string + if (string_type and not it->second.is_string()) { + JSON_THROW(std::invalid_argument( + error_msg + " must have string member '" + member + "'")); + } + + // no error: return value + return it->second; + }; + + // type check + if (not val.is_object()) { + JSON_THROW( + std::invalid_argument("JSON patch must be an array of objects")); + } + + // collect mandatory members + const std::string op = get_value("op", "op", true); + const std::string path = get_value(op, "path", true); + json_pointer ptr(path); + + switch (get_op(op)) { + case patch_operations::add: { + operation_add(ptr, get_value("add", "value", false)); + break; + } + + case patch_operations::remove: { + operation_remove(ptr); + break; + } + + case patch_operations::replace: { + // the "path" location must exist - use at() + result.at(ptr) = get_value("replace", "value", false); + break; + } + + case patch_operations::move: { + const std::string from_path = get_value("move", "from", true); + json_pointer from_ptr(from_path); + + // the "from" location must exist - use at() + basic_json v = result.at(from_ptr); + + // The move operation is functionally identical to a + // "remove" operation on the "from" location, followed + // immediately by an "add" operation at the target + // location with the value that was just removed. + operation_remove(from_ptr); + operation_add(ptr, v); + break; + } + + case patch_operations::copy: { + const std::string from_path = get_value("copy", "from", true); + ; + const json_pointer from_ptr(from_path); + + // the "from" location must exist - use at() + result[ptr] = result.at(from_ptr); + break; + } + + case patch_operations::test: { + bool success = false; + JSON_TRY { + // check if "value" matches the one at "path" + // the "path" location must exist - use at() + success = (result.at(ptr) == get_value("test", "value", false)); + } + JSON_CATCH(std::out_of_range&) { + // ignore out of range errors: success remains false + } + + // throw an exception if test fails + if (not success) { + JSON_THROW(std::domain_error("unsuccessful: " + val.dump())); + } + + break; + } + + case patch_operations::invalid: { + // op must be "add", "remove", "replace", "move", "copy", or + // "test" + JSON_THROW( + std::invalid_argument("operation value '" + op + "' is invalid")); + } + } + } + + return result; + } + + /*! + @brief creates a diff as a JSON patch + + Creates a [JSON Patch](http://jsonpatch.com) so that value @a source can + be changed into the value @a target by calling @ref patch function. + + @invariant For two JSON values @a source and @a target, the following code + yields always `true`: + @code {.cpp} + source.patch(diff(source, target)) == target; + @endcode + + @note Currently, only `remove`, `add`, and `replace` operations are + generated. + + @param[in] source JSON value to compare from + @param[in] target JSON value to compare against + @param[in] path helper value to create JSON pointers + + @return a JSON patch to convert the @a source to @a target + + @complexity Linear in the lengths of @a source and @a target. + + @liveexample{The following code shows how a JSON patch is created as a + diff for two JSON values.,diff} + + @sa @ref patch -- apply a JSON patch + + @sa [RFC 6902 (JSON Patch)](https://tools.ietf.org/html/rfc6902) + + @since version 2.0.0 + */ + static basic_json diff(const basic_json& source, const basic_json& target, + const std::string& path = "") { + // the patch + basic_json result(value_t::array); + + // if the values are the same, return empty patch + if (source == target) { + return result; + } + + if (source.type() != target.type()) { + // different types: replace value + result.push_back({{"op", "replace"}, {"path", path}, {"value", target}}); + } else { + switch (source.type()) { + case value_t::array: { + // first pass: traverse rpgq_common elements + size_t i = 0; + while (i < source.size() and i < target.size()) { + // recursive call to compare array values at index i + auto temp_diff = + diff(source[i], target[i], path + "/" + std::to_string(i)); + result.insert(result.end(), temp_diff.begin(), temp_diff.end()); + ++i; + } + + // i now reached the end of at least one array + // in a second pass, traverse the remaining elements + + // remove my remaining elements + const auto end_index = static_cast(result.size()); + while (i < source.size()) { + // add operations in reverse order to avoid invalid + // indices + result.insert(result.begin() + end_index, + object({{"op", "remove"}, + {"path", path + "/" + std::to_string(i)}})); + ++i; + } + + // add other remaining elements + while (i < target.size()) { + result.push_back({{"op", "add"}, + {"path", path + "/" + std::to_string(i)}, + {"value", target[i]}}); + ++i; + } + + break; + } + + case value_t::object: { + // first pass: traverse this object's elements + for (auto it = source.begin(); it != source.end(); ++it) { + // escape the key name to be used in a JSON patch + const auto key = json_pointer::escape(it.key()); + + if (target.find(it.key()) != target.end()) { + // recursive call to compare object values at key it + auto temp_diff = + diff(it.value(), target[it.key()], path + "/" + key); + result.insert(result.end(), temp_diff.begin(), temp_diff.end()); + } else { + // found a key that is not in o -> remove it + result.push_back( + object({{"op", "remove"}, {"path", path + "/" + key}})); + } + } + + // second pass: traverse other object's elements + for (auto it = target.begin(); it != target.end(); ++it) { + if (source.find(it.key()) == source.end()) { + // found a key that is not in this -> add it + const auto key = json_pointer::escape(it.key()); + result.push_back({{"op", "add"}, + {"path", path + "/" + key}, + {"value", it.value()}}); + } + } + + break; + } + + default: { + // both primitive type: replace value + result.push_back( + {{"op", "replace"}, {"path", path}, {"value", target}}); + break; + } + } + } + + return result; + } + + /// @} +}; + +///////////// +// presets // +///////////// + +/*! +@brief default JSON class + +This type is the default specialization of the @ref basic_json class which +uses the standard template types. + +@since version 1.0.0 +*/ +using json = basic_json<>; +} // namespace nlohmann + +/////////////////////// +// nonmember support // +/////////////////////// + +// specialization of std::swap, and std::hash +namespace std { +/*! +@brief exchanges the values of two JSON objects + +@since version 1.0.0 +*/ +template<> +inline void swap(nlohmann::json& j1, nlohmann::json& j2) noexcept( + is_nothrow_move_constructible::value and + is_nothrow_move_assignable::value) { + j1.swap(j2); +} + +/// hash value for JSON objects +template<> +struct hash { + /*! + @brief return a hash value for a JSON object + + @since version 1.0.0 + */ + std::size_t operator()(const nlohmann::json& j) const { + // a naive hashing via the string representation + const auto& h = hash(); + return h(j.dump()); + } +}; +} // namespace std + +/*! +@brief user-defined string literal for JSON values + +This operator implements a user-defined string literal for JSON objects. It +can be used by adding `"_json"` to a string literal and returns a JSON object +if no parse error occurred. + +@param[in] s a string representation of a JSON object +@param[in] n the length of string @a s +@return a JSON object + +@since version 1.0.0 +*/ +inline nlohmann::json operator"" _json(const char* s, std::size_t n) { + return nlohmann::json::parse(s, s + n); +} + +/*! +@brief user-defined string literal for JSON pointer + +This operator implements a user-defined string literal for JSON Pointers. It +can be used by adding `"_json_pointer"` to a string literal and returns a JSON +pointer +object if no parse error occurred. + +@param[in] s a string representation of a JSON Pointer +@param[in] n the length of string @a s +@return a JSON pointer object + +@since version 2.0.0 +*/ +inline nlohmann::json::json_pointer operator"" _json_pointer(const char* s, + std::size_t n) { + return nlohmann::json::json_pointer(std::string(s, n)); +} + +// restore GCC/clang diagnostic settings +#if defined(__clang__) || defined(__GNUC__) || defined(__GNUG__) +#pragma GCC diagnostic pop +#endif + +// clean up +#undef JSON_CATCH +#undef JSON_DEPRECATED +#undef JSON_THROW +#undef JSON_TRY + +#endif \ No newline at end of file diff --git a/flightlib/include/flightlib/objects/object_base.hpp b/flightlib/include/flightlib/objects/object_base.hpp new file mode 100644 index 0000000..b826952 --- /dev/null +++ b/flightlib/include/flightlib/objects/object_base.hpp @@ -0,0 +1,19 @@ +#pragma once + +#include "flightlib/common/types.hpp" + +namespace flightlib { + +class ObjectBase { + public: + ObjectBase(); + virtual ~ObjectBase(); + + // reset + virtual bool reset(void) = 0; + + // run + virtual bool run(const Scalar dt) = 0; +}; + +} // namespace flightlib diff --git a/flightlib/include/flightlib/objects/quadrotor.hpp b/flightlib/include/flightlib/objects/quadrotor.hpp new file mode 100644 index 0000000..9951810 --- /dev/null +++ b/flightlib/include/flightlib/objects/quadrotor.hpp @@ -0,0 +1,110 @@ +#pragma once + +/* + Explanation: + We retain this class but do not use most of its functionalities. + For efficiency, we do not use the built-in dynamics model and instead + directly use the desired attitude given by the controller as actual state. + Because the proposed approach (YOPO) only focuses on the trajectory performance, + while control is preformed by an external controller. +*/ + +#include + +#include "flightlib/common/command.hpp" +#include "flightlib/common/integrator_rk4.hpp" +#include "flightlib/common/types.hpp" +#include "flightlib/dynamics/quadrotor_dynamics.hpp" +#include "flightlib/objects/object_base.hpp" +#include "flightlib/sensors/imu.hpp" +#include "flightlib/sensors/rgb_camera.hpp" + +namespace flightlib { + +class Quadrotor : ObjectBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + Quadrotor(const std::string& cfg_path); + Quadrotor(const QuadrotorDynamics& dynamics = QuadrotorDynamics(1.0, 0.25)); + ~Quadrotor(); + + // reset + bool reset(void) override; + bool reset(const QuadState& state); + void init(void); + + // run the quadrotor + bool setState(const Ref> p, const Ref> v, const Quaternion q_, const Ref> a_, const Scalar ctl_dt); + bool run(const Scalar dt) override; + bool run(const Command& cmd, const Scalar dt); + void runSimpleFlight(const Eigen::Vector3f& ref_acc, float ref_yaw, Eigen::Quaternionf& quat_des); + + // public get functions + bool getState(QuadState* const state) const; + bool getMotorThrusts(Ref> motor_thrusts) const; + bool getMotorOmega(Ref> motor_omega) const; + bool getDynamics(QuadrotorDynamics* const dynamics) const; + + const QuadrotorDynamics& getDynamics(); + Vector<3> getSize(void) const; + Vector<3> getPosition(void) const; + Quaternion getQuaternion(void) const; + std::vector> getCameras(void) const; + bool getCamera(const size_t cam_id, std::shared_ptr camera) const; + int getNumCamera() const; + bool getCollision() const; + + // public set functions + bool setState(const QuadState& state); + bool setCommand(const Command& cmd); + bool updateDynamics(const QuadrotorDynamics& dynamics); + bool addRGBCamera(std::shared_ptr camera); + + // low-level controller + Vector<4> runFlightCtl(const Scalar sim_dt, const Vector<3>& omega, const Command& cmd); + + // simulate motors + void runMotors(const Scalar sim_dt, const Vector<4>& motor_thrust_des); + + // constrain world box + bool setWorldBox(const Ref> box); + bool constrainInWorldBox(const QuadState& old_state); + + // + inline Scalar getMass(void) { return dynamics_.getMass(); }; + inline void setSize(const Ref> size) { size_ = size; }; + inline void setCollision(const bool collision) { collision_ = collision; }; + + float getSimT() { return state_.t; } + + private: + // quadrotor dynamics, integrators + QuadrotorDynamics dynamics_; + IMU imu_; + std::unique_ptr integrator_ptr_; + std::vector> rgb_cameras_; + + // quad control command + Command cmd_; + + // quad state + QuadState state_; + Vector<3> size_; + bool collision_; + + // auxiliar variablers + Vector<4> motor_omega_; + Vector<4> motor_thrusts_; + Matrix<4, 4> B_allocation_; + Matrix<4, 4> B_allocation_inv_; + + // P gain for body-rate control + const Matrix<3, 3> Kinv_ang_vel_tau_ = Vector<3>(16.6, 16.6, 5.0).asDiagonal(); + // gravity + const Vector<3> gz_{0.0, 0.0, Gz}; + + // auxiliary variables + Matrix<3, 2> world_box_; +}; + +} // namespace flightlib diff --git a/flightlib/include/flightlib/objects/static_gate.hpp b/flightlib/include/flightlib/objects/static_gate.hpp new file mode 100644 index 0000000..0f8417d --- /dev/null +++ b/flightlib/include/flightlib/objects/static_gate.hpp @@ -0,0 +1,13 @@ +#pragma once + +#include "flightlib/objects/static_object.hpp" + +namespace flightlib { +class StaticGate : public StaticObject { + public: + StaticGate(const std::string& id, const std::string& prefab_id = "rpg_gate") + : StaticObject(id, prefab_id) {} + ~StaticGate() {} +}; + +} // namespace flightlib diff --git a/flightlib/include/flightlib/objects/static_object.hpp b/flightlib/include/flightlib/objects/static_object.hpp new file mode 100644 index 0000000..1b0b801 --- /dev/null +++ b/flightlib/include/flightlib/objects/static_object.hpp @@ -0,0 +1,36 @@ +#pragma once + +#include "flightlib/common/types.hpp" + +namespace flightlib { +class StaticObject { + public: + StaticObject(const std::string& id, const std::string& prefab_id) + : id_(id), prefab_id_(prefab_id){}; + virtual ~StaticObject(){}; + + // public set functions + virtual void setPosition(const Vector<3>& position) { position_ = position; }; + virtual void setQuaternion(const Quaternion& quaternion) { + quat_ = quaternion; + }; + virtual void setSize(const Vector<3>& size) { size_ = size; }; + + // public get functions + virtual Vector<3> getPosition(void) { return position_; }; + virtual Quaternion getQuaternion(void) { return quat_; }; + virtual Vector<3> getSize(void) { return size_; }; + const std::string& getID(void) { return id_; }; + const std::string& getPrefabID(void) { return prefab_id_; }; + + private: + std::string id_; + std::string prefab_id_; + + protected: + Vector<3> position_{0.0, 0.0, 0.0}; + Quaternion quat_{1.0, 0.0, 0.0, 0.0}; + Vector<3> size_{1.0, 1.0, 1.0}; +}; + +} // namespace flightlib diff --git a/flightlib/include/flightlib/objects/unity_camera.hpp b/flightlib/include/flightlib/objects/unity_camera.hpp new file mode 100644 index 0000000..25704ac --- /dev/null +++ b/flightlib/include/flightlib/objects/unity_camera.hpp @@ -0,0 +1,15 @@ +#pragma once + +#include "flightlib/common/types.hpp" +#include "flightlib/sensors/rgb_camera.hpp" + +namespace flightlib { + +class UnityCamera : RGBCamera { + public: + UnityCamera(); + ~UnityCamera(); + + private: +}; +} // namespace flightlib diff --git a/flightlib/include/flightlib/ros_nodes/flight_pilot.hpp b/flightlib/include/flightlib/ros_nodes/flight_pilot.hpp new file mode 100644 index 0000000..9e673ab --- /dev/null +++ b/flightlib/include/flightlib/ros_nodes/flight_pilot.hpp @@ -0,0 +1,92 @@ + +#pragma once + +#include +#include +#include +#include +#include + +#include +#include +#include + +#include "std_msgs/Empty.h" +// flightlib +#include "flightlib/bridges/unity_bridge.hpp" +#include "flightlib/common/quad_state.hpp" +#include "flightlib/common/types.hpp" +#include "flightlib/objects/quadrotor.hpp" +#include "flightlib/sensors/rgb_camera.hpp" +#include "flightlib/sensors/sgm_gpu/sgm_gpu.h" + +using namespace flightlib; + +namespace flightros { + +class FlightPilot { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + FlightPilot(const ros::NodeHandle& nh, const ros::NodeHandle& pnh); + ~FlightPilot(); + + // callbacks + void mainLoopCallback(const ros::TimerEvent& event); + void spawnTreeCallback(const std_msgs::Empty::ConstPtr& msg); + void clearTreeCallback(const std_msgs::Empty::ConstPtr& msg); + void savePointcloudCallback(const std_msgs::Empty::ConstPtr& msg); + void poseCallback(const nav_msgs::Odometry::ConstPtr& msg); + + // unity + bool setUnity(const bool render); + bool connectUnity(void); + bool disconnectUnity(); + bool loadParams(const YAML::Node& cfg); + bool configCamera(const YAML::Node& cfg); + void computeDepthImage(const cv::Mat& left_frame, const cv::Mat& right_frame, cv::Mat* const depth); + bool spawnTreesAndSavePointCloud(); + + private: + // ros nodes + ros::NodeHandle nh_; + ros::NodeHandle pnh_; + + // publisher & subscriber + std::string odom_topic_; + ros::Publisher stereo_pub, left_img_pub, depth_pub, cam_info_pub; + ros::Subscriber state_est_sub_, spawn_tree_sub_, clear_tree_sub_, save_pc_sub_; + + // main loop timer + ros::Timer timer_main_loop_; + ros::Time timestamp; + Scalar main_loop_freq_{50.0}; + + // unity & quadrotor + Vector<3> quad_size_; + QuadState quad_state_; + std::shared_ptr quad_ptr_; + std::shared_ptr unity_bridge_ptr_; + SceneID scene_id_{UnityScene::WAREHOUSE}; + bool unity_ready_{false}; + bool unity_render_{false}; + RenderMessage_t unity_output_; + uint16_t receive_id_{0}; + FrameID frameID{0}; + + // camera param + Scalar stereo_baseline_; + Scalar fov_; + int width_; + int height_; + bool use_depth, use_stereo; + std::shared_ptr rgb_camera_left, rgb_camera_right; + std::shared_ptr sgm_; + + // tree generation + int ply_id_{0}; + Scalar avg_tree_spacing_; + Vector<3> bounding_box_, bounding_box_origin_; + Scalar pointcloud_resolution_; + std::string ply_path_; +}; +} // namespace flightros \ No newline at end of file diff --git a/flightlib/include/flightlib/sensors/imu.hpp b/flightlib/include/flightlib/sensors/imu.hpp new file mode 100644 index 0000000..4cdf8d0 --- /dev/null +++ b/flightlib/include/flightlib/sensors/imu.hpp @@ -0,0 +1,16 @@ +#pragma once + +#include "flightlib/common/types.hpp" +#include "flightlib/sensors/sensor_base.hpp" + +namespace flightlib { + +class IMU : SensorBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + IMU(); + ~IMU(); + + private: +}; +} // namespace flightlib diff --git a/flightlib/include/flightlib/sensors/rgb_camera.hpp b/flightlib/include/flightlib/sensors/rgb_camera.hpp new file mode 100644 index 0000000..e321238 --- /dev/null +++ b/flightlib/include/flightlib/sensors/rgb_camera.hpp @@ -0,0 +1,126 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include +#include + +#include "flightlib/common/logger.hpp" +#include "flightlib/common/types.hpp" +#include "flightlib/sensors/sensor_base.hpp" + +namespace flightlib { + +enum CameraLayer { RGB = 0, DepthMap = 1, Segmentation = 2, OpticalFlow = 3 }; + +namespace RGBCameraTypes { + typedef int8_t Intensity_t; + typedef cv::Mat Image_t; + + struct RGBImage_t { + Image_t image; + USecs elapsed_useconds; + }; + struct Depthmap_t { + Image_t image; + USecs elapsed_useconds; + }; + struct Segement_t { + Image_t image; + USecs elapsed_useconds; + }; + + struct OpticFlow_t { + Image_t image; + USecs elapsed_useconds; + }; + + typedef Eigen::Matrix4d Mat4_t; + typedef Eigen::Vector3d Vec3_t; + + typedef std::function GetPos_t; + typedef std::function GetVel_t; + typedef std::function GetAcc_t; + typedef std::function GetQuat_t; + typedef std::function GetOmega_t; + typedef std::function GetPsi_t; + + const std::string RGB = "rgb"; + // image post processing + typedef std::string PostProcessingID; + const PostProcessingID Depth = "depth"; + const PostProcessingID OpticalFlow = "optical_flow"; + const PostProcessingID ObjectSegment = "object_segment"; // object segmentation + const PostProcessingID CategorySegment = "category_segment"; // category segmentation +} // namespace RGBCameraTypes + +class RGBCamera : SensorBase { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + RGBCamera(); + ~RGBCamera(); + + // public set functions + bool setRelPose(const Ref> B_r_BC, const Ref> R_BC); + bool setWidth(const int width); + bool setHeight(const int height); + bool setFOV(const Scalar fov); + bool setDepthScale(const Scalar depth_scale); + bool setPostProcesscing(const std::vector& enabled_layers); + bool feedImageQueue(const int image_layer, const cv::Mat& image_mat); + void clearImageQueue(); + + // public get functions + std::vector getEnabledLayers(void) const; + std::vector GetPostProcessing(void); + Matrix<4, 4> getRelPose(void) const; + int getChannels(void) const; + int getWidth(void) const; + int getHeight(void) const; + Scalar getFOV(void) const; + Scalar getDepthScale(void) const; + bool getRGBImage(cv::Mat& rgb_img); + bool getDepthMap(cv::Mat& depth_map); + bool getSegmentation(cv::Mat& segmentation); + bool getOpticalFlow(cv::Mat& opticalflow); + + // auxiliary functions + void enableDepth(const bool on); + void enableOpticalFlow(const bool on); + void enableSegmentation(const bool on); + + private: + Logger logger_{"RBGCamera"}; + + // camera parameters + int channels_; + int width_; + int height_; + Scalar fov_; + Scalar depth_scale_; + + // Camera relative + Vector<3> B_r_BC_; + Matrix<4, 4> T_BC_; + + // image data buffer + std::mutex queue_mutex_; + const int queue_size_ = 0; // 1 + + // TODO：不要用队列，就单纯的Mat就好了，也不会有滞留的问题，也不会有弹空的问题；先不改了省的出错 + std::deque rgb_queue_; + std::deque depth_queue_; + std::deque opticalflow_queue_; + std::deque segmentation_queue_; + + // [rgb, depth, segmentation, optical flow] + std::vector enabled_layers_; + // [depth, optical flow, segmentation, segmentation] + std::unordered_map post_processing_; +}; + +} // namespace flightlib diff --git a/flightlib/include/flightlib/sensors/sensor_base.hpp b/flightlib/include/flightlib/sensors/sensor_base.hpp new file mode 100644 index 0000000..92ea812 --- /dev/null +++ b/flightlib/include/flightlib/sensors/sensor_base.hpp @@ -0,0 +1,14 @@ +#pragma once + +#include "flightlib/common/types.hpp" + +namespace flightlib { +class SensorBase { + public: + SensorBase(); + virtual ~SensorBase(); + + private: +}; + +} // namespace flightlib diff --git a/flightlib/include/flightlib/sensors/sgm_gpu/configuration.h b/flightlib/include/flightlib/sensors/sgm_gpu/configuration.h new file mode 100644 index 0000000..f3b06a2 --- /dev/null +++ b/flightlib/include/flightlib/sensors/sgm_gpu/configuration.h @@ -0,0 +1,39 @@ +/*********************************************************************** + Copyright (C) 2020 Hironori Fujimoto + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with this program. If not, see . +***********************************************************************/ + +#ifndef SGM_GPU__CONFIGURATION_H_ +#define SGM_GPU__CONFIGURATION_H_ + +#include + +#define MAX_DISPARITY 128 +#define CENSUS_WIDTH 9 +#define CENSUS_HEIGHT 7 + +#define TOP (CENSUS_HEIGHT-1)/2 +#define LEFT (CENSUS_WIDTH-1)/2 + +namespace sgm_gpu +{ + +typedef uint32_t cost_t; + +} + +#define COSTAGG_BLOCKSIZE GPU_THREADS_PER_BLOCK +#define COSTAGG_BLOCKSIZE_HORIZ GPU_THREADS_PER_BLOCK + +#endif // SGM_GPU__CONFIGURATION_H_ diff --git a/flightlib/include/flightlib/sensors/sgm_gpu/cost_aggregation.h b/flightlib/include/flightlib/sensors/sgm_gpu/cost_aggregation.h new file mode 100644 index 0000000..f8af2ec --- /dev/null +++ b/flightlib/include/flightlib/sensors/sgm_gpu/cost_aggregation.h @@ -0,0 +1,511 @@ +/*********************************************************************** + Copyright (C) 2019 Hironori Fujimoto + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with this program. If not, see . +***********************************************************************/ +#include "flightlib/sensors/sgm_gpu/util.h" + +#ifndef COST_AGGREGATION_H_ +#define COST_AGGREGATION_H_ + +#define ITER_COPY 0 +#define ITER_NORMAL 1 + +#define MIN_COMPUTE 0 +#define MIN_NOCOMPUTE 1 + +#define DIR_UPDOWN 0 +#define DIR_DOWNUP 1 +#define DIR_LEFTRIGHT 2 +#define DIR_RIGHTLEFT 3 + +namespace sgm_gpu +{ + +template +__device__ __forceinline__ void CostAggregationGenericIndexesIncrement(int *index, int *index_im, int *col, const int add_index, const int add_imindex) { + *index += add_index; + if(recompute || join_dispcomputation) { + *index_im += add_imindex; + if(recompute) { + *col += add_col; + } + } +} + +template +__device__ __forceinline__ void CostAggregationDiagonalGenericIndexesIncrement(int *index, int *index_im, int *col, const int cols, const int initial_row, const int i, const int dis) { + *col += add_index; + if(add_index > 0 && *col >= cols) { + *col = 0; + } else if(*col < 0) { + *col = cols-1; + } + *index = abs(initial_row-i)*cols*MAX_DISPARITY+*col*MAX_DISPARITY+dis; + if(recompute || join_dispcomputation) { + *index_im = abs(initial_row-i)*cols+*col; + } +} + +template +__device__ __forceinline__ void CostAggregationGenericIteration(int index, int index_im, int col, uint32_t *old_values, int *old_value1, int *old_value2, int *old_value3, int *old_value4, uint32_t *min_cost, uint32_t *min_cost_p2, uint8_t* d_cost, uint8_t *d_L, uint16_t *d_s, const int p1_vector, const int p2_vector, const T *_d_transform0, const T *_d_transform1, const int lane, const int MAX_PAD, const int dis, T *rp0, T *rp1, T *rp2, T *rp3, uint8_t* __restrict__ d_disparity, const uint8_t* d_L0, const uint8_t* d_L1, const uint8_t* d_L2, const uint8_t* d_L3, const uint8_t* d_L4, const uint8_t* d_L5, const uint8_t* d_L6) { + const T __restrict__ *d_transform0 = _d_transform0; + const T __restrict__ *d_transform1 = _d_transform1; + uint32_t costs, next_dis, prev_dis; + + if(iter_type == ITER_NORMAL) { + // First shuffle + int prev_dis1 = shfl_up_32(*old_value4, 1); + if(lane == 0) { + prev_dis1 = MAX_PAD; + } + + // Second shuffle + int next_dis4 = shfl_down_32(*old_value1, 1); + if(lane == 31) { + next_dis4 = MAX_PAD; + } + + // Shift + rotate + //next_dis = __funnelshift_r(next_dis4, *old_values, 8); + next_dis = __byte_perm(*old_values, next_dis4, 0x4321); + prev_dis = __byte_perm(*old_values, prev_dis1, 0x2104); + + next_dis = next_dis + p1_vector; + prev_dis = prev_dis + p1_vector; + } + if(recompute) { + const int dif = col - dis; + if(dir_type == DIR_LEFTRIGHT) { + if(lane == 0) { + // lane = 0 is dis = 0, no need to subtract dis + *rp0 = d_transform1[index_im]; + } + } else if(dir_type == DIR_RIGHTLEFT) { + // First iteration, load D pixels + if(first_iteration) { + const uint4 right = reinterpret_cast(&d_transform1[index_im-dis-3])[0]; + *rp3 = right.x; + *rp2 = right.y; + *rp1 = right.z; + *rp0 = right.w; + } else if(lane == 31 && dif >= 3) { + *rp3 = d_transform1[index_im-dis-3]; + } + } else { + /* + __shared__ T right_p[MAX_DISPARITY+32]; + const int warp_id = threadIdx.x / WARP_SIZE; + if(warp_id < 5) { + const int block_imindex = index_im - warp_id + 32; + const int rp_index = warp_id*WARP_SIZE+lane; + const int col_cpy = col-warp_id+32; + right_p[rp_index] = ((col_cpy-(159-rp_index)) >= 0) ? ld_gbl_cs(&d_transform1[block_imindex-(159-rp_index)]) : 0; + }*/ + + __shared__ T right_p[128+32]; + const int warp_id = threadIdx.x / WARP_SIZE; + const int block_imindex = index_im - warp_id + 2; + const int rp_index = warp_id*WARP_SIZE+lane; + const int col_cpy = col-warp_id+2; + right_p[rp_index] = ((col_cpy-(129-rp_index)) >= 0) ? d_transform1[block_imindex-(129-rp_index)] : 0; + right_p[rp_index+64] = ((col_cpy-(129-rp_index-64)) >= 0) ? d_transform1[block_imindex-(129-rp_index-64)] : 0; + //right_p[rp_index+128] = ld_gbl_cs(&d_transform1[block_imindex-(129-rp_index-128)]); + if(warp_id == 0) { + right_p[128+lane] = ld_gbl_cs(&d_transform1[block_imindex-(129-lane)]); + } + __syncthreads(); + + const int px = MAX_DISPARITY+warp_id-dis-1; + *rp0 = right_p[px]; + *rp1 = right_p[px-1]; + *rp2 = right_p[px-2]; + *rp3 = right_p[px-3]; + } + const T left_pixel = d_transform0[index_im]; + *old_value1 = popcount(left_pixel ^ *rp0); + *old_value2 = popcount(left_pixel ^ *rp1); + *old_value3 = popcount(left_pixel ^ *rp2); + *old_value4 = popcount(left_pixel ^ *rp3); + if(iter_type == ITER_COPY) { + *old_values = uchars_to_uint32(*old_value1, *old_value2, *old_value3, *old_value4); + } else { + costs = uchars_to_uint32(*old_value1, *old_value2, *old_value3, *old_value4); + } + // Prepare for next iteration + if(dir_type == DIR_LEFTRIGHT) { + *rp3 = shfl_up_32(*rp3, 1); + } else if(dir_type == DIR_RIGHTLEFT) { + *rp0 = shfl_down_32(*rp0, 1); + } + } else { + if(iter_type == ITER_COPY) { + *old_values = ld_gbl_ca(reinterpret_cast(&d_cost[index])); + } else { + costs = ld_gbl_ca(reinterpret_cast(&d_cost[index])); + } + } + + if(iter_type == ITER_NORMAL) { + const uint32_t min1 = __vminu4(*old_values, prev_dis); + const uint32_t min2 = __vminu4(next_dis, *min_cost_p2); + const uint32_t min_prev = __vminu4(min1, min2); + *old_values = costs + (min_prev - *min_cost); + } + if(iter_type == ITER_NORMAL || !recompute) { + uint32_to_uchars(*old_values, old_value1, old_value2, old_value3, old_value4); + } + + if(join_dispcomputation) { + const uint32_t L0_costs = *((uint32_t*) (d_L0+index)); + const uint32_t L1_costs = *((uint32_t*) (d_L1+index)); + const uint32_t L2_costs = *((uint32_t*) (d_L2+index)); + const uint32_t L3_costs = *((uint32_t*) (d_L3+index)); + const uint32_t L4_costs = *((uint32_t*) (d_L4+index)); + const uint32_t L5_costs = *((uint32_t*) (d_L5+index)); + const uint32_t L6_costs = *((uint32_t*) (d_L6+index)); + + int l0_x, l0_y, l0_z, l0_w; + int l1_x, l1_y, l1_z, l1_w; + int l2_x, l2_y, l2_z, l2_w; + int l3_x, l3_y, l3_z, l3_w; + int l4_x, l4_y, l4_z, l4_w; + int l5_x, l5_y, l5_z, l5_w; + int l6_x, l6_y, l6_z, l6_w; + + uint32_to_uchars(L0_costs, &l0_x, &l0_y, &l0_z, &l0_w); + uint32_to_uchars(L1_costs, &l1_x, &l1_y, &l1_z, &l1_w); + uint32_to_uchars(L2_costs, &l2_x, &l2_y, &l2_z, &l2_w); + uint32_to_uchars(L3_costs, &l3_x, &l3_y, &l3_z, &l3_w); + uint32_to_uchars(L4_costs, &l4_x, &l4_y, &l4_z, &l4_w); + uint32_to_uchars(L5_costs, &l5_x, &l5_y, &l5_z, &l5_w); + uint32_to_uchars(L6_costs, &l6_x, &l6_y, &l6_z, &l6_w); + + const uint16_t val1 = l0_x + l1_x + l2_x + l3_x + l4_x + l5_x + l6_x + *old_value1; + const uint16_t val2 = l0_y + l1_y + l2_y + l3_y + l4_y + l5_y + l6_y + *old_value2; + const uint16_t val3 = l0_z + l1_z + l2_z + l3_z + l4_z + l5_z + l6_z + *old_value3; + const uint16_t val4 = l0_w + l1_w + l2_w + l3_w + l4_w + l5_w + l6_w + *old_value4; + + int min_idx1 = dis; + uint16_t min1 = val1; + if(val1 > val2) { + min1 = val2; + min_idx1 = dis+1; + } + + int min_idx2 = dis+2; + uint16_t min2 = val3; + if(val3 > val4) { + min2 = val4; + min_idx2 = dis+3; + } + + uint16_t minval = min1; + int min_idx = min_idx1; + if(min1 > min2) { + minval = min2; + min_idx = min_idx2; + } + + const int min_warpindex = warpReduceMinIndex(minval, min_idx); + if(lane == 0) { + d_disparity[index_im] = min_warpindex; + } + + // Save smoothed cost to obtain right disparity + d_s[index] = val1; + d_s[index+1] = val2; + d_s[index+2] = val3; + d_s[index+3] = val4; + } else { + st_gbl_cs(reinterpret_cast(&d_L[index]), *old_values); + } + if(min_type == MIN_COMPUTE) { + int min_cost_scalar = min(min(*old_value1, *old_value2), min(*old_value3, *old_value4)); + *min_cost = uchar_to_uint32(warpReduceMin(min_cost_scalar)); + *min_cost_p2 = *min_cost + p2_vector; + } +} + +template +__device__ __forceinline__ void CostAggregationGeneric(uint8_t* d_cost, uint8_t *d_L, uint16_t *d_s, const int P1, const int P2, const int initial_row, const int initial_col, const int max_iter, const int cols, int add_index, const T *_d_transform0, const T *_d_transform1, const int add_imindex, uint8_t* __restrict__ d_disparity, const uint8_t* d_L0, const uint8_t* d_L1, const uint8_t* d_L2, const uint8_t* d_L3, const uint8_t* d_L4, const uint8_t* d_L5, const uint8_t* d_L6) { + const int lane = threadIdx.x % WARP_SIZE; + const int dis = 4*lane; + int index = initial_row*cols*MAX_DISPARITY+initial_col*MAX_DISPARITY+dis; + int col, index_im; + if(recompute || join_dispcomputation) { + if(recompute) { + col = initial_col; + } + index_im = initial_row*cols+initial_col; + } + + const int MAX_PAD = UCHAR_MAX-P1; + const uint32_t p1_vector = uchars_to_uint32(P1, P1, P1, P1); + const uint32_t p2_vector = uchars_to_uint32(P2, P2, P2, P2); + int old_value1; + int old_value2; + int old_value3; + int old_value4; + uint32_t min_cost, min_cost_p2, old_values; + T rp0, rp1, rp2, rp3; + + if(recompute) { + if(dir_type == DIR_LEFTRIGHT) { + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp0, &rp1, &rp2, &rp3, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp3, &rp0, &rp1, &rp2, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp2, &rp3, &rp0, &rp1, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp1, &rp2, &rp3, &rp0, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + for(int i = 4; i < max_iter-3; i+=4) { + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp0, &rp1, &rp2, &rp3, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp3, &rp0, &rp1, &rp2, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp2, &rp3, &rp0, &rp1, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp1, &rp2, &rp3, &rp0, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp0, &rp1, &rp2, &rp3, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp3, &rp0, &rp1, &rp2, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp2, &rp3, &rp0, &rp1, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp1, &rp2, &rp3, &rp0, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } else if(dir_type == DIR_RIGHTLEFT) { + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp0, &rp1, &rp2, &rp3, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp1, &rp2, &rp3, &rp0, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp2, &rp3, &rp0, &rp1, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp3, &rp0, &rp1, &rp2, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + for(int i = 4; i < max_iter-3; i+=4) { + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp0, &rp1, &rp2, &rp3, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp1, &rp2, &rp3, &rp0, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp2, &rp3, &rp0, &rp1, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp3, &rp0, &rp1, &rp2, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp0, &rp1, &rp2, &rp3, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp1, &rp2, &rp3, &rp0, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp2, &rp3, &rp0, &rp1, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp3, &rp0, &rp1, &rp2, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } else { + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp0, &rp1, &rp2, &rp3, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + for(int i = 1; i < max_iter; i++) { + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp0, &rp1, &rp2, &rp3, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp0, &rp1, &rp2, &rp3, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } + } else { + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp0, &rp1, &rp2, &rp3, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + + for(int i = 1; i < max_iter; i++) { + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp0, &rp1, &rp2, &rp3, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } + CostAggregationGenericIndexesIncrement(&index, &index_im, &col, add_index, add_imindex); + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp0, &rp1, &rp2, &rp3, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } +} + +template +__device__ __forceinline__ void CostAggregationDiagonalGeneric(uint8_t* d_cost, uint8_t *d_L, uint16_t *d_s, const int P1, const int P2, const int initial_row, const int initial_col, const int max_iter, const int col_nomin, const int col_copycost, const int cols, const T *_d_transform0, const T *_d_transform1, uint8_t* __restrict__ d_disparity, const uint8_t* d_L0, const uint8_t* d_L1, const uint8_t* d_L2, const uint8_t* d_L3, const uint8_t* d_L4, const uint8_t* d_L5, const uint8_t* d_L6) { + const int lane = threadIdx.x % WARP_SIZE; + const int dis = 4*lane; + int col = initial_col; + int index = initial_row*cols*MAX_DISPARITY+initial_col*MAX_DISPARITY+dis; + int index_im; + if(recompute || join_dispcomputation) { + index_im = initial_row*cols+col; + } + const int MAX_PAD = UCHAR_MAX-P1; + const uint32_t p1_vector = uchars_to_uint32(P1, P1, P1, P1); + const uint32_t p2_vector = uchars_to_uint32(P2, P2, P2, P2); + int old_value1; + int old_value2; + int old_value3; + int old_value4; + uint32_t min_cost, min_cost_p2, old_values; + T rp0, rp1, rp2, rp3; + + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp0, &rp1, &rp2, &rp3, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + for(int i = 1; i < max_iter; i++) { + CostAggregationDiagonalGenericIndexesIncrement(&index, &index_im, &col, cols, initial_row, i, dis); + if(col == col_copycost) { + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp0, &rp1, &rp2, &rp3, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } else { + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp0, &rp1, &rp2, &rp3, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } + } + + CostAggregationDiagonalGenericIndexesIncrement(&index, &index_im, &col, cols, max_iter, initial_row, dis); + if(col == col_copycost) { + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp0, &rp1, &rp2, &rp3, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } else { + CostAggregationGenericIteration(index, index_im, col, &old_values, &old_value1, &old_value2, &old_value3, &old_value4, &min_cost, &min_cost_p2, d_cost, d_L, d_s, p1_vector, p2_vector, _d_transform0, _d_transform1, lane, MAX_PAD, dis, &rp0, &rp1, &rp2, &rp3, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } +} + +template + +__global__ void CostAggregationKernelDiagonalDownUpRightLeft(uint8_t* d_cost, uint8_t *d_L, uint16_t *d_s, const int P1, const int P2, const int rows, const int cols, const T *d_transform0, const T *d_transform1, uint8_t* __restrict__ d_disparity, const uint8_t* d_L0, const uint8_t* d_L1, const uint8_t* d_L2, const uint8_t* d_L3, const uint8_t* d_L4, const uint8_t* d_L5, const uint8_t* d_L6) { + const int initial_col = cols - (blockIdx.x*(blockDim.x/WARP_SIZE) + (threadIdx.x / WARP_SIZE)) - 1; + if(initial_col < cols) { + const int initial_row = rows-1; + const int add_index = -1; + const int col_nomin = 0; + const int col_copycost = cols-1; + const int max_iter = rows-1; + const bool recompute = false; + const bool join_dispcomputation = false; + + CostAggregationDiagonalGeneric(d_cost, d_L, d_s, P1, P2, initial_row, initial_col, max_iter, col_nomin, col_copycost, cols, d_transform0, d_transform1, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } +} + +template +__global__ void CostAggregationKernelDiagonalDownUpLeftRight(uint8_t* d_cost, uint8_t *d_L, uint16_t *d_s, const int P1, const int P2, const int rows, const int cols, const T *d_transform0, const T *d_transform1, uint8_t* __restrict__ d_disparity, const uint8_t* d_L0, const uint8_t* d_L1, const uint8_t* d_L2, const uint8_t* d_L3, const uint8_t* d_L4, const uint8_t* d_L5, const uint8_t* d_L6) { + const int initial_col = cols - (blockIdx.x*(blockDim.x/WARP_SIZE) + (threadIdx.x / WARP_SIZE)) - 1; + if(initial_col >= 0) { + const int initial_row = rows-1; + const int add_index = 1; + const int col_nomin = cols-1; + const int col_copycost = 0; + const int max_iter = rows-1; + const bool recompute = false; + const bool join_dispcomputation = false; + + CostAggregationDiagonalGeneric(d_cost, d_L, d_s, P1, P2, initial_row, initial_col, max_iter, col_nomin, col_copycost, cols, d_transform0, d_transform1, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } +} + +template + +__global__ void CostAggregationKernelDiagonalUpDownRightLeft(uint8_t* d_cost, uint8_t *d_L, uint16_t *d_s, const int P1, const int P2, const int rows, const int cols, const T *d_transform0, const T *d_transform1, uint8_t* __restrict__ d_disparity, const uint8_t* d_L0, const uint8_t* d_L1, const uint8_t* d_L2, const uint8_t* d_L3, const uint8_t* d_L4, const uint8_t* d_L5, const uint8_t* d_L6) { + const int initial_col = blockIdx.x*(blockDim.x/WARP_SIZE) + (threadIdx.x / WARP_SIZE); + if(initial_col < cols) { + const int initial_row = 0; + const int add_index = -1; + const int col_nomin = 0; + const int col_copycost = cols-1; + const int max_iter = rows-1; + const bool recompute = false; + const bool join_dispcomputation = true; + + CostAggregationDiagonalGeneric(d_cost, d_L, d_s, P1, P2, initial_row, initial_col, max_iter, col_nomin, col_copycost, cols, d_transform0, d_transform1, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } +} + +template + +__global__ void CostAggregationKernelDiagonalUpDownLeftRight(uint8_t* d_cost, uint8_t *d_L, uint16_t *d_s, const int P1, const int P2, const int rows, const int cols, const T *d_transform0, const T *d_transform1, uint8_t* __restrict__ d_disparity, const uint8_t* d_L0, const uint8_t* d_L1, const uint8_t* d_L2, const uint8_t* d_L3, const uint8_t* d_L4, const uint8_t* d_L5, const uint8_t* d_L6) { + const int initial_col = blockIdx.x*(blockDim.x/WARP_SIZE) + (threadIdx.x / WARP_SIZE); + if(initial_col < cols) { + const int initial_row = 0; + const int add_index = 1; + const int col_nomin = cols-1; + const int col_copycost = 0; + const int max_iter = rows-1; + const bool recompute = false; + const bool join_dispcomputation = false; + + CostAggregationDiagonalGeneric(d_cost, d_L, d_s, P1, P2, initial_row, initial_col, max_iter, col_nomin, col_copycost, cols, d_transform0, d_transform1, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } +} + +template + +__global__ void CostAggregationKernelLeftToRight(uint8_t* d_cost, uint8_t *d_L, uint16_t *d_s, const int P1, const int P2, const int rows, const int cols, const T *d_transform0, const T *d_transform1, uint8_t* __restrict__ d_disparity, const uint8_t* d_L0, const uint8_t* d_L1, const uint8_t* d_L2, const uint8_t* d_L3, const uint8_t* d_L4, const uint8_t* d_L5, const uint8_t* d_L6) { + const int initial_row = blockIdx.x*(blockDim.x/WARP_SIZE) + (threadIdx.x / WARP_SIZE); + if(initial_row < rows) { + const int initial_col = 0; + const int add_index = MAX_DISPARITY; + const int add_imindex = 1; + const int max_iter = cols-1; + const int add_col = 1; + const bool recompute = true; + const bool join_dispcomputation = false; + + CostAggregationGeneric(d_cost, d_L, d_s, P1, P2, initial_row, initial_col, max_iter, cols, add_index, d_transform0, d_transform1, add_imindex, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } +} + +template + +__global__ void CostAggregationKernelRightToLeft(uint8_t* d_cost, uint8_t *d_L, uint16_t *d_s, const int P1, const int P2, const int rows, const int cols, const T *d_transform0, const T *d_transform1, uint8_t* __restrict__ d_disparity, const uint8_t* d_L0, const uint8_t* d_L1, const uint8_t* d_L2, const uint8_t* d_L3, const uint8_t* d_L4, const uint8_t* d_L5, const uint8_t* d_L6) { + const int initial_row = blockIdx.x*(blockDim.x/WARP_SIZE) + (threadIdx.x / WARP_SIZE); + if(initial_row < rows) { + const int initial_col = cols-1; + const int add_index = -MAX_DISPARITY; + const int add_imindex = -1; + const int max_iter = cols-1; + const int add_col = -1; + const bool recompute = true; + const bool join_dispcomputation = false; + + CostAggregationGeneric(d_cost, d_L, d_s, P1, P2, initial_row, initial_col, max_iter, cols, add_index, d_transform0, d_transform1, add_imindex, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } +} + +template +__global__ void CostAggregationKernelDownToUp(uint8_t* d_cost, uint8_t *d_L, uint16_t *d_s, const int P1, const int P2, const int rows, const int cols, const T *d_transform0, const T *d_transform1, uint8_t* __restrict__ d_disparity, const uint8_t* d_L0, const uint8_t* d_L1, const uint8_t* d_L2, const uint8_t* d_L3, const uint8_t* d_L4, const uint8_t* d_L5, const uint8_t* d_L6) { + const int initial_col = blockIdx.x*(blockDim.x/WARP_SIZE) + (threadIdx.x / WARP_SIZE); + if(initial_col < cols) { + const int initial_row = rows-1; + const int add_index = -cols*MAX_DISPARITY; + const int add_imindex = -cols; + const int max_iter = rows-1; + const int add_col = 0; + const bool recompute = false; + const bool join_dispcomputation = false; + + CostAggregationGeneric(d_cost, d_L, d_s, P1, P2, initial_row, initial_col, max_iter, cols, add_index, d_transform0, d_transform1, add_imindex, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } +} + +template +//__launch_bounds__(64, 16) +__global__ void CostAggregationKernelUpToDown(uint8_t* d_cost, uint8_t *d_L, uint16_t* d_s, const int P1, const int P2, const int rows, const int cols, const T *d_transform0, const T *d_transform1, uint8_t* __restrict__ d_disparity, const uint8_t* d_L0, const uint8_t* d_L1, const uint8_t* d_L2, const uint8_t* d_L3, const uint8_t* d_L4, const uint8_t* d_L5, const uint8_t* d_L6) { + const int initial_col = blockIdx.x*(blockDim.x/WARP_SIZE) + (threadIdx.x / WARP_SIZE); + if(initial_col < cols) { + const int initial_row = 0; + const int add_index = cols*MAX_DISPARITY; + const int add_imindex = cols; + const int max_iter = rows-1; + const int add_col = 0; + const bool recompute = false; + const bool join_dispcomputation = false; + + CostAggregationGeneric(d_cost, d_L, d_s, P1, P2, initial_row, initial_col, max_iter, cols, add_index, d_transform0, d_transform1, add_imindex, d_disparity, d_L0, d_L1, d_L2, d_L3, d_L4, d_L5, d_L6); + } +} + +} // namespace sgm_gpu + +#endif /* COST_AGGREGATION_H_ */ diff --git a/flightlib/include/flightlib/sensors/sgm_gpu/costs.h b/flightlib/include/flightlib/sensors/sgm_gpu/costs.h new file mode 100644 index 0000000..9ab5987 --- /dev/null +++ b/flightlib/include/flightlib/sensors/sgm_gpu/costs.h @@ -0,0 +1,30 @@ +/*********************************************************************** + Copyright (C) 2020 Hironori Fujimoto + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with this program. If not, see . +***********************************************************************/ +#ifndef SGM_GPU__COSTS_H_ +#define SGM_GPU__COSTS_H_ + +#include +#include "flightlib/sensors/sgm_gpu/configuration.h" + +namespace sgm_gpu +{ + +__global__ void CenterSymmetricCensusKernelSM2(const uint8_t *im, const uint8_t *im2, cost_t *transform, cost_t *transform2, const uint32_t rows, const uint32_t cols); + +} + +#endif // SGM_GPU__COSTS_H_ + diff --git a/flightlib/include/flightlib/sensors/sgm_gpu/hamming_cost.h b/flightlib/include/flightlib/sensors/sgm_gpu/hamming_cost.h new file mode 100644 index 0000000..b05f486 --- /dev/null +++ b/flightlib/include/flightlib/sensors/sgm_gpu/hamming_cost.h @@ -0,0 +1,33 @@ +/*********************************************************************** + Copyright (C) 2020 Hironori Fujimoto + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with this program. If not, see . +***********************************************************************/ + +#ifndef SGM_GPU__HAMMING_COST_H_ +#define SGM_GPU__HAMMING_COST_H_ + +#include "flightlib/sensors/sgm_gpu/configuration.h" +#include "flightlib/sensors/sgm_gpu/util.h" +#include + +namespace sgm_gpu +{ + +__global__ void +HammingDistanceCostKernel(const cost_t *d_transform0, const cost_t *d_transform1, uint8_t *d_cost, const int rows, const int cols ); + +} + +#endif // SGM_GPU__HAMMING_COST_H_ + diff --git a/flightlib/include/flightlib/sensors/sgm_gpu/left_right_consistency.h b/flightlib/include/flightlib/sensors/sgm_gpu/left_right_consistency.h new file mode 100644 index 0000000..3d19d51 --- /dev/null +++ b/flightlib/include/flightlib/sensors/sgm_gpu/left_right_consistency.h @@ -0,0 +1,31 @@ +/*********************************************************************** + Copyright (C) 2020 Hironori Fujimoto + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with this program. If not, see . +***********************************************************************/ + +#ifndef SGM_GPU__LEFT_RIGHT_CONSISTENCY_H_ +#define SGM_GPU__LEFT_RIGHT_CONSISTENCY_H_ + +#include + +namespace sgm_gpu +{ + +__global__ void ChooseRightDisparity(uint8_t *right_disparity, const uint16_t *smoothed_cost, const uint32_t rows, const uint32_t cols); +__global__ void LeftRightConsistencyCheck(uint8_t *disparity, const uint8_t *disparity_right, const uint32_t rows, const uint32_t cols); + +} + +#endif // SGM_GPU__LEFT_RIGHT_CONSISTENCY_H_ + diff --git a/flightlib/include/flightlib/sensors/sgm_gpu/median_filter.h b/flightlib/include/flightlib/sensors/sgm_gpu/median_filter.h new file mode 100644 index 0000000..92bfe8f --- /dev/null +++ b/flightlib/include/flightlib/sensors/sgm_gpu/median_filter.h @@ -0,0 +1,62 @@ +/*********************************************************************** + Copyright (C) 2020 Hironori Fujimoto + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with this program. If not, see . +***********************************************************************/ + +#ifndef SGM_GPU__MEDIAN_FILTER_H_ +#define SGM_GPU__MEDIAN_FILTER_H_ + +#include + +namespace sgm_gpu +{ + +__global__ void MedianFilter3x3(const uint8_t* __restrict__ d_input, uint8_t* __restrict__ d_out, const uint32_t rows, const uint32_t cols); + +template +__inline__ __device__ void MedianFilter(const T* __restrict__ d_input, T* __restrict__ d_out, const uint32_t rows, const uint32_t cols) { + const uint32_t idx = blockIdx.x*blockDim.x+threadIdx.x; + const uint32_t row = idx / cols; + const uint32_t col = idx % cols; + T window[n*n]; + int half = n/2; + + if(row >= half && col >= half && row < rows-half && col < cols-half) { + for(uint32_t i = 0; i < n; i++) { + for(uint32_t j = 0; j < n; j++) { + window[i*n+j] = d_input[(row-half+i)*cols+col-half+j]; + } + } + + for(uint32_t i = 0; i < (n*n/2)+1; i++) { + uint32_t min_idx = i; + for(uint32_t j = i+1; j < n*n; j++) { + if(window[j] < window[min_idx]) { + min_idx = j; + } + } + const T tmp = window[i]; + window[i] = window[min_idx]; + window[min_idx] = tmp; + } + d_out[idx] = window[n*n/2]; + } else if(row < rows && col < cols) { + d_out[idx] = d_input[idx]; + } +} + +} // namespace sgm_gpu + +#endif // SGM_GPU__MEDIAN_FILTER_H_ + diff --git a/flightlib/include/flightlib/sensors/sgm_gpu/sgm_gpu.h b/flightlib/include/flightlib/sensors/sgm_gpu/sgm_gpu.h new file mode 100644 index 0000000..316d017 --- /dev/null +++ b/flightlib/include/flightlib/sensors/sgm_gpu/sgm_gpu.h @@ -0,0 +1,90 @@ +/*********************************************************************** + Copyright (C) 2020 Hironori Fujimoto + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with this program. If not, see . +***********************************************************************/ +#ifndef SGM_GPU__SGM_GPU_H_ +#define SGM_GPU__SGM_GPU_H_ + +#include "flightlib/sensors/sgm_gpu/configuration.h" + +#include +#include + +namespace sgm_gpu { + +class SgmGpu { + private: + /** + * @brief Parameter used in SGM algorithm + * + * See SGM paper. + */ + uint8_t p1_, p2_; + /** + * @brief Enable/disable left-right consistency check + */ + bool check_consistency_; + + // Memory for disparity computation + // d_: for device + uint8_t *d_im0_; + uint8_t *d_im1_; + uint32_t *d_transform0_; + uint32_t *d_transform1_; + uint8_t *d_cost_; + uint8_t *d_disparity_; + uint8_t *d_disparity_filtered_uchar_; + uint8_t *d_disparity_right_; + uint8_t *d_disparity_right_filtered_uchar_; + uint8_t *d_L0_; + uint8_t *d_L1_; + uint8_t *d_L2_; + uint8_t *d_L3_; + uint8_t *d_L4_; + uint8_t *d_L5_; + uint8_t *d_L6_; + uint8_t *d_L7_; + uint16_t *d_s_; + + bool memory_allocated_; + + uint32_t cols_, rows_; + + void allocateMemory(uint32_t cols, uint32_t rows); + void freeMemory(); + + /** + * @brief Resize images to be width and height divisible by 4 for limit of + * CUDA code + */ + void resizeToDivisibleBy4(cv::Mat &left_image, cv::Mat &right_image); + +// void convertToMsg(const cv::Mat_ &disparity, +// const sensor_msgs::CameraInfo &left_camera_info, +// const sensor_msgs::CameraInfo &right_camera_info, +// stereo_msgs::DisparityImage &disparity_msg); + + public: + /** + * @brief Constructor which use namespace /libsgm_gpu for ROS param + */ + SgmGpu(const int cols, const int rows); + ~SgmGpu(); + + bool computeDisparity(const cv::Mat &left_image, const cv::Mat &right_image, cv::Mat &disparity_out); +}; + +} // namespace sgm_gpu + +#endif // SGM_GPU__SGM_GPU_H_ diff --git a/flightlib/include/flightlib/sensors/sgm_gpu/util.h b/flightlib/include/flightlib/sensors/sgm_gpu/util.h new file mode 100644 index 0000000..580db77 --- /dev/null +++ b/flightlib/include/flightlib/sensors/sgm_gpu/util.h @@ -0,0 +1,362 @@ +/*********************************************************************** + Copyright (C) 2020 Hironori Fujimoto + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with this program. If not, see . +***********************************************************************/ + +#ifndef SGM_GPU__UTIL_H_ +#define SGM_GPU__UTIL_H_ + +#include +#include +#include + +#define FERMI false + +#define GPU_THREADS_PER_BLOCK_FERMI 256 +#define GPU_THREADS_PER_BLOCK_MAXWELL 64 + +/* Defines related to GPU Architecture */ +#if FERMI + #define GPU_THREADS_PER_BLOCK GPU_THREADS_PER_BLOCK_FERMI +#else + #define GPU_THREADS_PER_BLOCK GPU_THREADS_PER_BLOCK_MAXWELL +#endif + +#define WARP_SIZE 32 + +namespace sgm_gpu +{ + +static void CheckCudaErrorAux (const char *, unsigned, const char *, cudaError_t); +#define CUDA_CHECK_RETURN(value) CheckCudaErrorAux(__FILE__,__LINE__, #value, value) + +/** +* Check the return value of the CUDA runtime API call and exit +* the application if the call has failed. +*/ +static void CheckCudaErrorAux (const char *file, unsigned line, const char *statement, cudaError_t err) { + if (err == cudaSuccess) + return; + std::cerr << statement<<" returned " << cudaGetErrorString(err) << "("<>8) & 0xff; + *u2 = __byte_perm(s, 0, 0x4441); + //*u3 = (s>>16) & 0xff; + *u3 = __byte_perm(s, 0, 0x4442); + //*u4 = s>>24; + *u4 = __byte_perm(s, 0, 0x4443); +} + +__device__ __forceinline__ uint32_t uchars_to_uint32(int u1, int u2, int u3, int u4) { + //return u1 | (u2<<8) | (u3<<16) | (u4<<24); + //return __byte_perm(u1, u2, 0x7740) + __byte_perm(u3, u4, 0x4077); + return u1 | (u2<<8) | __byte_perm(u3, u4, 0x4077); +} + +__device__ __forceinline__ uint32_t uchar_to_uint32(int u1) { + return __byte_perm(u1, u1, 0x0); +} + +__device__ __forceinline__ unsigned int vcmpgeu4(unsigned int a, unsigned int b) { + unsigned int r, c; + c = a-b; + asm ("prmt.b32 %0,%1,0,0xba98;" : "=r"(r) : "r"(c));// build mask from msbs + return r; // byte-wise unsigned gt-eq comparison with mask result +} + +__device__ __forceinline__ unsigned int vminu4(unsigned int a, unsigned int b) { + unsigned int r, s; + s = vcmpgeu4 (b, a);// mask = 0xff if a >= b + r = a & s; // select a when b >= a + s = b & ~s; // select b when b < a + r = r | s; // combine byte selections + return r; +} + +__device__ __forceinline__ void print_uchars(const char* str, const uint32_t s) { + int u1, u2, u3, u4; + uint32_to_uchars(s, &u1, &u2, &u3, &u4); + printf("%s: %d %d %d %d\n", str, u1, u2, u3, u4); +} + +template +__device__ __forceinline__ int popcount(T n) { +#if CSCT or CSCT_RECOMPUTE + return __popc(n); +#else + return __popcll(n); +#endif +} + +__inline__ __device__ uint8_t minu8_index4(int *min_idx, const uint8_t val1, const int dis, const uint8_t val2, const int dis2, const uint8_t val3, const int dis3, const uint8_t val4, const int dis4) { + int min_idx1 = dis; + uint8_t min1 = val1; + if(val1 > val2) { + min1 = val2; + min_idx1 = dis2; + } + + int min_idx2 = dis3; + uint8_t min2 = val3; + if(val3 > val4) { + min2 = val4; + min_idx2 = dis4; + } + + uint8_t minval = min1; + *min_idx = min_idx1; + if(min1 > min2) { + minval = min2; + *min_idx = min_idx2; + } + return minval; +} + +__inline__ __device__ uint8_t minu8_index8(int *min_idx, const uint8_t val1, const int dis, const uint8_t val2, const int dis2, const uint8_t val3, const int dis3, const uint8_t val4, const int dis4, const uint8_t val5, const int dis5, const uint8_t val6, const int dis6, const uint8_t val7, const int dis7, const uint8_t val8, const int dis8) { + int min_idx1, min_idx2; + uint8_t minval1, minval2; + + minval1 = minu8_index4(&min_idx1, val1, dis, val2, dis2, val3, dis3, val4, dis4); + minval2 = minu8_index4(&min_idx2, val5, dis5, val6, dis6, val7, dis7, val8, dis8); + + *min_idx = min_idx1; + uint8_t minval = minval1; + if(minval1 > minval2) { + *min_idx = min_idx2; + minval = minval2; + } + return minval; +} + +__inline__ __device__ int warpReduceMinIndex2(int *val, int idx) { + for(int d = 1; d < WARP_SIZE; d *= 2) { + int tmp = shfl_xor_32(*val, d); + int tmp_idx = shfl_xor_32(idx, d); + if(*val > tmp) { + *val = tmp; + idx = tmp_idx; + } + } + return idx; +} + +__inline__ __device__ int warpReduceMinIndex(int val, int idx) { + for(int d = 1; d < WARP_SIZE; d *= 2) { + int tmp = shfl_xor_32(val, d); + int tmp_idx = shfl_xor_32(idx, d); + if(val > tmp) { + val = tmp; + idx = tmp_idx; + } + } + return idx; +} + +__inline__ __device__ int warpReduceMin(int val) { + val = min(val, shfl_xor_32(val, 1)); + val = min(val, shfl_xor_32(val, 2)); + val = min(val, shfl_xor_32(val, 4)); + val = min(val, shfl_xor_32(val, 8)); + val = min(val, shfl_xor_32(val, 16)); + return val; +} + +__inline__ __device__ int blockReduceMin(int val) { + static __shared__ int shared[WARP_SIZE]; // Shared mem for WARP_SIZE partial sums + const int lane = threadIdx.x % WARP_SIZE; + const int wid = threadIdx.x / WARP_SIZE; + + val = warpReduceMin(val); // Each warp performs partial reduction + + if (lane==0) shared[wid]=val; // Write reduced value to shared memory + + __syncthreads(); // Wait for all partial reductions + + //read from shared memory only if that warp existed + val = (threadIdx.x < blockDim.x / warpSize) ? shared[lane] : INT_MAX; + + if (wid==0) val = warpReduceMin(val); //Final reduce within first warp + + return val; +} + +__inline__ __device__ int blockReduceMinIndex(int val, int idx) { + static __shared__ int shared_val[WARP_SIZE]; // Shared mem for WARP_SIZE partial mins + static __shared__ int shared_idx[WARP_SIZE]; // Shared mem for WARP_SIZE indexes + const int lane = threadIdx.x % WARP_SIZE; + const int wid = threadIdx.x / WARP_SIZE; + + idx = warpReduceMinIndex2(&val, idx); // Each warp performs partial reduction + + if (lane==0) { + shared_val[wid]=val; + shared_idx[wid]=idx; + } + + __syncthreads(); // Wait for all partial reductions + + //read from shared memory only if that warp existed + val = (threadIdx.x < blockDim.x / WARP_SIZE) ? shared_val[lane] : INT_MAX; + idx = (threadIdx.x < blockDim.x / WARP_SIZE) ? shared_idx[lane] : INT_MAX; + + if (wid==0) { + idx = warpReduceMinIndex2(&val, idx); //Final reduce within first warp + } + + return idx; +} + + +__inline__ __device__ bool blockAny(bool local_condition) { + __shared__ bool conditions[WARP_SIZE]; + const int lane = threadIdx.x % WARP_SIZE; + const int wid = threadIdx.x / WARP_SIZE; + + local_condition = __any_sync(0xffffffff, local_condition); // Each warp performs __any + + if (lane==0) { + conditions[wid]=local_condition; + } + + __syncthreads(); // Wait for all partial __any + + //read from shared memory only if that warp existed + local_condition = (threadIdx.x < blockDim.x / WARP_SIZE) ? conditions[lane] : false; + + if (wid==0) { + local_condition = __any_sync(0xffffffff, local_condition); //Final __any within first warp + } + + return local_condition; +} + +} //namespace sgm_gpu + +#endif // SGM_GPU__UTIL_H_ + diff --git a/flightlib/package.xml b/flightlib/package.xml new file mode 100644 index 0000000..a837a3a --- /dev/null +++ b/flightlib/package.xml @@ -0,0 +1,16 @@ + + + flightlib + 0.0.1 + Flightmare: An Open Flexible Quadrotor + + Yunlong Song + + GNU GPL + + catkin + catkin_simple + + gtest + + \ No newline at end of file diff --git a/flightlib/src/bridges/unity_bridge.cpp b/flightlib/src/bridges/unity_bridge.cpp new file mode 100644 index 0000000..a161ab6 --- /dev/null +++ b/flightlib/src/bridges/unity_bridge.cpp @@ -0,0 +1,471 @@ +#include "flightlib/bridges/unity_bridge.hpp" + +namespace flightlib { + +// constructor +UnityBridge::UnityBridge() + : client_address_("tcp://*"), + pub_port_("10253"), + sub_port_("10254"), + num_frames_(0), + last_downloaded_utime_(0), + last_download_debug_utime_(0), + u_packet_latency_(0), + unity_ready_(false) { + // initialize connections upon creating unity bridge + initializeConnections(); + generator_ = std::default_random_engine(random_device_()); +} + +bool UnityBridge::initializeConnections() { + logger_.info("Initializing ZMQ connection..."); + + // create and bind an upload socket + pub_.set(zmqpp::socket_option::send_high_water_mark, 6); + pub_.bind(client_address_ + ":" + pub_port_); + std::cout << "pub_port_" << pub_port_ << std::endl; + // create and bind a download_socket + sub_.set(zmqpp::socket_option::receive_high_water_mark, 6); + sub_.bind(client_address_ + ":" + sub_port_); + std::cout << "sub_port_" << sub_port_ << std::endl; + // subscribe all messages from ZMQ + sub_.subscribe(""); + + logger_.info("Initializing ZMQ connections done!"); + return true; +} + +bool UnityBridge::connectUnity(const SceneID scene_id) { + Scalar time_out_count = 0; + Scalar sleep_useconds = 0.2 * 1e5; + setScene(scene_id); + // try to connect unity + logger_.info("Trying to Connect Unity."); + std::cout << "["; + while (!unity_ready_) { + // if time out + if (time_out_count / 1e6 > unity_connection_time_out_) { + std::cout << "]" << std::endl; + logger_.warn( + "Unity Connection time out! Make sure that Unity Standalone " + "or Unity Editor is running the Flightmare."); + return false; + } + // initialize Scene settings + sendInitialSettings(); + // check if setting is done + unity_ready_ = handleSettings(); + // sleep + usleep(sleep_useconds); + // increase time out counter + time_out_count += sleep_useconds; + // print something + std::cout << "."; + std::cout.flush(); + } + logger_.info("Flightmare Unity is connected."); + // wait 1 seconds. until to environment is fully loaded. + usleep(1 * 1e6); + // wait until point cloud is created. + // Unity is frozen as long as point cloud is created + // check if it's possible to send and receive a frame again and then continue + FrameID send_id = 1; + getRender(send_id); + FrameID receive_id = 0; + while (send_id != receive_id) { + handleOutput(receive_id); + } + logger_.info("Flightmare Unity is ready."); + return unity_ready_; +} + +bool UnityBridge::disconnectUnity() { + unity_ready_ = false; + // create new message object + std::string client_address_dis_{"tcp://*"}; + std::string pub_port_dis_{"10255"}; + zmqpp::context context_dis_; + zmqpp::socket pub_dis_{context_dis_, zmqpp::socket_type::publish}; + pub_dis_.set(zmqpp::socket_option::send_high_water_mark, 6); + pub_dis_.bind(client_address_dis_ + ":" + pub_port_dis_); + + // wait until publisher is properly connected + usleep(1000000); + zmqpp::message msg_dis_; + printf("Disconnect from Unity!\n"); + msg_dis_ << "DISCONNECT"; + pub_dis_.send(msg_dis_, true); + FrameID send_id = 1; + getRender(send_id); + + pub_.close(); + sub_.close(); + pub_dis_.close(); + printf("Disconnected!\n"); + return true; +} + +bool UnityBridge::sendInitialSettings(void) { + // create new message object + zmqpp::message msg; + // add topic header + msg << "Pose"; + // create JSON object for initial settings + json json_mesg = settings_; + msg << json_mesg.dump(); + // send message without blocking + pub_.send(msg, true); + return true; +}; + +bool UnityBridge::handleSettings(void) { + // create new message object + zmqpp::message msg; + + bool done = false; + // Unpack message metadata + if (sub_.receive(msg, true)) { + std::string metadata_string = msg.get(0); + // Parse metadata + if (json::parse(metadata_string).size() > 1) { + return false; // hack + } + done = json::parse(metadata_string).at("ready").get(); + } + return done; +}; + +bool UnityBridge::getRender(const FrameID frame_id) { + pub_msg_.ntime = frame_id; + QuadState quad_state; + for (size_t idx = 0; idx < pub_msg_.vehicles.size(); idx++) { + unity_quadrotors_[idx]->getState(&quad_state); + // 传给unity的飞机位置 = 实际飞机 - 相机和飞机的位姿差, 使得图像渲染位置=飞机位置,使视野无飞机机身遮挡。请确保第0个camera是左目 + Matrix<4, 4> cam_pose = rgb_cameras_[0]->getRelPose(); + Vector<3> delta_pose = cam_pose.block<3, 1>(0, 3); + // printf("camera pose to body: %f, %f, %f \n",delta_pose(0),delta_pose(1),delta_pose(2)); + pub_msg_.vehicles[idx].position = convertToDoubleVector(positionRos2Unity(quad_state.p - delta_pose)); + pub_msg_.vehicles[idx].rotation = convertToDoubleVector(quaternionRos2Unity(quad_state.q())); + } + + for (size_t idx = 0; idx < pub_msg_.objects.size(); idx++) { + std::shared_ptr gate = static_objects_[idx]; + pub_msg_.objects[idx].position = convertToDoubleVector(positionRos2Unity(gate->getPosition())); + pub_msg_.objects[idx].rotation = convertToDoubleVector(quaternionRos2Unity(gate->getQuaternion())); + } + + // create new message object + zmqpp::message msg; + // add topic header + msg << "Pose"; + // create JSON object for pose update and append + json json_msg = pub_msg_; + msg << json_msg.dump(); + // send message without blocking + pub_.send(msg, true); + return true; +} + +bool UnityBridge::setScene(const SceneID& scene_id) { + if (scene_id >= UnityScene::SceneNum) { + logger_.warn("Scene ID is not defined, cannot set scene."); + return false; + } + // logger_.info("Scene ID is set to %d.", scene_id); + settings_.scene_id = scene_id; + return true; +} + +bool UnityBridge::addQuadrotor(std::shared_ptr quad) { + Vehicle_t vehicle_t; + // get quadrotor state + QuadState quad_state; + if (!quad->getState(&quad_state)) { + logger_.error("Cannot get Quadrotor state."); + return false; + } + + vehicle_t.ID = "quadrotor" + std::to_string(settings_.vehicles.size()); + vehicle_t.position = convertToDoubleVector(positionRos2Unity(quad_state.p)); + vehicle_t.rotation = convertToDoubleVector(quaternionRos2Unity(quad_state.q())); + vehicle_t.size = convertToDoubleVector(scalarRos2Unity(quad->getSize())); + + // get camera + std::vector> rgb_cameras = quad->getCameras(); + for (size_t cam_idx = 0; cam_idx < rgb_cameras.size(); cam_idx++) { + std::shared_ptr cam = rgb_cameras[cam_idx]; + Camera_t camera_t; + camera_t.ID = vehicle_t.ID + "_" + std::to_string(cam_idx); + std::vector T_BC_Scalar = transformationRos2Unity(rgb_cameras[cam_idx]->getRelPose()); + std::vector T_BC_double(T_BC_Scalar.begin(), T_BC_Scalar.end()); + camera_t.T_BC = T_BC_double; + camera_t.channels = rgb_cameras[cam_idx]->getChannels(); + camera_t.width = rgb_cameras[cam_idx]->getWidth(); + camera_t.height = rgb_cameras[cam_idx]->getHeight(); + camera_t.fov = rgb_cameras[cam_idx]->getFOV(); + camera_t.depth_scale = rgb_cameras[cam_idx]->getDepthScale(); + camera_t.post_processing = rgb_cameras[cam_idx]->GetPostProcessing(); + camera_t.is_depth = false; + camera_t.output_index = cam_idx; + vehicle_t.cameras.push_back(camera_t); + + // add rgb_cameras + rgb_cameras_.push_back(rgb_cameras[cam_idx]); + } + unity_quadrotors_.push_back(quad); + + settings_.vehicles.push_back(vehicle_t); + pub_msg_.vehicles.push_back(vehicle_t); + return true; +} + +bool UnityBridge::addStaticObject(std::shared_ptr static_object) { + Object_t object_t; + object_t.ID = static_object->getID(); + object_t.prefab_ID = static_object->getPrefabID(); + object_t.position = convertToDoubleVector(positionRos2Unity(static_object->getPosition())); + object_t.rotation = convertToDoubleVector(quaternionRos2Unity(static_object->getQuaternion())); + object_t.size = convertToDoubleVector(scalarRos2Unity(static_object->getSize())); + + static_objects_.push_back(static_object); + settings_.objects.push_back(object_t); + pub_msg_.objects.push_back(object_t); + + return true; +} + +bool UnityBridge::handleOutput(FrameID& frameID) { + // create new message object + zmqpp::message msg; + sub_.receive(msg); + // unpack message metadata + std::string json_sub_msg = msg.get(0); + // parse metadata + SubMessage_t sub_msg = json::parse(json_sub_msg); + frameID = sub_msg.ntime; + + size_t image_i = 1; + // ensureBufferIsAllocated(sub_msg); + for (size_t idx = 0; idx < settings_.vehicles.size(); idx++) { + // update vehicle collision flag + unity_quadrotors_[idx]->setCollision(sub_msg.sub_vehicles[idx].collision); + + // feed image data to RGB camera + for (const auto& cam : settings_.vehicles[idx].cameras) { + // 1、RGB图----------------------------------------- + { + uint32_t image_len = cam.width * cam.height * cam.channels; + // Get raw image bytes from ZMQ message. + // WARNING: This is a zero-copy operation that also casts the input to an array of unit8_t. when the message is deleted, this pointer + // is also dereferenced. + const uint8_t* image_data; + msg.get(image_data, image_i); + image_i = image_i + 1; + // Pack image into cv::Mat + cv::Mat new_image = cv::Mat(cam.height, cam.width, CV_MAKETYPE(CV_8U, cam.channels)); + memcpy(new_image.data, image_data, image_len); + // Flip image since OpenCV origin is upper left, but Unity's is lower left. + cv::flip(new_image, new_image, 0); + // Tell OpenCv that the input is RGB. + if (cam.channels == 3) { + cv::cvtColor(new_image, new_image, CV_RGB2BGR); + } + unity_quadrotors_[idx]->getCameras()[cam.output_index]->feedImageQueue(0, new_image); + } + + // 之前Flightmare的layer_idx： 0 是RGB, 1是Depth, 2是Seg, 3是光流 + // 现在的post_processing： 0 是RGB, 后面按设置打开的Denpth、Seg等排列 + + // 2、附加开启的图------------------------------------------- + for (size_t layer_idx = 0; layer_idx < cam.post_processing.size(); layer_idx++) { + if (cam.post_processing[layer_idx] == RGBCameraTypes::Depth) { + // depth + uint32_t image_len = cam.width * cam.height * 4; + // Get raw image bytes from ZMQ message. + // WARNING: This is a zero-copy operation that also casts the input to an array of unit8_t. when the message is deleted, this + // pointer is also dereferenced. + const uint8_t* image_data; + msg.get(image_data, image_i); + image_i = image_i + 1; + // Pack image into cv::Mat + cv::Mat new_image = cv::Mat(cam.height, cam.width, CV_32FC1); + memcpy(new_image.data, image_data, image_len); + // Flip image since OpenCV origin is upper left, but Unity's is lower left. + new_image = new_image * (1.f); + cv::flip(new_image, new_image, 0); + + unity_quadrotors_[idx]->getCameras()[cam.output_index]->feedImageQueue(CameraLayer::DepthMap, new_image); + } + } + } + } + return true; +} + +bool UnityBridge::spawnTrees(Ref> bounding_box_, Ref> bounding_box_origin_, Scalar avg_tree_spacing_) { + printf("Start Spawn Trees... \n"); + rmTrees(); + // 循环多次避免偶尔一次没render上，后面树再也无法生成 + for (size_t i = 0; i < 3; i++) + refreshUnity(10086 + i); + + TreeMessage_t tree_msg; + // compute the requested tree density for Poisson + Scalar density = 1.0 / (avg_tree_spacing_ * avg_tree_spacing_); + int num_trees = static_cast(bounding_box_[0] * bounding_box_[1] * density); + // draw sample from poisson distribution + std::poisson_distribution poisson_dist(num_trees); + tree_msg.density = static_cast(poisson_dist(generator_)); + printf("Tree Spacing is %f. \n", avg_tree_spacing_); + // generate random seed + std::uniform_int_distribution distribution(1, 1 << 20); + tree_msg.seed = distribution(generator_); + + tree_msg.bounding_origin[0] = bounding_box_origin_[0]; + tree_msg.bounding_origin[1] = bounding_box_origin_[1]; + tree_msg.bounding_area[0] = bounding_box_[0]; + tree_msg.bounding_area[1] = bounding_box_[1]; + bool spawned = placeTrees(tree_msg); + std::cout << "Tree Spawned" << std::endl; + return spawned; +} + +void UnityBridge::generatePointcloud(const Ref>& min_corner, const Ref>& max_corner, int ply_idx, std::string path, + SceneID scene_id, Scalar pc_resolution_) { + printf("Start creating pointcloud... \n"); + PointCloudMessage_t pcd_msg; + pcd_msg.scene_id = scene_id; + pcd_msg.bounding_box_scale = + std::vector{(max_corner.x() - min_corner.x()), (max_corner.y() - min_corner.y()), (max_corner.z() - min_corner.z())}; + printf("Scale pointcloud: [%.2f, %.2f, %.2f]\n", pcd_msg.bounding_box_scale.at(0), pcd_msg.bounding_box_scale.at(1), + pcd_msg.bounding_box_scale.at(2)); + + pcd_msg.bounding_box_origin = std::vector{(max_corner.x() + min_corner.x()) / 2.0, (max_corner.y() + min_corner.y()) / 2.0, + (max_corner.z() + min_corner.z()) / 2.0}; + printf("Origin pointcloud: [%.2f, %.2f, %.2f]\n", pcd_msg.bounding_box_origin.at(0), pcd_msg.bounding_box_origin.at(1), + pcd_msg.bounding_box_origin.at(2)); + + pcd_msg.path = path; + pcd_msg.file_name = "pointcloud-" + std::to_string(ply_idx); + pcd_msg.unity_ground_offset = 0.0; + pcd_msg.resolution_above_ground = pc_resolution_; + pcd_msg.resolution_below_ground = pc_resolution_; + + std::cout << "Save file name: " << pcd_msg.path + pcd_msg.file_name + ".ply" << std::endl; + + while (std::experimental::filesystem::exists(pcd_msg.path + pcd_msg.file_name + ".ply")) { + std::cout << "file already exists, delete! " << std::endl; + std::experimental::filesystem::remove(pcd_msg.path + pcd_msg.file_name + ".ply"); + usleep(1 * 1e6); + } + std::cout << "Pointcloud Saving..."; + + pointCloudGenerator(pcd_msg); + + // render Unity until point cloud exists + FrameID frameID = 10086; + while (!std::experimental::filesystem::exists(pcd_msg.path + pcd_msg.file_name + ".ply")) { + std::cout << "."; + std::cout.flush(); + refreshUnity(frameID); // render, not usleep (BUG: Flightmare must render continuously to refresh the sense and generate pointcloud.) + frameID++; + } + usleep(5 * 1e6); + printf("Pointcloud saved!\n"); +} + +template +std::vector UnityBridge::convertToDoubleVector(const std::vector& input) { + std::vector output(input.size()); + std::transform(input.begin(), input.end(), output.begin(), [](T value) { return static_cast(value); }); + return output; +} + +void UnityBridge::refreshUnity(FrameID id = 10086) { + FrameID frameID_test = id; + getRender(frameID_test); + FrameID frameID_rt; + handleOutput(frameID_rt); + while (frameID_test != frameID_rt) + handleOutput(frameID_rt); +} + +bool UnityBridge::placeTrees(TreeMessage_t& tree_msg) { + std::string client_address_{"tcp://*"}; + std::string pub_tree_port_{"10255"}; + zmqpp::context context_; + zmqpp::socket pub_tree_{context_, zmqpp::socket_type::publish}; + pub_tree_.set(zmqpp::socket_option::send_high_water_mark, 6); + pub_tree_.bind(client_address_ + ":" + pub_tree_port_); + + std::string sub_tree_port_{"10256"}; + zmqpp::socket sub_tree_{context_, zmqpp::socket_type::subscribe}; + sub_tree_.set(zmqpp::socket_option::receive_high_water_mark, 6); + sub_tree_.bind(client_address_ + ":" + sub_tree_port_); + sub_tree_.subscribe("PLACETREE"); + + // wait until publisher is properly connected + usleep(1000000); + zmqpp::message msg; + msg << "PLACETREE"; + + // check if seed is not initialized + if (tree_msg.seed == -1) + tree_msg.seed = rand(); + + json json_msg = tree_msg; + msg << json_msg.dump(); + pub_tree_.send(msg, true); + pub_tree_.close(); + + double sleep_useconds = 0.2 * 1e5; + FrameID frameID = 10086; + // Wait until response received + while (true) { + if (sub_tree_.receive(msg, true)) { + break; + } + // render, not usleep (BUG: Flightmare must render continuously to refresh the sense and tree.) + refreshUnity(frameID); + frameID++; + } + sub_tree_.close(); + return true; +} + +void UnityBridge::rmTrees() { + std::string client_address_{"tcp://*"}; + std::string pub_tree_port_{"10255"}; + zmqpp::context context_; + zmqpp::socket pub_tree_{context_, zmqpp::socket_type::publish}; + pub_tree_.set(zmqpp::socket_option::send_high_water_mark, 6); + pub_tree_.bind(client_address_ + ":" + pub_tree_port_); + + // wait until publisher is properly connected + usleep(1000000); + zmqpp::message msg; + msg << "RMTREE"; + pub_tree_.send(msg, true); + pub_tree_.close(); +} + +void UnityBridge::pointCloudGenerator(PointCloudMessage_t& pcd_msg) { + std::string client_address_{"tcp://*"}; + std::string pub_pc_port_{"10255"}; + zmqpp::context context_; + zmqpp::socket pub_pc_{context_, zmqpp::socket_type::publish}; + pub_pc_.set(zmqpp::socket_option::send_high_water_mark, 6); + pub_pc_.bind(client_address_ + ":" + pub_pc_port_); + + // wait until publisher is properly connected + usleep(1000000); + zmqpp::message msg; + msg << "PCD"; + json json_msg = pcd_msg; + msg << json_msg.dump(); + pub_pc_.send(msg, true); + + pub_pc_.close(); +} + +} // namespace flightlib diff --git a/flightlib/src/common/command.cpp b/flightlib/src/common/command.cpp new file mode 100644 index 0000000..de76741 --- /dev/null +++ b/flightlib/src/common/command.cpp @@ -0,0 +1,29 @@ +#include "flightlib/common/command.hpp" + + +namespace flightlib { + +Command::Command() {} + +Command::Command(const Scalar t, const Scalar thrust, const Vector<3>& omega) + : t(t), collective_thrust(thrust), omega(omega) {} + +Command::Command(const Scalar t, const Vector<4>& thrusts) + : t(t), thrusts(thrusts) {} + +bool Command::valid() const { + return std::isfinite(t) && + ((std::isfinite(collective_thrust) && omega.allFinite()) ^ + thrusts.allFinite()); +} + +bool Command::isSingleRotorThrusts() const { + return std::isfinite(t) && thrusts.allFinite(); +} + +bool Command::isRatesThrust() const { + return std::isfinite(t) && std::isfinite(collective_thrust) && + omega.allFinite(); +} + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/src/common/integrator_base.cpp b/flightlib/src/common/integrator_base.cpp new file mode 100644 index 0000000..7827c93 --- /dev/null +++ b/flightlib/src/common/integrator_base.cpp @@ -0,0 +1,33 @@ +#include "flightlib/common/integrator_base.hpp" + +namespace flightlib { + +IntegratorBase::IntegratorBase(IntegratorBase::DynamicsFunction function, + const Scalar dt_max) + : dynamics_(function), dt_max_(dt_max) {} + +bool IntegratorBase::integrate(const QuadState& initial, + QuadState* const final) const { + if (std::isnan(initial.t) || std::isnan(final->t)) return false; + if (initial.t >= final->t) return false; + return integrate(initial.x, final->t - initial.t, final->x); +} + +bool IntegratorBase::integrate(const Ref> initial, + const Scalar dt, Ref> final) const { + Scalar dt_remaining = dt; + Vector<> state = initial; + + do { + const Scalar dt_this = std::min(dt_remaining, dt_max_); + if (!step(state, dt_this, final)) return false; + state = final; + dt_remaining -= dt_this; + } while (dt_remaining > 0.0); + + return true; +} + +Scalar IntegratorBase::dtMax() const { return dt_max_; } + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/src/common/integrator_euler.cpp b/flightlib/src/common/integrator_euler.cpp new file mode 100644 index 0000000..c53f308 --- /dev/null +++ b/flightlib/src/common/integrator_euler.cpp @@ -0,0 +1,15 @@ +#include "flightlib/common/integrator_euler.hpp" + +namespace flightlib { + +bool IntegratorEuler::step(const Ref> initial, const Scalar dt, + Ref> final) const { + Vector<> derivative(initial.rows()); + if (!this->dynamics_(initial, derivative)) return false; + + final = initial + dt * derivative; + + return true; +} + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/src/common/integrator_rk4.cpp b/flightlib/src/common/integrator_rk4.cpp new file mode 100644 index 0000000..05b9d4d --- /dev/null +++ b/flightlib/src/common/integrator_rk4.cpp @@ -0,0 +1,34 @@ +#include "flightlib/common/integrator_rk4.hpp" + +namespace flightlib { + +bool IntegratorRK4::step(const Ref> initial, const Scalar dt, + Ref> final) const { + static const Vector<4> rk4_sum_vec{1.0 / 6.0, 2.0 / 6.0, 2.0 / 6.0, + 1.0 / 6.0}; + Matrix<> k = Matrix<>::Zero(initial.rows(), 4); + + final = initial; + + // k_1 + if (!this->dynamics_(final, k.col(0))) return false; + + // k_2 + final = initial + 0.5 * dt * k.col(0); + if (!this->dynamics_(final, k.col(1))) return false; + + // k_3 + final = initial + 0.5 * dt * k.col(1); + if (!this->dynamics_(final, k.col(2))) return false; + + // k_4 + final = initial + dt * k.col(2); + if (!this->dynamics_(final, k.col(3))) return false; + + + final = initial + dt * k * rk4_sum_vec; + + return true; +} + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/src/common/logger.cpp b/flightlib/src/common/logger.cpp new file mode 100644 index 0000000..41023ec --- /dev/null +++ b/flightlib/src/common/logger.cpp @@ -0,0 +1,63 @@ +#include "flightlib/common/logger.hpp" + +namespace flightlib { + +Logger::Logger(const std::string& name, const bool color) + : sink_(std::cout.rdbuf()), colored_(color) { + name_ = "[" + name + "]"; + + if (name_.size() < NAME_PADDING) + name_ = name_ + std::string(NAME_PADDING - name_.size(), ' '); + else + name_ = name_ + " "; + + sink_.precision(DEFAULT_PRECISION); +} + +Logger::Logger(const std::string& name, const std::string& filename) + : Logger(name, false) { + if (!filename.empty()) { + std::filebuf* fbuf = new std::filebuf; + if (fbuf->open(filename, std::ios::out)) + sink_.rdbuf(fbuf); + else + warn("Could not open file %s. Logging to console!", filename); + } + sink_.precision(DEFAULT_PRECISION); +} + +Logger::~Logger() {} + +inline std::streamsize Logger::precision(const std::streamsize n) { + return sink_.precision(n); +} + +inline void Logger::scientific(const bool on) { + if (on) + sink_ << std::scientific; + else + sink_ << std::fixed; +} + +void Logger::info(const std::string& message) const { + if (colored_) + sink_ << name_ << message << std::endl; + else + sink_ << name_ << INFO << message << std::endl; +} + +void Logger::warn(const std::string& message) const { + if (colored_) + sink_ << YELLOW << name_ << message << RESET << std::endl; + else + sink_ << name_ << WARN << message << std::endl; +} + +void Logger::error(const std::string& message) const { + if (colored_) + sink_ << RED << name_ << message << RESET << std::endl; + else + sink_ << name_ << ERROR << message << std::endl; +} + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/src/common/math.cpp b/flightlib/src/common/math.cpp new file mode 100755 index 0000000..27942c6 --- /dev/null +++ b/flightlib/src/common/math.cpp @@ -0,0 +1,232 @@ +#include "flightlib/common/math.hpp" + +#include "iostream" + +namespace flightlib { + +Matrix<3, 3> skew(const Vector<3>& v) { return (Matrix<3, 3>() << 0, -v.z(), v.y(), v.z(), 0, -v.x(), -v.y(), v.x(), 0).finished(); } + +Matrix<4, 4> Q_left(const Quaternion& q) { + return (Matrix<4, 4>() << q.w(), -q.x(), -q.y(), -q.z(), q.x(), q.w(), -q.z(), q.y(), q.y(), q.z(), q.w(), -q.x(), q.z(), -q.y(), q.x(), q.w()) + .finished(); +} + +Matrix<4, 4> Q_right(const Quaternion& q) { + return (Matrix<4, 4>() << q.w(), -q.x(), -q.y(), -q.z(), q.x(), q.w(), q.z(), -q.y(), q.y(), -q.z(), q.w(), q.x(), q.z(), q.y(), -q.x(), q.w()) + .finished(); +} + +Matrix<4, 3> qFromQeJacobian(const Quaternion& q) { + return (Matrix<4, 3>() << -1.0 / q.w() * q.vec().transpose(), Matrix<3, 3>::Identity()).finished(); +} + +Matrix<4, 4> qConjugateJacobian() { return Matrix<4, 1>(1, -1, -1, -1).asDiagonal(); } + +Matrix<3, 3> qeRotJacobian(const Quaternion& q, const Matrix<3, 1>& t) { + return 2.0 * (Matrix<3, 3>() << (q.y() + q.z() * q.x() / q.w()) * t.y() + (q.z() - q.y() * q.x() / q.w()) * t.z(), // entry 0,0 + -2.0 * q.y() * t.x() + (q.x() + q.z() * q.y() / q.w()) * t.y() + (q.w() - q.y() * q.y() / q.w()) * t.z(), // entry 0,1 + -2.0 * q.z() * t.x() + (-q.w() + q.z() * q.z() / q.w()) * t.y() + (q.x() - q.y() * q.z() / q.w()) * t.z(), // entry 0,2 + + (q.y() - q.z() * q.x() / q.w()) * t.x() + (-2.0 * q.x()) * t.y() + (-q.w() + q.x() * q.x() / q.w()) * t.z(), // entry 1,0 + (q.x() - q.z() * q.y() / q.w()) * t.x() + (q.z() + q.x() * q.y() / q.w()) * t.z(), // entry 1,1 + (q.w() - q.z() * q.z() / q.w()) * t.x() + (-2.0 * q.z()) * t.y() + (q.y() + q.x() * q.z() / q.w()) * t.z(), // entry 1,2 + + (q.z() + q.y() * q.x() / q.w()) * t.x() + (q.w() - q.x() * q.x() / q.w()) * t.y() + (-2.0 * q.x()) * t.z(), // entry 2,0 + (-q.w() + q.y() * q.y() / q.w()) * t.x() + (q.z() - q.x() * q.y() / q.w()) * t.y() + (-2.0 * q.y()) * t.z(), // entry 2,1 + (q.x() + q.y() * q.z() / q.w()) * t.x() + (q.y() - q.x() * q.z() / q.w()) * t.y() // entry 2,2 + ) + .finished(); +} + +Matrix<3, 3> qeInvRotJacobian(const Quaternion& q, const Matrix<3, 1>& t) { + return 2.0 * (Matrix<3, 3>() << (q.y() - q.z() * q.x() / q.w()) * t.y() + (q.z() + q.y() * q.x() / q.w()) * t.z(), // entry 0,0 + -2.0 * q.y() * t.x() + (q.x() - q.z() * q.y() / q.w()) * t.y() - (q.w() - q.y() * q.y() / q.w()) * t.z(), // entry 0,1 + -2.0 * q.z() * t.x() + (q.w() - q.z() * q.z() / q.w()) * t.y() + (q.x() + q.y() * q.z() / q.w()) * t.z(), // entry 0,2 + + (q.y() + q.z() * q.x() / q.w()) * t.x() - 2.0 * q.x() * t.y() + (q.w() - q.x() * q.x() / q.w()) * t.z(), // entry 1,0 + (q.x() + q.z() * q.y() / q.w()) * t.x() + (q.z() - q.x() * q.y() / q.w()) * t.z(), // entry 1,1 + -(q.w() - q.z() * q.z() / q.w()) * t.x() - 2.0 * q.z() * t.y() + (q.y() - q.x() * q.z() / q.w()) * t.z(), // entry 1,2 + + (q.z() - q.y() * q.x() / q.w()) * t.x() - (q.w() - q.x() * q.x() / q.w()) * t.y() - 2.0 * q.x() * t.z(), // entry 2,0 + (q.w() - q.y() * q.y() / q.w()) * t.x() + (q.z() + q.x() * q.y() / q.w()) * t.y() - 2.0 * q.y() * t.z(), // entry 2,1 + (q.x() - q.y() * q.z() / q.w()) * t.x() + (q.y() + q.x() * q.z() / q.w()) * t.y() // entry 2,2 + ) + .finished(); +} + +void matrixToTripletList(const SparseMatrix& matrix, std::vector* const list, const int row_offset, const int col_offset) { + list->reserve((size_t)matrix.nonZeros() + list->size()); + + for (int i = 0; i < matrix.outerSize(); i++) { + for (typename SparseMatrix::InnerIterator it(matrix, i); it; ++it) { + list->emplace_back(it.row() + row_offset, it.col() + col_offset, it.value()); + } + } +} + +void matrixToTripletList(const Matrix& matrix, std::vector* const list, const int row_offset, const int col_offset) { + const SparseMatrix sparse = matrix.sparseView(); + matrixToTripletList(sparse, list, row_offset, col_offset); +} + +void insert(const SparseMatrix& from, SparseMatrix* const into, const int row_offset, const int col_offset) { + std::vector v; + + matrixToTripletList(*into, &v); + matrixToTripletList(from, &v, row_offset, col_offset); + + into->setFromTriplets(v.begin(), v.end(), [](const Scalar& older, const Scalar& newer) { return newer; }); +} + +void insert(const Matrix<>& from, SparseMatrix* const into, const int row_offset, const int col_offset) { + const SparseMatrix from_sparse = from.sparseView(); + insert(from_sparse, into, row_offset, col_offset); +} + +inline void insert(const Matrix<>& from, Matrix<>* const into, const int row_offset, const int col_offset) { + into->block(row_offset, col_offset, from.rows(), from.cols()) = from; +} + +void quaternionToEuler(const Quaternion& quat, Ref> euler) { + euler.x() = std::atan2(2 * quat.w() * quat.x() + 2 * quat.y() * quat.z(), + quat.w() * quat.w() - quat.x() * quat.x() - quat.y() * quat.y() + quat.z() * quat.z()); + euler.y() = -std::asin(2 * quat.x() * quat.z() - 2 * quat.w() * quat.y()); + euler.z() = std::atan2(2 * quat.w() * quat.z() + 2 * quat.x() * quat.y(), + quat.w() * quat.w() + quat.x() * quat.x() - quat.y() * quat.y() - quat.z() * quat.z()); +} + + +std::vector transformationRos2Unity(const Matrix<4, 4>& ros_tran_mat) { + /// [ Transformation Matrix ] from ROS coordinate system (right hand) + /// to Unity coordinate system (left hand) + Matrix<4, 4> tran_mat = Matrix<4, 4>::Zero(); + tran_mat(0, 0) = 1.0; + tran_mat(1, 2) = 1.0; + tran_mat(2, 1) = 1.0; + tran_mat(3, 3) = 1.0; + // + Matrix<4, 4> unity_tran_mat = tran_mat * ros_tran_mat * tran_mat.transpose(); + // std::vector unity_tran_mat_vec( + // unity_tran_mat.data(), + // unity_tran_mat.data() + unity_tran_mat.rows() * unity_tran_mat.cols()); + std::vector tran_unity; + for (int i = 0; i < 4; ++i) { + for (int j = 0; j < 4; ++j) { + tran_unity.push_back(unity_tran_mat(i, j)); + } + } + return tran_unity; +} + +std::vector quaternionRos2Unity(const Quaternion& ros_quat) { + /// [ Quaternion ] from ROS coordinate system (right hand) + /// to Unity coordinate system (left hand) + Matrix<3, 3> rot_mat = Matrix<3, 3>::Zero(); + rot_mat(0, 0) = 1.0; + rot_mat(1, 2) = 1.0; + rot_mat(2, 1) = 1.0; + // + Matrix<3, 3> unity_rot_mat = rot_mat * ros_quat.toRotationMatrix() * rot_mat.transpose(); + Quaternion unity_quat(unity_rot_mat); + std::vector unity_quat_vec{unity_quat.x(), unity_quat.y(), unity_quat.z(), unity_quat.w()}; + return unity_quat_vec; +} + +std::vector positionRos2Unity(const Vector<3>& ros_pos_vec) { + /// [ Position Vector ] from ROS coordinate system (right hand) + /// to Unity coordinate system (left hand) + std::vector unity_position{ros_pos_vec(0), ros_pos_vec(2), ros_pos_vec(1)}; + return unity_position; +} + +std::vector scalarRos2Unity(const Vector<3>& ros_scalar) { + /// [ Object Scalar Vector ] from ROS coordinate system (right hand) + /// to Unity coordinate system (left hand) + std::vector unity_scalar{ros_scalar(0), ros_scalar(2), ros_scalar(1)}; + return unity_scalar; +} + +// rpy顺序 +void get_euler_from_R(Vector<3>& e, const Matrix<3, 3>& R) { + float phi = atan2(R(2, 1), R(2, 2)); + float theta = asin(-R(2, 0)); + float psi = atan2(R(1, 0), R(0, 0)); + float pi = M_PI; + + if (fabs(theta - pi / 2.0f) < 1.0e-3) { + phi = 0.0f; + psi = atan2(R(1, 2), R(0, 2)); + } else if (fabs(theta + pi / 2.0f) < 1.0e-3) { + phi = 0.0f; + psi = atan2(-R(1, 2), -R(0, 2)); + } + e(0) = phi; + e(1) = theta; + e(2) = psi; +} + +double wrapMinusPiToPi(const double angle) { + if (angle >= -M_PIl && angle <= M_PIl) { + return angle; + } + double wrapped_angle = angle + M_PIl; + wrapped_angle = wrapZeroToTwoPi(wrapped_angle); + wrapped_angle -= M_PIl; + return wrapped_angle; +} + +double wrapZeroToTwoPi(const double angle) { + if (angle >= 0.0 && angle <= 2.0 * M_PIl) { + return angle; + } + double wrapped_angle = fmod(angle, 2.0 * M_PIl); + if (wrapped_angle < 0.0) { + wrapped_angle += 2.0 * M_PIl; + } + return wrapped_angle; +} + +// calculate and constrain the yaw angle per sim_t +float calculate_yaw(float yaw_cur, float yaw_ref, float sim_t) // yaw [-pi,pi] +{ + float PI = 3.1415926; + float YAW_DOT_MAX_PER_SEC = 0.3 * PI; + float max_yaw_change = YAW_DOT_MAX_PER_SEC * sim_t; + float yaw_temp = yaw_ref; + float last_yaw_ = yaw_cur; + float yaw = 0; + + if (yaw_temp - last_yaw_ > PI) { + if (yaw_temp - last_yaw_ - 2 * PI < -max_yaw_change) { + yaw = last_yaw_ - max_yaw_change; + if (yaw < -PI) + yaw += 2 * PI; + } else { + yaw = yaw_temp; + } + } else if (yaw_temp - last_yaw_ < -PI) { + if (yaw_temp - last_yaw_ + 2 * PI > max_yaw_change) { + yaw = last_yaw_ + max_yaw_change; + if (yaw > PI) + yaw -= 2 * PI; + } else { + yaw = yaw_temp; + } + } else { + if (yaw_temp - last_yaw_ < -max_yaw_change) { + yaw = last_yaw_ - max_yaw_change; + if (yaw < -PI) + yaw += 2 * PI; + } else if (yaw_temp - last_yaw_ > max_yaw_change) { + yaw = last_yaw_ + max_yaw_change; + if (yaw > PI) + yaw -= 2 * PI; + } else { + yaw = yaw_temp; + } + } + + return yaw; +} + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/src/common/parameter_base.cpp b/flightlib/src/common/parameter_base.cpp new file mode 100644 index 0000000..7f5a3eb --- /dev/null +++ b/flightlib/src/common/parameter_base.cpp @@ -0,0 +1,15 @@ +#include "flightlib/common/parameter_base.hpp" + +namespace flightlib { + +ParameterBase::ParameterBase() {} + +ParameterBase::ParameterBase(const YAML::Node& cfg_node) + : cfg_node_(cfg_node) {} + +ParameterBase::ParameterBase(const std::string& cfg_path) + : cfg_node_(YAML::Node(cfg_path)) {} + +ParameterBase::~ParameterBase() {} + +} // namespace flightlib diff --git a/flightlib/src/common/pend_state.cpp b/flightlib/src/common/pend_state.cpp new file mode 100644 index 0000000..ed62c64 --- /dev/null +++ b/flightlib/src/common/pend_state.cpp @@ -0,0 +1,41 @@ +#include "flightlib/common/pend_state.hpp" + +namespace flightlib { + +PendState::PendState() {} + +PendState::PendState(const Vector& x, const Scalar t) : x(x), t(t) {} + +PendState::PendState(const PendState& state) : x(state.x), t(state.t) {} + +PendState::~PendState() {} + +Quaternion PendState::q() const { + return Quaternion(x(ATTW), x(ATTX), x(ATTY), x(ATTZ)); +} + +void PendState::q(const Quaternion quaternion) { + x(IDX::ATTW) = quaternion.w(); + x(IDX::ATTX) = quaternion.x(); + x(IDX::ATTY) = quaternion.y(); + x(IDX::ATTZ) = quaternion.z(); +} + +Matrix<3, 3> PendState::R() const { + return Quaternion(x(ATTW), x(ATTX), x(ATTY), x(ATTZ)).toRotationMatrix(); +} + +void PendState::setZero() { + t = 0.0; + x.setZero(); + x(ATTW) = 1.0; +} + +std::ostream& operator<<(std::ostream& os, const PendState& state) { + os.precision(3); + os << "State at " << state.t << "s: [" << state.x.transpose() << "]"; + os.precision(); + return os; +} + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/src/common/quad_state.cpp b/flightlib/src/common/quad_state.cpp new file mode 100644 index 0000000..a71fad8 --- /dev/null +++ b/flightlib/src/common/quad_state.cpp @@ -0,0 +1,41 @@ +#include "flightlib/common/quad_state.hpp" + +namespace flightlib { + +QuadState::QuadState() {} + +QuadState::QuadState(const Vector& x, const Scalar t) : x(x), t(t) {} + +QuadState::QuadState(const QuadState& state) : x(state.x), t(state.t) {} + +QuadState::~QuadState() {} + +Quaternion QuadState::q() const { + return Quaternion(x(ATTW), x(ATTX), x(ATTY), x(ATTZ)); +} + +void QuadState::q(const Quaternion quaternion) { + x(IDX::ATTW) = quaternion.w(); + x(IDX::ATTX) = quaternion.x(); + x(IDX::ATTY) = quaternion.y(); + x(IDX::ATTZ) = quaternion.z(); +} + +Matrix<3, 3> QuadState::R() const { + return Quaternion(x(ATTW), x(ATTX), x(ATTY), x(ATTZ)).toRotationMatrix(); +} + +void QuadState::setZero() { + t = 0.0; + x.setZero(); + x(ATTW) = 1.0; +} + +std::ostream& operator<<(std::ostream& os, const QuadState& state) { + os.precision(3); + os << "State at " << state.t << "s: [" << state.x.transpose() << "]"; + os.precision(); + return os; +} + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/src/common/timer.cpp b/flightlib/src/common/timer.cpp new file mode 100644 index 0000000..9d9a3d6 --- /dev/null +++ b/flightlib/src/common/timer.cpp @@ -0,0 +1,117 @@ +#include "flightlib/common/timer.hpp" + +#include +#include + +namespace flightlib { + +Timer::Timer(const std::string name, const std::string module) + : name_(name), + module_(module), + timing_mean_(0.0), + timing_last_(0.0), + timing_S_(0.0), + timing_min_(std::numeric_limits::max()), + timing_max_(0.0), + n_samples_(0) {} + +Timer::Timer(const Timer& other) + : name_(other.name_), + module_(other.module_), + t_start_(other.t_start_), + timing_mean_(other.timing_mean_), + timing_last_(other.timing_last_), + timing_S_(other.timing_S_), + timing_min_(other.timing_min_), + timing_max_(other.timing_max_), + n_samples_(other.n_samples_) {} + +void Timer::tic() { t_start_ = std::chrono::high_resolution_clock::now(); } + +Scalar Timer::toc() { + // Calculate timing. + const TimePoint t_end = std::chrono::high_resolution_clock::now(); + timing_last_ = 1e-9 * std::chrono::duration_cast( + t_end - t_start_) + .count(); + n_samples_++; + + // Set timing, filter if already initialized. + if (timing_mean_ <= 0.0) { + timing_mean_ = timing_last_; + } else { + const Scalar timing_mean_prev = timing_mean_; + timing_mean_ = + timing_mean_prev + (timing_last_ - timing_mean_prev) / n_samples_; + timing_S_ = timing_S_ + (timing_last_ - timing_mean_prev) * + (timing_last_ - timing_mean_); + } + timing_min_ = (timing_last_ < timing_min_) ? timing_last_ : timing_min_; + timing_max_ = (timing_last_ > timing_max_) ? timing_last_ : timing_max_; + + t_start_ = t_end; + + return timing_mean_; +} + +Scalar Timer::operator()() const { return timing_mean_; } + +Scalar Timer::mean() const { return timing_mean_; } + +Scalar Timer::last() const { return timing_last_; } + +Scalar Timer::min() const { return timing_min_; } + +Scalar Timer::max() const { return timing_max_; } + +Scalar Timer::std() const { return std::sqrt(timing_S_ / n_samples_); } + +int Timer::count() const { return n_samples_; } + +void Timer::reset() { + n_samples_ = 0u; + t_start_ = TimePoint(); + timing_mean_ = 0.0; + timing_last_ = 0.0; + timing_S_ = 0.0; + timing_min_ = std::numeric_limits::max(); + timing_max_ = 0.0; +} + +void Timer::print() const { std::cout << *this; } + +std::ostream& operator<<(std::ostream& os, const Timer& timer) { + if (!timer.module_.empty()) os << "[" << timer.module_ << "] "; + + if (timer.n_samples_ < 1) { + os << "Timing " << timer.name_ << " has no call yet." << std::endl; + return os; + } + + const std::streamsize prec = os.precision(); + os.precision(3); + + os << "Timing " << timer.name_ << " in " << timer.n_samples_ << " calls" + << std::endl; + + if (!timer.module_.empty()) os << "[" << timer.module_ << "] "; + os << "mean|std: " << 1000 * timer.timing_mean_ << " | " + << 1000 * timer.timing_S_ << " ms " + << "[min|max: " << 1000 * timer.timing_min_ << " | " + << 1000 * timer.timing_max_ << " ms]" << std::endl; + + os.precision(prec); + return os; +} + +ScopedTimer::ScopedTimer(const std::string name, const std::string module) + : Timer(name, module) { + this->tic(); +} + +ScopedTimer::~ScopedTimer() { + this->toc(); + this->print(); +} + +} // namespace flightlib diff --git a/flightlib/src/dynamics/dynamics_base.cpp b/flightlib/src/dynamics/dynamics_base.cpp new file mode 100644 index 0000000..ab393b0 --- /dev/null +++ b/flightlib/src/dynamics/dynamics_base.cpp @@ -0,0 +1,9 @@ +#include "flightlib/dynamics/dynamics_base.hpp" + +namespace flightlib { + +DynamicsBase::DynamicsBase() {} + +DynamicsBase::~DynamicsBase() {} + +} // namespace flightlib diff --git a/flightlib/src/dynamics/quadrotor_dynamics.cpp b/flightlib/src/dynamics/quadrotor_dynamics.cpp new file mode 100644 index 0000000..00e5ee3 --- /dev/null +++ b/flightlib/src/dynamics/quadrotor_dynamics.cpp @@ -0,0 +1,228 @@ +#include "flightlib/dynamics/quadrotor_dynamics.hpp" + +namespace flightlib { + +QuadrotorDynamics::QuadrotorDynamics(const Scalar mass, const Scalar arm_l) + : mass_(mass), + arm_l_(arm_l), + t_BM_( + arm_l * sqrt(0.5) * + (Matrix<3, 4>() << 1, -1, -1, 1, -1, -1, 1, 1, 0, 0, 0, 0).finished()), + J_(mass / 12.0 * arm_l * arm_l * Vector<3>(4.5, 4.5, 7).asDiagonal()), + J_inv_(J_.inverse()), + motor_omega_min_(150.0), + motor_omega_max_(2000.0), + motor_tau_inv_(1.0 / 0.05), + thrust_map_(1.3298253500372892e-06, 0.0038360810526746033, + -1.7689986848125325), + kappa_(0.016), + thrust_min_(0.0), + thrust_max_(motor_omega_max_ * motor_omega_max_ * thrust_map_(0) + + motor_omega_max_ * thrust_map_(1) + thrust_map_(2)), + collective_thrust_min_(4.0 * thrust_min_ / mass_), + collective_thrust_max_(4.0 * thrust_max_ / mass_), + omega_max_(6.0, 6.0, 2.0) {} + +QuadrotorDynamics::~QuadrotorDynamics() {} + +bool QuadrotorDynamics::dState(const QuadState& state, + QuadState* dstate) const { + return dState(state.x, dstate->x); +} + +bool QuadrotorDynamics::dState(const Ref> state, + Ref> dstate) const { + if (!state.segment(0).allFinite()) return false; + + dstate.setZero(); + // + const Vector<3> omega(state(QS::OMEX), state(QS::OMEY), state(QS::OMEZ)); + const Quaternion q_omega(0, omega.x(), omega.y(), omega.z()); + const Vector<3> body_torque = state.segment(QS::TAU); + + // linear velocity = dx / dt + dstate.segment(QS::POS) = state.segment(QS::VEL); + + // differentiate quaternion = dq / dt + dstate.segment(QS::ATT) = + 0.5 * Q_right(q_omega) * state.segment(QS::ATT); + + // linear acceleration = dv / dt + dstate.segment(QS::VEL) = state.segment(QS::ACC); + + // angular accleration = domega / dt + dstate.segment(QS::OME) = + J_inv_ * (body_torque - omega.cross(J_ * omega)); + // + return true; +} + +QuadrotorDynamics::DynamicsFunction QuadrotorDynamics::getDynamicsFunction() + const { + return std::bind( + static_cast>, + Ref>) const>( + &QuadrotorDynamics::dState), + this, std::placeholders::_1, std::placeholders::_2); +} + +bool QuadrotorDynamics::valid() const { + bool check = true; + + check &= mass_ > 0.0; + check &= mass_ < 100.0; // limit maximum mass + check &= t_BM_.allFinite(); + check &= J_.allFinite(); + check &= J_inv_.allFinite(); + + check &= motor_omega_min_ >= 0.0; + check &= (motor_omega_max_ > motor_omega_min_); + check &= motor_tau_inv_ > 0.0; + + check &= thrust_map_.allFinite(); + check &= kappa_ > 0.0; + check &= thrust_min_ >= 0.0; + check &= (thrust_max_ > thrust_min_); + + check &= (omega_max_.array() > 0).all(); + + return check; +} + +Vector<4> QuadrotorDynamics::clampThrust(const Vector<4> thrusts) const { + return thrusts.cwiseMax(thrust_min_).cwiseMin(thrust_max_); +} + +Scalar QuadrotorDynamics::clampThrust(const Scalar thrust) const { + return std::clamp(thrust, thrust_min_, thrust_max_); +} + +Scalar QuadrotorDynamics::clampCollectiveThrust(const Scalar thrust) const { + return std::clamp(thrust, collective_thrust_min_, collective_thrust_max_); +} + +Vector<4> QuadrotorDynamics::clampMotorOmega(const Vector<4>& omega) const { + return omega.cwiseMax(motor_omega_min_).cwiseMin(motor_omega_max_); +} + +Vector<3> QuadrotorDynamics::clampBodyrates(const Vector<3>& omega) const { + return omega.cwiseMax(-omega_max_).cwiseMin(omega_max_); +} + +Vector<4> QuadrotorDynamics::motorOmegaToThrust(const Vector<4>& omega) const { + const Matrix<4, 3> omega_poly = + (Matrix<4, 3>() << omega.cwiseProduct(omega), omega, Vector<4>::Ones()) + .finished(); + return omega_poly * thrust_map_; +} + +Vector<4> QuadrotorDynamics::motorThrustToOmega( + const Vector<4>& thrusts) const { + const Scalar scale = 1.0 / (2.0 * thrust_map_[0]); + const Scalar offset = -thrust_map_[1] * scale; + + const Array<4, 1> root = + (std::pow(thrust_map_[1], 2) - + 4.0 * thrust_map_[0] * (thrust_map_[2] - thrusts.array())) + .sqrt(); + + return offset + scale * root; +} + +Matrix<4, 4> QuadrotorDynamics::getAllocationMatrix() const { + return (Matrix<4, 4>() << Vector<4>::Ones().transpose(), t_BM_.topRows<2>(), + kappa_ * Vector<4>(1, -1, 1, -1).transpose()) + .finished(); +} + +bool QuadrotorDynamics::setMass(const Scalar mass) { + if (mass < 0.0 || mass >= 100.) { + return false; + } + mass_ = mass; + // update inertial matrix and its inverse + updateInertiaMarix(); + return true; +} + +bool QuadrotorDynamics::setArmLength(const Scalar arm_length) { + if (arm_length < 0.0) { + return false; + } + arm_l_ = arm_length; + // update torque mapping matrix, inertial matrix and its inverse + updateInertiaMarix(); + return true; +} + +bool QuadrotorDynamics::setMotortauInv(const Scalar tau_inv) { + if (tau_inv < 1.0) { + return false; + } + motor_tau_inv_ = tau_inv; + return true; +} + +bool QuadrotorDynamics::updateParams(const YAML::Node& params) { + if (params["quadrotor_dynamics"]) { + // load parameters from a yaml configuration file + mass_ = params["quadrotor_dynamics"]["mass"].as(); + arm_l_ = params["quadrotor_dynamics"]["arm_l"].as(); + motor_omega_min_ = + params["quadrotor_dynamics"]["motor_omega_min"].as(); + motor_omega_max_ = + params["quadrotor_dynamics"]["motor_omega_max"].as(); + motor_tau_inv_ = + (1.0 / params["quadrotor_dynamics"]["motor_tau"].as()); + std::vector thrust_map; + thrust_map = + params["quadrotor_dynamics"]["thrust_map"].as>(); + thrust_map_ = Map>(thrust_map.data()); + kappa_ = params["quadrotor_dynamics"]["kappa"].as(); + std::vector omega_max; + omega_max = + params["quadrotor_dynamics"]["omega_max"].as>(); + omega_max_ = Map>(omega_max.data()); + + // update relevant variables + updateInertiaMarix(); + return valid(); + } else { + return false; + } +} + +bool QuadrotorDynamics::updateInertiaMarix() { + if (!valid()) return false; + t_BM_ = arm_l_ * sqrt(0.5) * + (Matrix<3, 4>() << 1, -1, -1, 1, -1, -1, 1, 1, 0, 0, 0, 0).finished(); + J_ = mass_ / 12.0 * arm_l_ * arm_l_ * Vector<3>(4.5, 4.5, 7).asDiagonal(); + J_inv_ = J_.inverse(); + return true; +} + +std::ostream& operator<<(std::ostream& os, const QuadrotorDynamics& quad) { + os.precision(3); + os << "Quadrotor Dynamics:\n" + << "mass = [" << quad.mass_ << "]\n" + << "arm_l = [" << quad.arm_l_ << "]\n" + << "t_BM = [" << quad.t_BM_.row(0) << "]\n" + << " [" << quad.t_BM_.row(1) << "]\n" + << " [" << quad.t_BM_.row(2) << "]\n" + << "inertia = [" << quad.J_.row(0) << "]\n" + << " [" << quad.J_.row(1) << "]\n" + << " [" << quad.J_.row(2) << "]\n" + << "motor_omega_min = [" << quad.motor_omega_min_ << "]\n" + << "motor_omega_max = [" << quad.motor_omega_max_ << "]\n" + << "motor_tau_inv = [" << quad.motor_tau_inv_ << "]\n" + << "thrust_map = [" << quad.thrust_map_.transpose() << "]\n" + << "kappa = [" << quad.kappa_ << "]\n" + << "thrust_min = [" << quad.thrust_min_ << "]\n" + << "thrust_max = [" << quad.thrust_max_ << "]\n" + << "omega_max = [" << quad.omega_max_.transpose() << "]" + << std::endl; + os.precision(); + return os; +} + +} // namespace flightlib diff --git a/flightlib/src/envs/quadrotor_env.cpp b/flightlib/src/envs/quadrotor_env.cpp new file mode 100755 index 0000000..6031fda --- /dev/null +++ b/flightlib/src/envs/quadrotor_env.cpp @@ -0,0 +1,481 @@ +#include "flightlib/envs/quadrotor_env.hpp" + +namespace flightlib { + +QuadrotorEnv::QuadrotorEnv() : QuadrotorEnv(getenv("FLIGHTMARE_PATH") + std::string("/flightlib/configs/quadrotor_env.yaml")) {} + +QuadrotorEnv::QuadrotorEnv(const std::string &cfg_path) : EnvBase() { + // load configuration file + YAML::Node cfg_ = YAML::LoadFile(cfg_path); + loadParam(cfg_); + + quadrotor_ptr_ = std::make_shared(); + + // 1、define a bounding box (z is defined manually, different from spawn box) + // x_min, x_max, y_min, y_max, z_min, z_max + world_box_ << center_(0) - 0.5 * scale_(0), center_(0) + 0.5 * scale_(0), center_(1) - 0.5 * scale_(1), center_(1) + 0.5 * scale_(1), 0.0, 5.0; + if (!quadrotor_ptr_->setWorldBox(world_box_)) { + logger_.error("cannot set wolrd box"); + }; + + // 2、define input and output dimension for the environment + obs_dim_ = kNObs; + act_dim_ = kNAct; + rew_dim_ = 1; + + // 3、define planner + traj_opt_bridge = new TrajOptimizationBridge(); + + // 5、add camera + sgm_.reset(new sgm_gpu::SgmGpu(width_, height_)); + + if (!configCamera(cfg_)) { + logger_.error("Cannot config RGB Camera. Something wrong with the config file"); + } + + Vector<3> quad_size(0.01, 0.01, 0.01); + quadrotor_ptr_->setSize(quad_size); + is_collision_ = false; + steps_ = 0; +} + +QuadrotorEnv::~QuadrotorEnv() { delete traj_opt_bridge; } + +bool QuadrotorEnv::reset(Ref> obs, const bool random) { + quad_state_.setZero(); + quad_act_.setZero(); + is_collision_ = false; + steps_ = 0; + nearest_obstacle = 10; + + // Dagger Training + if (random && !collect_data_) { + // 1.reset position. + do { + is_collision_ = false; + quad_state_.x(QS::POSX) = 0.40 * scale_(0) * uniform_dist_(random_gen_) + center_(0); + quad_state_.x(QS::POSY) = 0.40 * scale_(1) * uniform_dist_(random_gen_) + center_(1); + quad_state_.x(QS::POSZ) = 0.20 * scale_(2) * uniform_dist_(random_gen_) + center_(2); + collisionCheck(1.5); + } while (is_collision_); + + // 2.reset orientation + float roll = 0.0; + float pitch = 0.0; + float yaw = 3.14159 * uniform_dist_(random_gen_); + Eigen::Quaternionf q_; + q_ = Eigen::AngleAxisf(yaw, Eigen::Vector3f::UnitZ()) * Eigen::AngleAxisf(pitch, Eigen::Vector3f::UnitY()) * + Eigen::AngleAxisf(roll, Eigen::Vector3f::UnitX()); + quad_state_.q(q_); + } + + // Offline Data Collection + if (collect_data_) { + // 1.reset position. + do { + is_collision_ = false; + quad_state_.x(QS::POSX) = 0.5 * scale_(0) * uniform_dist_(random_gen_) + center_(0); + quad_state_.x(QS::POSY) = 0.5 * scale_(1) * uniform_dist_(random_gen_) + center_(1); + quad_state_.x(QS::POSZ) = 0.5 * scale_(2) * uniform_dist_(random_gen_) + center_(2); + collisionCheck(0.5); + } while (is_collision_); + + // 2.reset orientation + float roll = (norm_dist_(random_gen_) * sqrt(roll_var_)) + 0.0; + float pitch = (norm_dist_(random_gen_) * sqrt(pitch_var_)) + 0.0; + float yaw = 3.14159 * uniform_dist_(random_gen_); + Eigen::Quaternionf q_; + q_ = Eigen::AngleAxisf(yaw, Eigen::Vector3f::UnitZ()) * Eigen::AngleAxisf(pitch, Eigen::Vector3f::UnitY()) * + Eigen::AngleAxisf(roll, Eigen::Vector3f::UnitX()); + quad_state_.q(q_); + } + + // reset quadrotor with random states + quadrotor_ptr_->reset(quad_state_); + // Currently, since there is no controller, the desired state is equal to the actual state. + desired_p_ = Eigen::Vector3f(quad_state_.p(0), quad_state_.p(1), quad_state_.p(2)); + desired_v_ = Eigen::Vector3f(quad_state_.v(0), quad_state_.v(1), quad_state_.v(2)); + desired_a_ = Eigen::Vector3f(quad_state_.a(0), quad_state_.a(1), quad_state_.a(2)); + + // obtain observations + getObs(obs); + return true; +} + +void QuadrotorEnv::setState(ConstRef> state) { + if (state.rows() != 13) { + std::cout << "ERROR: state must be 13 dim (P_xyz, V_xyz, A_xyz, Q_wxyz)" << std::endl; + return; + } + quad_state_.setZero(); + quad_state_.x(QS::POSX) = state(0); + quad_state_.x(QS::POSY) = state(1); + quad_state_.x(QS::POSZ) = state(2); + quad_state_.x(QS::VELX) = state(3); + quad_state_.x(QS::VELY) = state(4); + quad_state_.x(QS::VELZ) = state(5); + quad_state_.x(QS::ACCX) = state(6); + quad_state_.x(QS::ACCY) = state(7); + quad_state_.x(QS::ACCZ) = state(8); + quad_state_.x(QS::ATTW) = state(9); + quad_state_.x(QS::ATTX) = state(10); + quad_state_.x(QS::ATTY) = state(11); + quad_state_.x(QS::ATTZ) = state(12); + quadrotor_ptr_->reset(quad_state_); +} + +void QuadrotorEnv::setGoal(ConstRef> goal) { + if (goal.rows() != 3) { + std::cout << "ERROR: goal must be 3 dim (xyz)" << std::endl; + return; + } + goal_ = goal; +} + +bool QuadrotorEnv::getObs(Ref> obs) { + // The actual position. + Eigen::Vector3f Pw(quad_state_.p(0), quad_state_.p(1), quad_state_.p(2)); + Eigen::Quaternionf Qw = quad_state_.q(); + // The desired state, same with the real flight. + Eigen::Matrix3f Rwb = quad_state_.R(); + Eigen::Vector3f Vw(desired_v_(0), desired_v_(1), desired_v_(2)); + Eigen::Vector3f Vb = Rwb.inverse() * Vw; + Eigen::Vector3f Aw(desired_a_(0), desired_a_(1), desired_a_(2)); + Eigen::Vector3f Ab = Rwb.inverse() * Aw; + + // Observation: p, q_wxyz in the world frame (for training); v, a in the body frame (for testing). + quad_obs_ << Pw(0), Pw(1), Pw(2), Vb(0), Vb(1), Vb(2), Ab(0), Ab(1), Ab(2), Qw.w(), Qw.x(), Qw.y(), Qw.z(); + obs.segment(0) = quad_obs_; + return true; +} + +bool QuadrotorEnv::getDepthImage(Ref> depth_img) { + if (!rgb_camera_left || !rgb_camera_left->getEnabledLayers()[1]) { + logger_.error("No RGB Camera or depth map is not enabled. Cannot retrieve depth images."); + return false; + } + rgb_camera_left->getDepthMap(depth_img_); + + depth_img = Map>((float_t *)depth_img_.data, depth_img_.rows * depth_img_.cols); + return true; +} + +bool QuadrotorEnv::getStereoImage(Ref> stereo_img) { + if (!rgb_camera_left || !rgb_camera_right) { + logger_.error("No Stereo Camera enabled. Cannot retrieve depth map."); + return false; + } + cv::Mat left_img, right_img; + rgb_camera_left->getRGBImage(left_img); + rgb_camera_right->getRGBImage(right_img); + + // compute disparity image + cv::Mat stereo_(height_, width_, CV_32FC1); + computeDepthImage(left_img, right_img, &stereo_); + + // fix the nan of stereo by gt depth (make it closer to RealSense 435, as the depth from 435 is better than from SGM directly) + if (rgb_camera_left->getEnabledLayers()[1]) { + if (rgb_camera_left->getDepthMap(depth_img_)) { + cv::Mat mask, mask1, mask2; + cv::compare(stereo_, 0, mask1, cv::CMP_EQ); // 将 A 中为 0 的位置置为 255，其余位置置为 0 + cv::compare(stereo_, 20, mask2, cv::CMP_GT); // 将 A 中大于 20 的位置置为 255，其余位置置为 0 + mask = mask1 | mask2; // 将两个掩码进行逻辑或操作 + depth_img_.copyTo(stereo_, mask); // 将 B 中 mask 为 255 的位置的值复制到 A 中 + } + } + + stereo_img = Map>((float_t *)stereo_.data, stereo_.rows * stereo_.cols); + return true; +} + +void QuadrotorEnv::setMapID(int id) { + // -1 represent using the latest map in imitation learning + if (id < 0) + map_idx_ = kdtrees.size() - 1; + else + map_idx_ = id; +} + +void QuadrotorEnv::getCostAndGradient(ConstRef> endstate, int traj_id, float &cost, Ref> grad) { + if (endstate.rows() != 9) { + std::cout << "ERROR: endstate must be 9 dim (X_pva, Y_pva, Z_pva)" << std::endl; + return; + } + std::vector endstate_, grad_; + double cost_; + for (size_t i = 0; i < endstate.rows(); i++) { + endstate_.push_back(static_cast(endstate(i))); + } + + traj_opt_bridge->setMap(esdf_maps[map_idx_], min_map_boundaries[map_idx_], max_map_boundaries[map_idx_]); + traj_opt_bridge->setState(quad_state_.p.cast(), quad_state_.q().cast(), quad_state_.v.cast(), + quad_state_.a.cast()); + traj_opt_bridge->setGoal(goal_.cast()); + + traj_opt_bridge->getCostAndGradient(endstate_, traj_id, cost_, grad_); + + for (size_t i = 0; i < grad_.size(); i++) { + grad(i) = static_cast(grad_[i]); + } + cost = static_cast(cost_); +} + +bool QuadrotorEnv::step(const Ref> act, Ref> obs, Ref> reward) { + // python：setGoal -> step + if (!act.allFinite() || act.rows() != 9 || reward.rows() != 1) { + std::cout << "ERROR: endstate must be 9 dim" << std::endl; + return false; + } + + steps_++; + + std::vector endstate_; + for (size_t i = 0; i < act.rows(); i++) { + endstate_.push_back(static_cast(act(i))); + } + + traj_opt_bridge->setMap(esdf_maps[map_idx_], min_map_boundaries[map_idx_], max_map_boundaries[map_idx_]); + traj_opt_bridge->setState(quad_state_.p.cast(), quad_state_.q().cast(), quad_state_.v.cast(), + quad_state_.a.cast()); + traj_opt_bridge->setGoal(goal_.cast()); + + double cost_; + Eigen::Vector3d next_pos, next_vel, next_acc; + traj_opt_bridge->getNextStateAndCost(endstate_, cost_, next_pos, next_vel, next_acc, sim_dt_); + desired_p_ = next_pos.cast(); + desired_v_ = next_vel.cast(); + desired_a_ = next_acc.cast(); + reward(0) = static_cast(cost_); + + // calculate the state based on the desired state. + runControlAndUpdateState(desired_p_, desired_v_, desired_a_); + quadrotor_ptr_->getState(&quad_state_); + + getObs(obs); + return true; +} + +bool QuadrotorEnv::isTerminalState(Scalar &reward) { + // 1.if out of boundary + if (quad_state_.x(QS::POSX) <= (world_box_(0)) || quad_state_.x(QS::POSY) <= (world_box_(1)) || quad_state_.x(QS::POSZ) <= (world_box_(2)) || + quad_state_.x(QS::POSX) >= (world_box_(3)) || quad_state_.x(QS::POSY) >= (world_box_(4)) || quad_state_.x(QS::POSZ) >= (world_box_(5))) { + reward = 0; + // std::cout<<"越界"< 10 && quad_state_.v.norm() < 0.6 && dagger_mode_) { + reward = 0; + return true; + } + + // 4.if reach the goal + Eigen::Vector3f Pw(quad_state_.p(0), quad_state_.p(1), quad_state_.p(2)); + Eigen::Vector3f Gw(goal_(0), goal_(1), goal_(2)); + float dist = (Pw - Gw).norm(); + if (dist < 4) { + reward = 0; + // std::cout<<"到达"< indices(K); + std::vector distances(K); // the square of the distances to the neighboring points. + kdtrees[map_idx_]->nearestKSearch(drone_, K, indices, distances); + + nearest_obstacle = distances[0]; + if (distances[0] < dis * dis) + is_collision_ = true; +} + +bool QuadrotorEnv::loadParam(const YAML::Node &cfg) { + // camera + width_ = cfg["rgb_camera_left"]["width"].as(); + height_ = cfg["rgb_camera_left"]["height"].as(); + fov_ = cfg["rgb_camera_left"]["fov"].as(); + // train or test + collect_data_ = cfg["quadrotor_env"]["collect_data"].as(); + sim_dt_ = cfg["quadrotor_env"]["sim_dt"].as(); + // data_collection + roll_var_ = cfg["data_collection"]["roll_var"].as(); + pitch_var_ = cfg["data_collection"]["pitch_var"].as(); + // world box + for (int i = 0; i < 3; ++i) { + scale_(i) = cfg["quadrotor_env"]["bounding_box"][i].as(); + center_(i) = cfg["quadrotor_env"]["bounding_box_origin"][i].as(); + } + return true; +} + +bool QuadrotorEnv::getAct(Ref> act) const { + if (quad_act_.allFinite()) { + act = quad_act_; + return true; + } + return false; +} + +bool QuadrotorEnv::configCamera(const YAML::Node &cfg) { + if (!cfg["rgb_camera_left"]) { + logger_.error("Cannot config RGB Camera"); + return false; + } + + if (!cfg["rgb_camera_left"]["on"].as()) { + logger_.warn("Camera is off. Please turn it on."); + return false; + } + + if (quadrotor_ptr_->getNumCamera() >= 2) { + logger_.warn("Camera has been added. Skipping the camera configuration."); + return false; + } + + // create left camera -------------------------------------------- + rgb_camera_left = std::make_shared(); + + // load camera settings + std::vector t_BC_vec = cfg["rgb_camera_left"]["t_BC"].as>(); + std::vector r_BC_vec = cfg["rgb_camera_left"]["r_BC"].as>(); + + Vector<3> t_BC(t_BC_vec.data()); + Matrix<3, 3> r_BC = (AngleAxis(r_BC_vec[2] * M_PI / 180.0, Vector<3>::UnitZ()) * AngleAxis(r_BC_vec[1] * M_PI / 180.0, Vector<3>::UnitY()) * + AngleAxis(r_BC_vec[0] * M_PI / 180.0, Vector<3>::UnitX())) + .toRotationMatrix(); + + // Flightmare's FOV is vertical, while usually is horizontal, so convert the input horizontal FOV to vertical FOV. + Scalar rgb_fov_deg_ = cfg["rgb_camera_left"]["fov"].as(); + double hor_fov_radians = (M_PI * (rgb_fov_deg_ / 180.0)); + Scalar img_rows_ = cfg["rgb_camera_left"]["height"].as(); + Scalar img_cols_ = cfg["rgb_camera_left"]["width"].as(); + double flightmare_fov = 2. * std::atan(std::tan(hor_fov_radians / 2) * img_rows_ / img_cols_); + flightmare_fov = (flightmare_fov / M_PI) * 180.0; + rgb_camera_left->setFOV(flightmare_fov); + rgb_camera_left->setWidth(cfg["rgb_camera_left"]["width"].as()); + rgb_camera_left->setHeight(cfg["rgb_camera_left"]["height"].as()); + rgb_camera_left->setRelPose(t_BC, r_BC); + rgb_camera_left->enableOpticalFlow(cfg["rgb_camera_left"]["enable_opticalflow"].as()); + rgb_camera_left->enableSegmentation(cfg["rgb_camera_left"]["enable_segmentation"].as()); + rgb_camera_left->enableDepth(cfg["rgb_camera_left"]["enable_depth"].as()); + + // add camera to the quadrotor + quadrotor_ptr_->addRGBCamera(rgb_camera_left); + + // create right camera -------------------------------------------- + bool have_right_camera = cfg["rgb_camera_right"]["on"].as(); + if (have_right_camera) { + rgb_camera_right = std::make_shared(); + + // load camera settings + std::vector t_BC_vec_r = cfg["rgb_camera_right"]["t_BC"].as>(); + std::vector r_BC_vec_r = cfg["rgb_camera_right"]["r_BC"].as>(); + + Vector<3> t_BC_r(t_BC_vec_r.data()); + Matrix<3, 3> r_BC_r = + (AngleAxis(r_BC_vec_r[2] * M_PI / 180.0, Vector<3>::UnitZ()) * AngleAxis(r_BC_vec_r[1] * M_PI / 180.0, Vector<3>::UnitY()) * + AngleAxis(r_BC_vec_r[0] * M_PI / 180.0, Vector<3>::UnitX())) + .toRotationMatrix(); + + rgb_camera_right->setFOV(flightmare_fov); + rgb_camera_right->setWidth(cfg["rgb_camera_left"]["width"].as()); + rgb_camera_right->setHeight(cfg["rgb_camera_left"]["height"].as()); + rgb_camera_right->setRelPose(t_BC_r, r_BC_r); + rgb_camera_right->enableOpticalFlow(false); + rgb_camera_right->enableSegmentation(false); + rgb_camera_right->enableDepth(false); + + // add camera to the quadrotor + quadrotor_ptr_->addRGBCamera(rgb_camera_right); + stereo_baseline_ = fabs(t_BC(1) - t_BC_r(1)); + } + // adapt parameters + img_width_ = rgb_camera_left->getWidth(); + img_height_ = rgb_camera_left->getHeight(); + rgb_img_ = cv::Mat::zeros(img_height_, img_width_, CV_MAKETYPE(CV_8U, rgb_camera_left->getChannels())); + depth_img_ = cv::Mat::zeros(img_height_, img_width_, CV_32FC1); + return true; +} + +void QuadrotorEnv::computeDepthImage(const cv::Mat &left_frame, const cv::Mat &right_frame, cv::Mat *const depth) { + cv::Mat disparity(height_, width_, CV_8UC1); + sgm_->computeDisparity(left_frame, right_frame, disparity); + disparity.convertTo(disparity, CV_32FC1); + + // compute depth from disparity + float f = (width_ / 2.0) / std::tan((M_PI * (fov_ / 180.0)) / 2.0); + // depth = stereo_baseline_ * f / disparity + for (int r = 0; r < height_; ++r) { + for (int c = 0; c < width_; ++c) { + if (disparity.at(r, c) == 0.0f) { + depth->at(r, c) = 0.0f; + } else if (disparity.at(r, c) == 255.0f) { + depth->at(r, c) = 0.0f; + } else { + depth->at(r, c) = static_cast(stereo_baseline_) * f / disparity.at(r, c); + } + } + } +} + +bool QuadrotorEnv::getRGBImage(Ref> img, const bool rgb) { + if (!rgb_camera_left) { + logger_.error("No Camera! Cannot retrieve Images."); + return false; + } + + rgb_camera_left->getRGBImage(rgb_img_); + + if (rgb_img_.rows != height_ || rgb_img_.cols != width_) { + logger_.error("Image resolution mismatch. Aborting.. Image rows %d != %d, Image cols %d != %d", rgb_img_.rows, height_, rgb_img_.cols, + width_); + return false; + } + + if (!rgb) { + // converting rgb image to gray image + cvtColor(rgb_img_, gray_img_, CV_RGB2GRAY); + // map cv::Mat data to Eiegn::Vector + img = Map>(gray_img_.data, gray_img_.rows * gray_img_.cols); + } else { + img = Map>(rgb_img_.data, rgb_img_.rows * rgb_img_.cols * rgb_camera_left->getChannels()); + } + return true; +} + +void QuadrotorEnv::runControlAndUpdateState(Eigen::Vector3f p_ref, Eigen::Vector3f v_ref, Eigen::Vector3f a_ref) { + Eigen::Vector3f p_cur; + p_cur = quad_state_.p; + + Eigen::Vector3f dir_vel = v_ref; + Eigen::Vector3f dir_goal = goal_ - p_cur; + Eigen::Vector3f dir_des = dir_vel.normalized() + dir_goal.normalized(); + float yaw_ref = atan2(dir_des(1), dir_des(0)); + Vector<3> rpy_cur; + get_euler_from_R(rpy_cur, quad_state_.R()); + yaw_ref = calculate_yaw(rpy_cur(2), yaw_ref, sim_dt_); // limit the yaw (required by controller) + + Eigen::Quaternionf q_ref; + quadrotor_ptr_->runSimpleFlight(a_ref, yaw_ref, q_ref); + quadrotor_ptr_->setState(p_ref, v_ref, q_ref, a_ref, sim_dt_); +} + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/src/envs/vec_env.cpp b/flightlib/src/envs/vec_env.cpp new file mode 100644 index 0000000..2a91e80 --- /dev/null +++ b/flightlib/src/envs/vec_env.cpp @@ -0,0 +1,406 @@ +#include "flightlib/envs/vec_env.hpp" + +namespace flightlib { + +template +VecEnv::VecEnv() : VecEnv(getenv("FLIGHTMARE_PATH") + std::string("/flightlib/configs/vec_env.yaml")) {} + +template +VecEnv::VecEnv(const YAML::Node& cfg_node) : cfg_(cfg_node) { + init(); +} + +template +VecEnv::VecEnv(const std::string& cfgs, const bool from_file) { + // load environment configuration + if (from_file) + cfg_ = YAML::LoadFile(cfgs); + else + cfg_ = YAML::Load(cfgs); + + init(); +} + +template +void VecEnv::init(void) { + // note that the cfg are input from python, and many have changed from vec_end.yaml + unity_render_ = cfg_["env"]["render"].as(); + supervised_mode_ = cfg_["env"]["supervised"].as(); + dagger_mode_ = cfg_["env"]["imitation"].as(); + seed_ = cfg_["env"]["seed"].as(); + num_envs_ = cfg_["env"]["num_envs"].as(); + num_threads_ = cfg_["env"]["num_threads"].as(); + scene_id_ = cfg_["env"]["scene_id"].as(); + ply_path_ = getenv("FLIGHTMARE_PATH") + cfg_["env"]["ply_path"].as(); + avg_tree_spacing_ = cfg_["unity"]["avg_tree_spacing"].as(); + pointcloud_resolution_ = cfg_["unity"]["pointcloud_resolution"].as(); + for (int i = 0; i < 3; ++i) { + bounding_box_(i) = cfg_["unity"]["bounding_box"][i].as(); + bounding_box_origin_(i) = cfg_["unity"]["bounding_box_origin"][i].as(); + } + + // set threads + omp_set_num_threads(cfg_["env"]["num_threads"].as()); + + // create & setup environments + const bool render = false; + for (int i = 0; i < num_envs_; i++) { + envs_.push_back(std::make_unique()); + } + + // set Unity (init unity_bridge_ptr_ and add quadrotors to envs) + setUnity(unity_render_); + + obs_dim_ = envs_[0]->getObsDim(); + act_dim_ = envs_[0]->getActDim(); + rew_dim_ = envs_[0]->getRewDim(); + img_width_ = envs_[0]->getImgWidth(); + img_height_ = envs_[0]->getImgHeight(); + + // if supervised_mode, then generate map from .ply + if (supervised_mode_) + generateMaps(); + // set dagger_mode to each env + for (int i = 0; i < num_envs_; i++) + envs_[i]->setDAggerMode(dagger_mode_); + + std::cout << "Vectorized Environment:\n" + << "dagger mode = [" << dagger_mode_ << "]\n" + << "supervised mode = [" << supervised_mode_ << "]\n" + << "obs dim = [" << obs_dim_ << "]\n" + << "act dim = [" << act_dim_ << "]\n" + << "img width = [" << img_width_ << "]\n" + << "img height = [" << img_height_ << "]\n" + << "num_envs = [" << num_envs_ << "]\n" + << "num_thread = [" << num_threads_ << "]\n" + << "scene_id = [" << scene_id_ << "]" << std::endl; +} + +template +VecEnv::~VecEnv() {} + +// ====================== set functions ===================== // + +template +bool VecEnv::reset(Ref> obs) { + if (obs.rows() != num_envs_ || obs.cols() != obs_dim_) { + logger_.error("Input matrix dimensions do not match with that of the environment."); + return false; + } + + for (int i = 0; i < num_envs_; i++) { + envs_[i]->reset(obs.row(i)); + } + + if (unity_render_ && unity_ready_) { + frameID = 1; + FrameID frameID_rt; + unity_bridge_ptr_->getRender(frameID); + unity_bridge_ptr_->handleOutput(frameID_rt); + while (frameID != frameID_rt) + unity_bridge_ptr_->handleOutput(frameID_rt); + } + return true; +} + +template +bool VecEnv::setState(ConstRef> state) { + if (state.rows() != num_envs_ || state.cols() != 13) { // 13: pvaq + logger_.error("Input state dimensions do not match with state."); + return false; + } + + for (int i = 0; i < num_envs_; i++) { + envs_[i]->setState(state.row(i)); + } + + return true; +} + +template +bool VecEnv::setGoal(ConstRef> goal) { + if (goal.rows() != num_envs_ || goal.cols() != 3) { + logger_.error("Input goal dimensions do not match with 3."); + return false; + } + + for (int i = 0; i < num_envs_; i++) { + envs_[i]->setGoal(goal.row(i)); + } + + return true; +} + +template +bool VecEnv::step(Ref> act, Ref> obs, Ref> reward, Ref> done) { + if (act.rows() != num_envs_ || act.cols() != act_dim_ || obs.rows() != num_envs_ || obs.cols() != obs_dim_ || reward.rows() != num_envs_ || + reward.cols() != rew_dim_ || done.rows() != num_envs_ || done.cols() != 1) { + logger_.error("Input matrix dimensions do not match with that of the environment."); + return false; + } + +#pragma omp parallel for schedule(dynamic) + for (int i = 0; i < num_envs_; i++) { + perAgentStep(i, act, obs, reward, done); + } + + if (unity_render_ && unity_ready_) { + frameID++; + FrameID frameID_rt; + unity_bridge_ptr_->getRender(frameID); + unity_bridge_ptr_->handleOutput(frameID_rt); + while (frameID != frameID_rt) + unity_bridge_ptr_->handleOutput(frameID_rt); + } + return true; +} + +template +void VecEnv::perAgentStep(int agent_id, Ref> act, Ref> obs, Ref> reward, + Ref> done) { + envs_[agent_id]->step(act.row(agent_id), obs.row(agent_id), reward.row(agent_id)); + + // use larger collision threshold in training and lower in testing + if (dagger_mode_) + envs_[agent_id]->collisionCheck(0.3); + else + envs_[agent_id]->collisionCheck(0.1); + + Scalar terminal_reward = 0; + done(agent_id) = envs_[agent_id]->isTerminalState(terminal_reward); + + if (done[agent_id]) { + envs_[agent_id]->reset(obs.row(agent_id)); + } +} + +template +void VecEnv::setMapID(ConstRef> id) { + if (id.rows() != num_envs_) { + logger_.error("Input matrix dimensions do not match with that of the environment."); + return; + } + + for (int i = 0; i < num_envs_; i++) { + envs_[i]->setMapID(id(i)); + } +} + +template +void VecEnv::setSeed(const int seed) { + int seed_inc = seed; + for (int i = 0; i < num_envs_; i++) + envs_[i]->setSeed(seed_inc++); +} + +// ====================== set functions ===================== // + +template +void VecEnv::getObs(Ref> obs) { + for (int i = 0; i < num_envs_; i++) + envs_[i]->getObs(obs.row(i)); +} + +template +bool VecEnv::getRGBImage(Ref> img, const bool rgb_image) { + bool valid_img = true; + for (int i = 0; i < num_envs_; i++) { + valid_img &= envs_[i]->getRGBImage(img.row(i), rgb_image); + } + return valid_img; +} + +template +bool VecEnv::getStereoImage(Ref> stereo_img) { + bool valid_img = true; + for (int i = 0; i < num_envs_; i++) { + valid_img &= envs_[i]->getStereoImage(stereo_img.row(i)); + } + return valid_img; +} + +template +bool VecEnv::getDepthImage(Ref> depth_img) { + bool valid_img = true; + for (int i = 0; i < num_envs_; i++) { + valid_img &= envs_[i]->getDepthImage(depth_img.row(i)); + } + return valid_img; +} + + +template +void VecEnv::getCostAndGradient(ConstRef> dp, ConstRef> traj_id, Ref> cost, + Ref> grad) { +#pragma omp parallel for schedule(dynamic) num_threads(num_threads_) + for (int i = 0; i < num_envs_; i++) { + envs_[i]->getCostAndGradient(dp.row(i), traj_id(i), cost(i), grad.row(i)); + } +} + + +// ====================== unity functions ===================== // + +template +bool VecEnv::setUnity(bool render) { + unity_render_ = render; + if (unity_render_ && unity_bridge_ptr_ == nullptr) { + // create unity bridge + unity_bridge_ptr_ = UnityBridge::getInstance(); + // add objects to Unity + for (int i = 0; i < num_envs_; i++) { + envs_[i]->addObjectsToUnity(unity_bridge_ptr_); + } + logger_.info("Flightmare Bridge is created."); + } + return true; +} + +template +bool VecEnv::spawnTrees() { + if (!unity_ready_ || unity_bridge_ptr_ == nullptr) + return false; + bool spawned = unity_bridge_ptr_->spawnTrees(bounding_box_, bounding_box_origin_, avg_tree_spacing_); + return spawned; +} + +template +bool VecEnv::savePointcloud(int ply_id) { + if (!unity_ready_ || unity_bridge_ptr_ == nullptr) + return false; + Vector<3> min_corner = bounding_box_origin_ - 0.5 * bounding_box_; + Vector<3> max_corner = bounding_box_origin_ + 0.5 * bounding_box_; + unity_bridge_ptr_->generatePointcloud(min_corner, max_corner, ply_id, ply_path_, scene_id_, pointcloud_resolution_); + return true; +} + +template +bool VecEnv::spawnTreesAndSavePointcloud(int ply_id_in, float spacing) { + Scalar avg_tree_spacing = avg_tree_spacing_; + if (spacing > 0) + avg_tree_spacing = spacing; + int ply_id = envs_[0]->getMapNum(); + if (ply_id_in >= 0) + ply_id = ply_id_in; + + if (!unity_ready_ || unity_bridge_ptr_ == nullptr) + return false; + + bool spawned = unity_bridge_ptr_->spawnTrees(bounding_box_, bounding_box_origin_, avg_tree_spacing); + + Vector<3> min_corner = bounding_box_origin_ - 0.5 * bounding_box_; + Vector<3> max_corner = bounding_box_origin_ + 0.5 * bounding_box_; + unity_bridge_ptr_->generatePointcloud(min_corner, max_corner, ply_id, ply_path_, scene_id_, pointcloud_resolution_); + + usleep(1 * 1e6); // waitting 1s for generating completely + + // KDtree, for collision detection + pcl::search::KdTree kdtree; + pcl::PointCloud::Ptr cloud(new pcl::PointCloud); + std::cout << "Map Path: " << ply_path_ + "pointcloud-" + std::to_string(ply_id) + ".ply" << std::endl; + pcl::io::loadPLYFile(ply_path_ + "pointcloud-" + std::to_string(ply_id) + ".ply", *cloud); + kdtree.setInputCloud(cloud); // 0.3s + + // ESDF, for gradient calculation (map_id is required) + Eigen::Vector3d map_boundary_min, map_boundary_max; + std::shared_ptr esdf_map = traj_opt::SdfConstruction(cloud, map_boundary_min, map_boundary_max); + + for (int i = 0; i < num_envs_; i++) { + envs_[i]->addKdtree(std::make_shared>(kdtree)); + envs_[i]->addESDFMap(esdf_map); + envs_[i]->addMapSize(map_boundary_min, map_boundary_max); + } + + return true; +} + +// For supervised learning +template +void VecEnv::generateMaps() { + std::vector ply_files; + for (const auto& entry : std::filesystem::directory_iterator(ply_path_)) { + if (entry.is_regular_file() && entry.path().extension() == ".ply") { + ply_files.push_back(entry.path().string()); + } + } + + // Sort according to the number of the filename. + std::sort(ply_files.begin(), ply_files.end(), [this](const std::string& a, const std::string& b) { + return extract_number(std::filesystem::path(a).filename().string()) < extract_number(std::filesystem::path(b).filename().string()); + }); + + for (auto ply_file : ply_files) { + std::cout << "load ply file: " << ply_file << std::endl; + pcl::search::KdTree kdtree; + pcl::PointCloud::Ptr cloud(new pcl::PointCloud); + pcl::io::loadPLYFile(ply_file, *cloud); + // KDtree, for collision detection + kdtree.setInputCloud(cloud); // 0.3s + // ESDF, for gradient calculation + Eigen::Vector3d map_boundary_min, map_boundary_max; + std::shared_ptr esdf_map = traj_opt::SdfConstruction(cloud, map_boundary_min, map_boundary_max); + + std::cout << "pc min:" << map_boundary_min.transpose() << " pc max:" << map_boundary_max.transpose() << std::endl; + for (int i = 0; i < num_envs_; i++) { + envs_[i]->addKdtree(std::make_shared>(kdtree)); + envs_[i]->addESDFMap(esdf_map); + envs_[i]->addMapSize(map_boundary_min, map_boundary_max); + } + } +} + +template +bool VecEnv::connectUnity(void) { + if (unity_bridge_ptr_ == nullptr) + return false; + unity_ready_ = unity_bridge_ptr_->connectUnity(scene_id_); + return unity_ready_; +} + +template +void VecEnv::render(void) { + if (unity_render_ && unity_ready_) { + frameID++; + FrameID frameID_rt; + unity_bridge_ptr_->getRender(frameID); + unity_bridge_ptr_->handleOutput(frameID_rt); + while (frameID != frameID_rt) + unity_bridge_ptr_->handleOutput(frameID_rt); + } +} + +template +void VecEnv::disconnectUnity(void) { + if (unity_bridge_ptr_ != nullptr) { + unity_bridge_ptr_->disconnectUnity(); + unity_ready_ = false; + } else { + logger_.warn("Flightmare Unity Bridge is not initialized."); + } +} + +template +void VecEnv::close() { + for (int i = 0; i < num_envs_; i++) { + envs_[i]->close(); + } +} + +// ====================== other functions ===================== // + +// Extract the number from the filename (e.g., pointcloud-1.ply) +template +int VecEnv::extract_number(const std::string& filename) { + std::regex number_regex("pointcloud-(\\d+)\\.ply"); + std::smatch match; + if (std::regex_search(filename, match, number_regex)) { + return std::stoi(match[1]); + } + return -1; // If no number is found, return -1 +} + +// IMPORTANT. Otherwise: +// Segmentation fault (core dumped) +template class VecEnv; + +} // namespace flightlib diff --git a/flightlib/src/grad_traj_optimization/grad_traj_optimizer.cpp b/flightlib/src/grad_traj_optimization/grad_traj_optimizer.cpp new file mode 100644 index 0000000..c92ada8 --- /dev/null +++ b/flightlib/src/grad_traj_optimization/grad_traj_optimizer.cpp @@ -0,0 +1,375 @@ +#include "flightlib/grad_traj_optimization/grad_traj_optimizer.h" + +GradTrajOptimizer::GradTrajOptimizer(const YAML::Node &cfg) { + //-------------------------get parameter from server-------------------- + this->w_smooth = cfg["ws"].as(); + this->w_goal = cfg["wg"].as(); + this->w_long = cfg["wl"].as(); + this->w_vel = cfg["wv"].as(); + this->w_acc = cfg["wa"].as(); + this->w_collision = cfg["wc"].as(); + + this->alpha = cfg["alpha"].as(); + this->d0 = cfg["d0"].as(); + this->r = cfg["r"].as(); + this->alphav = cfg["alphav"].as(); + this->v0 = cfg["v0"].as(); + this->rv = cfg["rv"].as(); + this->alphaa = cfg["alphaa"].as(); + this->a0 = cfg["a0"].as(); + this->ra = cfg["ra"].as(); + + this->sgm_time = 2 * cfg["radio_range"].as() / cfg["vel_max"].as(); + + //------------------------generate optimization dependency------------------ + Time = Eigen::VectorXd::Zero(1); + Time(0) = sgm_time; + + TrajectoryGenerator generator; + generator.QPGeneration(Time); + R = generator.getR(); + Rff = generator.getRff(); + Rpp = generator.getRpp(); + Rpf = generator.getRpf(); + Rfp = generator.getRfp(); + L = generator.getL(); + A = generator.getA(); + C = generator.getC(); + + int m = Time.size(); // number of segments in the trajectory + Dp = Eigen::MatrixXd::Zero(3, m * 3); // optimized x_pva, y_pva, z_pva (end state) + Df = Eigen::MatrixXd::Zero(3, m * 3); // fixed x_pva, y_pva, z_pva (init state) + + V = Eigen::MatrixXd::Zero(6, 6); + for (int i = 0; i < 5; ++i) + V(i, i + 1) = i + 1; + + num_dp = Dp.cols(); + num_df = Df.cols(); + num_point = Time.rows() + 1; + boundary = Eigen::VectorXd::Zero(6); +} + +void GradTrajOptimizer::setSignedDistanceField(std::shared_ptr s, double res) { + this->sdf = s; + this->resolution = res; +} + +void GradTrajOptimizer::constrains(double &n, double min, double max) const { + if (n > max) + n = max; + else if (n < min) + n = min; +} + +void GradTrajOptimizer::setGoal(Eigen::Vector3d goal) { this->goal = goal; } + +void GradTrajOptimizer::setBoundary(Eigen::Vector3d min, Eigen::Vector3d max) { + this->map_boundary_min = min; + this->map_boundary_max = max; + boundary(0) = map_boundary_min(0); + boundary(1) = map_boundary_max(0); + boundary(2) = map_boundary_min(1); + boundary(3) = map_boundary_max(1); + boundary(4) = map_boundary_min(2); + boundary(5) = map_boundary_max(2); +} + + +void GradTrajOptimizer::getCoefficientFromDerivative(Eigen::MatrixXd &coefficient, const std::vector &_dp) const { + coefficient.resize(num_point - 1, 18); + + for (int i = 0; i < 3; ++i) { + //-----------------------merge df and dp -> d(df,dp)----------------------- + Eigen::VectorXd df(num_df); + Eigen::VectorXd dp(num_dp); + Eigen::VectorXd d(num_df + num_dp); + + df = Df.row(i); + for (int j = 0; j < num_dp; j++) { + dp(j) = _dp[j + num_dp * i]; + } + + d.segment(0, 3) = df; + d.segment(3, num_dp) = dp; + + // ----------------------convert derivative to coefficient------------------ + Eigen::VectorXd coe(6 * (num_point - 1)); + coe = L * d; + + for (int j = 0; j < (num_point - 1); j++) { + coefficient.block(j, 6 * i, 1, 6) = coe.segment(6 * j, 6).transpose(); + } + } +} + +void GradTrajOptimizer::getCostAndGradient(const std::vector &df, const std::vector &dp, double &cost, + std::vector &_grad) const { + cost = 0; + double cost_smooth = 0; + double cost_colli = 0; + double cost_goal = 0; + double cost_long = 0; + double cost_vel = 0; // deprecated + double cost_acc = 0; // deprecated + + Eigen::MatrixXd gradient = Eigen::MatrixXd::Zero(3, num_dp); + Eigen::MatrixXd g_smooth = Eigen::MatrixXd::Zero(3, num_dp); + Eigen::MatrixXd g_colli = Eigen::MatrixXd::Zero(3, num_dp); + Eigen::MatrixXd g_goal = Eigen::MatrixXd::Zero(3, num_dp); + Eigen::MatrixXd g_long = Eigen::MatrixXd::Zero(3, num_dp); + Eigen::MatrixXd g_vel = Eigen::MatrixXd::Zero(3, num_dp); // deprecated + Eigen::MatrixXd g_acc = Eigen::MatrixXd::Zero(3, num_dp); // deprecated + + for (int i = 0; i < num_df; ++i) { + Df(0, i) = df[i]; + Df(1, i) = df[i + num_df]; + Df(2, i) = df[i + 2 * num_df]; + } + + // ------------------------- 1. get smoothness cost ----------------------------- + { + // 平滑度的Cost，基于MinimalSnap，有：Js = d * R * d，其中d = [dF,dP] + Eigen::VectorXd dfx = Df.block(0, 0, 1, 3).transpose(); + Eigen::VectorXd dfy = Df.block(1, 0, 1, 3).transpose(); + Eigen::VectorXd dfz = Df.block(2, 0, 1, 3).transpose(); + + Eigen::VectorXd dpx = Eigen::VectorXd::Zero(num_dp); + Eigen::VectorXd dpy = Eigen::VectorXd::Zero(num_dp); + Eigen::VectorXd dpz = Eigen::VectorXd::Zero(num_dp); + + for (int i = 0; i < num_dp; ++i) { + dpx(i) = dp[i]; + dpy(i) = dp[i + num_dp]; + dpz(i) = dp[i + 2 * num_dp]; + } + + Eigen::VectorXd dx = Eigen::VectorXd::Zero(num_dp + num_df); + Eigen::VectorXd dy = Eigen::VectorXd::Zero(num_dp + num_df); + Eigen::VectorXd dz = Eigen::VectorXd::Zero(num_dp + num_df); + dx.segment(0, 3) = dfx; + dx.segment(3, num_dp) = dpx; + dy.segment(0, 3) = dfy; + dy.segment(3, num_dp) = dpy; + dz.segment(0, 3) = dfz; + dz.segment(3, num_dp) = dpz; + + // ------------------- 1.1 get smoothness cost,fs= d'Rd --------------------- + cost_smooth = double(dx.transpose() * R * dx) + double(dy.transpose() * R * dy) + (dz.transpose() * R * dz); + + //-------------------- 1.2 get smoothness gradient -------------------------- + Eigen::MatrixXd gx_smooth = 2 * Rfp.transpose() * dfx + 2 * Rpp * dpx; + Eigen::MatrixXd gy_smooth = 2 * Rfp.transpose() * dfy + 2 * Rpp * dpy; + Eigen::MatrixXd gz_smooth = 2 * Rfp.transpose() * dfz + 2 * Rpp * dpz; + + g_smooth.row(0) = gx_smooth.transpose(); + g_smooth.row(1) = gy_smooth.transpose(); + g_smooth.row(2) = gz_smooth.transpose(); + } + + // -------------------------- 2. get collision cost ----------------------------- + { + Eigen::MatrixXd coe; + getCoefficientFromDerivative(coe, dp); + + Eigen::MatrixXd Ldp(6, num_dp); + + // only single-segment polynomial here + for (int s = 0; s < Time.size(); s++) { + Ldp = L.block(6 * s, 3, 6, num_dp); + + // discrete time step + double dt = Time(s) / 30.0; + for (double t = 1e-3; t < Time(s); t += dt) { + // get position, velocity + Eigen::Vector3d pos, vel; + getPositionFromCoeff(pos, coe, s, t); + getVelocityFromCoeff(vel, coe, s, t); + + // get information from signed distance field + double dist = 0, gd = 0, cd = 0; + Eigen::Vector3d grad; + getDistanceAndGradient(pos, dist, grad); // 在sdf地图中的距离障碍物dist和grad（梯度方向） + getDistancePenalty(dist, cd); // 计算障碍物距离惩罚cost + getDistancePenaltyGradient(dist, gd); // 计算障碍物距离惩罚的梯度值 + // time Matrix T + Eigen::MatrixXd T(1, 6); + getTimeMatrix(t, T); + + // ------------------------ 2.1 collision cost------------------------- + cost_colli += cd * dt; // 碰撞cost = 障碍物距离惩罚c * 速度norm * 时间间隔 + + // ------------------ 2.2 gradient of collision cost------------------- + for (int k = 0; k < 3; k++) { // 每一行对应xyz三个轴，一行的各列对应具体轴上对p,v,a的梯度 + g_colli.row(k) = g_colli.row(k) + (gd * grad(k) * T * Ldp) * dt; + } + + // ---------- 3. Deprecated: get velocity and accleration cost -------- + if (0) { + double cv = 0, ca = 0, gv = 0, ga = 0; + Eigen::Vector3d acc; + getAccelerationFromCoeff(acc, coe, s, t); + + for (int k = 0; k < 3; k++) { + getVelocityPenalty(vel(k), cv); + cost_vel += cv * dt; + getAccelerationPenalty(acc(k), ca); + cost_acc += ca * dt; + } + + for (int k = 0; k < 3; k++) { + getVelocityPenaltyGradient(vel(k), gv); + g_vel.row(k) = g_vel.row(k) + (gv * T * V * Ldp) * dt; + getAccelerationPenaltyGradient(acc(k), ga); + g_acc.row(k) = g_acc.row(k) + (ga * T * V * V * Ldp) * dt; + } + } + } + } + } + + // ---------------------------- 4. get goal cost --------------------------------- + // 4.1 make the trajectry longer + Eigen::Vector3d start_pos(df[0], df[num_dp], df[2 * num_dp]); + Eigen::Vector3d end_pos(dp[0], dp[num_dp], dp[2 * num_dp]); + Eigen::Vector3d delta_pos = end_pos - start_pos; + double goal_r = 100; // param can be moved to config + cost_long = exp(-(delta_pos(0) * delta_pos(0) + delta_pos(1) * delta_pos(1)) / goal_r); + g_long(0, 0) = -2 / goal_r * delta_pos(0) * cost_long; + g_long(1, 0) = -2 / goal_r * delta_pos(1) * cost_long; + + // 4.2 make the trajectry approach the goal + cost_goal = (end_pos - this->goal).norm() * (end_pos - this->goal).norm(); + g_goal(0, 0) = dp[0] - this->goal(0); + g_goal(1, 0) = dp[num_dp] - this->goal(1); + g_goal(2, 0) = dp[2 * num_dp] - this->goal(2); + g_goal = 2 * g_goal; + + //------------------------ sum up all cost and gradient ----------------------------- + double ws = this->w_smooth, wc = this->w_collision, wg = this->w_goal, wv = this->w_vel, wa = this->w_acc, wl = this->w_long; + cost = ws * cost_smooth + wc * cost_colli + wv * cost_vel + wa * cost_acc + wg * cost_goal + wl * cost_long + 1e-3; + gradient = ws * g_smooth + wc * g_colli + wg * g_goal + wv * g_vel + wa * g_acc + wl * g_long; + + // gradient: 3x3 每一行对应xyz三个轴，一行的各列对应具体轴上对p,v,a的梯度 + _grad.resize(num_dp * 3); + for (int i = 0; i < num_dp; ++i) { + _grad[i] = gradient(0, i); + _grad[i + num_dp] = gradient(1, i); + _grad[i + 2 * num_dp] = gradient(2, i); + } + + // cout << "smooth cost:" << ws * cost_smooth << " collision cost:" << wc * cost_colli << " goal cost:" << wg * cost_goal << endl; + // cout << "smooth grad:" << ws * g_smooth(0) << " collision grad:" << wc * g_colli(0) << " goal grad:" << wg * g_goal(0) << endl; +} + +// get position from coefficient +void GradTrajOptimizer::getPositionFromCoeff(Eigen::Vector3d &pos, const Eigen::MatrixXd &coeff, const int &index, const double &time) const { + int s = index; + double t = time; + float x = coeff(s, 0) + coeff(s, 1) * t + coeff(s, 2) * pow(t, 2) + coeff(s, 3) * pow(t, 3) + coeff(s, 4) * pow(t, 4) + coeff(s, 5) * pow(t, 5); + float y = coeff(s, 6) + coeff(s, 7) * t + coeff(s, 8) * pow(t, 2) + coeff(s, 9) * pow(t, 3) + coeff(s, 10) * pow(t, 4) + coeff(s, 11) * pow(t, 5); + float z = + coeff(s, 12) + coeff(s, 13) * t + coeff(s, 14) * pow(t, 2) + coeff(s, 15) * pow(t, 3) + coeff(s, 16) * pow(t, 4) + coeff(s, 17) * pow(t, 5); + + pos(0) = x; + pos(1) = y; + pos(2) = z; +} + +// get velocity from cofficient +void GradTrajOptimizer::getVelocityFromCoeff(Eigen::Vector3d &vel, const Eigen::MatrixXd &coeff, const int &index, const double &time) const { + int s = index; + double t = time; + float vx = coeff(s, 1) + 2 * coeff(s, 2) * pow(t, 1) + 3 * coeff(s, 3) * pow(t, 2) + 4 * coeff(s, 4) * pow(t, 3) + 5 * coeff(s, 5) * pow(t, 4); + float vy = coeff(s, 7) + 2 * coeff(s, 8) * pow(t, 1) + 3 * coeff(s, 9) * pow(t, 2) + 4 * coeff(s, 10) * pow(t, 3) + 5 * coeff(s, 11) * pow(t, 4); + float vz = + coeff(s, 13) + 2 * coeff(s, 14) * pow(t, 1) + 3 * coeff(s, 15) * pow(t, 2) + 4 * coeff(s, 16) * pow(t, 3) + 5 * coeff(s, 17) * pow(t, 4); + + vel(0) = vx; + vel(1) = vy; + vel(2) = vz; +} + +// get acceleration from coefficient +void GradTrajOptimizer::getAccelerationFromCoeff(Eigen::Vector3d &acc, const Eigen::MatrixXd &coeff, const int &index, const double &time) const { + int s = index; + double t = time; + float ax = 2 * coeff(s, 2) + 6 * coeff(s, 3) * pow(t, 1) + 12 * coeff(s, 4) * pow(t, 2) + 20 * coeff(s, 5) * pow(t, 3); + float ay = 2 * coeff(s, 8) + 6 * coeff(s, 9) * pow(t, 1) + 12 * coeff(s, 10) * pow(t, 2) + 20 * coeff(s, 11) * pow(t, 3); + float az = 2 * coeff(s, 14) + 6 * coeff(s, 15) * pow(t, 1) + 12 * coeff(s, 16) * pow(t, 2) + 20 * coeff(s, 17) * pow(t, 3); + + acc(0) = ax; + acc(1) = ay; + acc(2) = az; +} + +inline void GradTrajOptimizer::getDistancePenalty(const double &d, double &cost) const { cost = this->alpha * exp(-(d - this->d0) / this->r); } + +inline void GradTrajOptimizer::getDistancePenaltyGradient(const double &d, double &grad) const { + grad = -(this->alpha / this->r) * exp(-(d - this->d0) / this->r); +} + +inline void GradTrajOptimizer::getVelocityPenalty(const double &v, double &cost) const { cost = alphav * exp((abs(v) - v0) / rv); } + +inline void GradTrajOptimizer::getVelocityPenaltyGradient(const double &v, double &grad) const { grad = (alphav / rv) * exp((abs(v) - v0) / rv); } + +inline void GradTrajOptimizer::getAccelerationPenalty(const double &a, double &cost) const { cost = alphaa * exp((abs(a) - a0) / ra); } + +inline void GradTrajOptimizer::getAccelerationPenaltyGradient(const double &a, double &grad) const { grad = (alphaa / ra) * exp((abs(a) - a0) / ra); } + +// get distance in signed distance field ,by position query +void GradTrajOptimizer::getDistanceAndGradient(Eigen::Vector3d &pos, double &dist, Eigen::Vector3d &grad) const { + // get sdf directly from sdf_tools + Eigen::Vector3d ori_pos = pos; + // 1、限定在地图边界内 2、后面越界的惩罚回来 + constrains(pos(0), map_boundary_min(0), map_boundary_max(0)); + constrains(pos(1), map_boundary_min(1), map_boundary_max(1)); + constrains(pos(2), map_boundary_min(2), map_boundary_max(2)); + std::vector location_gradient_query = this->sdf->GetGradient(pos(0), pos(1), pos(2), true); + grad(0) = location_gradient_query[0]; + grad(1) = location_gradient_query[1]; + grad(2) = location_gradient_query[2]; + std::pair location_sdf_query = this->sdf->GetSafe(pos(0), pos(1), pos(2)); + dist = location_sdf_query.first; + + // update distance and gradient using boundary + double dtb = getDistanceToBoundary(ori_pos(0), ori_pos(1), ori_pos(2)); + // 1. 点在边界内时：把点推向内部; 2. 如果在Boundary外: (dtb<0)梯度是指向Boundary的,同样推向内部 + if (dtb < dist) { + dist = dtb; + recaluculateGradient(ori_pos(0), ori_pos(1), ori_pos(2), grad); + } +} + +double GradTrajOptimizer::getDistanceToBoundary(const double &x, const double &y, const double &z) const { + double dist_x = std::min(x - boundary(0), boundary(1) - x); + double dist_y = std::min(y - boundary(2), boundary(3) - y); + double dist_z = std::min(z - boundary(4), boundary(5) - z); + double dtb = std::min(dist_x, dist_y); + dtb = std::min(dtb, dist_z); + + return dtb; +} + +void GradTrajOptimizer::recaluculateGradient(const double &x, const double &y, const double &z, Eigen::Vector3d &grad) const { + double r = this->resolution; + + grad(0) = (10 * (GDTB(x + r, y, z) - GDTB(x - r, y, z)) + 3 * (GDTB(x + r, y + r, z) - GDTB(x - r, y + r, z)) + + 3 * (GDTB(x + r, y - r, z) - GDTB(x - r, y - r, z))) / + (32 * r); + grad(1) = (10 * (GDTB(x, y + r, z) - GDTB(x, y - r, z)) + 3 * (GDTB(x + r, y + r, z) - GDTB(x + r, y - r, z)) + + 3 * (GDTB(x - r, y + r, z) - GDTB(x - r, y - r, z))) / + (32 * r); + grad(2) = (10 * (GDTB(x, y, z + r) - GDTB(x, y, z - r)) + 3 * (GDTB(x, y + r, z + r) - GDTB(x, y + r, z - r)) + + 3 * (GDTB(x, y - r, z + r) - GDTB(x, y - r, z - r))) / + (32 * r); +} + +void GradTrajOptimizer::getTimeMatrix(const double &t, Eigen::MatrixXd &T) const { + T.resize(1, 6); + T.setZero(); + + for (int i = 0; i < 6; ++i) { + T(0, i) = pow(t, i); + } +} \ No newline at end of file diff --git a/flightlib/src/grad_traj_optimization/opt_utile.cpp b/flightlib/src/grad_traj_optimization/opt_utile.cpp new file mode 100644 index 0000000..844023e --- /dev/null +++ b/flightlib/src/grad_traj_optimization/opt_utile.cpp @@ -0,0 +1,145 @@ +#include "flightlib/grad_traj_optimization/opt_utile.h" + +/* + Front-End Guiding Path: + We evenly sample vertical_num * horizon_num * radio_num * vel_num primitives here with different position, length, and velocity direction. + But in practical, only vertical_num * horizon_num primitives are sampled (radio_num = vel_num = 1). +*/ +void getLatticeGuiding(std::vector> &lattice_nodes, int horizon_num, int vertical_num, int radio_num, + int vel_num, double horizon_fov, double vertical_fov, double radio_range, double vel_fov, double vel_prefile) { + double direction_diff, altitude_diff, radio_diff, vel_dir_diff; + if (horizon_num == 1) + direction_diff = 0; + else + direction_diff = (horizon_fov / 180.0 * M_PI) / (horizon_num - 1); + if (vertical_num == 1) + altitude_diff = 0; + else + altitude_diff = (vertical_fov / 180.0 * M_PI) / (vertical_num - 1); + radio_diff = radio_range / radio_num; + if (vel_num == 1) + vel_dir_diff = 0; + else + vel_dir_diff = (vel_fov / 180.0f * M_PI) / (vel_num - 1); + // if (vel_num == 1) // be 0 looks like better + // vel_prefile = 0.0; + lattice_nodes.clear(); + + for (int h = 0; h < radio_num; h++) { + for (int i = 0; i < vertical_num; i++) { + for (int j = 0; j < horizon_num; j++) { + for (int k = 0; k < vel_num; k++) { + double search_radio = (h + 1) * radio_diff; + double alpha = -direction_diff * (horizon_num - 1) / 2 + j * direction_diff; // 位置偏航角（从右往左） + double beta = -altitude_diff * (vertical_num - 1) / 2 + i * altitude_diff; // 高度偏移角（从下往上） + double gamma = -vel_dir_diff * (vel_num - 1) / 2 + k * vel_dir_diff; // 速度偏航 + Eigen::Vector3d lattice_node_pos(cos(beta) * cos(alpha) * search_radio, cos(beta) * sin(alpha) * search_radio, + sin(beta) * search_radio); + Eigen::Vector3d lattice_node_vel(cos(alpha + gamma) * vel_prefile, sin(alpha + gamma) * vel_prefile, 0.0); + std::pair lattice_node(lattice_node_pos, lattice_node_vel); + lattice_nodes.push_back(lattice_node); + } + } + } + } +} + +// TODO: 改为硬编码 +Eigen::MatrixXd solveCoeffFromBoundaryState(const Eigen::Vector3d &Pos_init, const Eigen::Vector3d &Vel_init, const Eigen::Vector3d &Acc_init, + const Eigen::Vector3d &Pos_end, const Eigen::Vector3d &Vel_end, const Eigen::Vector3d &Acc_end, + double Time) { + Eigen::MatrixXd PolyCoeff(1, 3 * 6); + Eigen::VectorXd Px(6), Py(6), Pz(6); + + const static auto Factorial = [](int x) { + int fac = 1; + for (int i = x; i > 0; i--) + fac = fac * i; + return fac; + }; + + /* Produce Mapping Matrix A to the entire trajectory. */ + Eigen::MatrixXd A = Eigen::MatrixXd::Zero(6, 6); + for (int i = 0; i < 3; i++) { + A(2 * i, i) = Factorial(i); + for (int j = i; j < 6; j++) + A(2 * i + 1, j) = Factorial(j) / Factorial(j - i) * pow(Time, j - i); + } + + /* Produce the dereivatives in X, Y and Z axis directly. */ + Eigen::VectorXd Dx = Eigen::VectorXd::Zero(6); + Eigen::VectorXd Dy = Eigen::VectorXd::Zero(6); + Eigen::VectorXd Dz = Eigen::VectorXd::Zero(6); + + Dx(0) = Pos_init(0); + Dy(0) = Pos_init(1); + Dz(0) = Pos_init(2); + + Dx(1) = Pos_end(0); + Dy(1) = Pos_end(1); + Dz(1) = Pos_end(2); + + Dx(2) = Vel_init(0); + Dy(2) = Vel_init(1); + Dz(2) = Vel_init(2); + + Dx(3) = Vel_end(0); + Dy(3) = Vel_end(1); + Dz(3) = Vel_end(2); + + Dx(4) = Acc_init(0); + Dy(4) = Acc_init(1); + Dz(4) = Acc_init(2); + + Dx(5) = Acc_end(0); + Dy(5) = Acc_end(1); + Dz(5) = Acc_end(2); + + Px = A.inverse() * Dx; + Py = A.inverse() * Dy; + Pz = A.inverse() * Dz; + + PolyCoeff.block(0, 0, 1, 6) = Px.segment(0, 6).transpose(); + PolyCoeff.block(0, 6, 1, 6) = Py.segment(0, 6).transpose(); + PolyCoeff.block(0, 12, 1, 6) = Pz.segment(0, 6).transpose(); + + return PolyCoeff; +} + +void getPositionFromCoeff(Eigen::Vector3d &pos, Eigen::MatrixXd coeff, int index, double time) { + int s = index; + double t = time; + float x = coeff(s, 0) + coeff(s, 1) * t + coeff(s, 2) * pow(t, 2) + coeff(s, 3) * pow(t, 3) + coeff(s, 4) * pow(t, 4) + coeff(s, 5) * pow(t, 5); + float y = coeff(s, 6) + coeff(s, 7) * t + coeff(s, 8) * pow(t, 2) + coeff(s, 9) * pow(t, 3) + coeff(s, 10) * pow(t, 4) + coeff(s, 11) * pow(t, 5); + float z = + coeff(s, 12) + coeff(s, 13) * t + coeff(s, 14) * pow(t, 2) + coeff(s, 15) * pow(t, 3) + coeff(s, 16) * pow(t, 4) + coeff(s, 17) * pow(t, 5); + + pos(0) = x; + pos(1) = y; + pos(2) = z; +} + +void getVelocityFromCoeff(Eigen::Vector3d &vel, Eigen::MatrixXd coeff, int index, double time) { + int s = index; + double t = time; + float vx = coeff(s, 1) + 2 * coeff(s, 2) * pow(t, 1) + 3 * coeff(s, 3) * pow(t, 2) + 4 * coeff(s, 4) * pow(t, 3) + 5 * coeff(s, 5) * pow(t, 4); + float vy = coeff(s, 7) + 2 * coeff(s, 8) * pow(t, 1) + 3 * coeff(s, 9) * pow(t, 2) + 4 * coeff(s, 10) * pow(t, 3) + 5 * coeff(s, 11) * pow(t, 4); + float vz = + coeff(s, 13) + 2 * coeff(s, 14) * pow(t, 1) + 3 * coeff(s, 15) * pow(t, 2) + 4 * coeff(s, 16) * pow(t, 3) + 5 * coeff(s, 17) * pow(t, 4); + + vel(0) = vx; + vel(1) = vy; + vel(2) = vz; +} + +void getAccelerationFromCoeff(Eigen::Vector3d &acc, Eigen::MatrixXd coeff, int index, double time) { + int s = index; + double t = time; + float ax = 2 * coeff(s, 2) + 6 * coeff(s, 3) * pow(t, 1) + 12 * coeff(s, 4) * pow(t, 2) + 20 * coeff(s, 5) * pow(t, 3); + float ay = 2 * coeff(s, 8) + 6 * coeff(s, 9) * pow(t, 1) + 12 * coeff(s, 10) * pow(t, 2) + 20 * coeff(s, 11) * pow(t, 3); + float az = 2 * coeff(s, 14) + 6 * coeff(s, 15) * pow(t, 1) + 12 * coeff(s, 16) * pow(t, 2) + 20 * coeff(s, 17) * pow(t, 3); + + acc(0) = ax; + acc(1) = ay; + acc(2) = az; +} \ No newline at end of file diff --git a/flightlib/src/grad_traj_optimization/qp_generator.cpp b/flightlib/src/grad_traj_optimization/qp_generator.cpp new file mode 100644 index 0000000..5f46bf5 --- /dev/null +++ b/flightlib/src/grad_traj_optimization/qp_generator.cpp @@ -0,0 +1,125 @@ +/* + Currently, only 5-order single-segment polynomial is used, + but the functionality for piecewise polynomials is retained (i.e. m, num_f, num_p and other variables). +*/ + +#include "flightlib/grad_traj_optimization/qp_generator.h" + +#include + +#include +#include +#include +using namespace std; +using namespace Eigen; + +TrajectoryGenerator::TrajectoryGenerator() {} + +TrajectoryGenerator::~TrajectoryGenerator() {} + +void TrajectoryGenerator::QPGeneration(const Eigen::VectorXd &Time) { + m = Time.size(); + + // 阶乘 + const static auto Factorial = [](int x) { + int fac = 1; + + for (int i = x; i > 0; i--) + fac = fac * i; + + return fac; + }; + + /* Produce Mapping Matrix A to the entire trajectory. */ + MatrixXd Ab; // 每一段矩阵的A（论文中M） + MatrixXd A = MatrixXd::Zero(m * 6, m * 6); // m是段数 + + // Ab 的组成为6行，第1行Tk位置，第二行Tk+1位置，第三行Tk速度，第四行Tk+1速度，五六为加速度 + // 采用5次多项式，所以每段轨迹有6个多项式系数（列） + for (int k = 0; k < m; k++) { + Ab = Eigen::MatrixXd::Zero(6, 6); + for (int i = 0; i < 3; i++) { + Ab(2 * i, i) = Factorial(i); + for (int j = i; j < 6; j++) + Ab(2 * i + 1, j) = Factorial(j) / Factorial(j - i) * pow(Time(k), j - i); + } + A.block(k * 6, k * 6, 6, 6) = Ab; + } + + _A = A; + + /* Produce the Minimum Snap cost function, the Hessian Matrix */ + MatrixXd H = MatrixXd::Zero(m * 6, m * 6); + // min snap 的cost function（四阶导数的积分 和 系数的关系 的矩阵），论文中间的矩阵Q + for (int k = 0; k < m; k++) { + for (int i = 3; i < 6; i++) { + for (int j = 3; j < 6; j++) { + H(k * 6 + i, k * 6 + j) = i * (i - 1) * (i - 2) * j * (j - 1) * (j - 2) / (i + j - 5) * pow(Time(k), (i + j - 5)); + } + } + } + + _Q = H; // Only minumum snap term is considered here inf the Hessian matrix + + StackOptiDep(); +} + +void TrajectoryGenerator::StackOptiDep() { + double num_f = 3; // 4 + 4 : only start and target position has fixed derivatives + double num_p = 3 * m; // All other derivatives are free + double num_d = 6 * m; + + MatrixXd Ct; + Ct = MatrixXd::Zero(num_d, num_f + num_p); + Ct(0, 0) = 1; + Ct(2, 1) = 1; + Ct(4, 2) = 1; // Stack the start point + + Ct(6 * (m - 1) + 1, 3) = 1; // Stack the end point + Ct(6 * (m - 1) + 3, 4) = 1; + Ct(6 * (m - 1) + 5, 5) = 1; + + if (m > 1) { + Ct(1, 6) = 1; + Ct(3, 7) = 1; + Ct(5, 8) = 1; + Ct(6 * (m - 1) + 0, 3 * m + 0) = 1; + Ct(6 * (m - 1) + 2, 3 * m + 1) = 1; + Ct(6 * (m - 1) + 4, 3 * m + 2) = 1; + for (int j = 2; j < m; j++) { + Ct(6 * (j - 1) + 0, 6 + 3 * (j - 2) + 0) = 1; + Ct(6 * (j - 1) + 1, 6 + 3 * (j - 1) + 0) = 1; + Ct(6 * (j - 1) + 2, 6 + 3 * (j - 2) + 1) = 1; + Ct(6 * (j - 1) + 3, 6 + 3 * (j - 1) + 1) = 1; + Ct(6 * (j - 1) + 4, 6 + 3 * (j - 2) + 2) = 1; + Ct(6 * (j - 1) + 5, 6 + 3 * (j - 1) + 2) = 1; + } + } + + _C = Ct.transpose(); + _L = _A.inverse() * Ct; + + MatrixXd B = _A.inverse(); + _R = _C * B.transpose() * _Q * (_A.inverse()) * Ct; + + _Rff.resize(3, 3); + _Rfp.resize(3, 3 * m); + _Rpf.resize(3 * m, 3); + _Rpp.resize(3 * m, 3 * m); + + _Rff = _R.block(0, 0, 3, 3); + _Rfp = _R.block(0, 3, 3, 3 * m); + _Rpf = _R.block(3, 0, 3 * m, 3); + _Rpp = _R.block(3, 3, 3 * m, 3 * m); +} + +Eigen::MatrixXd TrajectoryGenerator::getA() { return _A; } +Eigen::MatrixXd TrajectoryGenerator::getQ() { return _Q; } +Eigen::MatrixXd TrajectoryGenerator::getC() { return _C; } +Eigen::MatrixXd TrajectoryGenerator::getL() { return _L; } +Eigen::MatrixXd TrajectoryGenerator::getR() { return _R; } + +Eigen::MatrixXd TrajectoryGenerator::getRff() { return _Rff; } +Eigen::MatrixXd TrajectoryGenerator::getRpp() { return _Rpp; } +Eigen::MatrixXd TrajectoryGenerator::getRpf() { return _Rpf; } +Eigen::MatrixXd TrajectoryGenerator::getRfp() { return _Rfp; } diff --git a/flightlib/src/grad_traj_optimization/traj_optimization_bridge.cpp b/flightlib/src/grad_traj_optimization/traj_optimization_bridge.cpp new file mode 100644 index 0000000..efa055d --- /dev/null +++ b/flightlib/src/grad_traj_optimization/traj_optimization_bridge.cpp @@ -0,0 +1,235 @@ +#include "flightlib/grad_traj_optimization/traj_optimization_bridge.h" + +namespace traj_opt { + +std::shared_ptr SdfConstruction(pcl::PointCloud::Ptr cloud, Eigen::Vector3d &map_boundary_min_sdf, + Eigen::Vector3d &map_boundary_max_sdf) { + pcl::PointXYZ min, max; + pcl::getMinMax3D(*cloud, min, max); + + // sdf collision map parameter + const double x_size = max.x - min.x; + const double z_size = max.z - min.z; + const double y_size = max.y - min.y; + Eigen::Translation3d origin_translation(min.x, min.y, min.z); + Eigen::Quaterniond origin_rotation(1.0, 0.0, 0.0, 0.0); + const Eigen::Isometry3d origin_transform = origin_translation * origin_rotation; + const std ::string frame = "world"; + map_boundary_min_sdf = Eigen::Vector3d(min.x, min.y, min.z); + map_boundary_max_sdf = Eigen::Vector3d(max.x, max.y, max.z); + + // create map + sdf_tools ::COLLISION_CELL cell; + cell.occupancy = 0.0; + cell.component = 0; + const sdf_tools::COLLISION_CELL oob_cell = cell; + double resolution_sdf = 0.2; + sdf_tools::CollisionMapGrid collision_map(origin_transform, frame, resolution_sdf, x_size, y_size, z_size, oob_cell); + + // add obstacles set in launch file + std::cout << "Generate map..." << std::endl; + sdf_tools::COLLISION_CELL obstacle_cell(1.0); + + // add the generated obstacles into collision map （flightmare点云直接建图行列偶尔有全空的情况, 但不影响） + // 点云分辨率改为0.1地图分辨率0.2，就不存在空行的问题; 地图分辨率0.2时，用pt.x + 0.001, pt.y + 0.001, pt.z + 0.001可避免空行且不会造成地图偏移 + for (int i = 0; i < cloud->points.size(); i++) { + pcl::PointXYZ pt = cloud->points[i]; + collision_map.Set(pt.x, pt.y, pt.z, obstacle_cell); + } + + // Build the signed distance field + float oob_value = INFINITY; + std::pair> sdf_with_extrema = collision_map.ExtractSignedDistanceField(oob_value); + + sdf_tools::SignedDistanceField sdf_for_traj_optimization = sdf_with_extrema.first; + cout << "Signed Distance Field Build!" << endl; + return std::make_shared(sdf_for_traj_optimization); +} + +} // namespace traj_opt + +TrajOptimizationBridge::TrajOptimizationBridge() { + std::string cfg_path = getenv("FLIGHTMARE_PATH") + std::string("/flightlib/configs/traj_opt.yaml"); + cfg_ = YAML::LoadFile(cfg_path); + loadParam(cfg_); + + resolution = 0.2; // Must be the same as the map in SdfConstruction() + df_.resize(9); + dp_.resize(9); + + getLatticeGuiding(lattice_nodes, horizon_num, vertical_num, radio_num, vel_num, horizon_fov, vertical_fov, radio_range, vel_fov, vel_prefile); +} + +TrajOptimizationBridge::~TrajOptimizationBridge() {} + +// Explanation: In grad_traj_optimization of the current project, dp refers to the end_state, and df refers to the initial_state +void TrajOptimizationBridge::getCostAndGradient(const std::vector &dp, int id, double &cost, std::vector &grad) { + // dp: the predicted X_pva, Y_pva, Z_pva in Body Frame + if (dp_.size() != dp.size()) { + std::cout << "Error: size of dp dose not match !" << std::endl; + return; + } + std::vector dp_b = dp; + // Transform to world frame. + Eigen::Vector3d Pb, Vb, Ab, Pw, Vw, Aw; + for (int i = 0; i < 3; i++) { + Pb(i) = dp_b[3 * i]; + Vb(i) = dp_b[3 * i + 1]; + Ab(i) = dp_b[3 * i + 2]; + } + Eigen::Matrix3d Rwb = q_wb_.toRotationMatrix(); + Pw = Rwb * Pb + pos_; + Vw = Rwb * Vb; + Aw = Rwb * Ab; + for (int i = 0; i < 3; i++) { + dp_[3 * i] = Pw(i); + dp_[3 * i + 1] = Vw(i); + dp_[3 * i + 2] = Aw(i); + } + + // ----------------------------main optimization procedure-------------------------- + GradTrajOptimizer grad_traj_opt(cfg_); + grad_traj_opt.setSignedDistanceField(sdf_, resolution); + grad_traj_opt.setBoundary(map_boundary_min_, map_boundary_max_); + grad_traj_opt.setGoal(goal_); + + double cost_; + std::vector grad_w, grad_b; + grad_traj_opt.getCostAndGradient(df_, dp_, cost_, grad_w); + + Eigen::Vector3d grad_pb, grad_vb, grad_ab, grad_pw, grad_vw, grad_aw; + for (int i = 0; i < 3; i++) { + grad_pw(i) = grad_w[3 * i]; + grad_vw(i) = grad_w[3 * i + 1]; + grad_aw(i) = grad_w[3 * i + 2]; + } + grad_pb = Rwb.transpose() * grad_pw; + grad_vb = Rwb.transpose() * grad_vw; + grad_ab = Rwb.transpose() * grad_aw; + grad_b.resize(grad_w.size()); + for (int i = 0; i < 3; i++) { + grad_b[3 * i] = grad_pb(i); + grad_b[3 * i + 1] = grad_vb(i); + grad_b[3 * i + 2] = grad_ab(i); + } + + cost = cost_; + grad = grad_b; // x_pva, y_pva, z_pva +} + +void TrajOptimizationBridge::setMap(std::shared_ptr sdf_for_traj_optimization, Eigen::Vector3d &map_boundary_min, + Eigen::Vector3d &map_boundary_max) { + map_boundary_min_ = map_boundary_min; + map_boundary_max_ = map_boundary_max; + sdf_ = sdf_for_traj_optimization; +} + +void TrajOptimizationBridge::setState(Eigen::Vector3d pos, Eigen::Quaterniond q, Eigen::Vector3d vel, Eigen::Vector3d acc) { + pos_ = pos; + q_wb_ = q; + vel_ = vel; + acc_ = acc; + for (int i = 0; i < 3; i++) { + df_[3 * i] = pos(i); + df_[3 * i + 1] = vel(i); + df_[3 * i + 2] = acc(i); + } +} + +// Explanation: In grad_traj_optimization of the current project, dp refers to the end_state, and df refers to the initial_state +void TrajOptimizationBridge::getNextStateAndCost(const std::vector &dp, double &cost, Eigen::Vector3d &pos, Eigen::Vector3d &vel, + Eigen::Vector3d &acc, double sim_t) { + // dp: xyz_pva (in Body Frame) + if (dp_.size() != dp.size()) { + std::cout << "Error: size of dp dose not match !" << std::endl; + return; + } + std::vector dp_b = dp; + Eigen::Vector3d Pb, Vb, Ab, Pw, Vw, Aw; + for (int i = 0; i < 3; i++) { + Pb(i) = dp_b[3 * i]; + Vb(i) = dp_b[3 * i + 1]; + Ab(i) = dp_b[3 * i + 2]; + } + Eigen::Matrix3d Rwb = q_wb_.toRotationMatrix(); + Pw = Rwb * Pb + pos_; + Vw = Rwb * Vb; + Aw = Rwb * Ab; + for (int i = 0; i < 3; i++) { + dp_[3 * i] = Pw(i); + dp_[3 * i + 1] = Vw(i); + dp_[3 * i + 2] = Aw(i); + } + + GradTrajOptimizer grad_traj_opt(cfg_); + grad_traj_opt.setSignedDistanceField(sdf_, resolution); + grad_traj_opt.setBoundary(map_boundary_min_, map_boundary_max_); + grad_traj_opt.setGoal(goal_); + + double cost_; + std::vector grad_w; + grad_traj_opt.getCostAndGradient(df_, dp_, cost_, grad_w); // Df is set here + grad_traj_opt.getCoefficientFromDerivative(pred_coeff_, dp_); // get coefficient by Dp and Df + + cost = cost_; + getPositionFromCoeff(pos, pred_coeff_, 0, sim_t); + getVelocityFromCoeff(vel, pred_coeff_, 0, sim_t); + getAccelerationFromCoeff(acc, pred_coeff_, 0, sim_t); +} + +/** + set dp and get the coeffs for getNextState() function. + dp is in the world frame because this func only used in real flight and + the prediction must be tramsformed to world frame in python to avoid the attitude inconsistency caused by latency +*/ +void TrajOptimizationBridge::solveBVP(const std::vector &dp) { + // dp: xyz_pva given by python（in World Frame, 除了位置没加机身的偏移） + if (dp_.size() != dp.size()) { + std::cout << "Error: size of dp dose not match !" << std::endl; + return; + } + + std::vector dp_w = dp; + Eigen::Vector3d Pb, Vb, Ab, Pw, Vw, Aw; + for (int i = 0; i < 3; i++) { + Pw(i) = dp_w[3 * i]; + Vw(i) = dp_w[3 * i + 1]; + Aw(i) = dp_w[3 * i + 2]; + } + + Pw = Pw + pos_; + // Eigen::Matrix3d Rwb = q_wb_.toRotationMatrix(); + // Pw = Rwb * Pb + pos_; + // Vw = Rwb * Vb; + // Aw = Rwb * Ab; + + double traj_time = 2 * cfg_["radio_range"].as() / cfg_["vel_max"].as(); + pred_coeff_ = solveCoeffFromBoundaryState(pos_, vel_, acc_, Pw, Vw, Aw, traj_time); +} + +// get the next state in world frame +void TrajOptimizationBridge::getNextState(Eigen::Vector3d &pos, Eigen::Vector3d &vel, Eigen::Vector3d &acc, double sim_t) { + getPositionFromCoeff(pos, pred_coeff_, 0, sim_t); + getVelocityFromCoeff(vel, pred_coeff_, 0, sim_t); + getAccelerationFromCoeff(acc, pred_coeff_, 0, sim_t); +} + +void TrajOptimizationBridge::setGoal(Eigen::Vector3d goal) { + Eigen::Vector3d goal_dir = (goal - pos_) / (goal - pos_).norm(); + Eigen::Vector3d temp_goal = goal; + temp_goal = pos_ + goal_length * goal_dir; + goal_ = temp_goal; +} + +void TrajOptimizationBridge::loadParam(YAML::Node &cfg) { + horizon_num = cfg["horizon_num"].as(); + vertical_num = cfg["vertical_num"].as(); + vel_num = cfg["vel_num"].as(); + radio_num = cfg["radio_num"].as(); + horizon_fov = cfg["horizon_camera_fov"].as() * (horizon_num - 1) / horizon_num; + vertical_fov = cfg["vertical_camera_fov"].as() * (vertical_num - 1) / vertical_num; + vel_fov = cfg["vel_fov"].as(); + radio_range = cfg["radio_range"].as(); + vel_prefile = cfg["vel_prefile"].as(); + goal_length = cfg["goal_length"].as(); +} \ No newline at end of file diff --git a/flightlib/src/objects/object_base.cpp b/flightlib/src/objects/object_base.cpp new file mode 100644 index 0000000..97213f4 --- /dev/null +++ b/flightlib/src/objects/object_base.cpp @@ -0,0 +1,9 @@ +#include "flightlib/objects/object_base.hpp" + +namespace flightlib { + +ObjectBase::ObjectBase() {} + +ObjectBase::~ObjectBase() {} + +} // namespace flightlib diff --git a/flightlib/src/objects/quadrotor.cpp b/flightlib/src/objects/quadrotor.cpp new file mode 100644 index 0000000..df5542a --- /dev/null +++ b/flightlib/src/objects/quadrotor.cpp @@ -0,0 +1,308 @@ +#include "flightlib/objects/quadrotor.hpp" + +namespace flightlib { + +Quadrotor::Quadrotor(const std::string &cfg_path) + : world_box_((Matrix<3, 2>() << -100, 100, -100, 100, -100, 100).finished()), size_(1.0, 1.0, 1.0), collision_(false) { + // + YAML::Node cfg = YAML::LoadFile(cfg_path); + + // create quadrotor dynamics and update the parameters + dynamics_.updateParams(cfg); + init(); +} + +Quadrotor::Quadrotor(const QuadrotorDynamics &dynamics) + : world_box_((Matrix<3, 2>() << -100, 100, -100, 100, -100, 100).finished()), dynamics_(dynamics), size_(1.0, 1.0, 1.0), collision_(false) { + init(); +} + +Quadrotor::~Quadrotor() {} + +bool Quadrotor::setState(const Ref> p_, const Ref> v_, const Quaternion q_, const Ref> a_, const Scalar ctl_dt) { + QuadState old_state = state_; + state_.p = p_; + state_.v = v_; + state_.q(q_); + state_.a = a_; + state_.t += ctl_dt; + constrainInWorldBox(old_state); + return true; +} + +bool Quadrotor::run(const Command &cmd, const Scalar ctl_dt) { + if (!setCommand(cmd)) + return false; // 限幅 + return run(ctl_dt); +} + +bool Quadrotor::run(const Scalar ctl_dt) { + if (!state_.valid()) + return false; + if (!cmd_.valid()) + return false; + + QuadState old_state = state_; + QuadState next_state = state_; + + // time + const Scalar max_dt = integrator_ptr_->dtMax(); + Scalar remain_ctl_dt = ctl_dt; + + // simulation loop + while (remain_ctl_dt > 0.0) { + const Scalar sim_dt = std::min(remain_ctl_dt, max_dt); + + const Vector<4> motor_thrusts_des = cmd_.isSingleRotorThrusts() ? cmd_.thrusts : runFlightCtl(sim_dt, state_.w, cmd_); + + runMotors(sim_dt, motor_thrusts_des); + // motor_thrusts_ = cmd_.thrusts; + + const Vector<4> force_torques = B_allocation_ * motor_thrusts_; + + // Compute linear acceleration and body torque + const Vector<3> force(0.0, 0.0, force_torques[0]); + state_.a = state_.q() * force * 1.0 / dynamics_.getMass() + gz_; + + // compute body torque + state_.tau = force_torques.segment<3>(1); + + // dynamics integration + integrator_ptr_->step(state_.x, sim_dt, next_state.x); + + // update state and sim time + state_.qx /= state_.qx.norm(); + + // + state_.x = next_state.x; + remain_ctl_dt -= sim_dt; + } + state_.t += ctl_dt; + // + constrainInWorldBox(old_state); + return true; +} + +void Quadrotor::init(void) { + // reset + updateDynamics(dynamics_); + reset(); +} + +bool Quadrotor::reset(void) { + state_.setZero(); + motor_omega_.setZero(); + motor_thrusts_.setZero(); + return true; +} + +bool Quadrotor::reset(const QuadState &state) { + if (!state.valid()) + return false; + state_ = state; + motor_omega_.setZero(); + motor_thrusts_.setZero(); + return true; +} + +/* + There is no controller (or using an ideal controller). The attitude is simply obtained from the desired acceleration. + This is because our algorithm is only concerned with the quality of the trajectory, while control is performed by external controller. +*/ +void Quadrotor::runSimpleFlight(const Eigen::Vector3f &ref_acc, float ref_yaw, Eigen::Quaternionf &quat_des) { + float mass_ = 1.0; + float ONE_G = 9.8; + // float M_PI = 3.1415925; + Eigen::Vector3f force_ = mass_ * ONE_G * Eigen::Vector3f(0, 0, 1); + force_.noalias() += mass_ * ref_acc; + + // Limit control angle to theta degree + float theta = M_PI / 4; + float c = cos(theta); + Eigen::Vector3f f; + f.noalias() = force_ - mass_ * ONE_G * Eigen::Vector3f(0, 0, 1); + if (Eigen::Vector3f(0, 0, 1).dot(force_ / force_.norm()) < c) { + float nf = f.norm(); + float A = c * c * nf * nf - f(2) * f(2); + float B = 2 * (c * c - 1) * f(2) * mass_ * ONE_G; + float C = (c * c - 1) * mass_ * mass_ * ONE_G * ONE_G; + float s = (-B + sqrt(B * B - 4 * A * C)) / (2 * A); + force_.noalias() = s * f + mass_ * ONE_G * Eigen::Vector3f(0, 0, 1); + } + + Eigen::Vector3f b1c, b2c, b3c; + Eigen::Vector3f b1d(cos(ref_yaw), sin(ref_yaw), 0); + + if (force_.norm() > 1e-6) + b3c.noalias() = force_.normalized(); + else + b3c.noalias() = Eigen::Vector3f(0, 0, 1); + + b2c.noalias() = b3c.cross(b1d).normalized(); + b1c.noalias() = b2c.cross(b3c).normalized(); + + Eigen::Matrix3f R; + R << b1c, b2c, b3c; + + quat_des = Eigen::Quaternionf(R); +} + +Vector<4> Quadrotor::runFlightCtl(const Scalar sim_dt, const Vector<3> &omega, const Command &command) { + const Scalar force = dynamics_.getMass() * command.collective_thrust; + + const Vector<3> omega_err = command.omega - omega; + + const Vector<3> body_torque_des = dynamics_.getJ() * Kinv_ang_vel_tau_ * omega_err + state_.w.cross(dynamics_.getJ() * state_.w); + + const Vector<4> thrust_and_torque(force, body_torque_des.x(), body_torque_des.y(), body_torque_des.z()); + + const Vector<4> motor_thrusts_des = B_allocation_inv_ * thrust_and_torque; + + return dynamics_.clampThrust(motor_thrusts_des); +} + +void Quadrotor::runMotors(const Scalar sim_dt, const Vector<4> &motor_thruts_des) { + const Vector<4> motor_omega_des = dynamics_.motorThrustToOmega(motor_thruts_des); + const Vector<4> motor_omega_clamped = dynamics_.clampMotorOmega(motor_omega_des); + + // simulate motors as a first-order system + const Scalar c = std::exp(-sim_dt * dynamics_.getMotorTauInv()); + motor_omega_ = c * motor_omega_ + (1.0 - c) * motor_omega_clamped; + + motor_thrusts_ = dynamics_.motorOmegaToThrust(motor_omega_); + motor_thrusts_ = dynamics_.clampThrust(motor_thrusts_); +} + +bool Quadrotor::setCommand(const Command &cmd) { + if (!cmd.valid()) + return false; + cmd_ = cmd; + + // 推力角速率 + if (std::isfinite(cmd_.collective_thrust)) + cmd_.collective_thrust = dynamics_.clampCollectiveThrust(cmd_.collective_thrust); + + if (cmd_.omega.allFinite()) + cmd_.omega = dynamics_.clampBodyrates(cmd_.omega); + + // 转子推力 + if (cmd_.thrusts.allFinite()) + cmd_.thrusts = dynamics_.clampThrust(cmd_.thrusts); + + return true; +} + +bool Quadrotor::setState(const QuadState &state) { + if (!state.valid()) + return false; + state_ = state; + return true; +} + +bool Quadrotor::setWorldBox(const Ref> box) { + if (box(0, 0) >= box(0, 1) || box(1, 0) >= box(1, 1) || box(2, 0) >= box(2, 1)) { + return false; + } + world_box_ = box; + return true; +} + + +bool Quadrotor::constrainInWorldBox(const QuadState &old_state) { + if (!old_state.valid()) + return false; + + // violate world box constraint in the x-axis + if (state_.x(QS::POSX) < world_box_(0, 0) || state_.x(QS::POSX) > world_box_(0, 1)) { + state_.x(QS::POSX) = old_state.x(QS::POSX); + state_.x(QS::VELX) = 0.0; + } + + // violate world box constraint in the y-axis + if (state_.x(QS::POSY) < world_box_(1, 0) || state_.x(QS::POSY) > world_box_(1, 1)) { + state_.x(QS::POSY) = old_state.x(QS::POSY); + state_.x(QS::VELY) = 0.0; + } + + // violate world box constraint in the x-axis + if (state_.x(QS::POSZ) <= world_box_(2, 0) || state_.x(QS::POSZ) > world_box_(2, 1)) { + // + state_.x(QS::POSZ) = world_box_(2, 0); + + // reset velocity to zero + state_.x(QS::VELX) = 0.0; + state_.x(QS::VELY) = 0.0; + + // reset acceleration to zero + state_.a << 0.0, 0.0, 0.0; + // reset angular velocity to zero + state_.w << 0.0, 0.0, 0.0; + } + return true; +} + +bool Quadrotor::getState(QuadState *const state) const { + if (!state_.valid()) + return false; + + *state = state_; + return true; +} + +bool Quadrotor::getMotorThrusts(Ref> motor_thrusts) const { + motor_thrusts = motor_thrusts_; + return true; +} + +bool Quadrotor::getMotorOmega(Ref> motor_omega) const { + motor_omega = motor_omega_; + return true; +} + +bool Quadrotor::getDynamics(QuadrotorDynamics *const dynamics) const { + if (!dynamics_.valid()) + return false; + *dynamics = dynamics_; + return true; +} + +const QuadrotorDynamics &Quadrotor::getDynamics() { return dynamics_; } + +bool Quadrotor::updateDynamics(const QuadrotorDynamics &dynamics) { + if (!dynamics.valid()) { + std::cout << "[Quadrotor] dynamics is not valid!" << std::endl; + return false; + } + dynamics_ = dynamics; + integrator_ptr_ = std::make_unique(dynamics_.getDynamicsFunction(), 2.5e-3); + + B_allocation_ = dynamics_.getAllocationMatrix(); + B_allocation_inv_ = B_allocation_.inverse(); + return true; +} + +bool Quadrotor::addRGBCamera(std::shared_ptr camera) { + rgb_cameras_.push_back(camera); + return true; +} + +Vector<3> Quadrotor::getSize(void) const { return size_; } + +Vector<3> Quadrotor::getPosition(void) const { return state_.p; } + +std::vector> Quadrotor::getCameras(void) const { return rgb_cameras_; }; + +bool Quadrotor::getCamera(const size_t cam_id, std::shared_ptr camera) const { + if (cam_id <= rgb_cameras_.size()) { + return false; + } + + camera = rgb_cameras_[cam_id]; + return true; +} + +bool Quadrotor::getCollision() const { return collision_; } + +int Quadrotor::getNumCamera() const { return rgb_cameras_.size(); } + +} // namespace flightlib diff --git a/flightlib/src/objects/unity_camera.cpp b/flightlib/src/objects/unity_camera.cpp new file mode 100644 index 0000000..2dd015f --- /dev/null +++ b/flightlib/src/objects/unity_camera.cpp @@ -0,0 +1,9 @@ +#include "flightlib/objects/unity_camera.hpp" + +namespace flightlib { + +UnityCamera::UnityCamera() {} + +UnityCamera::~UnityCamera() {} + +} // namespace flightlib diff --git a/flightlib/src/ros_nodes/flight_pilot.cpp b/flightlib/src/ros_nodes/flight_pilot.cpp new file mode 100644 index 0000000..95d6fa7 --- /dev/null +++ b/flightlib/src/ros_nodes/flight_pilot.cpp @@ -0,0 +1,293 @@ +#include "flightlib/ros_nodes/flight_pilot.hpp" + +namespace flightros { + +FlightPilot::FlightPilot(const ros::NodeHandle& nh, const ros::NodeHandle& pnh) + : nh_(nh), pnh_(pnh), scene_id_(4), unity_ready_(false), unity_render_(false), receive_id_(0), frameID(0), main_loop_freq_(50.0) { + // quad initialization + quad_ptr_ = std::make_shared(); + // load parameters + std::string cfg_path = getenv("FLIGHTMARE_PATH") + std::string("/flightlib/configs/quadrotor_ros.yaml"); + YAML::Node cfg_ = YAML::LoadFile(cfg_path); + loadParams(cfg_); + configCamera(cfg_); + quad_ptr_->setSize(quad_size_); + + // initialization + quad_state_.setZero(); + if (scene_id_ == UnityScene::NATUREFOREST) { + quad_state_.x(QS::POSX) = 51; // 41-61 + quad_state_.x(QS::POSY) = 108; // 98-118 + quad_state_.x(QS::POSZ) = 34; + } + quad_ptr_->reset(quad_state_); + + sgm_.reset(new sgm_gpu::SgmGpu(width_, height_)); + + // initialize subscriber and publisher + left_img_pub = nh_.advertise("RGB_image", 1); + stereo_pub = nh_.advertise("stereo_image", 1); + depth_pub = nh_.advertise("depth_image", 1); + cam_info_pub = nh_.advertise("camera_info", 1); + + state_est_sub_ = nh_.subscribe(odom_topic_, 1, &FlightPilot::poseCallback, this); + spawn_tree_sub_ = nh_.subscribe("/spawn_tree", 1, &FlightPilot::spawnTreeCallback, this); + clear_tree_sub_ = nh_.subscribe("/clear_tree", 1, &FlightPilot::clearTreeCallback, this); + save_pc_sub_ = nh_.subscribe("/save_pc", 1, &FlightPilot::savePointcloudCallback, this); + timestamp = ros::Time::now(); + + // connect unity and setup unity + setUnity(unity_render_); + connectUnity(); + if (!unity_ready_) + ROS_ERROR("Start the gazebo and unity first!"); + spawnTreesAndSavePointCloud(); + + timer_main_loop_ = nh_.createTimer(ros::Rate(main_loop_freq_), &FlightPilot::mainLoopCallback, this); +} + +FlightPilot::~FlightPilot() { disconnectUnity(); } + +void FlightPilot::spawnTreeCallback(const std_msgs::Empty::ConstPtr& msg) { + if (!unity_ready_ || unity_bridge_ptr_ == nullptr) + return; + unity_bridge_ptr_->spawnTrees(bounding_box_, bounding_box_origin_, avg_tree_spacing_); +} + +void FlightPilot::clearTreeCallback(const std_msgs::Empty::ConstPtr& msg) { unity_bridge_ptr_->rmTrees(); } + +// If the point cloud is not saved when init, it also can be saved by this callback. +void FlightPilot::savePointcloudCallback(const std_msgs::Empty::ConstPtr& msg) { + Vector<3> min_corner = bounding_box_origin_ - 0.5 * bounding_box_; + Vector<3> max_corner = bounding_box_origin_ + 0.5 * bounding_box_; + unity_bridge_ptr_->generatePointcloud(min_corner, max_corner, ply_id_, ply_path_, scene_id_, pointcloud_resolution_); +} + +void FlightPilot::poseCallback(const nav_msgs::Odometry::ConstPtr& msg) { + quad_state_.x[QS::POSX] = (Scalar)msg->pose.pose.position.x; + quad_state_.x[QS::POSY] = (Scalar)msg->pose.pose.position.y; + quad_state_.x[QS::POSZ] = (Scalar)msg->pose.pose.position.z; + quad_state_.x[QS::ATTW] = (Scalar)msg->pose.pose.orientation.w; + quad_state_.x[QS::ATTX] = (Scalar)msg->pose.pose.orientation.x; + quad_state_.x[QS::ATTY] = (Scalar)msg->pose.pose.orientation.y; + quad_state_.x[QS::ATTZ] = (Scalar)msg->pose.pose.orientation.z; + + quad_ptr_->setState(quad_state_); + timestamp = msg->header.stamp; +} + +void FlightPilot::mainLoopCallback(const ros::TimerEvent& event) { + if (!unity_render_ || !unity_ready_) + return; + + frameID++; + ros::Time timestamp_ = timestamp; + unity_bridge_ptr_->getRender(frameID); // 1ms + + FrameID frameID_rt; + unity_bridge_ptr_->handleOutput(frameID_rt); // 30ms + while (frameID != frameID_rt) + unity_bridge_ptr_->handleOutput(frameID_rt); + + cv::Mat left_img, right_img, depth_img; + // publish RGB image + rgb_camera_left->getRGBImage(left_img); + sensor_msgs::ImagePtr img_msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", left_img).toImageMsg(); + img_msg->header.stamp = timestamp_; + left_img_pub.publish(img_msg); + + // publish camera info + int width = rgb_camera_left->getWidth(); + int hight = rgb_camera_left->getHeight(); + float fov = rgb_camera_left->getFOV(); + float cx = width / 2.0; + float cy = hight / 2.0; + float fx = cy / tan(0.5 * fov * M_PI / 180.0); // 他这个特殊，fov是竖直方向的 + float fy = fx; + boost::array K = {fx, 0.0, cx, 0.0, fy, cy, 0.0, 0.0, 1.0}; + sensor_msgs::CameraInfo cam_msg; + cam_msg.height = hight; + cam_msg.width = width; + cam_msg.K = K; + cam_info_pub.publish(cam_msg); + + // publish depth image + if (use_depth) { + rgb_camera_left->getDepthMap(depth_img); + depth_img = depth_img * 1000.0; + depth_img = cv::min(depth_img, 20.0); + sensor_msgs::ImagePtr depth_msg = cv_bridge::CvImage(std_msgs::Header(), "32FC1", depth_img).toImageMsg(); + depth_msg->header.stamp = timestamp_; + depth_pub.publish(depth_msg); + } + + // publish stereo image + if (use_stereo) { + rgb_camera_right->getRGBImage(right_img); + cv::Mat stereo_(height_, width_, CV_32FC1); + computeDepthImage(left_img, right_img, &stereo_); + if (use_depth) { + // Complete the NaN values in the depth map, as the RealSense performs better than SGM. + cv::Mat mask, mask1, mask2; + cv::compare(stereo_, 0, mask1, cv::CMP_EQ); // 将 A 中为 0 的位置置为 255，其余位置置为 0 + cv::compare(stereo_, 20, mask2, cv::CMP_GT); // 将 A 中大于 20 的位置置为 255，其余位置置为 0 + mask = mask1 | mask2; // 将两个掩码进行逻辑或操作 + depth_img.copyTo(stereo_, mask); // 将 B 中 mask 为 255 的位置的值复制到 A 中 + } + + sensor_msgs::ImagePtr stereo_msg = cv_bridge::CvImage(std_msgs::Header(), "32FC1", stereo_).toImageMsg(); + stereo_msg->header.stamp = timestamp_; + stereo_pub.publish(stereo_msg); + } +} + +bool FlightPilot::setUnity(const bool render) { + unity_render_ = render; + if (unity_render_ && unity_bridge_ptr_ == nullptr) { + // create unity bridge + unity_bridge_ptr_ = UnityBridge::getInstance(); + unity_bridge_ptr_->addQuadrotor(quad_ptr_); + ROS_INFO("[%s] Unity Bridge is created.", pnh_.getNamespace().c_str()); + } + return true; +} + +bool FlightPilot::spawnTreesAndSavePointCloud() { + if (!unity_ready_ || unity_bridge_ptr_ == nullptr) + return false; + + unity_bridge_ptr_->spawnTrees(bounding_box_, bounding_box_origin_, avg_tree_spacing_); + + // Saving point cloud during the testing is much time-consuming, but can be used for evaluation. + // The following can be commented if evaluation is not needed. + Vector<3> min_corner = bounding_box_origin_ - 0.5 * bounding_box_; + Vector<3> max_corner = bounding_box_origin_ + 0.5 * bounding_box_; + unity_bridge_ptr_->generatePointcloud(min_corner, max_corner, ply_id_, ply_path_, scene_id_, pointcloud_resolution_); + return true; +} + +bool FlightPilot::connectUnity() { + if (!unity_render_ || unity_bridge_ptr_ == nullptr) + return false; + unity_ready_ = unity_bridge_ptr_->connectUnity(scene_id_); + return unity_ready_; +} + +bool FlightPilot::disconnectUnity() { + if (unity_render_ && unity_bridge_ptr_ != nullptr) + ; + unity_bridge_ptr_->disconnectUnity(); + unity_ready_ = false; +} + +bool FlightPilot::loadParams(const YAML::Node& cfg) { + // ros + main_loop_freq_ = cfg["main_loop_freq"].as(); + odom_topic_ = cfg["odom_topic"].as(); + // camera + width_ = cfg["rgb_camera_left"]["width"].as(); + height_ = cfg["rgb_camera_left"]["height"].as(); + fov_ = cfg["rgb_camera_left"]["fov"].as(); + use_depth = cfg["rgb_camera_left"]["enable_depth"].as(); + use_stereo = cfg["rgb_camera_right"]["on"].as(); + // scence + scene_id_ = cfg["scene_id"].as(); + unity_render_ = cfg["unity_render"].as(); + Scalar quad_size_i = cfg["quad_size"].as(); + quad_size_ = Vector<3>(quad_size_i, quad_size_i, quad_size_i); + avg_tree_spacing_ = cfg["unity"]["avg_tree_spacing"].as(); + for (int i = 0; i < 3; ++i) { + bounding_box_(i) = cfg["unity"]["bounding_box"][i].as(); + bounding_box_origin_(i) = cfg["unity"]["bounding_box_origin"][i].as(); + } + pointcloud_resolution_ = cfg["unity"]["pointcloud_resolution"].as(); + ply_path_ = getenv("FLIGHTMARE_PATH") + cfg["ply_path"].as(); + if (!std::filesystem::exists(ply_path_)) { + std::filesystem::create_directories(ply_path_); + std::cout << "Directory created: " << ply_path_ << std::endl; + } + return true; +} + +void FlightPilot::computeDepthImage(const cv::Mat& left_frame, const cv::Mat& right_frame, cv::Mat* const depth) { + cv::Mat disparity(height_, width_, CV_8UC1); + sgm_->computeDisparity(left_frame, right_frame, disparity); + disparity.convertTo(disparity, CV_32FC1); + + // compute depth from disparity + float f = (width_ / 2.0) / std::tan((M_PI * (fov_ / 180.0)) / 2.0); + // depth = stereo_baseline_ * f / disparity + for (int r = 0; r < height_; ++r) { + for (int c = 0; c < width_; ++c) { + if (disparity.at(r, c) == 0.0f) { + depth->at(r, c) = 0.0f; + } else if (disparity.at(r, c) == 255.0f) { + depth->at(r, c) = 0.0f; + } else { + depth->at(r, c) = static_cast(stereo_baseline_) * f / disparity.at(r, c); + } + } + } +} + +bool FlightPilot::configCamera(const YAML::Node& cfg) { + if (!cfg["rgb_camera_left"] || !cfg["rgb_camera_right"]) { + ROS_ERROR("Cannot config stereo Camera"); + return false; + } + // create left camera -------------------------------------------- + rgb_camera_left = std::make_shared(); + + // load camera settings + std::vector t_BC_vec = cfg["rgb_camera_left"]["t_BC"].as>(); + std::vector r_BC_vec = cfg["rgb_camera_left"]["r_BC"].as>(); + Vector<3> t_BC(t_BC_vec.data()); + Matrix<3, 3> r_BC = (AngleAxis(r_BC_vec[0] * M_PI / 180.0, Vector<3>::UnitX()) * AngleAxis(r_BC_vec[1] * M_PI / 180.0, Vector<3>::UnitY()) * + AngleAxis(r_BC_vec[2] * M_PI / 180.0, Vector<3>::UnitZ())) + .toRotationMatrix(); // the rotation order has been verified + // Convert the horizontal FOV (usually used) to vertical FOV (flightmare). + Scalar rgb_fov_deg_ = cfg["rgb_camera_left"]["fov"].as(); + double hor_fov_radians = (M_PI * (rgb_fov_deg_ / 180.0)); + Scalar img_rows_ = cfg["rgb_camera_left"]["height"].as(); + Scalar img_cols_ = cfg["rgb_camera_left"]["width"].as(); + double flightmare_fov = 2. * std::atan(std::tan(hor_fov_radians / 2) * img_rows_ / img_cols_); + flightmare_fov = (flightmare_fov / M_PI) * 180.0; + rgb_camera_left->setFOV(flightmare_fov); + rgb_camera_left->setWidth(cfg["rgb_camera_left"]["width"].as()); + rgb_camera_left->setHeight(cfg["rgb_camera_left"]["height"].as()); + rgb_camera_left->setRelPose(t_BC, r_BC); + rgb_camera_left->enableOpticalFlow(cfg["rgb_camera_left"]["enable_opticalflow"].as()); + rgb_camera_left->enableSegmentation(cfg["rgb_camera_left"]["enable_segmentation"].as()); + rgb_camera_left->enableDepth(cfg["rgb_camera_left"]["enable_depth"].as()); + // add camera to the quadrotor + quad_ptr_->addRGBCamera(rgb_camera_left); + + // create right camera -------------------------------------------- + if (use_stereo) { + rgb_camera_right = std::make_shared(); + + // load camera settings + std::vector t_BC_vec_r = cfg["rgb_camera_right"]["t_BC"].as>(); + std::vector r_BC_vec_r = cfg["rgb_camera_right"]["r_BC"].as>(); + + Vector<3> t_BC_r(t_BC_vec_r.data()); + Matrix<3, 3> r_BC_r = (AngleAxis(r_BC_vec[0] * M_PI / 180.0, Vector<3>::UnitX()) * AngleAxis(r_BC_vec[1] * M_PI / 180.0, Vector<3>::UnitY()) * + AngleAxis(r_BC_vec[2] * M_PI / 180.0, Vector<3>::UnitZ())) + .toRotationMatrix(); + + rgb_camera_right->setFOV(flightmare_fov); + rgb_camera_right->setWidth(cfg["rgb_camera_left"]["width"].as()); + rgb_camera_right->setHeight(cfg["rgb_camera_left"]["height"].as()); + rgb_camera_right->setRelPose(t_BC_r, r_BC_r); + rgb_camera_right->enableOpticalFlow(false); + rgb_camera_right->enableSegmentation(false); + rgb_camera_right->enableDepth(false); + // add camera to the quadrotor + quad_ptr_->addRGBCamera(rgb_camera_right); + + stereo_baseline_ = fabs(t_BC(1) - t_BC_r(1)); + } + return true; +} + +} // namespace flightros \ No newline at end of file diff --git a/flightlib/src/ros_nodes/flight_pilot_node.cpp b/flightlib/src/ros_nodes/flight_pilot_node.cpp new file mode 100644 index 0000000..60f7854 --- /dev/null +++ b/flightlib/src/ros_nodes/flight_pilot_node.cpp @@ -0,0 +1,13 @@ +#include + +#include "flightlib/ros_nodes/flight_pilot.hpp" + +int main(int argc, char** argv) { + ros::init(argc, argv, "flight_pilot"); + flightros::FlightPilot pilot(ros::NodeHandle(), ros::NodeHandle("~")); + + // spin the ros + ros::spin(); + + return 0; +} \ No newline at end of file diff --git a/flightlib/src/ros_nodes/map_visual_node.cpp b/flightlib/src/ros_nodes/map_visual_node.cpp new file mode 100644 index 0000000..a505169 --- /dev/null +++ b/flightlib/src/ros_nodes/map_visual_node.cpp @@ -0,0 +1,101 @@ +// Publish the surrounding point cloud map based on the drone's position for visualization. +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "visualization_msgs/Marker.h" + +namespace map_visual { + +pcl::PointCloud::Ptr cloud(new pcl::PointCloud); + +void pcl_input() { + std::string cfg_path = getenv("FLIGHTMARE_PATH") + std::string("/flightlib/configs/quadrotor_ros.yaml"); + YAML::Node cfg_ = YAML::LoadFile(cfg_path); + std::string ply_path_ = getenv("FLIGHTMARE_PATH") + cfg_["ply_path"].as() + "pointcloud-0.ply"; + pcl::io::loadPLYFile(ply_path_, *cloud); + std::cout << "size of pointcloud: " << cloud->points.size() << std::endl; +} + +void odom_cb(const nav_msgs::Odometry::ConstPtr odom_msg, ros::Publisher* local_map_pub, ros::Publisher* mesh_pub, + tf::TransformBroadcaster* uav_tf_br) { + // 1. publish tf + tf::Transform transform; + transform.setOrigin(tf::Vector3(odom_msg->pose.pose.position.x, odom_msg->pose.pose.position.y, odom_msg->pose.pose.position.z)); + tf::Quaternion q(0, 0, 0, 1); + // tf::Quaternion q(odom_msg->pose.pose.orientation.x, odom_msg->pose.pose.orientation.y, + // odom_msg->pose.pose.orientation.z, odom_msg->pose.pose.orientation.w); + transform.setRotation(q); + uav_tf_br->sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", "uav")); + + // 2. publish map + Eigen::Vector3f pose_cur(odom_msg->pose.pose.position.x, odom_msg->pose.pose.position.y, odom_msg->pose.pose.position.z); + Eigen::Vector3f local_map_half_size(8, 8, 1); + pcl::PointCloud::Ptr local_map(new pcl::PointCloud); + for (auto& x : cloud->points) { + if (x.z > pose_cur(2) - 6 && x.z < pose_cur(2) + local_map_half_size(2) && x.x > pose_cur(0) - local_map_half_size(0) && + x.x < pose_cur(0) + local_map_half_size(0) && x.y > pose_cur(1) - local_map_half_size(1) && x.y < pose_cur(1) + local_map_half_size(1)) { + local_map->points.push_back(x); + } + } + pcl_conversions::toPCL(ros::Time::now(), local_map->header.stamp); + local_map->header.frame_id = "world"; + local_map_pub->publish(local_map); + + // 3. publish UAV model + std::string mesh_resource = std::string("file://") + getenv("FLIGHTMARE_PATH") + std::string("/flightlib/src/ros_nodes/model/uav.dae"); + + visualization_msgs::Marker meshROS; + meshROS.header.frame_id = "world"; + meshROS.header.stamp = ros::Time::now(); + meshROS.ns = "mesh"; + meshROS.id = 0; + meshROS.type = visualization_msgs::Marker::MESH_RESOURCE; + meshROS.action = visualization_msgs::Marker::ADD; + + meshROS.pose.position.x = odom_msg->pose.pose.position.x - 0.2; + meshROS.pose.position.y = odom_msg->pose.pose.position.y; + meshROS.pose.position.z = odom_msg->pose.pose.position.z; + + meshROS.pose.orientation.w = odom_msg->pose.pose.orientation.w; + meshROS.pose.orientation.x = odom_msg->pose.pose.orientation.x; + meshROS.pose.orientation.y = odom_msg->pose.pose.orientation.y; + meshROS.pose.orientation.z = odom_msg->pose.pose.orientation.z; + + float scale = 2; + meshROS.scale.x = scale; + meshROS.scale.y = scale; + meshROS.scale.z = scale; + meshROS.color.a = 1; + meshROS.color.r = 1; + meshROS.color.g = 1; + meshROS.color.b = 1; + + meshROS.mesh_resource = mesh_resource; + meshROS.mesh_use_embedded_materials = true; + mesh_pub->publish(meshROS); +} + +} // namespace map_visual + +using namespace map_visual; +int main(int argc, char** argv) { + pcl_input(); + ros::init(argc, argv, "map_visual"); + ros::NodeHandle nh; + tf::TransformBroadcaster uav_tf_br; + ros::Publisher local_map_pub = nh.advertise>("/local_map", 1); + ros::Publisher mesh_pub = nh.advertise("/uav_mesh", 1); + ros::Subscriber odom_sub = + 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+float finish_record = 18; +// eval +std::ofstream log_, log_x, ctrl_log; +Eigen::Vector3f pose_last; +Eigen::Vector3f acc_last; +ros::Time start, end; +bool odom_init = false; +bool odom_finish = false; +bool first_cmd = true; +float length_ = 0; +float dist_ = 0; +float ctrl_cost_ = 0; +int num_ = 0; +// map +pcl::search::KdTree kdtree; +float resolution = 0.2; +Eigen::Vector3i m_size; +Eigen::Vector3i m_origin; + +void map_input() { + std::string ply_path_ = getenv("FLIGHTMARE_PATH") + std::string("/flightrender/RPG_Flightmare/pointcloud_data/pointcloud-0.ply"); + pcl::PointCloud::Ptr cloud(new pcl::PointCloud); + pcl::io::loadPLYFile(ply_path_, *cloud); + + pcl::PointXYZ min, max; + pcl::getMinMax3D(*cloud, min, max); + m_size(0) = ceil((max.x - min.x) / resolution); + m_size(1) = ceil((max.y - min.y) / resolution); + m_size(2) = ceil((max.z - min.z + 0.01) / resolution); + m_origin = Eigen::Vector3i(min.x, min.y, min.z); + kdtree.setInputCloud(cloud); +} + +int to_id(int x, int y, int z) { return x * m_size(1) * m_size(2) + y * m_size(2) + z; } + +float distance_at(Eigen::Vector3f pose) { + pcl::PointXYZ drone_; + drone_.x = pose(0); + drone_.y = pose(1); + drone_.z = pose(2); + + int K = 1; + std::vector indices(K); + std::vector distances(K); // 存储近邻点对应距离的平方 + kdtree.nearestKSearch(drone_, K, indices, distances); + return std::sqrt(distances[0]); +} + +void odom_cb(const nav_msgs::Odometry::Ptr odom_msg) { + if (!odom_init && odom_msg->pose.pose.position.x > start_record) { + odom_init = true; + pose_last = Eigen::Vector3f(odom_msg->pose.pose.position.x, odom_msg->pose.pose.position.y, odom_msg->pose.pose.position.z); + start = ros::Time::now(); + std::cout << "start!" << std::endl; + return; + } + if (!odom_init || odom_finish) + return; + + Eigen::Vector3f pose_cur(odom_msg->pose.pose.position.x, odom_msg->pose.pose.position.y, odom_msg->pose.pose.position.z); + length_ += (pose_cur - pose_last).norm(); + dist_ += distance_at(pose_cur); + log_ << distance_at(pose_cur) << std::endl; + log_x << pose_cur(0) << std::endl; + + pose_last = pose_cur; + num_++; + if (odom_msg->pose.pose.position.x > finish_record) { + odom_finish = true; + end = ros::Time::now(); + std::cout << "finish! \n time:" << (end - start).toSec() << " s,\nlength:" << length_ << " m,\ndist:" << dist_ / num_ + << " m,\nctrl cost:" << ctrl_cost_ << " m2/s5" << std::endl; + log_.close(); + log_x.close(); + ctrl_log.close(); + } +} + +void ctrl_cb(const quad_pos_ctrl::ctrl_ref& ctrl_msg) { + if (!odom_init || odom_finish) + return; + if (first_cmd) { + first_cmd = false; + acc_last = Eigen::Vector3f(ctrl_msg.acc_ref[0], -ctrl_msg.acc_ref[1], -ctrl_msg.acc_ref[2]); + return; + } + + Eigen::Vector3f cur_acc(ctrl_msg.acc_ref[0], -ctrl_msg.acc_ref[1], -ctrl_msg.acc_ref[2]); + Eigen::Vector3f d_acc = (acc_last - cur_acc) / 0.02; + float acc_norm2 = d_acc.dot(d_acc); + ctrl_cost_ += 0.02 * acc_norm2; + acc_last = cur_acc; + + ctrl_log << ctrl_msg.pos_ref[0] << ','; + ctrl_log << ctrl_msg.pos_ref[1] << ','; + ctrl_log << ctrl_msg.pos_ref[2] << ','; + + ctrl_log << ctrl_msg.vel_ref[0] << ','; + ctrl_log << ctrl_msg.vel_ref[1] << ','; + ctrl_log << ctrl_msg.vel_ref[2] << ','; + + ctrl_log << ctrl_msg.acc_ref[0] << ','; + ctrl_log << ctrl_msg.acc_ref[1] << ','; + ctrl_log << ctrl_msg.acc_ref[2] << std::endl; +} + +} // namespace traj_eval + +using namespace traj_eval; +int main(int argc, char** argv) { + map_input(); + // Move to the same log file. + std::string log_file = getenv("FLIGHTMARE_PATH") + std::string("/run/utils/dist.csv"); + std::cout << "log path:" << log_file << std::endl; + log_.open(log_file.c_str(), std::ios::out); + + std::string log_file2 = getenv("FLIGHTMARE_PATH") + std::string("/run/utils/dist_x.csv"); + log_x.open(log_file2.c_str(), std::ios::out); + + std::string log_file3 = getenv("FLIGHTMARE_PATH") + std::string("/run/utils/ctrl_log.csv"); + ctrl_log.open(log_file3.c_str(), std::ios::out); + + ros::init(argc, argv, "traj_eval"); + ros::NodeHandle nh; + ros::Subscriber odom_sub = nh.subscribe("/juliett/ground_truth/odom", 1, odom_cb); + ros::Subscriber ctrl_sub = nh.subscribe("/juliett_pos_ctrl_node/controller/ctrl_ref", 1, ctrl_cb); + ros::spin(); +} \ No newline at end of file diff --git a/flightlib/src/ros_nodes/yopo_planner_node.cpp b/flightlib/src/ros_nodes/yopo_planner_node.cpp new file mode 100644 index 0000000..6ada6eb --- /dev/null +++ b/flightlib/src/ros_nodes/yopo_planner_node.cpp @@ -0,0 +1,347 @@ +#include +#include +#include +#include +#include +#include + +#include + +#include "flightlib/controller/PositionCommand.h" +#include "flightlib/controller/ctrl_ref.h" +#include "flightlib/grad_traj_optimization/opt_utile.h" +#include "flightlib/grad_traj_optimization/traj_optimization_bridge.h" + +namespace yopo_net { + +nav_msgs::Odometry odom_msg; +quad_pos_ctrl::ctrl_ref ctrl_ref_last; +quadrotor_msgs::PositionCommand pos_cmd_last; +bool odom_init = false; +bool odom_ref_init = false; +bool yopo_init = false; +bool done = false; +float traj_time = 2.0; +float sample_t = 0.0; +float last_yaw_ = 0; // NWU + +TrajOptimizationBridge* traj_opt_bridge; +TrajOptimizationBridge* traj_opt_bridge_for_vis; +std::vector> lattice_nodes; + +Eigen::Vector3d goal_(100, 0, 2); +Eigen::Quaterniond quat_(1, 0, 0, 0); +Eigen::Vector3d last_pos_(0, 0, 0), last_vel_(0, 0, 0), last_acc_(0, 0, 0); + +ros::Publisher trajs_visual_pub, best_traj_visual_pub, state_ref_pub, ctrl_pub, mpc_ctrl_pub, so3_ctrl_pub, lattice_trajs_visual_pub; +ros::Subscriber odom_sub, odom_ref_sub, yopo_best_sub, yopo_all_sub, goal_sub; + +void odom_cb(const nav_msgs::Odometry::Ptr msg) { + odom_msg = *msg; + odom_init = true; + quat_.w() = odom_msg.pose.pose.orientation.w; + quat_.x() = odom_msg.pose.pose.orientation.x; + quat_.y() = odom_msg.pose.pose.orientation.y; + quat_.z() = odom_msg.pose.pose.orientation.z; + if (!odom_ref_init) { + last_pos_ << odom_msg.pose.pose.position.x, odom_msg.pose.pose.position.y, odom_msg.pose.pose.position.z; + last_vel_ << 0, 0, 0; + last_acc_ << 0, 0, 0; + } + + // check if reach the goal + Eigen::Vector3d dist(odom_msg.pose.pose.position.x - goal_(0), odom_msg.pose.pose.position.y - goal_(1), + odom_msg.pose.pose.position.z - goal_(2)); + if (dist.norm() < 4) { + if (!done) + printf("Done!\n"); + done = true; + } +} + +void goal_cb(const std_msgs::Float32MultiArray::Ptr msg) { + Eigen::Vector3d last_goal = goal_; + goal_(0) = msg->data[0]; + goal_(1) = msg->data[1]; + goal_(2) = msg->data[2]; + if (last_goal != goal_) + done = false; +} + +void traj_to_pcl(TrajOptimizationBridge* traj_opt_bridge_input, pcl::PointCloud::Ptr cloud, double cost = 0.0) { + for (float dt = 0.0; dt < traj_time; dt = dt + 0.05) { + Eigen::Vector3d next_pos, next_vel, next_acc; + traj_opt_bridge_input->getNextState(next_pos, next_vel, next_acc, dt); + pcl::PointXYZI clrP; + clrP.x = next_pos(0); + clrP.y = next_pos(1); + clrP.z = next_pos(2); + clrP.intensity = cost; + cloud->points.push_back(clrP); + } +} + +void yopo_cb(const std_msgs::Float32MultiArray::ConstPtr msg) { + if (!odom_init) + return; + std::vector endstate; + for (int i = 0; i < msg->data.size(); i++) { + endstate.push_back(static_cast(msg->data[i])); + } + + traj_opt_bridge->setState(last_pos_.cast(), quat_.cast(), last_vel_.cast(), last_acc_.cast()); + traj_opt_bridge->solveBVP(endstate); + // int milliseconds_yopo_pub = msg->layout.data_offset; // 预测时采用的状态和图像的时间戳(ms) + // int milliseconds_now = uint64_t(ros::Time::now().toSec() * 1000) % 1000000; + // double delta_t = double(milliseconds_now - milliseconds_yopo_pub) / 1000; + // std::cout<<"yopo开始预测到当前时间: "<::Ptr best_traj_cld(new pcl::PointCloud); + traj_to_pcl(traj_opt_bridge, best_traj_cld); + pcl_conversions::toPCL(ros::Time::now(), best_traj_cld->header.stamp); // for test + best_traj_cld->header.frame_id = "world"; + best_traj_visual_pub.publish(best_traj_cld); + yopo_init = true; +} + +void trajs_vis_cb(const std_msgs::Float32MultiArray::ConstPtr msg) { + if (!odom_init) + return; + + // ---------------- visualization of all trajs -------------------- + std::vector> endstates_b; + endstates_b.resize(msg->layout.dim[0].size); + std::vector scores; + for (int i = 0; i < msg->layout.dim[0].size; i++) { + for (int j = 0; j < msg->layout.dim[1].size - 1; j++) { + endstates_b[i].push_back(static_cast(msg->data[i * msg->layout.dim[1].size + j])); + } + scores.push_back(static_cast(msg->data[(i + 1) * msg->layout.dim[1].size - 1])); + } + + traj_opt_bridge_for_vis->setState(last_pos_.cast(), quat_.cast(), last_vel_.cast(), last_acc_.cast()); + + pcl::PointCloud::Ptr trajs_cld(new pcl::PointCloud); + for (size_t i = 0; i < endstates_b.size(); i++) { + traj_opt_bridge_for_vis->solveBVP(endstates_b[i]); + traj_to_pcl(traj_opt_bridge_for_vis, trajs_cld, scores[i]); + } + pcl_conversions::toPCL(ros::Time::now(), trajs_cld->header.stamp); + trajs_cld->header.frame_id = "world"; + trajs_visual_pub.publish(trajs_cld); + + // ---------------- visualization of lattice ------------------------ + pcl::PointCloud::Ptr lattice_trajs_cld(new pcl::PointCloud); + Eigen::Vector3d pos_1(0.0, 0.0, 0.0), vel_1(0.0, 0.0, 0.0), acc_1(0.0, 0.0, 0.0); + for (size_t i = 0; i < lattice_nodes.size(); i++) { + pos_1 = lattice_nodes[i].first; + vel_1 = lattice_nodes[i].second; + std::vector endstate_lattice = {pos_1(0), vel_1(0), acc_1(0), pos_1(1), vel_1(1), acc_1(1), pos_1(2), vel_1(2), acc_1(2)}; + traj_opt_bridge_for_vis->solveBVP(endstate_lattice); + traj_to_pcl(traj_opt_bridge_for_vis, lattice_trajs_cld); + } + pcl_conversions::toPCL(ros::Time::now(), lattice_trajs_cld->header.stamp); + lattice_trajs_cld->header.frame_id = "world"; + lattice_trajs_visual_pub.publish(lattice_trajs_cld); +} + +std::pair calculate_yaw(float sample_t, float dt) { + constexpr float PI = 3.1415926; + constexpr float YAW_DOT_MAX_PER_SEC = 0.3 * PI; + std::pair yaw_yawdot(0, 0); + float yaw = 0; + float yawdot = 0; + + // dir of vel + Eigen::Vector3d nxt_p, nxt_v, nxt_a; + traj_opt_bridge->getNextState(nxt_p, nxt_v, nxt_a, sample_t); + Eigen::Vector3d dir_vel = nxt_v / nxt_v.norm(); + // dir of goal + Eigen::Vector3d dir_goal(goal_(0) - nxt_p(0), goal_(1) - nxt_p(1), goal_(2) - nxt_p(2)); + float goal_dist = dir_goal.norm(); + dir_goal = dir_goal / goal_dist; + // or just dir_des = dir_vel + Eigen::Vector3d dir_des = dir_vel + dir_goal; + + float yaw_temp = goal_dist > 0.2 ? atan2(dir_des(1), dir_des(0)) : last_yaw_; + float max_yaw_change = YAW_DOT_MAX_PER_SEC * dt; + + if (yaw_temp - last_yaw_ > PI) { + if (yaw_temp - last_yaw_ - 2 * PI < -max_yaw_change) { + yaw = last_yaw_ - max_yaw_change; + if (yaw < -PI) + yaw += 2 * PI; + yawdot = -YAW_DOT_MAX_PER_SEC; + } else { + yaw = yaw_temp; + if (yaw - last_yaw_ > PI) + yawdot = -YAW_DOT_MAX_PER_SEC; + else + yawdot = (yaw_temp - last_yaw_) / dt; + } + } else if (yaw_temp - last_yaw_ < -PI) { + if (yaw_temp - last_yaw_ + 2 * PI > max_yaw_change) { + yaw = last_yaw_ + max_yaw_change; + if (yaw > PI) + yaw -= 2 * PI; + yawdot = YAW_DOT_MAX_PER_SEC; + } else { + yaw = yaw_temp; + if (yaw - last_yaw_ < -PI) + yawdot = YAW_DOT_MAX_PER_SEC; + else + yawdot = (yaw_temp - last_yaw_) / dt; + } + } else { + if (yaw_temp - last_yaw_ < -max_yaw_change) { + yaw = last_yaw_ - max_yaw_change; + if (yaw < -PI) + yaw += 2 * PI; + yawdot = -YAW_DOT_MAX_PER_SEC; + } else if (yaw_temp - last_yaw_ > max_yaw_change) { + yaw = last_yaw_ + max_yaw_change; + if (yaw > PI) + yaw -= 2 * PI; + yawdot = YAW_DOT_MAX_PER_SEC; + } else { + yaw = yaw_temp; + if (yaw - last_yaw_ > PI) + yawdot = -YAW_DOT_MAX_PER_SEC; + else if (yaw - last_yaw_ < -PI) + yawdot = YAW_DOT_MAX_PER_SEC; + else + yawdot = (yaw_temp - last_yaw_) / dt; + } + } + + last_yaw_ = yaw; + yaw_yawdot.first = yaw; + yaw_yawdot.second = yawdot; + return yaw_yawdot; +} + +void ref_pub_cb(const ros::TimerEvent&) { + if (!yopo_init) + return; + + if (done) { + // single state control for smoother performance + ctrl_ref_last.header.stamp = ros::Time::now(); + ctrl_ref_last.vel_ref = {0, 0, 0}; + ctrl_ref_last.acc_ref = {0, 0, 0}; + ctrl_ref_last.ref_mask = 1; + ctrl_pub.publish(ctrl_ref_last); + + // un-smooth, just for simpler demonstration + pos_cmd_last.header.stamp = ros::Time::now(); + pos_cmd_last.velocity.x = 0.95 * pos_cmd_last.velocity.x; + pos_cmd_last.velocity.y = 0.95 * pos_cmd_last.velocity.y; + pos_cmd_last.velocity.z = 0.95 * pos_cmd_last.velocity.z; + pos_cmd_last.acceleration.x = 0.95 * pos_cmd_last.acceleration.x; + pos_cmd_last.acceleration.y = 0.95 * pos_cmd_last.acceleration.y; + pos_cmd_last.acceleration.z = 0.95 * pos_cmd_last.acceleration.z; + pos_cmd_last.yaw_dot = 0.95 * pos_cmd_last.yaw_dot; + so3_ctrl_pub.publish(pos_cmd_last); + return; + } + + sample_t += 0.02; + Eigen::Vector3d desired_p, desired_v, desired_a; + traj_opt_bridge->getNextState(desired_p, desired_v, desired_a, sample_t); + std::pair yaw_yawdot(0, 0); + yaw_yawdot = calculate_yaw(sample_t, 0.02); + + // Realworld & our PID Controller + quad_pos_ctrl::ctrl_ref ctrl_msg; + ctrl_msg.header.stamp = ros::Time::now(); + ctrl_msg.pos_ref = {desired_p(0), -desired_p(1), -desired_p(2)}; + ctrl_msg.vel_ref = {desired_v(0), -desired_v(1), -desired_v(2)}; + ctrl_msg.acc_ref = {desired_a(0), -desired_a(1), -desired_a(2)}; + ctrl_msg.yaw_ref = -yaw_yawdot.first; + ctrl_msg.ref_mask = 7; + ctrl_ref_last = ctrl_msg; + ctrl_pub.publish(ctrl_msg); + + // SO3 Simulator & SO3 Controller + quadrotor_msgs::PositionCommand cmd; + cmd.header.frame_id = "world"; + cmd.header.stamp = ros::Time::now(); + cmd.trajectory_flag = quadrotor_msgs::PositionCommand::TRAJECTORY_STATUS_READY; + cmd.position.x = desired_p(0); + cmd.position.y = desired_p(1); + cmd.position.z = desired_p(2); + cmd.velocity.x = desired_v(0); + cmd.velocity.y = desired_v(1); + cmd.velocity.z = desired_v(2); + cmd.acceleration.x = desired_a(0); + cmd.acceleration.y = desired_a(1); + cmd.acceleration.z = desired_a(2); + cmd.yaw = yaw_yawdot.first; + cmd.yaw_dot = yaw_yawdot.second; + pos_cmd_last = cmd; + so3_ctrl_pub.publish(cmd); + + // update the desire state for next planning + last_pos_ = desired_p; + last_vel_ = desired_v; + last_acc_ = desired_a; + + // for reference of yopo network + nav_msgs::Odometry odom_; + odom_.header.stamp = ros::Time::now(); + odom_.pose.pose.position.x = desired_p(0); + odom_.pose.pose.position.y = desired_p(1); + odom_.pose.pose.position.z = desired_p(2); + odom_.twist.twist.linear.x = desired_v(0); + odom_.twist.twist.linear.y = desired_v(1); + odom_.twist.twist.linear.z = desired_v(2); + odom_.twist.twist.angular.x = desired_a(0); + odom_.twist.twist.angular.y = desired_a(1); + odom_.twist.twist.angular.z = desired_a(2); + state_ref_pub.publish(odom_); + odom_ref_init = true; +} + +} // namespace yopo_net + +using namespace yopo_net; +int main(int argc, char** argv) { + ros::init(argc, argv, "yopo_test"); + ros::NodeHandle nh; + + string cfg_path = getenv("FLIGHTMARE_PATH") + std::string("/flightlib/configs/traj_opt.yaml"); + YAML::Node cfg_ = YAML::LoadFile(cfg_path); + traj_time = 2 * cfg_["radio_range"].as() / cfg_["vel_max"].as(); + int horizon_num = cfg_["horizon_num"].as(); + int vertical_num = cfg_["vertical_num"].as(); + int vel_num = cfg_["vel_num"].as(); + int radio_num = cfg_["radio_num"].as(); + double horizon_fov = cfg_["horizon_camera_fov"].as() * (horizon_num - 1) / horizon_num; + double vertical_fov = cfg_["vertical_camera_fov"].as() * (vertical_num - 1) / vertical_num; + double vel_fov = cfg_["vel_fov"].as(); + double radio_range = cfg_["radio_range"].as(); + double vel_prefile = cfg_["vel_prefile"].as(); + + getLatticeGuiding(lattice_nodes, horizon_num, vertical_num, radio_num, vel_num, horizon_fov, vertical_fov, radio_range, vel_fov, vel_prefile); + traj_opt_bridge = new TrajOptimizationBridge(); + traj_opt_bridge_for_vis = new TrajOptimizationBridge(); + + lattice_trajs_visual_pub = nh.advertise>("/yopo_net/lattice_trajs_visual", 1); + trajs_visual_pub = nh.advertise>("/yopo_net/trajs_visual", 1); + best_traj_visual_pub = nh.advertise>("/yopo_net/best_traj_visual", 1); + state_ref_pub = nh.advertise("/juliett/state_ref/odom", 10); + + // our PID Controller (realworld) & SO3 Controller (simulation) + ctrl_pub = nh.advertise("/juliett_pos_ctrl_node/controller/ctrl_ref", 10); + so3_ctrl_pub = nh.advertise("/so3_control/pos_cmd", 10); + + odom_sub = nh.subscribe("/juliett/ground_truth/odom", 1, yopo_net::odom_cb, ros::TransportHints().tcpNoDelay()); + yopo_best_sub = nh.subscribe("/yopo_net/pred_endstate", 1, yopo_net::yopo_cb, ros::TransportHints().tcpNoDelay()); + yopo_all_sub = nh.subscribe("/yopo_net/pred_endstates", 1, trajs_vis_cb); + goal_sub = nh.subscribe("/yopo_net/goal", 1, goal_cb); + + ros::Timer ref_timer = nh.createTimer(ros::Duration(0.02), ref_pub_cb); + std::cout << "YOPO Planner Node OK!" << std::endl; + ros::spin(); +} \ No newline at end of file diff --git a/flightlib/src/sensors/imu.cpp b/flightlib/src/sensors/imu.cpp new file mode 100644 index 0000000..497305e --- /dev/null +++ b/flightlib/src/sensors/imu.cpp @@ -0,0 +1,10 @@ +#include "flightlib/sensors/imu.hpp" + + +namespace flightlib { + +IMU::IMU() {} + +IMU::~IMU() {} + +} // namespace flightlib diff --git a/flightlib/src/sensors/rgb_camera.cpp b/flightlib/src/sensors/rgb_camera.cpp new file mode 100644 index 0000000..f082c9d --- /dev/null +++ b/flightlib/src/sensors/rgb_camera.cpp @@ -0,0 +1,200 @@ +#include "flightlib/sensors/rgb_camera.hpp" + +namespace flightlib { + +RGBCamera::RGBCamera() : channels_(3), width_(720), height_(480), fov_{70.0}, depth_scale_{0.2}, enabled_layers_({true, false, false, false}) { + post_processing_ = {{RGBCameraTypes::Depth, false}, + {RGBCameraTypes::OpticalFlow, false}, + {RGBCameraTypes::ObjectSegment, false}, + {RGBCameraTypes::CategorySegment, false}}; +} + +RGBCamera::~RGBCamera() {} + +bool RGBCamera::feedImageQueue(const int image_layer, const cv::Mat& image_mat) { + queue_mutex_.lock(); + // rgb_queue_.resize(queue_size_) queue_size_由1改为0 + switch (image_layer) { + case 0: // rgb image + if (rgb_queue_.size() > queue_size_) + rgb_queue_.resize(queue_size_); + rgb_queue_.push_back(image_mat); + break; + case CameraLayer::DepthMap: + if (depth_queue_.size() > queue_size_) + depth_queue_.resize(queue_size_); + depth_queue_.push_back(image_mat); + break; + case CameraLayer::Segmentation: + if (segmentation_queue_.size() > queue_size_) + segmentation_queue_.resize(queue_size_); + segmentation_queue_.push_back(image_mat); + break; + case CameraLayer::OpticalFlow: + if (opticalflow_queue_.size() > queue_size_) + opticalflow_queue_.resize(queue_size_); + opticalflow_queue_.push_back(image_mat); + break; + } + queue_mutex_.unlock(); + return true; +} + +bool RGBCamera::setRelPose(const Ref> B_r_BC, const Ref> R_BC) { + if (!B_r_BC.allFinite() || !R_BC.allFinite()) { + logger_.error( + "The setting value for Camera Relative Pose Matrix is not valid, discard " + "the setting."); + return false; + } + B_r_BC_ = B_r_BC; + T_BC_.block<3, 3>(0, 0) = R_BC; + T_BC_.block<3, 1>(0, 3) = B_r_BC; + T_BC_.row(3) << 0.0, 0.0, 0.0, 1.0; + return true; +} + +bool RGBCamera::setWidth(const int width) { + if (width <= 0.0) { + logger_.warn("The setting value for Image Width is not valid, discard the setting."); + return false; + } + width_ = width; + return true; +} + +bool RGBCamera::setHeight(const int height) { + if (height <= 0.0) { + logger_.warn( + "The setting value for Image Height is not valid, discard the " + "setting."); + return false; + } + height_ = height; + return true; +} + +bool RGBCamera::setFOV(const Scalar fov) { + if (fov <= 0.0) { + logger_.warn( + "The setting value for Camera Field-of-View is not valid, discard the " + "setting."); + return false; + } + fov_ = fov; + return true; +} + +bool RGBCamera::setDepthScale(const Scalar depth_scale) { + if (depth_scale_ < 0.0 || depth_scale_ > 1.0) { + logger_.warn( + "The setting value for Camera Depth Scale is not valid, discard the " + "setting."); + return false; + } + depth_scale_ = depth_scale; + return true; +} + +bool RGBCamera::setPostProcesscing(const std::vector& enabled_layers) { + if (enabled_layers_.size() != enabled_layers.size()) { + logger_.warn("Vector size does not match. The vector size should be equal to %d.", enabled_layers_.size()); + return false; + } + enabled_layers_ = enabled_layers; + return true; +} + +std::vector RGBCamera::getEnabledLayers(void) const { return enabled_layers_; } + +std::vector RGBCamera::GetPostProcessing(void) { + std::vector post_processing; + for (const auto& pp : post_processing_) { + if (pp.second) { + post_processing.push_back(pp.first); + } + } + return post_processing; +} + +Matrix<4, 4> RGBCamera::getRelPose(void) const { return T_BC_; } + +int RGBCamera::getChannels(void) const { return channels_; } + +int RGBCamera::getWidth(void) const { return width_; } + +int RGBCamera::getHeight(void) const { return height_; } + +Scalar RGBCamera::getFOV(void) const { return fov_; } + +Scalar RGBCamera::getDepthScale(void) const { return depth_scale_; } + +void RGBCamera::enableDepth(const bool on) { + // if (enabled_layers_[CameraLayer::DepthMap] == on) { + // logger_.warn("Depth layer was already %s.", on ? "on" : "off"); + // } + enabled_layers_[CameraLayer::DepthMap] = on; + post_processing_[RGBCameraTypes::Depth] = on; +} + +void RGBCamera::enableSegmentation(const bool on) { + // if (enabled_layers_[CameraLayer::Segmentation] == on) { + // logger_.warn("Segmentation layer was already %s.", on ? "on" : "off"); + // } + enabled_layers_[CameraLayer::Segmentation] = on; + post_processing_[RGBCameraTypes::ObjectSegment] = on; + post_processing_[RGBCameraTypes::CategorySegment] = on; +} + +void RGBCamera::enableOpticalFlow(const bool on) { + // if (enabled_layers_[CameraLayer::OpticalFlow] == on) { + // logger_.warn("Optical Flow layer was already %s.", on ? "on" : "off"); + // } + enabled_layers_[CameraLayer::OpticalFlow] = on; + post_processing_[RGBCameraTypes::OpticalFlow] = on; +} + +bool RGBCamera::getRGBImage(cv::Mat& rgb_img) { + if (!rgb_queue_.empty()) { + rgb_img = rgb_queue_.front(); + rgb_queue_.pop_front(); + return true; + } + return false; +} + +bool RGBCamera::getDepthMap(cv::Mat& depth_map) { + if (!depth_queue_.empty()) { + depth_map = depth_queue_.front(); + depth_queue_.pop_front(); + return true; + } + return false; +} + +bool RGBCamera::getSegmentation(cv::Mat& segmentation) { + if (!segmentation_queue_.empty()) { + segmentation = segmentation_queue_.front(); + segmentation_queue_.pop_front(); + return true; + } + return false; +} + +bool RGBCamera::getOpticalFlow(cv::Mat& opticalflow) { + if (!opticalflow_queue_.empty()) { + opticalflow = opticalflow_queue_.front(); + opticalflow_queue_.pop_front(); + return true; + } + return false; +} + +void RGBCamera::clearImageQueue() { + rgb_queue_.clear(); + depth_queue_.clear(); + segmentation_queue_.clear(); + opticalflow_queue_.clear(); +} + +} // namespace flightlib \ No newline at end of file diff --git a/flightlib/src/sensors/sensor_base.cpp b/flightlib/src/sensors/sensor_base.cpp new file mode 100644 index 0000000..dd8e3d1 --- /dev/null +++ b/flightlib/src/sensors/sensor_base.cpp @@ -0,0 +1,9 @@ +#include "flightlib/sensors/sensor_base.hpp" + +namespace flightlib { + +SensorBase::SensorBase() {} + +SensorBase::~SensorBase() {} + +} // namespace flightlib diff --git a/flightlib/src/sensors/sgm_gpu/costs.cu b/flightlib/src/sensors/sgm_gpu/costs.cu new file mode 100644 index 0000000..bc2c0c1 --- /dev/null +++ b/flightlib/src/sensors/sgm_gpu/costs.cu @@ -0,0 +1,115 @@ +/*********************************************************************** + Copyright (C) 2019 Hironori Fujimoto + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with this program. If not, see . +***********************************************************************/ + +#include "flightlib/sensors/sgm_gpu/costs.h" +#include + +namespace sgm_gpu +{ + +__global__ void +__launch_bounds__(1024, 2) +CenterSymmetricCensusKernelSM2(const uint8_t *im, const uint8_t *im2, cost_t *transform, cost_t *transform2, const uint32_t rows, const uint32_t cols) { + const int idx = blockIdx.x*blockDim.x+threadIdx.x; + const int idy = blockIdx.y*blockDim.y+threadIdx.y; + + const int win_cols = (32+LEFT*2); // 32+4*2 = 40 + const int win_rows = (32+TOP*2); // 32+3*2 = 38 + + __shared__ uint8_t window[win_cols*win_rows]; + __shared__ uint8_t window2[win_cols*win_rows]; + + const int id = threadIdx.y*blockDim.x+threadIdx.x; + const int sm_row = id / win_cols; + const int sm_col = id % win_cols; + + const int im_row = blockIdx.y*blockDim.y+sm_row-TOP; + const int im_col = blockIdx.x*blockDim.x+sm_col-LEFT; + const bool boundaries = (im_row >= 0 && im_col >= 0 && im_row < rows && im_col < cols); + window[sm_row*win_cols+sm_col] = boundaries ? im[im_row*cols+im_col] : 0; + window2[sm_row*win_cols+sm_col] = boundaries ? im2[im_row*cols+im_col] : 0; + + // Not enough threads to fill window and window2 + const int block_size = blockDim.x*blockDim.y; + if(id < (win_cols*win_rows-block_size)) { + const int id = threadIdx.y*blockDim.x+threadIdx.x+block_size; + const int sm_row = id / win_cols; + const int sm_col = id % win_cols; + + const int im_row = blockIdx.y*blockDim.y+sm_row-TOP; + const int im_col = blockIdx.x*blockDim.x+sm_col-LEFT; + const bool boundaries = (im_row >= 0 && im_col >= 0 && im_row < rows && im_col < cols); + window[sm_row*win_cols+sm_col] = boundaries ? im[im_row*cols+im_col] : 0; + window2[sm_row*win_cols+sm_col] = boundaries ? im2[im_row*cols+im_col] : 0; + } + + __syncthreads(); + cost_t census = 0; + cost_t census2 = 0; + if(idy < rows && idx < cols) { + for(int k = 0; k < CENSUS_HEIGHT/2; k++) { + for(int m = 0; m < CENSUS_WIDTH; m++) { + const uint8_t e1 = window[(threadIdx.y+k)*win_cols+threadIdx.x+m]; + const uint8_t e2 = window[(threadIdx.y+2*TOP-k)*win_cols+threadIdx.x+2*LEFT-m]; + const uint8_t i1 = window2[(threadIdx.y+k)*win_cols+threadIdx.x+m]; + const uint8_t i2 = window2[(threadIdx.y+2*TOP-k)*win_cols+threadIdx.x+2*LEFT-m]; + + const int shft = k*CENSUS_WIDTH+m; + // Compare to the center + cost_t tmp = (e1 >= e2); + // Shift to the desired position + tmp <<= shft; + // Add it to its place + census |= tmp; + // Compare to the center + cost_t tmp2 = (i1 >= i2); + // Shift to the desired position + tmp2 <<= shft; + // Add it to its place + census2 |= tmp2; + } + } + if(CENSUS_HEIGHT % 2 != 0) { + const int k = CENSUS_HEIGHT/2; + for(int m = 0; m < CENSUS_WIDTH/2; m++) { + const uint8_t e1 = window[(threadIdx.y+k)*win_cols+threadIdx.x+m]; + const uint8_t e2 = window[(threadIdx.y+2*TOP-k)*win_cols+threadIdx.x+2*LEFT-m]; + const uint8_t i1 = window2[(threadIdx.y+k)*win_cols+threadIdx.x+m]; + const uint8_t i2 = window2[(threadIdx.y+2*TOP-k)*win_cols+threadIdx.x+2*LEFT-m]; + + const int shft = k*CENSUS_WIDTH+m; + // Compare to the center + cost_t tmp = (e1 >= e2); + // Shift to the desired position + tmp <<= shft; + // Add it to its place + census |= tmp; + // Compare to the center + cost_t tmp2 = (i1 >= i2); + // Shift to the desired position + tmp2 <<= shft; + // Add it to its place + census2 |= tmp2; + } + } + + transform[idy*cols+idx] = census; + transform2[idy*cols+idx] = census2; + } +} + +} // namespace sgm_gpu + diff --git a/flightlib/src/sensors/sgm_gpu/hamming_cost.cu b/flightlib/src/sensors/sgm_gpu/hamming_cost.cu new file mode 100644 index 0000000..589061f --- /dev/null +++ b/flightlib/src/sensors/sgm_gpu/hamming_cost.cu @@ -0,0 +1,71 @@ +/*********************************************************************** + Copyright (C) 2019 Hironori Fujimoto + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with this program. If not, see . +***********************************************************************/ + +#include "flightlib/sensors/sgm_gpu/hamming_cost.h" + +namespace sgm_gpu +{ + +//d_transform0, d_transform1, d_cost, rows, cols +__global__ void +HammingDistanceCostKernel ( const cost_t *d_transform0, const cost_t *d_transform1, + uint8_t *d_cost, const int rows, const int cols ) { + //const int Dmax= blockDim.x; // Dmax is CTA size + const int y= blockIdx.x; // y is CTA Identifier + const int THRid = threadIdx.x; // THRid is Thread Identifier + + __shared__ cost_t SharedMatch[2*MAX_DISPARITY]; + __shared__ cost_t SharedBase [MAX_DISPARITY]; + + SharedMatch [MAX_DISPARITY+THRid] = d_transform1[y*cols+0]; // init position + + int n_iter = cols/MAX_DISPARITY; + for (int ix=0; ix 0) { + SharedMatch [THRid] = SharedMatch [THRid + MAX_DISPARITY]; + if(THRid < left) { + SharedMatch [THRid+MAX_DISPARITY] = d_transform1 [y*cols+x+THRid]; + SharedBase [THRid] = d_transform0 [y*cols+x+THRid]; + } + + __syncthreads(); + for (int i=0; i. +***********************************************************************/ + +#include "flightlib/sensors/sgm_gpu/left_right_consistency.h" +#include "flightlib/sensors/sgm_gpu/configuration.h" + +namespace sgm_gpu +{ + +__global__ void ChooseRightDisparity(uint8_t *right_disparity, const uint16_t *smoothed_cost, const uint32_t rows, const uint32_t cols) { + const int x = blockIdx.x*blockDim.x+threadIdx.x; + const int y = blockIdx.y*blockDim.y+threadIdx.y; + + if (x >= cols || y >= rows) + return; + + int min_cost_disparity = 0; + uint16_t min_cost = smoothed_cost[(y*cols + x)*MAX_DISPARITY + min_cost_disparity]; + + for (int d = 1; d < MAX_DISPARITY; d++) { + if (x + d >= cols) + break; + uint16_t tmp_cost = smoothed_cost[(y*cols + (x+d))*MAX_DISPARITY + d]; + if (tmp_cost < min_cost) { + min_cost = tmp_cost; + min_cost_disparity = d; + } + } + + right_disparity[y*cols+x] = min_cost_disparity; +} + +__global__ void LeftRightConsistencyCheck(uint8_t* disparity, const uint8_t* disparity_right, uint32_t rows, uint32_t cols) +{ + const int x = blockIdx.x*blockDim.x+threadIdx.x; + const int y = blockIdx.y*blockDim.y+threadIdx.y; + + if (x >= cols || y >= rows) + return; + + const int x_right = x - disparity[y*cols + x]; + + if (x_right < 0) { + disparity[y*cols + x] = 255; + return; + } + + int diff = disparity[y*cols + x] - disparity_right[y*cols + x_right]; + diff = diff < 0 ? diff * -1 : diff; + if (diff > 1) { + disparity[y*cols + x] = 255; + } +} + +} // namespace sgm_gpu + diff --git a/flightlib/src/sensors/sgm_gpu/median_filter.cu b/flightlib/src/sensors/sgm_gpu/median_filter.cu new file mode 100644 index 0000000..4ad15e1 --- /dev/null +++ b/flightlib/src/sensors/sgm_gpu/median_filter.cu @@ -0,0 +1,26 @@ +/*********************************************************************** + Copyright (C) 2019 Hironori Fujimoto + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with this program. If not, see . +***********************************************************************/ + +#include "flightlib/sensors/sgm_gpu/median_filter.h" + +namespace sgm_gpu +{ + +__global__ void MedianFilter3x3(const uint8_t* __restrict__ d_input, uint8_t* __restrict__ d_out, const uint32_t rows, const uint32_t cols) { + MedianFilter<3>(d_input, d_out, rows, cols); +} + +} diff --git a/flightlib/src/sensors/sgm_gpu/sgm_gpu.cu b/flightlib/src/sensors/sgm_gpu/sgm_gpu.cu new file mode 100644 index 0000000..be48339 --- /dev/null +++ b/flightlib/src/sensors/sgm_gpu/sgm_gpu.cu @@ -0,0 +1,270 @@ +/*********************************************************************** + Copyright (C) 2020 Hironori Fujimoto + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with this program. If not, see . +***********************************************************************/ +#include "flightlib/sensors/sgm_gpu/sgm_gpu.h" + +#include "flightlib/sensors/sgm_gpu/cost_aggregation.h" +#include "flightlib/sensors/sgm_gpu/costs.h" +#include "flightlib/sensors/sgm_gpu/hamming_cost.h" +#include "flightlib/sensors/sgm_gpu/left_right_consistency.h" +#include "flightlib/sensors/sgm_gpu/median_filter.h" + +namespace sgm_gpu { +// Variables which have CUDA-related type are put here +// in order to include sgm_gpu.h from non-CUDA package +cudaStream_t stream1_; +cudaStream_t stream2_; +cudaStream_t stream3_; + +dim3 BLOCK_SIZE_; +dim3 grid_size_; + +SgmGpu::SgmGpu(const int cols, const int rows) + : memory_allocated_(false), cols_(cols), rows_(rows) { + // Get parameters used in SGM algorithm + p1_ = 6; // static_cast(private_node_handle_->param("p1", 6)); + p2_ = 96; // static_cast(private_node_handle_->param("p2", 96)); + check_consistency_ = true; // private_node_handle_->param("check_consistency", true); + + // Create streams + cudaStreamCreate(&stream1_); + cudaStreamCreate(&stream2_); + cudaStreamCreate(&stream3_); +} + +SgmGpu::~SgmGpu() { + freeMemory(); + + cudaStreamDestroy(stream1_); + cudaStreamDestroy(stream2_); + cudaStreamDestroy(stream3_); +} + +void SgmGpu::allocateMemory(uint32_t cols, uint32_t rows) { + freeMemory(); + + cols_ = cols; + rows_ = rows; + + int total_pixel = cols_ * rows_; + cudaMalloc((void **)&d_im0_, sizeof(uint8_t) * total_pixel); + cudaMalloc((void **)&d_im1_, sizeof(uint8_t) * total_pixel); + + cudaMalloc((void **)&d_transform0_, sizeof(cost_t) * total_pixel); + cudaMalloc((void **)&d_transform1_, sizeof(cost_t) * total_pixel); + + int cost_volume_size = total_pixel * MAX_DISPARITY; + cudaMalloc((void **)&d_cost_, sizeof(uint8_t) * cost_volume_size); + + cudaMalloc((void **)&d_L0_, sizeof(uint8_t) * cost_volume_size); + cudaMalloc((void **)&d_L1_, sizeof(uint8_t) * cost_volume_size); + cudaMalloc((void **)&d_L2_, sizeof(uint8_t) * cost_volume_size); + cudaMalloc((void **)&d_L3_, sizeof(uint8_t) * cost_volume_size); + cudaMalloc((void **)&d_L4_, sizeof(uint8_t) * cost_volume_size); + cudaMalloc((void **)&d_L5_, sizeof(uint8_t) * cost_volume_size); + cudaMalloc((void **)&d_L6_, sizeof(uint8_t) * cost_volume_size); + cudaMalloc((void **)&d_L7_, sizeof(uint8_t) * cost_volume_size); + + cudaMalloc((void **)&d_s_, sizeof(uint16_t) * cost_volume_size); + + cudaMalloc((void **)&d_disparity_, sizeof(uint8_t) * total_pixel); + cudaMalloc((void **)&d_disparity_filtered_uchar_, + sizeof(uint8_t) * total_pixel); + cudaMalloc((void **)&d_disparity_right_, sizeof(uint8_t) * total_pixel); + cudaMalloc((void **)&d_disparity_right_filtered_uchar_, + sizeof(uint8_t) * total_pixel); + + memory_allocated_ = true; +} + +void SgmGpu::freeMemory() { + if (!memory_allocated_) return; + + cudaFree(d_im0_); + cudaFree(d_im1_); + cudaFree(d_transform0_); + cudaFree(d_transform1_); + cudaFree(d_L0_); + cudaFree(d_L1_); + cudaFree(d_L2_); + cudaFree(d_L3_); + cudaFree(d_L4_); + cudaFree(d_L5_); + cudaFree(d_L6_); + cudaFree(d_L7_); + cudaFree(d_disparity_); + cudaFree(d_disparity_filtered_uchar_); + cudaFree(d_disparity_right_); + cudaFree(d_disparity_right_filtered_uchar_); + cudaFree(d_cost_); + cudaFree(d_s_); + + memory_allocated_ = false; +} + +bool SgmGpu::computeDisparity(const cv::Mat &left_image, + const cv::Mat &right_image, + cv::Mat &disparity_out) { + // Convert images to grayscale + cv::Mat left_mono8, right_mono8; + if (left_image.channels() > 1) { + cv::cvtColor(left_image, left_mono8, CV_RGB2GRAY); + } + + if (right_image.channels() > 1) { + cv::cvtColor(right_image, right_mono8, CV_RGB2GRAY); + } + + // Resize images to their width and height divisible by 4 for limit of CUDA + // code + resizeToDivisibleBy4(left_mono8, right_mono8); + + // Reallocate memory if needed + bool size_changed = (cols_ != left_mono8.cols || rows_ != left_mono8.rows); + if (!memory_allocated_ || size_changed) + allocateMemory(left_mono8.cols, left_mono8.rows); + + // Copy image to GPU device + size_t mono8_image_size = left_mono8.total() * sizeof(uint8_t); + cudaMemcpyAsync(d_im0_, left_mono8.ptr(), mono8_image_size, + cudaMemcpyHostToDevice, stream1_); + cudaMemcpyAsync(d_im1_, right_mono8.ptr(), mono8_image_size, + cudaMemcpyHostToDevice, stream1_); + + BLOCK_SIZE_.x = 32; + BLOCK_SIZE_.y = 32; + + grid_size_.x = (cols_ + BLOCK_SIZE_.x - 1) / BLOCK_SIZE_.x; + grid_size_.y = (rows_ + BLOCK_SIZE_.y - 1) / BLOCK_SIZE_.y; + + CenterSymmetricCensusKernelSM2<<>>( + d_im0_, d_im1_, d_transform0_, d_transform1_, rows_, cols_); + + cudaStreamSynchronize(stream1_); + HammingDistanceCostKernel<<>>( + d_transform0_, d_transform1_, d_cost_, rows_, cols_); + + const int PIXELS_PER_BLOCK = COSTAGG_BLOCKSIZE / WARP_SIZE; + const int PIXELS_PER_BLOCK_HORIZ = COSTAGG_BLOCKSIZE_HORIZ / WARP_SIZE; + + // Cost Aggregation + CostAggregationKernelLeftToRight<<<(rows_ + PIXELS_PER_BLOCK_HORIZ - 1) / + PIXELS_PER_BLOCK_HORIZ, + COSTAGG_BLOCKSIZE_HORIZ, 0, stream2_>>>( + d_cost_, d_L0_, d_s_, p1_, p2_, rows_, cols_, d_transform0_, + d_transform1_, d_disparity_, d_L0_, d_L1_, d_L2_, d_L3_, d_L4_, d_L5_, + d_L6_); + CostAggregationKernelRightToLeft<<<(rows_ + PIXELS_PER_BLOCK_HORIZ - 1) / + PIXELS_PER_BLOCK_HORIZ, + COSTAGG_BLOCKSIZE_HORIZ, 0, stream3_>>>( + d_cost_, d_L1_, d_s_, p1_, p2_, rows_, cols_, d_transform0_, + d_transform1_, d_disparity_, d_L0_, d_L1_, d_L2_, d_L3_, d_L4_, d_L5_, + d_L6_); + CostAggregationKernelUpToDown<<<(cols_ + PIXELS_PER_BLOCK - 1) / + PIXELS_PER_BLOCK, + COSTAGG_BLOCKSIZE, 0, stream1_>>>( + d_cost_, d_L2_, d_s_, p1_, p2_, rows_, cols_, d_transform0_, + d_transform1_, d_disparity_, d_L0_, d_L1_, d_L2_, d_L3_, d_L4_, d_L5_, + d_L6_); + CostAggregationKernelDownToUp<<<(cols_ + PIXELS_PER_BLOCK - 1) / + PIXELS_PER_BLOCK, + COSTAGG_BLOCKSIZE, 0, stream1_>>>( + d_cost_, d_L3_, d_s_, p1_, p2_, rows_, cols_, d_transform0_, + d_transform1_, d_disparity_, d_L0_, d_L1_, d_L2_, d_L3_, d_L4_, d_L5_, + d_L6_); + CostAggregationKernelDiagonalDownUpLeftRight<<< + (cols_ + PIXELS_PER_BLOCK - 1) / PIXELS_PER_BLOCK, COSTAGG_BLOCKSIZE, 0, + stream1_>>>(d_cost_, d_L4_, d_s_, p1_, p2_, rows_, cols_, d_transform0_, + d_transform1_, d_disparity_, d_L0_, d_L1_, d_L2_, d_L3_, + d_L4_, d_L5_, d_L6_); + CostAggregationKernelDiagonalUpDownLeftRight<<< + (cols_ + PIXELS_PER_BLOCK - 1) / PIXELS_PER_BLOCK, COSTAGG_BLOCKSIZE, 0, + stream1_>>>(d_cost_, d_L5_, d_s_, p1_, p2_, rows_, cols_, d_transform0_, + d_transform1_, d_disparity_, d_L0_, d_L1_, d_L2_, d_L3_, + d_L4_, d_L5_, d_L6_); + CostAggregationKernelDiagonalDownUpRightLeft<<< + (cols_ + PIXELS_PER_BLOCK - 1) / PIXELS_PER_BLOCK, COSTAGG_BLOCKSIZE, 0, + stream1_>>>(d_cost_, d_L6_, d_s_, p1_, p2_, rows_, cols_, d_transform0_, + d_transform1_, d_disparity_, d_L0_, d_L1_, d_L2_, d_L3_, + d_L4_, d_L5_, d_L6_); + CostAggregationKernelDiagonalUpDownRightLeft<<< + (cols_ + PIXELS_PER_BLOCK - 1) / PIXELS_PER_BLOCK, COSTAGG_BLOCKSIZE, 0, + stream1_>>>(d_cost_, d_L7_, d_s_, p1_, p2_, rows_, cols_, d_transform0_, + d_transform1_, d_disparity_, d_L0_, d_L1_, d_L2_, d_L3_, + d_L4_, d_L5_, d_L6_); + + int total_pixel = rows_ * cols_; + MedianFilter3x3<<<(total_pixel + MAX_DISPARITY - 1) / MAX_DISPARITY, + MAX_DISPARITY, 0, stream1_>>>( + d_disparity_, d_disparity_filtered_uchar_, rows_, cols_); + + if (check_consistency_) { + ChooseRightDisparity<<>>( + d_disparity_right_, d_s_, rows_, cols_); + MedianFilter3x3<<<(total_pixel + MAX_DISPARITY - 1) / MAX_DISPARITY, + MAX_DISPARITY, 0, stream1_>>>( + d_disparity_right_, d_disparity_right_filtered_uchar_, rows_, cols_); + + LeftRightConsistencyCheck<<>>( + d_disparity_filtered_uchar_, d_disparity_right_filtered_uchar_, rows_, + cols_); + } + cudaError_t err = cudaGetLastError(); + if (err != cudaSuccess) { + printf("libsgm_gpu ERROR: %s %d\n", cudaGetErrorString(err), err); + return false; + } + + cudaDeviceSynchronize(); + cv::Mat disparity(rows_, cols_, CV_8UC1); + cudaMemcpy(disparity.data, d_disparity_filtered_uchar_, + sizeof(uint8_t) * total_pixel, cudaMemcpyDeviceToHost); + + // Restore image size if resized to be divisible by 4 + if (cols_ != left_image.cols || rows_ != left_image.rows) { + cv::Size input_size(left_image.cols, left_image.rows); + cv::resize(disparity, disparity, input_size, 0, 0, cv::INTER_AREA); + } + + disparity_out = disparity; + // convertToMsg(disparity, left_camera_info, right_camera_info, + // disparity_msg); + + return true; +} + +void SgmGpu::resizeToDivisibleBy4(cv::Mat &left_image, cv::Mat &right_image) { + bool need_resize = false; + cv::Size original_size, resized_size; + + original_size = cv::Size(left_image.cols, left_image.rows); + resized_size = original_size; + if (original_size.width % 4 != 0) { + need_resize = true; + resized_size.width = (original_size.width / 4 + 1) * 4; + } + if (original_size.height % 4 != 0) { + need_resize = true; + resized_size.height = (original_size.height / 4 + 1) * 4; + } + + if (need_resize) { + cv::resize(left_image, left_image, resized_size, 0, 0, cv::INTER_LINEAR); + cv::resize(right_image, right_image, resized_size, 0, 0, cv::INTER_LINEAR); + } +} + + +} // namespace sgm_gpu diff --git a/flightlib/src/wrapper/pybind_wrapper.cpp b/flightlib/src/wrapper/pybind_wrapper.cpp new file mode 100644 index 0000000..b8f3d47 --- /dev/null +++ b/flightlib/src/wrapper/pybind_wrapper.cpp @@ -0,0 +1,49 @@ + +// pybind11 +#include +#include +#include +// flightlib +#include "flightlib/envs/env_base.hpp" +#include "flightlib/envs/quadrotor_env.hpp" +#include "flightlib/envs/vec_env.hpp" + +namespace py = pybind11; +using namespace flightlib; + +// vec_env -> quadrotor_env +PYBIND11_MODULE(flightgym, m) { + py::class_>(m, "QuadrotorEnv_v1") + .def(py::init<>()) + .def(py::init()) + .def(py::init()) + // unity + .def("close", &VecEnv::close) + .def("connectUnity", &VecEnv::connectUnity) + .def("disconnectUnity", &VecEnv::disconnectUnity) + .def("render", &VecEnv::render) + .def("spawnTrees", &VecEnv::spawnTrees) + .def("savePointcloud", &VecEnv::savePointcloud) + .def("spawnTreesAndSavePointcloud", &VecEnv::spawnTreesAndSavePointcloud) + // set + .def("step", &VecEnv::step) + .def("reset", &VecEnv::reset) + .def("setState", &VecEnv::setState) + .def("setGoal", &VecEnv::setGoal) + .def("setSeed", &VecEnv::setSeed) + .def("setMapID", &VecEnv::setMapID) + // get + .def("getNumOfEnvs", &VecEnv::getNumOfEnvs) + .def("getWorldBox", &VecEnv::getWorldBox) + .def("getObsDim", &VecEnv::getObsDim) + .def("getActDim", &VecEnv::getActDim) + .def("getRewDim", &VecEnv::getRewDim) + .def("getRGBImage", &VecEnv::getRGBImage) + .def("getStereoImage", &VecEnv::getStereoImage) + .def("getDepthImage", &VecEnv::getDepthImage) + .def("getImgHeight", &VecEnv::getImgHeight) + .def("getImgWidth", &VecEnv::getImgWidth) + .def("getRewardNames", &VecEnv::getRewardNames) + .def("getCostAndGradient", &VecEnv::getCostAndGradient) + .def("__repr__", [](const VecEnv& a) { return "Flightmare Environment"; }); +} \ No newline at end of file diff --git a/flightlib/third_party/arc_utilities/.gitignore b/flightlib/third_party/arc_utilities/.gitignore new file mode 100644 index 0000000..6c07053 --- /dev/null +++ b/flightlib/third_party/arc_utilities/.gitignore @@ -0,0 +1,9 @@ +# editor temporary files +*.swp +*~ + +# Vim Ctags file +tags + +# Compiled python files +*.pyc diff --git a/flightlib/third_party/arc_utilities/CMakeLists.txt b/flightlib/third_party/arc_utilities/CMakeLists.txt new file mode 100644 index 0000000..375c850 --- /dev/null +++ b/flightlib/third_party/arc_utilities/CMakeLists.txt @@ -0,0 +1,143 @@ +cmake_minimum_required(VERSION 2.8.3) +project(arc_utilities) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs sensor_msgs geometry_msgs) +find_package(cmake_modules REQUIRED) +find_package(Eigen3 REQUIRED) +set(Eigen3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) + +## System dependencies are found with CMake's conventions +find_package(Boost REQUIRED COMPONENTS filesystem) + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/groovy/api/catkin/html/user_guide/setup_dot_py.html +catkin_python_setup() + +####################################### +## Declare ROS messages and services ## +####################################### + +## Generate messages in the 'msg' folder +# add_message_files(DIRECTORY msg FILES ) + +## Generate services in the 'srv' folder +# add_service_files(DIRECTORY srv FILES ) + +## Generate added messages and services with any dependencies listed here +# generate_messages(DEPENDENCIES geometry_msgs std_msgs) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package(INCLUDE_DIRS include LIBRARIES ${PROJECT_NAME} CATKIN_DEPENDS roscpp rospy std_msgs sensor_msgs geometry_msgs DEPENDS Eigen3) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories(include SYSTEM ${catkin_INCLUDE_DIRS} ${Eigen3_INCLUDE_DIRS}) + +set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS} -O3 -Wall -Wextra -Wconversion -Werror") + +# Utility library +add_library(${PROJECT_NAME} + include/${PROJECT_NAME}/log.hpp + include/${PROJECT_NAME}/maybe.hpp + include/${PROJECT_NAME}/ros_helpers.hpp + include/${PROJECT_NAME}/abb_irb1600_145_fk_fast.hpp + include/${PROJECT_NAME}/iiwa_7_fk_fast.hpp + include/${PROJECT_NAME}/iiwa_14_fk_fast.hpp + include/${PROJECT_NAME}/arc_exceptions.hpp + include/${PROJECT_NAME}/arc_helpers.hpp + include/${PROJECT_NAME}/pretty_print.hpp + include/${PROJECT_NAME}/zlib_helpers.hpp + include/${PROJECT_NAME}/base64_helpers.hpp + include/${PROJECT_NAME}/voxel_grid.hpp + include/${PROJECT_NAME}/dynamic_spatial_hashed_voxel_grid.hpp + include/${PROJECT_NAME}/aligned_eigen_types.hpp + include/${PROJECT_NAME}/eigen_helpers.hpp + include/${PROJECT_NAME}/eigen_helpers_conversions.hpp + include/${PROJECT_NAME}/simple_rrt_planner.hpp + include/${PROJECT_NAME}/simple_astar_planner.hpp + include/${PROJECT_NAME}/simple_prm_planner.hpp + include/${PROJECT_NAME}/simple_kmeans_clustering.hpp + include/${PROJECT_NAME}/simple_hierarchical_clustering.hpp + include/${PROJECT_NAME}/simple_hausdorff_distance.hpp + include/${PROJECT_NAME}/simple_dtw.hpp + include/${PROJECT_NAME}/timing.hpp + include/${PROJECT_NAME}/dijkstras.hpp + include/${PROJECT_NAME}/shortcut_smoothing.hpp + include/${PROJECT_NAME}/first_order_deformation.h + include/${PROJECT_NAME}/get_neighbours.hpp + include/${PROJECT_NAME}/serialization.hpp + include/${PROJECT_NAME}/serialization_eigen.hpp + include/${PROJECT_NAME}/serialization_ros.hpp + include/${PROJECT_NAME}/filesystem.hpp + src/${PROJECT_NAME}/zlib_helpers.cpp + src/${PROJECT_NAME}/base64_helpers.cpp + src/timing.cpp + src/${PROJECT_NAME}/first_order_deformation.cpp) +add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) # ${PROJECT_NAME}_gencpp) +target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} z) + +# Simple test node for simple_hierarchical_clustering +add_executable(test_hierarchical_clustering src/test_hierarchical_clustering.cpp) +add_dependencies(test_hierarchical_clustering ${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) # ${PROJECT_NAME}_gencpp) +target_link_libraries(test_hierarchical_clustering ${PROJECT_NAME} ${catkin_LIBRARIES}) + +# Simple test node for utility functions +add_executable(test_arc_utilities src/test_arc_utilities.cpp) +add_dependencies(test_arc_utilities ${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) # ${PROJECT_NAME}_gencpp) +target_link_libraries(test_arc_utilities ${PROJECT_NAME} ${catkin_LIBRARIES}) + +# # Simple test node for Eigen3 math +# add_executable(test_eigen_math src/test_eigen_math.cpp) +# add_dependencies(test_eigen_math ${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) # ${PROJECT_NAME}_gencpp) +# target_link_libraries(test_eigen_math ${PROJECT_NAME} ${catkin_LIBRARIES}) + +# # Simple test node for averaging math +# add_executable(test_averaging src/test_averaging.cpp) +# add_dependencies(test_averaging ${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) # ${PROJECT_NAME}_gencpp) +# target_link_libraries(test_averaging ${PROJECT_NAME} ${catkin_LIBRARIES}) + +# # Simple test node for Dijkstras +# add_executable(test_dijkstras src/test_dijkstras.cpp) +# add_dependencies(test_dijkstras ${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) # ${PROJECT_NAME}_gencpp) +# target_link_libraries(test_dijkstras ${PROJECT_NAME} ${catkin_LIBRARIES}) + +# # Simple test node for shortcut smoothing +# add_executable(test_shortcut_smoothing src/test_shortcut_smoothing.cpp) +# add_dependencies(test_shortcut_smoothing ${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) # ${PROJECT_NAME}_gencpp) +# target_link_libraries(test_shortcut_smoothing ${PROJECT_NAME} ${catkin_LIBRARIES}) + +# # Simple test node for DistanceToLine function +# add_executable(test_closest_point src/test_closest_point.cpp) +# add_dependencies(test_closest_point ${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) # ${PROJECT_NAME}_gencpp) +# target_link_libraries(test_closest_point ${PROJECT_NAME} ${catkin_LIBRARIES}) + +############# +## Install ## +############# + +## Mark library for installation +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) +## Mark cpp header files for installation +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + PATTERN ".svn" EXCLUDE +) diff --git a/flightlib/third_party/arc_utilities/LICENSE b/flightlib/third_party/arc_utilities/LICENSE new file mode 100644 index 0000000..ea25031 --- /dev/null +++ b/flightlib/third_party/arc_utilities/LICENSE @@ -0,0 +1,24 @@ +Copyright (c) 2015, Autonomous Robotic Collaboration Laboratory +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +* Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + diff --git a/flightlib/third_party/arc_utilities/README.md b/flightlib/third_party/arc_utilities/README.md new file mode 100644 index 0000000..88e83ca --- /dev/null +++ b/flightlib/third_party/arc_utilities/README.md @@ -0,0 +1,2 @@ +# arc_utilities +C++ and Python utilities used in lab projects diff --git a/flightlib/third_party/arc_utilities/__init__.py b/flightlib/third_party/arc_utilities/__init__.py new file mode 100644 index 0000000..23c5a5f --- /dev/null +++ b/flightlib/third_party/arc_utilities/__init__.py @@ -0,0 +1 @@ +__author__ = 'calderpg' diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/abb_irb1600_145_fk_fast.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/abb_irb1600_145_fk_fast.hpp new file mode 100644 index 0000000..a6d95dd --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/abb_irb1600_145_fk_fast.hpp @@ -0,0 +1,168 @@ +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef ABB_IRB1600_145_FK_FAST_HPP +#define ABB_IRB1600_145_FK_FAST_HPP + +namespace ABB_IRB1600_145_FK_FAST +{ + const size_t ABB_IRB1600_145_NUM_ACTIVE_JOINTS = 6; + const size_t ABB_IRB1600_145_NUM_LINKS = 8; + + const std::string ABB_IRB1600_145_ACTIVE_JOINT_1_NAME = "joint_1"; + const std::string ABB_IRB1600_145_ACTIVE_JOINT_2_NAME = "joint_2"; + const std::string ABB_IRB1600_145_ACTIVE_JOINT_3_NAME = "joint_3"; + const std::string ABB_IRB1600_145_ACTIVE_JOINT_4_NAME = "joint_4"; + const std::string ABB_IRB1600_145_ACTIVE_JOINT_5_NAME = "joint_5"; + const std::string ABB_IRB1600_145_ACTIVE_JOINT_6_NAME = "joint_6"; + + const std::string ABB_IRB1600_145_LINK_1_NAME = "link_0"; + const std::string ABB_IRB1600_145_LINK_2_NAME = "link_1"; + const std::string ABB_IRB1600_145_LINK_3_NAME = "link_2"; + const std::string ABB_IRB1600_145_LINK_4_NAME = "link_3"; + const std::string ABB_IRB1600_145_LINK_5_NAME = "link_4"; + const std::string ABB_IRB1600_145_LINK_6_NAME = "link_5"; + const std::string ABB_IRB1600_145_LINK_7_NAME = "link_6"; + const std::string ABB_IRB1600_145_LINK_8_NAME = "link_7"; + + typedef std::vector> VectorIsometry3d; + + inline Eigen::Isometry3d Get_base_joint1_LinkJointTransform(const double joint_val) + { + Eigen::Translation3d pre_joint_translation(0.0, 0.0, 0.1245); + Eigen::Quaterniond pre_joint_rotation(1.0, 0.0, 0.0, 0.0); + Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitZ())); + Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline Eigen::Isometry3d Get_link_1_joint_2_LinkJointTransform(const double joint_val) + { + Eigen::Translation3d pre_joint_translation(0.15, -0.1395, 0.362); + Eigen::Quaterniond pre_joint_rotation(1.0, 0.0, 0.0, 0.0); + Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitY())); + Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline Eigen::Isometry3d Get_link_2_joint_3_LinkJointTransform(const double joint_val) + { + Eigen::Translation3d pre_joint_translation(0.0, 0.028, 0.7); + Eigen::Quaterniond pre_joint_rotation(1.0, 0.0, 0.0, 0.0); + Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitY())); + Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline Eigen::Isometry3d Get_link_3_joint_4_LinkJointTransform(const double joint_val) + { + Eigen::Translation3d pre_joint_translation(0.314, 0.107, 0.0); + Eigen::Quaterniond pre_joint_rotation(1.0, 0.0, 0.0, 0.0); + Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitX())); + Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline Eigen::Isometry3d Get_link_4_joint_5_LinkJointTransform(const double joint_val) + { + Eigen::Translation3d pre_joint_translation(0.286, 0.0, 0.0); + Eigen::Quaterniond pre_joint_rotation(1.0, 0.0, 0.0, 0.0); + Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitY())); + Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline Eigen::Isometry3d Get_link_5_joint_6_LinkJointTransform(const double joint_val) + { + Eigen::Translation3d pre_joint_translation(0.0, 0.0, 0.0); + Eigen::Quaterniond pre_joint_rotation(1.0, 0.0, 0.0, 0.0); + Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitX())); + Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline Eigen::Isometry3d Get_Fixed_link_6_joint_tool_LinkJointTransform(void) + { + Eigen::Translation3d pre_joint_translation(0.065, 0.0, 0.0); + Eigen::Quaterniond pre_joint_rotation(0.7071067811865476, 0.0, 0.7071067811865476, 0.0); + Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + return pre_joint_transform; + } + + inline VectorIsometry3d GetLinkTransforms(const std::vector& configuration, const Eigen::Isometry3d& base_transform=Eigen::Isometry3d::Identity()) + { + assert(configuration.size() == ABB_IRB1600_145_NUM_ACTIVE_JOINTS); + VectorIsometry3d link_transforms(ABB_IRB1600_145_NUM_LINKS); + link_transforms[0] = base_transform; + link_transforms[1] = link_transforms[0] * Get_base_joint1_LinkJointTransform(configuration[0]); + link_transforms[2] = link_transforms[1] * Get_link_1_joint_2_LinkJointTransform(configuration[1]); + link_transforms[3] = link_transforms[2] * Get_link_2_joint_3_LinkJointTransform(configuration[2]); + link_transforms[4] = link_transforms[3] * Get_link_3_joint_4_LinkJointTransform(configuration[3]); + link_transforms[5] = link_transforms[4] * Get_link_4_joint_5_LinkJointTransform(configuration[4]); + link_transforms[6] = link_transforms[5] * Get_link_5_joint_6_LinkJointTransform(configuration[5]); + link_transforms[7] = link_transforms[6] * Get_Fixed_link_6_joint_tool_LinkJointTransform(); + return link_transforms; + } + + inline VectorIsometry3d GetLinkTransforms(std::map configuration, const Eigen::Isometry3d& base_transform=Eigen::Isometry3d::Identity()) + { + std::vector configuration_vector(ABB_IRB1600_145_NUM_ACTIVE_JOINTS); + configuration_vector[0] = configuration[ABB_IRB1600_145_ACTIVE_JOINT_1_NAME]; + configuration_vector[1] = configuration[ABB_IRB1600_145_ACTIVE_JOINT_2_NAME]; + configuration_vector[2] = configuration[ABB_IRB1600_145_ACTIVE_JOINT_3_NAME]; + configuration_vector[3] = configuration[ABB_IRB1600_145_ACTIVE_JOINT_4_NAME]; + configuration_vector[4] = configuration[ABB_IRB1600_145_ACTIVE_JOINT_5_NAME]; + configuration_vector[5] = configuration[ABB_IRB1600_145_ACTIVE_JOINT_6_NAME]; + return GetLinkTransforms(configuration_vector, base_transform); + } + + inline EigenHelpers::MapStringIsometry3d GetLinkTransformsMap(const std::vector& configuration, const Eigen::Isometry3d& base_transform=Eigen::Isometry3d::Identity()) + { + const EigenHelpers::VectorIsometry3d link_transforms = GetLinkTransforms(configuration, base_transform); + EigenHelpers::MapStringIsometry3d link_transforms_map; + link_transforms_map[ABB_IRB1600_145_LINK_1_NAME] = link_transforms[0]; + link_transforms_map[ABB_IRB1600_145_LINK_2_NAME] = link_transforms[1]; + link_transforms_map[ABB_IRB1600_145_LINK_3_NAME] = link_transforms[2]; + link_transforms_map[ABB_IRB1600_145_LINK_4_NAME] = link_transforms[3]; + link_transforms_map[ABB_IRB1600_145_LINK_5_NAME] = link_transforms[4]; + link_transforms_map[ABB_IRB1600_145_LINK_6_NAME] = link_transforms[5]; + link_transforms_map[ABB_IRB1600_145_LINK_7_NAME] = link_transforms[6]; + link_transforms_map[ABB_IRB1600_145_LINK_8_NAME] = link_transforms[7]; + return link_transforms_map; + } + + inline EigenHelpers::MapStringIsometry3d GetLinkTransformsMap(const std::map& configuration, const Eigen::Isometry3d& base_transform=Eigen::Isometry3d::Identity()) + { + const EigenHelpers::VectorIsometry3d link_transforms = GetLinkTransforms(configuration, base_transform); + EigenHelpers::MapStringIsometry3d link_transforms_map; + link_transforms_map[ABB_IRB1600_145_LINK_1_NAME] = link_transforms[0]; + link_transforms_map[ABB_IRB1600_145_LINK_2_NAME] = link_transforms[1]; + link_transforms_map[ABB_IRB1600_145_LINK_3_NAME] = link_transforms[2]; + link_transforms_map[ABB_IRB1600_145_LINK_4_NAME] = link_transforms[3]; + link_transforms_map[ABB_IRB1600_145_LINK_5_NAME] = link_transforms[4]; + link_transforms_map[ABB_IRB1600_145_LINK_6_NAME] = link_transforms[5]; + link_transforms_map[ABB_IRB1600_145_LINK_7_NAME] = link_transforms[6]; + link_transforms_map[ABB_IRB1600_145_LINK_8_NAME] = link_transforms[7]; + return link_transforms_map; + } +} + +#endif // ABB_IRB1600_145_FK_FAST_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/aligned_eigen_types.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/aligned_eigen_types.hpp new file mode 100644 index 0000000..e6ae4e5 --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/aligned_eigen_types.hpp @@ -0,0 +1,229 @@ +// This file is part of Eigen, a lightweight C++ template library +// for linear algebra. +// +// Copyright (C) 2009 Gael Guennebaud +// +// This Source Code Form is subject to the terms of the Mozilla +// Public License v. 2.0. If a copy of the MPL was not distributed +// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. + +#ifndef ALIGNED_EIGEN_TYPES_HPP +#define ALIGNED_EIGEN_TYPES_HPP + +#include + +namespace Eigen { + +/** + * \defgroup Aligned4Vector3_Module Aligned vector3 module + * + * \code + * #include + * \endcode + */ + //@{ + + +/** \class Aligned4Vector3 + * + * \brief A vectorization friendly 3D vector + * + * This class represents a 3D vector internally using a 4D vector + * such that vectorization can be seamlessly enabled. Of course, + * the same result can be achieved by directly using a 4D vector. + * This class makes this process simpler. + * + */ +// TODO specialize Cwise +template class Aligned4Vector3; + +namespace internal { +template struct traits > + : traits > +{ +}; +} + +template class Aligned4Vector3 + : public MatrixBase > +{ + typedef Matrix<_Scalar,4,1> CoeffType; + CoeffType m_coeffs; + public: + + typedef MatrixBase > Base; + EIGEN_DENSE_PUBLIC_INTERFACE(Aligned4Vector3) + using Base::operator*; + + inline Index rows() const { return 3; } + inline Index cols() const { return 1; } + + Scalar* data() { return m_coeffs.data(); } + const Scalar* data() const { return m_coeffs.data(); } + Index innerStride() const { return 1; } + Index outerStride() const { return m_coeffs.outerStride(); } + + inline const Scalar& coeff(Index row, Index col) const + { return m_coeffs.coeff(row, col); } + + inline Scalar& coeffRef(Index row, Index col) + { return m_coeffs.coeffRef(row, col); } + + inline const Scalar& coeff(Index index) const + { return m_coeffs.coeff(index); } + + inline Scalar& coeffRef(Index index) + { return m_coeffs.coeffRef(index);} + + + inline Aligned4Vector3(const Scalar& x, const Scalar& y, const Scalar& z) + : m_coeffs(x, y, z, Scalar(1)) + {} + + inline Aligned4Vector3() + : m_coeffs(Scalar(0), Scalar(0), Scalar(0), Scalar(1)) + {} + + inline Aligned4Vector3(const Aligned4Vector3& other) + : Base(), m_coeffs(other.m_coeffs) + {} + + template + struct generic_assign_selector {}; + + template struct generic_assign_selector + { + inline static void run(Aligned4Vector3& dest, const XprType& src) + { + dest.m_coeffs = src; + dest.m_coeffs.w() = Scalar(1); + } + }; + + template struct generic_assign_selector + { + inline static void run(Aligned4Vector3& dest, const XprType& src) + { + dest.m_coeffs.template head<3>() = src; + dest.m_coeffs.w() = Scalar(1); + } + }; + + template + inline Aligned4Vector3(const MatrixBase& other) + { + generic_assign_selector::run(*this,other.derived()); + } + + inline Aligned4Vector3& operator=(const Aligned4Vector3& other) + { m_coeffs = other.m_coeffs; return *this; } + + template + inline Aligned4Vector3& operator=(const MatrixBase& other) + { + generic_assign_selector::run(*this,other.derived()); + return *this; + } + + inline Aligned4Vector3 operator+(const Aligned4Vector3& other) const + {return Aligned4Vector3(m_coeffs + other.m_coeffs); } + + inline Aligned4Vector3& operator+=(const Aligned4Vector3& other) + { m_coeffs += other.m_coeffs; return *this; } + + inline Aligned4Vector3 operator-(const Aligned4Vector3& other) const + { return Aligned4Vector3(m_coeffs - other.m_coeffs); } + + inline Aligned4Vector3 operator-=(const Aligned4Vector3& other) + { m_coeffs -= other.m_coeffs; return *this; } + + inline Aligned4Vector3 operator*(const Scalar& s) const + { return Aligned4Vector3(m_coeffs * s); } + + inline friend Aligned4Vector3 operator*(const Scalar& s,const Aligned4Vector3& vec) + { return Aligned4Vector3(s * vec.m_coeffs); } + + inline Aligned4Vector3& operator*=(const Scalar& s) + { m_coeffs *= s; return *this; } + + inline Aligned4Vector3 operator/(const Scalar& s) const + { return Aligned4Vector3(m_coeffs / s); } + + inline Aligned4Vector3& operator/=(const Scalar& s) + { m_coeffs /= s; return *this; } + + inline Scalar dot(const Aligned4Vector3& other) const + { + eigen_assert(m_coeffs.w()==Scalar(1)); + eigen_assert(other.m_coeffs.w()==Scalar(1)); + return m_coeffs.dot(other.m_coeffs) - Scalar(1); + } + + inline void normalize() + { + m_coeffs /= norm(); + } + + inline Aligned4Vector3 normalized() const + { + return Aligned4Vector3(m_coeffs / norm()); + } + + inline Scalar sum() const + { + eigen_assert(m_coeffs.w()==Scalar(1)); + return m_coeffs.sum() - Scalar(1); + } + + inline Scalar squaredNorm() const + { + eigen_assert(m_coeffs.w()==Scalar(1)); + return m_coeffs.squaredNorm() - Scalar(1); + } + + inline Scalar norm() const + { + using std::sqrt; + return sqrt(squaredNorm()); + } + + inline Aligned4Vector3 cross(const Aligned4Vector3& other) const + { + return Aligned4Vector3(m_coeffs.cross3(other.m_coeffs)); + } + + template + inline bool isApprox(const MatrixBase& other, RealScalar eps=NumTraits::dummy_precision()) const + { + return m_coeffs.template head<3>().isApprox(other,eps); + } + + CoeffType& coeffs() { return m_coeffs; } + const CoeffType& coeffs() const { return m_coeffs; } +}; + +namespace internal { + +template +struct eval, Dense> +{ + typedef const Aligned4Vector3<_Scalar>& type; +}; + +template +struct evaluator > + : evaluator > +{ + typedef Aligned4Vector3 XprType; + typedef evaluator > Base; + + evaluator(const XprType &m) : Base(m.coeffs()) {} +}; + +} + +//@} + +} + +#endif // ALIGNED_EIGEN_TYPES diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/arc_exceptions.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/arc_exceptions.hpp new file mode 100644 index 0000000..c1fa9f5 --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/arc_exceptions.hpp @@ -0,0 +1,21 @@ +#include +#include +#include + +#ifndef ARC_EXCEPTIONS_HPP +#define ARC_EXCEPTIONS_HPP + +#define throw_arc_exception(type, ...) arc_exceptions::ArcException(__FILE__, __LINE__, __VA_ARGS__) + +namespace arc_exceptions +{ + template + inline void ArcException(const char* file, const std::size_t line, const std::string& message) + { + std::ostringstream stream; + stream << message << ": " << file << ": " << line; + throw ExceptionType(stream.str()); + } +} + +#endif // ARC_EXCEPTIONS_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/arc_helpers.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/arc_helpers.hpp new file mode 100644 index 0000000..a8a56df --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/arc_helpers.hpp @@ -0,0 +1,1464 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef ARC_HELPERS_HPP +#define ARC_HELPERS_HPP + +// Branch prediction hints +// Figure out which compiler we have +#if defined(__clang__) + /* Clang/LLVM */ + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#elif defined(__ICC) || defined(__INTEL_COMPILER) + /* Intel ICC/ICPC */ + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#elif defined(__GNUC__) || defined(__GNUG__) + /* GNU GCC/G++ */ + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#elif defined(_MSC_VER) + /* Microsoft Visual Studio */ + /* MSVC doesn't support branch prediction hints. Use PGO instead. */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif + +// Macro to disable unused parameter compiler warnings +#define UNUSED(x) (void)(x) + +namespace arc_helpers +{ + // Used to force a particular code execution order, even with aggressive optimization + // https://stackoverflow.com/questions/37786547/enforcing-statement-order-in-c + template + __attribute__((always_inline)) inline void DoNotOptimize(const T& value) + { + asm volatile("" : "+m"(const_cast(value))); + } + + template + inline bool CheckAlignment(const T& item, const uint64_t desired_alignment) + { + const T* item_ptr = &item; + const uintptr_t item_ptr_val = (uintptr_t)item_ptr; + if ((item_ptr_val % desired_alignment) == 0) + { + //std::cout << "Item @ " << item_ptr_val << " aligned to " << desired_alignment << " bytes" << std::endl; + return true; + } + else + { + //std::cout << "Item @ " << item_ptr_val << " not aligned to " << desired_alignment << " bytes" << std::endl; + return false; + } + } + + template + inline void RequireAlignment(const T& item, const uint64_t desired_alignment) + { + if (CheckAlignment(item, desired_alignment) == false) + { + std::cout << "Item not aligned at desired alignment of " << desired_alignment << std::endl; + assert(false); + } + } + + template + inline T SetBit(const T current, const uint32_t bit_position, const bool bit_value) + { + // Safety check on the type we've been called with + static_assert((std::is_same::value + || std::is_same::value + || std::is_same::value + || std::is_same::value), + "Type must be a fixed-size unsigned integral type"); + // Do it + T update_mask = 1; + update_mask = update_mask << bit_position; + if (bit_value) + { + return (current | update_mask); + } + else + { + update_mask = (~update_mask); + return (current & update_mask); + } + } + + template + inline bool GetBit(const T current, const uint32_t bit_position) + { + // Type safety checks are performed in the SetBit() function + const uint32_t mask = arc_helpers::SetBit((T)0, bit_position, true); + if ((mask & current) > 0) + { + return true; + } + else + { + return false; + } + } + + template , typename Allocator = std::allocator>> + inline Value RetrieveOrDefault(const std::map& map, const Key& key, const Value& default_val) + { + const auto found_itr = map.find(key); + if (found_itr != map.end()) + { + return found_itr->second; + } + else + { + return default_val; + } + } + + template , typename Predicate = std::equal_to, typename Allocator = std::allocator>> + inline Value RetrieveOrDefault(const std::unordered_map& map, const Key& key, const Value& default_val) + { + const auto found_itr = map.find(key); + if (found_itr != map.end()) + { + return found_itr->second; + } + else + { + return default_val; + } + } + + template + inline T ClampValue(const T& val, const T& min, const T& max) + { + assert(min <= max); + return std::min(max, std::max(min, val)); + } + + template + inline T ClampValueAndWarn(const T& val, const T& min, const T& max) + { + assert(min <= max); + if (val < min) + { + const std::string msg = "Clamping " + std::to_string(val) + " to min " + std::to_string(min) + "\n"; + std::cerr << msg << std::flush; + return min; + } + else if (val > max) + { + const std::string msg = "Clamping " + std::to_string(val) + " to max " + std::to_string(max) + "\n"; + std::cerr << msg << std::flush; + return max; + } + return val; + } + + // Written to mimic parts of Matlab wthresh(val, 'h', thresh) behavior, spreading the value to the thresholds instead of setting them to zero + // https://www.mathworks.com/help/wavelet/ref/wthresh.html + template + inline T SpreadValue(const T& val, const T& low_threshold, const T& midpoint, const T& high_threshold) + { + assert(low_threshold <= midpoint); + assert(midpoint <= high_threshold); + if (val >= midpoint && val < high_threshold) + { + return high_threshold; + } + else if (val < midpoint && val > low_threshold) + { + return low_threshold; + } + return val; + } + + // Written to mimic parts of Matlab wthresh(val, 'h', thresh) behavior, spreading the value to the thresholds instead of setting them to zero + // https://www.mathworks.com/help/wavelet/ref/wthresh.html + template + inline T SpreadValueAndWarn(const T& val, const T& low_threshold, const T& midpoint, const T& high_threshold) + { + assert(low_threshold <= midpoint); + assert(midpoint <= high_threshold); + if (val >= midpoint && val < high_threshold) + { + const std::string msg = "Thresholding " + std::to_string(val) + " to high threshold " + std::to_string(high_threshold) + "\n"; + std::cerr << msg << std::flush; + return high_threshold; + } + else if (val < midpoint && val > low_threshold) + { + const std::string msg = "Thresholding " + std::to_string(val) + " to low threshold " + std::to_string(low_threshold) + "\n"; + std::cerr << msg << std::flush; + return low_threshold; + } + return val; + } + + inline constexpr float ColorChannelFromHex(uint8_t hexval) + { + return (float)hexval / 255.0f; + } + + inline float TrimColorValue(const float val) + { + return ClampValue(val, 0.0f, 1.0f); + } + + inline uint8_t ColorChannelToHex(float colorval) + { + return (uint8_t)round(TrimColorValue(colorval) * 255.0f); + } + + class RGBAColor + { + public: + + float r; + float g; + float b; + float a; + + RGBAColor(const float r, const float g, const float b, const float a) : r(TrimColorValue(r)), g(TrimColorValue(g)), b(TrimColorValue(b)), a(TrimColorValue(a)) {} + + RGBAColor(const float r, const float g, const float b) : r(TrimColorValue(r)), g(TrimColorValue(g)), b(TrimColorValue(b)), a(1.0f) {} + + RGBAColor(const uint8_t r, const uint8_t g, const uint8_t b, const uint8_t a) : r(ColorChannelFromHex(r)), g(ColorChannelFromHex(g)), b(ColorChannelFromHex(b)), a(ColorChannelFromHex(a)) {} + + RGBAColor(const uint8_t r, const uint8_t g, const uint8_t b, const float a) : r(ColorChannelFromHex(r)), g(ColorChannelFromHex(g)), b(ColorChannelFromHex(b)), a(TrimColorValue(a)) {} + + RGBAColor() : r(0.0f), g(0.0f), b(0.0f), a(0.0f) {} + + inline float GetR() const + { + return r; + } + + inline float GetG() const + { + return g; + } + + inline float GetB() const + { + return b; + } + + inline float GetA() const + { + return a; + } + + inline void SetR(const float new_r) + { + r = TrimColorValue(new_r); + } + + inline void SetG(const float new_g) + { + g = TrimColorValue(new_g); + } + + inline void SetB(const float new_b) + { + b = TrimColorValue(new_b); + } + + inline void SetA(const float new_a) + { + a = TrimColorValue(new_a); + } + + inline uint8_t GetRHex() const + { + return ColorChannelToHex(r); + } + + inline uint8_t GetGHex() const + { + return ColorChannelToHex(g); + } + + inline uint8_t GetBHex() const + { + return ColorChannelToHex(b); + } + + inline uint8_t GetAHex() const + { + return ColorChannelToHex(a); + } + + inline void SetRHex(const uint8_t hex_r) + { + r = ColorChannelFromHex(hex_r); + } + + inline void SetGHex(const uint8_t hex_g) + { + g = ColorChannelFromHex(hex_g); + } + + inline void SetBHex(const uint8_t hex_b) + { + b = ColorChannelFromHex(hex_b); + } + + inline void SetAHex(const uint8_t hex_a) + { + a = ColorChannelFromHex(hex_a); + } + }; + + template + class RGBAColorBuilder + { + private: + + RGBAColorBuilder() {} + + public: + + static inline ColorType MakeFromFloatColors(const float r, const float g, const float b, const float a=1.0f) + { + ColorType color; + color.r = TrimColorValue(r); + color.g = TrimColorValue(g); + color.b = TrimColorValue(b); + color.a = TrimColorValue(a); + return color; + } + + static inline ColorType MakeFromHexColors(const uint8_t r, const uint8_t g, const uint8_t b, const uint8_t a=0xff) + { + return MakeFromFloatColors(ColorChannelFromHex(r), ColorChannelFromHex(g), ColorChannelFromHex(b), ColorChannelFromHex(a)); + } + + static inline ColorType MakeFromMixedColors(const uint8_t r, const uint8_t g, const uint8_t b, const float a=1.0f) + { + return MakeFromFloatColors(ColorChannelFromHex(r), ColorChannelFromHex(g), ColorChannelFromHex(b), TrimColorValue(a)); + } + + static inline ColorType InterpolateHotToCold(const double value, const double min_value=0.0, const double max_value=1.0) + { + assert(min_value < max_value); + const double real_value = ClampValue(value, min_value, max_value); + const double range = max_value - min_value; + // Start with white + double r = 1.0; + double g = 1.0; + double b = 1.0; + // Interpolate + if (real_value < (min_value + (0.25 * range))) + { + r = 0.0; + g = 4.0 * (real_value - min_value) / range; + } + else if (real_value < (min_value + (0.5 * range))) + { + r = 0.0; + b = 1.0 + 4.0 * (min_value + 0.25 * range - real_value) / range; + } + else if (real_value < (min_value + (0.75 * range))) + { + r = 4.0 * (real_value - min_value - 0.5 * range) / range; + b = 0.0; + } + else + { + g = 1.0 + 4.0 * (min_value + 0.75 * range - real_value) / range; + b = 0.0; + } + return MakeFromFloatColors((float)r, (float)g, (float)b, 1.0f); + } + + }; + + template + inline ColorTypeB ConvertColor(const ColorTypeA& color) + { + ColorTypeB cvt_color; + cvt_color.r = TrimColorValue(color.r); + cvt_color.g = TrimColorValue(color.g); + cvt_color.b = TrimColorValue(color.b); + cvt_color.a = TrimColorValue(color.a); + return cvt_color; + } + + template + inline ColorType GenerateUniqueColor(const uint32_t color_code, const float alpha=1.0f) + { + // For color_code < 22, we pick from a table + if (color_code == 0) + { + return RGBAColorBuilder::MakeFromFloatColors(1.0f, 1.0f, 1.0f, 0.0f); + } + else if (color_code <= 20) + { + // CHECK TO MAKE SURE RGB/RBG IS CORRECT! + if (color_code == 1) + { + return RGBAColorBuilder::MakeFromMixedColors(0xff, 0x00, 0xb3, alpha); + } + else if (color_code == 2) + { + return RGBAColorBuilder::MakeFromMixedColors(0x80, 0x75, 0x3e, alpha); + } + else if (color_code == 3) + { + return RGBAColorBuilder::MakeFromMixedColors(0xff, 0x00, 0x68, alpha); + } + else if (color_code == 4) + { + return RGBAColorBuilder::MakeFromMixedColors(0xa6, 0xd7, 0xbd, alpha); + } + else if (color_code == 5) + { + return RGBAColorBuilder::MakeFromMixedColors(0xc1, 0x20, 0x00, alpha); + } + else if (color_code == 6) + { + return RGBAColorBuilder::MakeFromMixedColors(0xce, 0x62, 0xa2, alpha); + } + else if (color_code == 7) + { + return RGBAColorBuilder::MakeFromMixedColors(0x81, 0x66, 0x70, alpha); + } + else if (color_code == 8) + { + return RGBAColorBuilder::MakeFromMixedColors(0x00, 0x34, 0x7d, alpha); + } + else if (color_code == 9) + { + return RGBAColorBuilder::MakeFromMixedColors(0xf6, 0x8e, 0x76, alpha); + } + else if (color_code == 10) + { + return RGBAColorBuilder::MakeFromMixedColors(0x00, 0x8a, 0x53, alpha); + } + else if (color_code == 11) + { + return RGBAColorBuilder::MakeFromMixedColors(0xff, 0x5c, 0x7a, alpha); + } + else if (color_code == 12) + { + return RGBAColorBuilder::MakeFromMixedColors(0x53, 0x7a, 0x37, alpha); + } + else if (color_code == 13) + { + return RGBAColorBuilder::MakeFromMixedColors(0xff, 0x00, 0x8e, alpha); + } + else if (color_code == 14) + { + return RGBAColorBuilder::MakeFromMixedColors(0xb3, 0x51, 0x28, alpha); + } + else if (color_code == 15) + { + return RGBAColorBuilder::MakeFromMixedColors(0xf4, 0x00, 0xc8, alpha); + } + else if (color_code == 16) + { + return RGBAColorBuilder::MakeFromMixedColors(0x7f, 0x0d, 0x18, alpha); + } + else if (color_code == 17) + { + return RGBAColorBuilder::MakeFromMixedColors(0x93, 0x00, 0xaa, alpha); + } + else if (color_code == 18) + { + return RGBAColorBuilder::MakeFromMixedColors(0x59, 0x15, 0x33, alpha); + } + else if (color_code == 19) + { + return RGBAColorBuilder::MakeFromMixedColors(0xf1, 0x13, 0x3a, alpha); + } + else + { + return RGBAColorBuilder::MakeFromMixedColors(0x23, 0x16, 0x2c, alpha); + } + } + else + { + return RGBAColorBuilder::MakeFromFloatColors(0.0f, 0.0f, 0.0f, alpha); + } + } + + inline size_t GetNumOMPThreads() + { + #if defined(_OPENMP) + size_t num_threads = 0; + #pragma omp parallel + { + num_threads = (size_t)omp_get_num_threads(); + } + return num_threads; + #else + return 1; + #endif + } + + template> + inline Eigen::MatrixXd BuildDistanceMatrix(const std::vector& data, const std::function& distance_fn) + { + Eigen::MatrixXd distance_matrix(data.size(), data.size()); +#ifdef ENABLE_PARALLEL_DISTANCE_MATRIX + #pragma omp parallel for +#endif + for (size_t idx = 0; idx < data.size(); idx++) + { + for (size_t jdx = idx; jdx < data.size(); jdx++) + { + if (idx != jdx) + { + const double distance = distance_fn(data[idx], data[jdx]); + distance_matrix((ssize_t)idx, (ssize_t)jdx) = distance; + distance_matrix((ssize_t)jdx, (ssize_t)idx) = distance; + } + else + { + distance_matrix((ssize_t)idx, (ssize_t)jdx) = 0.0; + distance_matrix((ssize_t)jdx, (ssize_t)idx) = 0.0; + } + } + } + return distance_matrix; + } + + template, typename SecondAllocator = std::allocator> + inline Eigen::MatrixXd BuildDistanceMatrix(const std::vector& data1, const std::vector& data2, const std::function& distance_fn) + { + Eigen::MatrixXd distance_matrix(data1.size(), data1.size()); +#ifdef ENABLE_PARALLEL_DISTANCE_MATRIX + #pragma omp parallel for +#endif + for (size_t idx = 0; idx < data1.size(); idx++) + { + for (size_t jdx = 0; jdx < data2.size(); jdx++) + { + const double distance = distance_fn(data1[idx], data2[jdx]); + distance_matrix((ssize_t)idx, (ssize_t)jdx) = distance; + distance_matrix((ssize_t)jdx, (ssize_t)idx) = distance; + } + } + return distance_matrix; + } + + template> + std::vector> GetKNearestNeighbors(const std::vector& items, const Value& current, const std::function& distance_fn, const size_t K) + { + if (K == 0) + { + return std::vector>(); + } + if (items.size() > K) + { + std::function&, const std::pair&)> compare_fn = [] (const std::pair& index1, const std::pair& index2) { return index1.second < index2.second; }; + std::vector>> per_thread_nearests(GetNumOMPThreads(), std::vector>(K, std::make_pair(-1, std::numeric_limits::infinity()))); +#ifdef ENABLE_PARALLEL_K_NEAREST_NEIGHBORS + #pragma omp parallel for +#endif + for (size_t idx = 0; idx < items.size(); idx++) + { + const Item& item = items[idx]; + const double distance = distance_fn(item, current); +#ifdef ENABLE_PARALLEL_K_NEAREST_NEIGHBORS + #if defined(_OPENMP) + const size_t thread_num = (size_t)omp_get_thread_num(); + #else + const size_t thread_num = 0; + #endif +#else + const size_t thread_num = 0; +#endif + std::vector>& current_thread_nearests = per_thread_nearests[thread_num]; + auto itr = std::max_element(current_thread_nearests.begin(), current_thread_nearests.end(), compare_fn); + const double worst_distance = itr->second; + if (worst_distance > distance) + { + itr->first = (int64_t)idx; + itr->second = distance; + } + } + std::vector> k_nearests; + k_nearests.reserve(K); + for (size_t thread_idx = 0; thread_idx < per_thread_nearests.size(); thread_idx++) + { + const std::vector>& thread_nearests = per_thread_nearests[thread_idx]; + for (size_t nearest_idx = 0; nearest_idx < thread_nearests.size(); nearest_idx++) + { + const std::pair current_ith_nearest = thread_nearests[nearest_idx]; + if (!std::isinf(current_ith_nearest.second) && current_ith_nearest.first != -1) + { + if (k_nearests.size() < K) + { + k_nearests.push_back(current_ith_nearest); + } + else + { + auto itr = std::max_element(k_nearests.begin(), k_nearests.end(), compare_fn); + const double worst_distance = itr->second; + if (worst_distance > current_ith_nearest.second) + { + itr->first = current_ith_nearest.first; + itr->second = current_ith_nearest.second; + } + } + } + } + } + k_nearests.shrink_to_fit(); + return k_nearests; + } + else + { + std::vector> k_nearests(items.size(), std::make_pair(-1, std::numeric_limits::infinity())); +#ifdef ENABLE_PARALLEL_K_NEAREST_NEIGHBORS + #pragma omp parallel for +#endif + for (size_t idx = 0; idx < items.size(); idx++) + { + const Item& item = items[idx]; + const double distance = distance_fn(item, current); + k_nearests[idx] = std::make_pair((int64_t)idx, distance); + } + return k_nearests; + } + } + + class AstarPQueueElement + { + protected: + + int64_t node_id_; + int64_t backpointer_; + double cost_to_come_; + double value_; + + public: + + AstarPQueueElement(const int64_t node_id_, const int64_t backpointer, const double cost_to_come, const double value) : node_id_(node_id_), backpointer_(backpointer), cost_to_come_(cost_to_come), value_(value) {} + + inline int64_t NodeID() const { return node_id_; } + + inline int64_t Backpointer() const { return backpointer_; } + + inline double CostToCome() const { return cost_to_come_; } + + inline double Value() const { return value_; } + }; + + class CompareAstarPQueueElementFn + { + public: + + bool operator()(const AstarPQueueElement& lhs, const AstarPQueueElement& rhs) const + { + return lhs.Value() > rhs.Value(); + } + }; + + // Return is a pair + // Path is a vector of node indices in the provided graph + // Cost is the computed cost-to-come of the goal node + typedef std::pair, double> AstarResult; + + inline AstarResult ExtractAstarResult(const std::unordered_map>& explored, const int64_t start_index, const int64_t goal_index) + { + // Check if a solution was found + const auto goal_index_itr = explored.find(goal_index); + // If no solution found + if (goal_index_itr == explored.end()) + { + return std::make_pair(std::vector(), std::numeric_limits::infinity()); + } + // If a solution was found + else + { + // Extract the path indices in reverse order + std::vector solution_path_indices; + solution_path_indices.push_back(goal_index); + int64_t backpointer = goal_index_itr->second.first; + // Any backpointer >= 0 is a valid node in the graph + // The backpointer for start_index is -1 + while (backpointer >= 0) + { + const int64_t current_index = backpointer; + solution_path_indices.push_back(current_index); + if (current_index == start_index) + { + break; + } + else + { + // Using map.at(key) throws an exception if key not found + // This provides bounds safety check + const auto current_index_data = explored.at(current_index); + backpointer = current_index_data.first; + } + } + // Reverse + std::reverse(solution_path_indices.begin(), solution_path_indices.end()); + // Get the cost of the path + const double solution_path_cost = goal_index_itr->second.second; + return std::make_pair(solution_path_indices, solution_path_cost); + } + } + + inline AstarResult GenericAstarSearch(const int64_t start_id, const int64_t goal_id, const std::function(const int64_t)>& generate_children_fn, const std::function& edge_validity_check_fn, const std::function& distance_fn, const std::function& heuristic_fn, const bool limit_pqueue_duplicates) + { + // Enforced sanity checks + if (start_id == goal_id) + { + throw std::invalid_argument("Start and goal ID must be different"); + } + // Make helper function + const auto heuristic_function = [&] (const int64_t node_index) { return heuristic_fn(node_index, goal_id); }; + // Setup + std::priority_queue, CompareAstarPQueueElementFn> queue; + // Optional map to reduce the number of duplicate items added to the pqueue + // Key is the node ID + // Value is cost-to-come + std::unordered_map queue_members_map; + // Key is the node ID + // Value is a pair + // backpointer is the parent node ID + std::unordered_map> explored; + // Initialize + queue.push(AstarPQueueElement(start_id, -1, 0.0, heuristic_function(start_id))); + if (limit_pqueue_duplicates) + { + queue_members_map[start_id] = 0.0; + } + // Search + while (queue.size() > 0) + { + // Get the top of the priority queue + const AstarPQueueElement top_node = queue.top(); + queue.pop(); + // Remove from queue map if necessary + if (limit_pqueue_duplicates) + { + queue_members_map.erase(top_node.NodeID()); + } + // Check if the node has already been discovered + const auto explored_itr = explored.find(top_node.NodeID()); + // We have not been here before, or it is cheaper now + const bool in_explored = (explored_itr != explored.end()); + const bool explored_is_better = (in_explored) ? (top_node.CostToCome() >= explored_itr->second.second) : false; + if (!explored_is_better) + { + // Add to the explored list + explored[top_node.NodeID()] = std::make_pair(top_node.Backpointer(), top_node.CostToCome()); + // Check if we have reached the goal + if (top_node.NodeID() == goal_id) + { + break; + } + // Generate possible children + const std::vector candidate_children = generate_children_fn(top_node.NodeID()); + // Loop through potential child nodes + for (const int64_t child_node_id : candidate_children) + { + // Check if the top node->child edge is valid + if (edge_validity_check_fn(top_node.NodeID(), child_node_id)) + { + // Compute the cost-to-come for the new child + const double parent_cost_to_come = top_node.CostToCome(); + const double parent_to_child_cost = distance_fn(top_node.NodeID(), child_node_id); + const double child_cost_to_come = parent_cost_to_come + parent_to_child_cost; + // Check if the child state has already been explored + const auto explored_itr = explored.find(child_node_id); + // It is not in the explored list, or is there with a higher cost-to-come + const bool in_explored = (explored_itr != explored.end()); + const bool explored_is_better = (in_explored) ? (child_cost_to_come >= explored_itr->second.second) : false; + // Check if the child state is already in the queue + bool queue_is_better = false; + if (limit_pqueue_duplicates) + { + const auto queue_members_map_itr = queue_members_map.find(child_node_id); + const bool in_queue = (queue_members_map_itr != queue_members_map.end()); + queue_is_better = (in_queue) ? (child_cost_to_come >= queue_members_map_itr->second) : false; + } + // Only add the new state if we need to + if (!explored_is_better && !queue_is_better) + { + // Compute the heuristic for the child + const double child_heuristic = heuristic_function(child_node_id); + // Compute the child value + const double child_value = child_cost_to_come + child_heuristic; + queue.push(AstarPQueueElement(child_node_id, top_node.NodeID(), child_cost_to_come, child_value)); + } + } + } + } + } + return ExtractAstarResult(explored, start_id, goal_id); + } + + class SplitMix64PRNG + { + private: + + uint64_t state_; /* The state can be seeded with any value. */ + + inline uint64_t next(void) + { + uint64_t z = (state_ += UINT64_C(0x9E3779B97F4A7C15)); + z = (z ^ (z >> 30)) * UINT64_C(0xBF58476D1CE4E5B9); + z = (z ^ (z >> 27)) * UINT64_C(0x94D049BB133111EB); + return z ^ (z >> 31); + } + + public: + + inline SplitMix64PRNG(const uint64_t seed_val) + { + seed(seed_val); + } + + static constexpr uint64_t min(void) + { + return 0u; + } + + static constexpr uint64_t max(void) + { + return std::numeric_limits::max(); + } + + inline void seed(const uint64_t seed_val) + { + state_ = seed_val; + } + + inline void discard(const unsigned long long z) + { + uint64_t temp __attribute__((unused)); // This suppresses "set but not used" warnings + temp = 0u; + for (unsigned long long i = 0; i < z; i++) + { + temp = next(); + __asm__ __volatile__(""); // This should prevent the compiler from optimizing out the loop + } + } + + inline uint64_t operator() (void) + { + return next(); + } + }; + + class XorShift128PlusPRNG + { + private: + + uint64_t state_1_; + uint64_t state_2_; + + inline uint64_t next(void) + { + uint64_t s1 = state_1_; + const uint64_t s0 = state_2_; + state_1_ = s0; + s1 ^= s1 << 23; // a + state_2_ = s1 ^ s0 ^ (s1 >> 18) ^ (s0 >> 5); // b, c + return state_2_ + s0; + } + + public: + + inline XorShift128PlusPRNG(const uint64_t seed_val) + { + seed(seed_val); + } + + static constexpr uint64_t min(void) + { + return 0u; + } + + static constexpr uint64_t max(void) + { + return std::numeric_limits::max(); + } + + inline void seed(const uint64_t seed_val) + { + SplitMix64PRNG temp_seed_gen(seed_val); + state_1_ = temp_seed_gen(); + state_2_ = temp_seed_gen(); + } + + inline void discard(const unsigned long long z) + { + uint64_t temp __attribute__((unused)); // This suppresses "set but not used" warnings + temp = 0u; + for (unsigned long long i = 0; i < z; i++) + { + temp = next(); + __asm__ __volatile__(""); // This should prevent the compiler from optimizing out the loop + } + } + + inline uint64_t operator() (void) + { + return next(); + } + }; + + class XorShift1024StarPRNG + { + private: + + std::array state_; + int32_t p; + + inline uint64_t next(void) + { + const uint64_t s0 = state_[(size_t)p]; + p = (p + 1) & 15; + uint64_t s1 = state_[(size_t)p]; + s1 ^= s1 << 31; // a + state_[(size_t)p] = s1 ^ s0 ^ (s1 >> 11) ^ (s0 >> 30); // b,c + return state_[(size_t)p] * UINT64_C(1181783497276652981); + } + + public: + + inline XorShift1024StarPRNG(const uint64_t seed_val) + { + seed(seed_val); + p = 0; + } + + static constexpr uint64_t min(void) + { + return 0u; + } + + static constexpr uint64_t max(void) + { + return std::numeric_limits::max(); + } + + inline void seed(const uint64_t seed_val) + { + SplitMix64PRNG temp_seed_gen(seed_val); + for (size_t idx = 0u; idx < state_.size(); idx++) + { + state_[idx] = temp_seed_gen(); + } + } + + inline void discard(const unsigned long long z) + { + uint64_t temp __attribute__((unused)); // This suppresses "set but not used" warnings + temp = 0u; + for (unsigned long long i = 0; i < z; i++) + { + temp = next(); + __asm__ __volatile__(""); // This should prevent the compiler from optimizing out the loop + } + } + + inline uint64_t operator() (void) + { + return next(); + } + }; + + + // SEE https://people.sc.fsu.edu/~jburkardt/presentations/truncated_normal.pdf FOR DETAILS + inline double EvaluateGaussianCDF(const double mean, const double std_dev, const double val) + { + return 0.5 * (1.0 + std::erf( ( (val - mean) / std_dev ) / sqrt(2.0) ) ); + } + + inline double EvaluateGaussianPDF(const double mean, const double std_dev, const double val) + { + const double exponent = ((val - mean) * (val - mean)) / (2.0 * std_dev * std_dev); + const double fraction = 1.0 / (std_dev * std::sqrt(2.0 * M_PI)); + const double pdf = fraction * std::exp(-exponent); + return pdf; + } + + inline double EvaluateTruncatedGaussianCDF(const double mean, const double lower_bound, const double upper_bound, const double std_dev, const double val) + { + assert(lower_bound <= upper_bound); + if (val <= lower_bound) + { + return 0.0; + } + else if (val >= upper_bound) + { + return 1.0; + } + else + { + const double cdf_lower_bound = EvaluateGaussianCDF(mean, std_dev, lower_bound); + const double numerator = EvaluateGaussianCDF(mean, std_dev, val) - cdf_lower_bound; + const double denominator = EvaluateGaussianCDF(mean, std_dev, upper_bound) - cdf_lower_bound; + return numerator / denominator; + } + } + + inline double EvaluateTruncatedGaussianPDF(const double mean, const double lower_bound, const double upper_bound, const double std_dev, const double val) + { + assert(lower_bound <= upper_bound); + if (val <= lower_bound) + { + return 0.0; + } + else if (val >= upper_bound) + { + return 0.0; + } + else + { + const double cdf_upper = EvaluateGaussianCDF(mean, std_dev, upper_bound); + const double cdf_lower = EvaluateGaussianCDF(mean, std_dev, lower_bound); + const double probability_enclosed = cdf_upper - cdf_lower; + const double gaussian_pdf = EvaluateGaussianPDF(mean, std_dev, val); + const double pdf = gaussian_pdf / probability_enclosed; + return pdf; + } + } + + inline double IntegrateGaussian(const double mean, const double std_dev, const double lower_limit, const double upper_limit) + { + assert(lower_limit <= upper_limit); + const double upper_limit_cdf = EvaluateGaussianCDF(mean, std_dev, upper_limit); + const double lower_limit_cdf = EvaluateGaussianCDF(mean, std_dev, lower_limit); + const double probability = upper_limit_cdf - lower_limit_cdf; + //const std::string msg = "Integrated Gaussian with mean " + std::to_string(mean) + " std.dev. " + std::to_string(std_dev) + " over range [" + std::to_string(lower_limit) + "," + std::to_string(upper_limit) + "] to be " + std::to_string(probability); + //std::cout << msg << std::endl; + return probability; + } + + inline double IntegrateTruncatedGaussian(const double mean, const double lower_bound, const double upper_bound, const double std_dev, const double lower_limit, const double upper_limit) + { + assert(lower_bound <= upper_bound); + assert(lower_limit <= upper_limit); + const double lower_limit_cdf = EvaluateTruncatedGaussianCDF(mean, lower_bound, upper_bound, std_dev, lower_limit); + const double upper_limit_cdf = EvaluateTruncatedGaussianCDF(mean, lower_bound, upper_bound, std_dev, upper_limit); + const double probability = upper_limit_cdf - lower_limit_cdf; + //const std::string msg = "Integrated truncated Gaussian with mean " + std::to_string(mean) + " std.dev. " + std::to_string(std_dev) + " and bounds [" + std::to_string(lower_bound) + "," + std::to_string(upper_bound) + "] over range [" + std::to_string(lower_limit) + "," + std::to_string(upper_limit) + "] to be " + std::to_string(probability); + //std::cout << msg << std::endl; + return probability; + } + + class TruncatedNormalDistribution + { + protected: + + double mean_; + double stddev_; + double std_lower_bound_; + double std_upper_bound_; + + enum CASES {TYPE_1, TYPE_2, TYPE_3, TYPE_4, NONE}; + CASES case_; + std::uniform_real_distribution uniform_unit_dist_; + std::uniform_real_distribution uniform_range_dist_; + std::exponential_distribution exponential_dist_; + std::normal_distribution normal_dist_; + + inline bool CheckSimple(const double lower_bound, const double upper_bound) const + { + // Init Values Used in Inequality of Interest + const double val1 = (2 * sqrt(exp(1))) / (lower_bound + sqrt(pow(lower_bound, 2) + 4)); + const double val2 = exp((pow(lower_bound, 2) - lower_bound * sqrt(pow(lower_bound, 2) + 4)) / (4)); + if (upper_bound > lower_bound + val1 * val2) + { + return true; + } + else + { + return false; + } + } + + // Naive Accept-Reject algorithm + template + inline double NaiveAcceptReject(const double lower_bound, const double upper_bound, Generator& prng) + { + while (true) + { + const double draw = normal_dist_(prng); // Rf_rnorm(0.0, 1.0) ; // Normal distribution (i.e. std::normal_distribution) + if ((draw <= upper_bound) && (draw >= lower_bound)) + { + return draw; + } + } + } + + // Accept-Reject Algorithm + template + inline double SimpleAcceptReject(const double lower_bound, Generator& prng) + { + // Init Values + const double alpha = (lower_bound + sqrt(pow(lower_bound, 2) + 4.0)) / (2.0) ; + while (true) + { + const double e = exponential_dist_(prng); // Rf_rexp(1.0) ; // Exponential distribution (i.e. std::exponential_distribution) + const double z = lower_bound + e / alpha; + const double rho = exp(-pow(alpha - z, 2) / 2); + const double u = uniform_unit_dist_(prng); // Rf_runif(0, 1) ; // Uniform distribution (i.e. std::uniform_real_distribution) + if (u <= rho) + { + return z; + } + } + } + + // Accept-Reject Algorithm + template + inline double ComplexAcceptReject(const double lower_bound, const double upper_bound, Generator& prng) + { + while (true) + { + const double z = uniform_range_dist_(prng); // Rf_runif(lower_bound, upper_bound) ; // Uniform distribution (i.e. std::uniform_real_distribution) + double rho = 0.0; + if (0 < lower_bound) + { + rho = exp((pow(lower_bound, 2) - pow(z, 2)) / 2); + } + else if (upper_bound < 0) + { + rho = exp((pow(upper_bound, 2) - pow(z, 2)) / 2); + } + else if (0 < upper_bound && lower_bound < 0) + { + rho = exp(- pow(z, 2) / 2); + } + const double u = uniform_unit_dist_(prng); // Rf_runif(0, 1) ; // Uniform distribution (i.e. std::uniform_real_distribution) + if (u <= rho) + { + return z; + } + } + } + + template + inline double Sample(Generator& prng) + { + if (case_ == TYPE_1) + { + const double draw = NaiveAcceptReject(std_lower_bound_, std_upper_bound_, prng); + return mean_ + stddev_ * draw; + } + else if (case_ == TYPE_2) + { + const double draw = SimpleAcceptReject(std_lower_bound_, prng); + return mean_ + stddev_ * draw; + } + else if (case_ == TYPE_3) + { + while (true) + { + const double draw = SimpleAcceptReject(std_lower_bound_, prng); // use the simple algorithm if it is more efficient + if (draw <= std_upper_bound_) + { + return mean_ + stddev_ * draw; + } + } + } + else if (case_ == TYPE_4) + { + const double draw = ComplexAcceptReject(std_lower_bound_, std_upper_bound_, prng); + return mean_ + stddev_ * draw; + } + else + { + assert(case_ == NONE); + return mean_; + } + } + + public: + + inline TruncatedNormalDistribution(const double mean, const double stddev, const double lower_bound, const double upper_bound) : uniform_unit_dist_(0.0, 1.0), uniform_range_dist_(lower_bound, upper_bound), exponential_dist_(1.0), normal_dist_(0.0, 1.0) + { + // Set operating parameters + mean_ = mean; + stddev_ = stddev; + if (fabs(stddev_) == 0.0) + { + case_ = NONE; + } + else + { + // Standardize the lower and upper bounds + std_lower_bound_ = (lower_bound - mean_) / stddev_; + std_upper_bound_ = (upper_bound - mean_) / stddev_; + // Set the operating case - i.e. which sampling method we will use + case_ = NONE; + if (0.0 <= std_upper_bound_ && 0.0 >= std_lower_bound_) + { + case_ = TYPE_1; + } + if (0.0 < std_lower_bound_ && std_upper_bound_ == INFINITY) + { + case_ = TYPE_2; + } + if (0.0 > std_upper_bound_ && std_lower_bound_ == -INFINITY) + { + std_lower_bound_ = -1 * std_upper_bound_; + std_upper_bound_ = INFINITY; + stddev_ = -1 * stddev_; + case_ = TYPE_2; + } + if ((0.0 > std_upper_bound_ || 0.0 < std_lower_bound_) && !(std_upper_bound_ == INFINITY || std_lower_bound_ == -INFINITY)) + { + if (CheckSimple(std_lower_bound_, std_upper_bound_)) + { + case_ = TYPE_3; + } + else + { + case_ = TYPE_4; + } + } + assert((case_ == TYPE_1) || (case_ == TYPE_2) || (case_ == TYPE_3) || (case_ == TYPE_4)); + } + } + + template + inline double operator()(Generator& prng) + { + return Sample(prng); + } + }; + + class MultivariteGaussianDistribution + { + protected: + const Eigen::VectorXd mean_; + const Eigen::MatrixXd norm_transform_; + + std::normal_distribution unit_gaussian_dist_; + + template + inline Eigen::VectorXd Sample(Generator& prng) + { + Eigen::VectorXd draw; + draw.resize(mean_.rows()); + + for (ssize_t idx = 0; idx < draw.rows(); idx++) + { + draw(idx) = unit_gaussian_dist_(prng); + } + + return norm_transform_ * draw + mean_; + } + + static Eigen::MatrixXd CalculateNormTransform(const Eigen::MatrixXd& covariance) + { + Eigen::MatrixXd norm_transform; + + Eigen::LLT chol_solver(covariance); + + if (chol_solver.info() == Eigen::Success) + { + // Use cholesky solver + norm_transform = chol_solver.matrixL(); + } + else + { + // Use eigen solver + Eigen::SelfAdjointEigenSolver eigen_solver(covariance); + norm_transform = eigen_solver.eigenvectors() * eigen_solver.eigenvalues().cwiseMax(0.0).cwiseSqrt().asDiagonal(); + } + + return norm_transform; + } + + public: + inline MultivariteGaussianDistribution(const Eigen::VectorXd& mean, const Eigen::MatrixXd& covariance) : mean_(mean), norm_transform_(CalculateNormTransform(covariance)), unit_gaussian_dist_(0.0, 1.0) + { + assert(mean.rows() == covariance.rows()); + assert(covariance.cols() == covariance.rows()); + + assert(!(norm_transform_.unaryExpr([] (const double &val) { return std::isnan(val); })).any() && "NaN Found in norm_transform in MultivariateGaussianDistribution"); + assert(!(norm_transform_.unaryExpr([] (const double &val) { return std::isinf(val); })).any() && "Inf Found in norm_transform in MultivariateGaussianDistribution"); + } + + template + inline Eigen::VectorXd operator()(Generator& prng) + { + return Sample(prng); + } + }; + + class RandomRotationGenerator + { + protected: + + std::uniform_real_distribution uniform_unit_dist_; + + public: + + inline RandomRotationGenerator() : uniform_unit_dist_(0.0, 1.0) {} + + // From: "Uniform Random Rotations", Ken Shoemake, Graphics Gems III, pg. 124-132 + static inline Eigen::Quaterniond GenerateUniformRandomQuaternion(const std::function& uniform_unit_dist) + { + const double x0 = uniform_unit_dist(); + const double r1 = sqrt(1.0 - x0); + const double r2 = sqrt(x0); + const double t1 = 2.0 * M_PI * uniform_unit_dist(); + const double t2 = 2.0 * M_PI * uniform_unit_dist(); + const double c1 = cos(t1); + const double s1 = sin(t1); + const double c2 = cos(t2); + const double s2 = sin(t2); + const double x = s1 * r1; + const double y = c1 * r1; + const double z = s2 * r2; + const double w = c2 * r2; + return Eigen::Quaterniond(w, x, y, z); + } + + // From Effective Sampling and Distance Metrics for 3D Rigid Body Path Planning, by James Kuffner, ICRA 2004 + static inline Eigen::Vector3d GenerateUniformRandomEulerAngles(const std::function& uniform_unit_dist) + { + const double roll = 2.0 * M_PI * uniform_unit_dist() - M_PI; + const double pitch_init = std::acos(1.0 - (2.0 * uniform_unit_dist())) + M_PI_2; + const double pitch = (uniform_unit_dist() < 0.5) ? ((pitch_init < M_PI) ? pitch_init + M_PI : pitch_init - M_PI) : pitch_init; + const double yaw = 2.0 * M_PI * uniform_unit_dist() - M_PI; + return Eigen::Vector3d(roll, pitch, yaw); + } + + template + inline Eigen::Quaterniond GetQuaternion(Generator& prng) + { + std::function uniform_rand_fn = [&] () { return uniform_unit_dist_(prng); }; + return GenerateUniformRandomQuaternion(uniform_rand_fn); + } + + template + inline std::vector GetRawQuaternion(Generator& prng) + { + const Eigen::Quaterniond quat = GetQuaternion(prng); + return std::vector{quat.x(), quat.y(), quat.z(), quat.w()}; + } + + template + inline Eigen::Vector3d GetEulerAngles(Generator& prng) + { + std::function uniform_rand_fn = [&] () { return uniform_unit_dist_(prng); }; + return GenerateUniformRandomEulerAngles(uniform_rand_fn); + } + + template + inline std::vector GetRawEulerAngles(Generator& prng) + { + const Eigen::Vector3d angles = GetEulerAngles(prng); + return std::vector{angles.x(), angles.y(), angles.z()}; + } + }; + + inline void ConditionalPrint(const std::string& msg, const int32_t msg_level, const int32_t print_level) + { + if (unlikely(msg_level <= print_level)) + { + const std::string printstr = "[" + std::to_string(msg_level) + "/" + std::to_string(print_level) + "] " + msg + "\n"; + std::cout << printstr << std::flush; + } + } + + inline void ConditionalError(const std::string& msg, const int32_t msg_level, const int32_t print_level) + { + if (unlikely(msg_level <= print_level)) + { + const std::string printstr = "[" + std::to_string(msg_level) + "/" + std::to_string(print_level) + "] " + msg + "\n"; + std::cerr << printstr << std::flush; + } + } + + inline bool CheckAllStringsForSubstring(const std::vector& strings, const std::string& substring) + { + for (size_t idx = 0; idx < strings.size(); idx++) + { + const std::string& candidate_string = strings[idx]; + const size_t found = candidate_string.find(substring); + if (found == std::string::npos) + { + return false; + } + } + return true; + } + + template , typename Allocator = std::allocator>> + inline std::vector GetKeys(const std::map& map) + { + std::vector keys; + keys.reserve(map.size()); + typename std::map::const_iterator itr; + for (itr = map.begin(); itr != map.end(); ++itr) + { + const Key cur_key = itr->first; + keys.push_back(cur_key); + } + keys.shrink_to_fit(); + return keys; + } + + template , typename Allocator = std::allocator>> + inline std::vector, Allocator> GetKeysAndValues(const std::map& map) + { + std::vector, Allocator> keys_and_values; + keys_and_values.reserve(map.size()); + typename std::map::const_iterator itr; + for (itr = map.begin(); itr != map.end(); ++itr) + { + const std::pair cur_pair(itr->first, itr->second); + keys_and_values.push_back(cur_pair); + } + keys_and_values.shrink_to_fit(); + return keys_and_values; + } + + template , typename Allocator = std::allocator>> + inline std::map MakeFromKeysAndValues(const std::vector, Allocator>& keys_and_values) + { + std::map map; + for (size_t idx = 0; idx < keys_and_values.size(); idx++) + { + const std::pair& cur_pair = keys_and_values[idx]; + map[cur_pair.first] = cur_pair.second; + } + return map; + } + + template , typename KeyVectorAllocator = std::allocator, typename ValueVectorAllocator = std::allocator, typename PairAllocator = std::allocator>> + inline std::map MakeFromKeysAndValues(const std::vector& keys, const std::vector& values) + { + assert(keys.size() == values.size()); + std::map map; + for (size_t idx = 0; idx < keys.size(); idx++) + { + const Key& cur_key = keys[idx]; + const Value& cur_value = values[idx]; + map[cur_key] = cur_value; + } + return map; + } +} + +#endif // ARC_HELPERS_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/base64_helpers.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/base64_helpers.hpp new file mode 100644 index 0000000..c3c168f --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/base64_helpers.hpp @@ -0,0 +1,21 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef BASE64_HELPERS_HPP +#define BASE64_HELPERS_HPP + +namespace Base64Helpers +{ + std::vector Decode(const std::string& encoded); + + std::string Encode(const std::vector& binary); +} + +#endif // BASE64_HELPERS_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/dijkstras.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/dijkstras.hpp new file mode 100644 index 0000000..18fd3c5 --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/dijkstras.hpp @@ -0,0 +1,984 @@ +#ifndef DIJKSTRAS_HPP +#define DIJKSTRAS_HPP + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace arc_dijkstras +{ + class GraphEdge + { + protected: + + int64_t from_index_; + int64_t to_index_; + double weight_; + + public: + + static uint64_t Serialize(const GraphEdge& edge, std::vector& buffer) + { + return edge.SerializeSelf(buffer); + } + + static std::pair Deserialize(const std::vector& buffer, const uint64_t current) + { + GraphEdge temp_edge; + const uint64_t bytes_read = temp_edge.DeserializeSelf(buffer, current); + return std::make_pair(temp_edge, bytes_read); + } + + GraphEdge(const int64_t from_index, const int64_t to_index, const double weight) + : from_index_(from_index), to_index_(to_index), weight_(weight) + {} + + GraphEdge() + : from_index_(-1), to_index_(-1), weight_(0.0) + {} + + uint64_t SerializeSelf(std::vector& buffer) const + { + const uint64_t start_buffer_size = buffer.size(); + arc_utilities::SerializeFixedSizePOD(from_index_, buffer); + arc_utilities::SerializeFixedSizePOD(to_index_, buffer); + arc_utilities::SerializeFixedSizePOD(weight_, buffer); + // Figure out how many bytes were written + const uint64_t end_buffer_size = buffer.size(); + const uint64_t bytes_written = end_buffer_size - start_buffer_size; + return bytes_written; + } + + uint64_t DeserializeSelf(const std::vector& buffer, const uint64_t current) + { + assert(current < buffer.size()); + uint64_t current_position = current; + const std::pair deserialized_from_index = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + from_index_ = deserialized_from_index.first; + current_position += deserialized_from_index.second; + const std::pair deserialized_to_index = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + to_index_ = deserialized_to_index.first; + current_position += deserialized_to_index.second; + const std::pair deserialized_weight = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + weight_ = deserialized_weight.first; + current_position += deserialized_weight.second; + // Figure out how many bytes were read + const uint64_t bytes_read = current_position - current; + return bytes_read; + } + + bool operator==(const GraphEdge& other) const + { + return (from_index_ == other.GetFromIndex() && to_index_ == other.GetToIndex() && weight_ == other.GetWeight()); + } + + std::string Print() const + { + return std::string("(" + std::to_string(from_index_) + "->" + std::to_string(to_index_) + ") : " + std::to_string(weight_)); + } + + int64_t GetFromIndex() const + { + return from_index_; + } + + int64_t GetToIndex() const + { + return to_index_; + } + + double GetWeight() const + { + return weight_; + } + + void SetFromIndex(const int64_t new_from_index) + { + from_index_ = new_from_index; + } + + void SetToIndex(const int64_t new_to_index) + { + to_index_ = new_to_index; + } + + void SetWeight(const double new_weight) + { + weight_ = new_weight; + } + }; + + inline std::ostream& operator<< (std::ostream& stream, const GraphEdge& edge) + { + stream << edge.Print(); + return stream; + } + + template> + class GraphNode + { + protected: + + NodeValueType value_; + double distance_; + std::vector in_edges_; + std::vector out_edges_; + + public: + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + static uint64_t Serialize( + const GraphNode& node, + std::vector& buffer, + const std::function&)>& value_serializer) + { + return node.SerializeSelf(buffer, value_serializer); + } + + static std::pair, uint64_t> Deserialize( + const std::vector& buffer, + const uint64_t current, + const std::function(const std::vector&, const uint64_t)>& value_deserializer) + { + GraphNode temp_node; + const uint64_t bytes_read = temp_node.DeserializeSelf(buffer, current, value_deserializer); + return std::make_pair(temp_node, bytes_read); + } + + GraphNode( + const NodeValueType& value, + const double distance, + const std::vector& new_in_edges, + const std::vector& new_out_edges) + : value_(value) + , distance_(distance) + , in_edges_(new_in_edges) + , out_edges_(new_out_edges) + {} + + GraphNode(const NodeValueType& value) + : value_(value) + , distance_(std::numeric_limits::infinity()) + {} + + GraphNode() + : distance_(std::numeric_limits::infinity()) + {} + + uint64_t SerializeSelf( + std::vector& buffer, + const std::function&)>& value_serializer) const + { + const uint64_t start_buffer_size = buffer.size(); + // Serialize the value + value_serializer(value_, buffer); + // Serialize the distance + arc_utilities::SerializeFixedSizePOD(distance_, buffer); + // Serialize the in edges + arc_utilities::SerializeVector(in_edges_, buffer, GraphEdge::Serialize); + // Serialize the in edges + arc_utilities::SerializeVector(out_edges_, buffer, GraphEdge::Serialize); + // Figure out how many bytes were written + const uint64_t end_buffer_size = buffer.size(); + const uint64_t bytes_written = end_buffer_size - start_buffer_size; + return bytes_written; + } + + uint64_t DeserializeSelf( + const std::vector& buffer, + const uint64_t current, + const std::function(const std::vector&, const uint64_t)>& value_deserializer) + { + assert(current < buffer.size()); + uint64_t current_position = current; + // Deserialize the value + const std::pair value_deserialized = value_deserializer(buffer, current_position); + value_ = value_deserialized.first; + current_position += value_deserialized.second; + // Deserialize the distace + const std::pair distance_deserialized = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + distance_ = distance_deserialized.first; + current_position += distance_deserialized.second; + // Deserialize the in edges + const std::pair, uint64_t> in_edges_deserialized = arc_utilities::DeserializeVector(buffer, current_position, GraphEdge::Deserialize); + in_edges_ = in_edges_deserialized.first; + current_position += in_edges_deserialized.second; + // Deserialize the out edges + const std::pair, uint64_t> out_edges_deserialized = arc_utilities::DeserializeVector(buffer, current_position, GraphEdge::Deserialize); + out_edges_ = out_edges_deserialized.first; + current_position += out_edges_deserialized.second; + // Figure out how many bytes were read + const uint64_t bytes_read = current_position - current; + return bytes_read; + } + + std::string Print() const + { + std::ostringstream strm; + strm << "Node : " << distance_ << " In Edges : "; + if (in_edges_.size() > 0) + { + strm << in_edges_[0].Print(); + for (size_t idx = 1; idx < in_edges_.size(); idx++) + { + strm << ", " << in_edges_[idx].Print(); + } + } + strm << " Out Edges : "; + if (out_edges_.size() > 0) + { + strm << out_edges_[0].Print(); + for (size_t idx = 1; idx < out_edges_.size(); idx++) + { + strm << ", " << out_edges_[idx].Print(); + } + } + return strm.str(); + } + + const NodeValueType& GetValueImmutable() const + { + return value_; + } + + NodeValueType& GetValueMutable() + { + return value_; + } + + void AddInEdge(const GraphEdge& new_in_edge) + { + in_edges_.push_back(new_in_edge); + } + + void AddOutEdge(const GraphEdge& new_out_edge) + { + out_edges_.push_back(new_out_edge); + } + + void AddEdgePair(const GraphEdge& new_in_edge, const GraphEdge& new_out_edge) + { + AddInEdge(new_in_edge); + AddOutEdge(new_out_edge); + } + + double GetDistance() const + { + return distance_; + } + + void SetDistance(const double distance) + { + distance_ = distance; + } + + const std::vector& GetInEdgesImmutable() const + { + return in_edges_; + } + + std::vector& GetInEdgesMutable() + { + return in_edges_; + } + + const std::vector& GetOutEdgesImmutable() const + { + return out_edges_; + } + + std::vector& GetOutEdgesMutable() + { + return out_edges_; + } + + void SetInEdges(const std::vector& new_in_edges) + { + in_edges_ = new_in_edges; + } + + void SetOutEdges(const std::vector& new_out_edges) + { + out_edges_ = new_out_edges; + } + }; + + template> + class Graph + { + protected: + + std::vector> nodes_; + + size_t MarkConnectedComponentUndirected( + const int64_t starting_node_idx, + std::vector& components, + const uint32_t component_id) const + { + // When we push into the queue, we mark as connected, so we don't need a separate "queued" tracker to + // avoid duplication, unlike what is used in CollisionMapGrid::MarkConnectedComponent + std::queue working_queue; + working_queue.push(starting_node_idx); + size_t num_marked = 1; + + while (working_queue.size() > 0) + { + const auto next_node_idx = working_queue.front(); + working_queue.pop(); + + const auto& out_edges = nodes_[next_node_idx].GetOutEdgesImmutable(); + for (const auto& edge : out_edges) + { + const auto neighbour_idx = edge.GetToIndex(); + if (components[neighbour_idx] == 0) + { + components[neighbour_idx] = component_id; + ++num_marked; + working_queue.push(neighbour_idx); + } + } + } + + return num_marked; + } + + public: + + static uint64_t Serialize( + const Graph& graph, std::vector& buffer, + const std::function&)>& value_serializer) + { + return graph.SerializeSelf(buffer, value_serializer); + } + + static std::pair, uint64_t> Deserialize( + const std::vector& buffer, const uint64_t current, + const std::function(const std::vector&, const uint64_t)>& value_deserializer) + { + Graph temp_graph; + const uint64_t bytes_read = temp_graph.DeserializeSelf(buffer, current, value_deserializer); + return std::make_pair(temp_graph, bytes_read); + } + + Graph(const std::vector>& nodes) + { + if (CheckGraphLinkage(nodes)) + { + nodes_ = nodes; + } + else + { + throw std::invalid_argument("Invalid graph linkage"); + } + } + + Graph(const size_t expected_size) + { + nodes_.reserve(expected_size); + } + + Graph() + {} + + uint64_t SerializeSelf( + std::vector& buffer, + const std::function&)>& value_serializer) const + { + const uint64_t start_buffer_size = buffer.size(); + const auto graph_state_serializer = std::bind(GraphNode::Serialize, std::placeholders::_1, std::placeholders::_2, value_serializer); + arc_utilities::SerializeVector>(nodes_, buffer, graph_state_serializer); + // Figure out how many bytes were written + const uint64_t end_buffer_size = buffer.size(); + const uint64_t bytes_written = end_buffer_size - start_buffer_size; + return bytes_written; + } + + uint64_t DeserializeSelf( + const std::vector& buffer, + const uint64_t current, + const std::function(const std::vector&, const uint64_t)>& value_deserializer) + { + const auto graph_state_deserializer = std::bind(GraphNode::Deserialize, std::placeholders::_1, std::placeholders::_2, value_deserializer); + const auto deserialized_nodes = arc_utilities::DeserializeVector>(buffer, current, graph_state_deserializer); + nodes_ = deserialized_nodes.first; + return deserialized_nodes.second; + } + + std::string Print() const + { + std::ostringstream strm; + strm << "Graph - Nodes : "; + if (nodes_.size() > 0) + { + strm << nodes_[0].Print(); + for (size_t idx = 1; idx < nodes_.size(); idx++) + { + strm << "\n" << nodes_[idx].Print(); + } + } + return strm.str(); + } + + void ShrinkToFit() + { + nodes_.shrink_to_fit(); + } + + bool CheckGraphLinkage() const + { + return CheckGraphLinkage(GetNodesImmutable()); + } + + static bool CheckGraphLinkage(const Graph& graph) + { + return CheckGraphLinkage(graph.GetNodesImmutable()); + } + + static bool CheckGraphLinkage(const std::vector>& nodes) + { + // Go through every node and make sure the edges are valid + for (size_t idx = 0; idx < nodes.size(); idx++) + { + const GraphNode& current_node = nodes[idx]; + // Check the in edges first + const std::vector& in_edges = current_node.GetInEdgesImmutable(); + for (size_t in_edge_idx = 0; in_edge_idx < in_edges.size(); in_edge_idx++) + { + const GraphEdge& current_edge = in_edges[in_edge_idx]; + // Check from index to make sure it's in bounds + const int64_t from_index = current_edge.GetFromIndex(); + if (from_index < 0 || from_index >= (int64_t)nodes.size()) + { + return false; + } + // Check to index to make sure it matches our own index + const int64_t to_index = current_edge.GetToIndex(); + if (to_index != (int64_t)idx) + { + return false; + } + // Check edge validity (edges to ourself are not allowed) + if (from_index == to_index) + { + return false; + } + // Check to make sure that the from index node is linked to us + const GraphNode& from_node = nodes[(size_t)from_index]; + const std::vector& from_node_out_edges = from_node.GetOutEdgesImmutable(); + bool from_node_connection_valid = false; + // Make sure at least one out edge of the from index node corresponds to the current node + for (size_t from_node_out_edge_idx = 0; from_node_out_edge_idx < from_node_out_edges.size(); from_node_out_edge_idx++) + { + const GraphEdge& current_from_node_out_edge = from_node_out_edges[from_node_out_edge_idx]; + if (current_from_node_out_edge.GetToIndex() == (int64_t)idx) + { + from_node_connection_valid = true; + } + } + if (from_node_connection_valid == false) + { + return false; + } + } + // Check the out edges second + const std::vector& out_edges = current_node.GetOutEdgesImmutable(); + for (size_t out_edge_idx = 0; out_edge_idx < out_edges.size(); out_edge_idx++) + { + const GraphEdge& current_edge = out_edges[out_edge_idx]; + // Check from index to make sure it matches our own index + const int64_t from_index = current_edge.GetFromIndex(); + if (from_index != (int64_t)idx) + { + return false; + } + // Check to index to make sure it's in bounds + const int64_t to_index = current_edge.GetToIndex(); + if (to_index < 0 || to_index >= (int64_t)nodes.size()) + { + return false; + } + // Check edge validity (edges to ourself are not allowed) + if (from_index == to_index) + { + return false; + } + // Check to make sure that the to index node is linked to us + const GraphNode& to_node = nodes[(size_t)to_index]; + const std::vector& to_node_in_edges = to_node.GetInEdgesImmutable(); + bool to_node_connection_valid = false; + // Make sure at least one in edge of the to index node corresponds to the current node + for (size_t to_node_in_edge_idx = 0; to_node_in_edge_idx < to_node_in_edges.size(); to_node_in_edge_idx++) + { + const GraphEdge& current_to_node_in_edge = to_node_in_edges[to_node_in_edge_idx]; + if (current_to_node_in_edge.GetFromIndex() == (int64_t)idx) + { + to_node_connection_valid = true; + } + } + if (to_node_connection_valid == false) + { + return false; + } + } + } + return true; + } + + const std::vector>& GetNodesImmutable() const + { + return nodes_; + } + + std::vector>& GetNodesMutable() + { + return nodes_; + } + + const GraphNode& GetNodeImmutable(const int64_t index) const + { + assert(index >= 0); + assert(index < (int64_t)nodes_.size()); + return nodes_[(size_t)index]; + } + + GraphNode& GetNodeMutable(const int64_t index) + { + assert(index >= 0); + assert(index < (int64_t)nodes_.size()); + return nodes_[(size_t)index]; + } + + int64_t AddNode(const GraphNode& new_node) + { + nodes_.push_back(new_node); + return (int64_t)(nodes_.size() - 1); + } + + int64_t AddNode(const NodeValueType& new_value) + { + nodes_.push_back(GraphNode(new_value)); + return (int64_t)(nodes_.size() - 1); + } + + void AddEdgeBetweenNodes(const int64_t from_index, const int64_t to_index, const double edge_weight) + { + assert(from_index >= 0); + assert(from_index < (int64_t)nodes_.size()); + assert(to_index >= 0); + assert(to_index < (int64_t)nodes_.size()); + assert(from_index != to_index); + const GraphEdge new_edge(from_index, to_index, edge_weight); + GetNodeMutable(from_index).AddOutEdge(new_edge); + GetNodeMutable(to_index).AddInEdge(new_edge); + } + + void AddEdgesBetweenNodes(const int64_t first_index, const int64_t second_index, const double edge_weight) + { + assert(first_index >= 0); + assert(first_index < (int64_t)nodes_.size()); + assert(second_index >= 0); + assert(second_index < (int64_t)nodes_.size()); + assert(first_index != second_index); + const GraphEdge first_edge(first_index, second_index, edge_weight); + GetNodeMutable(first_index).AddOutEdge(first_edge); + GetNodeMutable(second_index).AddInEdge(first_edge); + const GraphEdge second_edge(second_index, first_index, edge_weight); + GetNodeMutable(second_index).AddOutEdge(second_edge); + GetNodeMutable(first_index).AddInEdge(second_edge); + } + + /** + * @brief GetConnectedComponentsUndirected + * @return A vector of the component ids for each node, and the total number of components + */ + std::pair, uint32_t> GetConnectedComponentsUndirected() const + { + size_t total_num_marked = 0; + auto connected_components = std::make_pair(std::vector(nodes_.size(), 0), 0u); + + for (size_t node_idx = 0; node_idx < nodes_.size() && total_num_marked < nodes_.size(); ++node_idx) + { + // If we have not yet marked this node, then mark it and anything it can reach + if (connected_components.first[node_idx] == 0) + { + connected_components.second++; + size_t num_marked = MarkConnectedComponentUndirected(node_idx, connected_components.first, connected_components.second); + total_num_marked += num_marked; + } + } + return connected_components; + } + }; + + template> + class SimpleDijkstrasAlgorithm + { + protected: + + class CompareIndexFn + { + public: + + constexpr bool operator()(const std::pair& lhs, const std::pair& rhs) const + { + return lhs.second > rhs.second; + } + }; + + SimpleDijkstrasAlgorithm() {} + public: + + typedef std::pair, std::pair, std::vector>> DijkstrasResult; + + static DijkstrasResult PerformDijkstrasAlgorithm( + const Graph& graph, + const int64_t start_index) + { + if ((start_index < 0) && (start_index >= (int64_t)graph.GetNodesImmutable().size())) + { + throw std::invalid_argument("Start index out of range"); + } + Graph working_copy = graph; + // Setup + std::vector previous_index_map(working_copy.GetNodesImmutable().size(), -1); + std::vector distances(working_copy.GetNodesImmutable().size(), std::numeric_limits::infinity()); + std::priority_queue, std::vector>, CompareIndexFn> queue; + std::unordered_map explored(graph.GetNodesImmutable().size()); + for (size_t idx = 0; idx < working_copy.GetNodesImmutable().size(); idx++) + { + working_copy.GetNodeMutable((int64_t)idx).SetDistance(std::numeric_limits::infinity()); + queue.push(std::make_pair((int64_t)idx, std::numeric_limits::infinity())); + } + working_copy.GetNodeMutable(start_index).SetDistance(0.0); + previous_index_map[(size_t)start_index] = start_index; + distances[(size_t)start_index] = 0.0; + queue.push(std::make_pair(start_index, 0.0)); + while (queue.size() > 0) + { + const std::pair top_node = queue.top(); + const int64_t& top_node_index = top_node.first; + const double& top_node_distance = top_node.second; + queue.pop(); + if (explored[top_node.first] > 0) + { + // We've already been here + continue; + } + else + { + // Note that we've been here + explored[top_node.first] = 1; + // Get our neighbors + const std::vector& neighbor_edges = working_copy.GetNodeImmutable(top_node_index).GetInEdgesImmutable(); + // Go through our neighbors + for (size_t neighbor_idx = 0; neighbor_idx < neighbor_edges.size(); neighbor_idx++) + { + const int64_t neighbor_index = neighbor_edges[neighbor_idx].GetFromIndex(); + const double neighbor_edge_weight = neighbor_edges[neighbor_idx].GetWeight(); + const double new_neighbor_distance = top_node_distance + neighbor_edge_weight; + // Check against the neighbor + const double stored_neighbor_distance = working_copy.GetNodeImmutable(neighbor_index).GetDistance(); + if (new_neighbor_distance < stored_neighbor_distance) + { + // We've found a better way to get to this node + // Check if it's already been explored + if (explored[neighbor_index] > 0) + { + // If it's already been explored, we just update it in place + working_copy.GetNodeMutable(neighbor_index).SetDistance(new_neighbor_distance); + } + else + { + // If it hasn't been explored, we need to update it and add it to the queue + working_copy.GetNodeMutable(neighbor_index).SetDistance(new_neighbor_distance); + queue.push(std::make_pair(neighbor_index, new_neighbor_distance)); + } + // Update that we're the best previous node + previous_index_map[(size_t)neighbor_index] = top_node_index; + distances[(size_t)neighbor_index] = new_neighbor_distance; + } + else + { + // Do nothing + continue; + } + } + } + } + return std::make_pair(working_copy, std::make_pair(previous_index_map, distances)); + } + + // These functions have not been tested. Use with care. + static uint64_t SerializeDijstrasResult( + const DijkstrasResult& result, + std::vector& buffer, + const std::function&)>& value_serializer) + { + const uint64_t start_buffer_size = buffer.size(); + // Serialize the graph + result.first.SerializeSelf(buffer, value_serializer); + // Serialize the previous index + const auto index_serializer = std::bind(arc_utilities::SerializeFixedSizePOD, std::placeholders::_1, std::placeholders::_2); + SerializeVector(result.second.first, index_serializer); + // Serialze the distances + const auto distance_serializer = std::bind(arc_utilities::SerializeFixedSizePOD, std::placeholders::_1, std::placeholders::_2); + SerializeVector(result.second.second, distance_serializer); + // Figure out how many bytes were written + const uint64_t end_buffer_size = buffer.size(); + const uint64_t bytes_written = end_buffer_size - start_buffer_size; + return bytes_written; + } + + // These functions have not been tested. Use with care. + static std::pair DijstrasResult( + const std::vector& buffer, + const uint64_t current, + const std::function(const std::vector&, const uint64_t)>& value_deserializer) + { + assert(current < buffer.size()); + uint64_t current_position = current; + // Deserialize the graph itself + std::pair deserialized; + const auto graph_deserialized = Graph::Deserialize(buffer, current_position, value_deserializer); + deserialized.first.first = graph_deserialized.first; + current_position += graph_deserialized.second; + // Deserialize the previous index + const auto index_deserializer = std::bind(arc_utilities::DeserializeFixedSizePOD, std::placeholders::_1, std::placeholders::_2); + const auto prev_index_deserialized = arc_utilities::DeserializeVector(buffer, current_position, index_deserializer); + deserialized.first.second.first = prev_index_deserialized.first; + current_position += prev_index_deserialized.second; + // Deserialize the distances + const auto distance_deserializer = std::bind(arc_utilities::DeserializeFixedSizePOD, std::placeholders::_1, std::placeholders::_2); + const auto distance_deserialized = arc_utilities::DeserializeVector(buffer, current_position, distance_deserializer); + deserialized.first.second.second = distance_deserialized.first; + current_position += distance_deserialized.second; + // Figure out how many bytes were read + deserialized.second = current_position - current; + return deserialized; + } + }; + + template> + class SimpleGraphAstar + { + protected: + + SimpleGraphAstar() {} + + public: + + static arc_helpers::AstarResult PerformLazyAstar( + const Graph& graph, + const int64_t start_index, + const int64_t goal_index, + const std::function&, const GraphEdge&)>& edge_validity_check_fn, + const std::function&, const GraphEdge&)>& distance_fn, + const std::function& heuristic_fn, + const bool limit_pqueue_duplicates) + { + // Enforced sanity checks + if ((start_index < 0) && (start_index >= (int64_t)graph.GetNodesImmutable().size())) + { + throw std::invalid_argument("Start index out of range"); + } + if ((goal_index < 0) && (goal_index >= (int64_t)graph.GetNodesImmutable().size())) + { + throw std::invalid_argument("Goal index out of range"); + } + if (start_index == goal_index) + { + throw std::invalid_argument("Start and goal indices must be different"); + } + // Make helper function + const auto heuristic_function = [&] (const int64_t node_index) + { + return heuristic_fn(graph.GetNodeImmutable(node_index).GetValueImmutable(), graph.GetNodeImmutable(goal_index).GetValueImmutable()); + }; + // Setup + std::priority_queue, arc_helpers::CompareAstarPQueueElementFn> queue; + // Optional map to reduce the number of duplicate items added to the pqueue + // Key is the node index in the provided graph + // Value is cost-to-come + std::unordered_map queue_members_map; + // Key is the node index in the provided graph + // Value is a pair + // backpointer is the parent index in the provided graph + std::unordered_map> explored; + // Initialize + queue.push(arc_helpers::AstarPQueueElement(start_index, -1, 0.0, heuristic_function(start_index))); + if (limit_pqueue_duplicates) + { + queue_members_map[start_index] = 0.0; + } + // Search + while (queue.size() > 0) + { + // Get the top of the priority queue + const arc_helpers::AstarPQueueElement top_node = queue.top(); + queue.pop(); + // Remove from queue map if necessary + if (limit_pqueue_duplicates) + { + queue_members_map.erase(top_node.NodeID()); + } + // Check if the node has already been discovered + const auto explored_itr = explored.find(top_node.NodeID()); + // We have not been here before, or it is cheaper now + const bool in_explored = (explored_itr != explored.end()); + const bool explored_is_better = (in_explored) ? (top_node.CostToCome() >= explored_itr->second.second) : false; + if (!explored_is_better) + { + // Add to the explored list + explored[top_node.NodeID()] = std::make_pair(top_node.Backpointer(), top_node.CostToCome()); + // Check if we have reached the goal + if (top_node.NodeID() == goal_index) + { + break; + } + // Explore and add the children + const std::vector& out_edges = graph.GetNodeImmutable(top_node.NodeID()).GetOutEdgesImmutable(); + for (size_t out_edge_idx = 0; out_edge_idx < out_edges.size(); out_edge_idx++) + { + // Get the next potential child node + const GraphEdge& current_out_edge = out_edges[out_edge_idx]; + const int64_t child_node_index = current_out_edge.GetToIndex(); + // Check if the top node->child edge is valid + if (edge_validity_check_fn(graph, current_out_edge)) + { + // Compute the cost-to-come for the new child + const double parent_cost_to_come = top_node.CostToCome(); + const double parent_to_child_cost = distance_fn(graph, current_out_edge); + const double child_cost_to_come = parent_cost_to_come + parent_to_child_cost; + // Check if the child state has already been explored + const auto explored_itr = explored.find(child_node_index); + // It is not in the explored list, or is there with a higher cost-to-come + const bool in_explored = (explored_itr != explored.end()); + const bool explored_is_better = (in_explored) ? (child_cost_to_come >= explored_itr->second.second) : false; + // Check if the child state is already in the queue + bool queue_is_better = false; + if (limit_pqueue_duplicates) + { + const auto queue_members_map_itr = queue_members_map.find(child_node_index); + const bool in_queue = (queue_members_map_itr != queue_members_map.end()); + queue_is_better = (in_queue) ? (child_cost_to_come >= queue_members_map_itr->second) : false; + } + // Only add the new state if we need to + if (!explored_is_better && !queue_is_better) + { + // Compute the heuristic for the child + const double child_heuristic = heuristic_function(child_node_index); + // Compute the child value + const double child_value = child_cost_to_come + child_heuristic; + queue.push(arc_helpers::AstarPQueueElement(child_node_index, top_node.NodeID(), child_cost_to_come, child_value)); + } + } + } + } + } + return arc_helpers::ExtractAstarResult(explored, start_index, goal_index); + } + + static arc_helpers::AstarResult PerformLazyAstar( + const Graph& graph, + const int64_t start_index, + const int64_t goal_index, + const std::function& edge_validity_check_fn, + const std::function& distance_fn, + const std::function& heuristic_fn, + const bool limit_pqueue_duplicates) + { + const auto edge_validity_check_function = [&] (const Graph& graph, const GraphEdge& edge) + { + return edge_validity_check_fn(graph.GetNodeImmutable(edge.GetFromIndex()).GetValueImmutable(), graph.GetNodeImmutable(edge.GetToIndex()).GetValueImmutable()); + }; + const auto distance_function = [&] (const Graph& graph, const GraphEdge& edge) + { + return distance_fn(graph.GetNodeImmutable(edge.GetFromIndex()).GetValueImmutable(), graph.GetNodeImmutable(edge.GetToIndex()).GetValueImmutable()); + }; + return PerformLazyAstar(graph, start_index, goal_index, edge_validity_check_function, distance_function, heuristic_fn, limit_pqueue_duplicates); + } + + static arc_helpers::AstarResult PerformAstar( + const Graph& graph, + const int64_t start_index, + const int64_t goal_index, + const std::function& heuristic_fn, + const bool limit_pqueue_duplicates) + { + const auto edge_validity_check_function = [&] (const Graph& graph, const GraphEdge& edge) + { + UNUSED(graph); + if (edge.GetWeight() < std::numeric_limits::infinity()) + { + return true; + } + else + { + return false; + } + }; + const auto distance_function = [&] (const Graph& graph, const GraphEdge& edge) + { + UNUSED(graph); + return edge.GetWeight(); + }; + return PerformLazyAstar(graph, start_index, goal_index, edge_validity_check_function, distance_function, heuristic_fn, limit_pqueue_duplicates); + } + }; + + template> + class GraphRandomWalk + { + protected: + GraphRandomWalk() {} + + public: + + template + static std::vector PerformRandomWalk( + const Graph& graph, + const int64_t start_index, + const int64_t goal_index, + Generator& generator) + { + std::uniform_int_distribution uniform_int_distribution; + + std::vector path(1, start_index); + + while (path.back() != goal_index) + { + // Collect data from the current node + const int64_t curr_index = path.back(); + const auto& out_edges = graph.GetNodeImmutable(curr_index).GetOutEdgesImmutable(); + const auto num_edges = out_edges.size(); + + // Determine which node to step to next + std::uniform_int_distribution::param_type params(0, (int64_t)(num_edges - 1)); + uniform_int_distribution.param(params); + const int64_t next_step = uniform_int_distribution(generator); + const auto next_index = out_edges.at(next_step).GetToIndex(); + + // If the next index is somewhere we've been already, then "trim" the loop off + const auto it = std::find(path.begin(), path.end(), next_index); + path.erase(it, path.end()); + + // (Re)add the new index to the path + path.push_back(next_index); + } + + return path; + } + }; +} + +#endif // DIJKSTRAS_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/dynamic_spatial_hashed_voxel_grid.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/dynamic_spatial_hashed_voxel_grid.hpp new file mode 100644 index 0000000..bc0ba38 --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/dynamic_spatial_hashed_voxel_grid.hpp @@ -0,0 +1,1012 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef DYNAMIC_SPATIAL_HASHED_VOXEL_GRID_HPP +#define DYNAMIC_SPATIAL_HASHED_VOXEL_GRID_HPP + +namespace VoxelGrid +{ + struct CHUNK_REGION + { + Eigen::Vector3d base; + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + CHUNK_REGION() : base(Eigen::Vector3d(0.0, 0.0, 0.0)) {} + + CHUNK_REGION(const double base_x, const double base_y, const double base_z) : base(Eigen::Vector3d(base_x, base_y, base_z)) {} + + CHUNK_REGION(const Eigen::Vector3d& in_base) : base(in_base) {} + + bool operator==(const CHUNK_REGION& other) const + { + if (EigenHelpers::Equal(base, other.base)) + { + return true; + } + else + { + return false; + } + } + }; + + template> + class DynamicSpatialHashedVoxelGridChunk + { + protected: + + CHUNK_REGION region_; + T initial_value_; + std::vector data_; + double cell_x_size_; + double cell_y_size_; + double cell_z_size_; + double chunk_x_size_; + double chunk_y_size_; + double chunk_z_size_; + int64_t num_x_cells_; + int64_t num_y_cells_; + int64_t num_z_cells_; + int64_t stride1_; + int64_t stride2_; + bool chunk_initialized_; + bool cell_initialized_; + + inline void SafetyCheckSizes(const double chunk_x_size, const double chunk_y_size, const double chunk_z_size) const + { + if (chunk_x_size <= 0.0) + { + throw std::invalid_argument("chunk_x_size must be positive and non-zero"); + } + if (std::isnan(chunk_x_size)) + { + throw std::invalid_argument("chunk_x_size must not be NaN"); + } + if (std::isinf(chunk_x_size) != 0) + { + throw std::invalid_argument("chunk_x_size must not be INF"); + } + if (chunk_y_size <= 0.0) + { + throw std::invalid_argument("chunk_y_size must be positive and non-zero"); + } + if (std::isnan(chunk_y_size)) + { + throw std::invalid_argument("chunk_y_size must not be NaN"); + } + if (std::isinf(chunk_y_size) != 0) + { + throw std::invalid_argument("chunk_y_size must not be INF"); + } + if (chunk_z_size <= 0.0) + { + throw std::invalid_argument("chunk_z_size must be positive and non-zero"); + } + if (std::isnan(chunk_z_size)) + { + throw std::invalid_argument("chunk_z_size must not be NaN"); + } + if (std::isinf(chunk_z_size) != 0) + { + throw std::invalid_argument("chunk_z_size must not be INF"); + } + } + + inline void SafetyCheckSizes(const double cell_x_size, const double cell_y_size, const double cell_z_size, const int64_t num_x_cells,const int64_t num_y_cells, const int64_t num_z_cells) const + { + if (cell_x_size <= 0.0) + { + throw std::invalid_argument("cell_x_size must be positive and non-zero"); + } + if (std::isnan(cell_x_size)) + { + throw std::invalid_argument("cell_x_size must not be NaN"); + } + if (std::isinf(cell_x_size) != 0) + { + throw std::invalid_argument("cell_x_size must not be INF"); + } + if (cell_y_size <= 0.0) + { + throw std::invalid_argument("cell_y_size must be positive and non-zero"); + } + if (std::isnan(cell_y_size)) + { + throw std::invalid_argument("cell_y_size must not be NaN"); + } + if (std::isinf(cell_y_size) != 0) + { + throw std::invalid_argument("cell_y_size must not be INF"); + } + if (cell_z_size <= 0.0) + { + throw std::invalid_argument("cell_z_size must be positive and non-zero"); + } + if (std::isnan(cell_z_size)) + { + throw std::invalid_argument("cell_z_size must not be NaN"); + } + if (std::isinf(cell_z_size) != 0) + { + throw std::invalid_argument("cell_z_size must not be INF"); + } + if (num_x_cells <= 0) + { + throw std::invalid_argument("num_x_cells must be positive and non-zero"); + } + if (num_y_cells <= 0) + { + throw std::invalid_argument("num_y_cells must be positive and non-zero"); + } + if (num_z_cells <= 0) + { + throw std::invalid_argument("num_z_cells must be positive and non-zero"); + } + } + + inline int64_t GetDataIndex(const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + return (x_index * stride1_) + (y_index * stride2_) + z_index; + } + + inline int64_t GetLocationDataIndex(const Eigen::Vector3d& location) const + { + Eigen::Vector3d location_in_chunk = location - region_.base; + // First, make sure the location is in the range this chunk covers + if (location_in_chunk.x() < 0.0 || location_in_chunk.y() < 0.0 || location_in_chunk.z() < 0.0) + { + return -1; + } + else if (location_in_chunk.x() > chunk_x_size_ || location_in_chunk.y() > chunk_y_size_ || location_in_chunk.z() > chunk_z_size_) + { + return -1; + } + // Ok, we're inside the chunk + else + { + int64_t x_cell = (int64_t)(location_in_chunk.x() / cell_x_size_); + int64_t y_cell = (int64_t)(location_in_chunk.y() / cell_y_size_); + int64_t z_cell = (int64_t)(location_in_chunk.z() / cell_z_size_); + if (x_cell < 0 || y_cell < 0 || z_cell < 0 || x_cell >= num_x_cells_ || y_cell >= num_y_cells_ || z_cell >= num_z_cells_) + { + return -1; + } + else + { + return GetDataIndex(x_cell, y_cell, z_cell); + } + } + } + + public: + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + DynamicSpatialHashedVoxelGridChunk(const CHUNK_REGION& region, const double cell_x_size, const double cell_y_size, const double cell_z_size, const int64_t num_x_cells, const int64_t num_y_cells, const int64_t num_z_cells, const T& initial_value) + { + SafetyCheckSizes(cell_x_size, cell_y_size, cell_z_size, num_x_cells, num_y_cells, num_z_cells); + cell_x_size_ = fabs(cell_x_size); + cell_y_size_ = fabs(cell_y_size); + cell_z_size_ = fabs(cell_z_size); + num_x_cells_ = num_x_cells; + num_y_cells_ = num_y_cells; + num_z_cells_ = num_z_cells; + chunk_x_size_ = cell_x_size_ * (double)num_x_cells_; + chunk_y_size_ = cell_y_size_ * (double)num_y_cells_; + chunk_z_size_ = cell_z_size_ * (double)num_z_cells_; + region_ = region; + cell_initialized_ = true; + chunk_initialized_ = false; + stride1_ = num_y_cells_ * num_z_cells_; + stride2_ = num_z_cells_; + initial_value_ = initial_value; + data_.resize(num_x_cells_ * num_y_cells_ * num_z_cells_, initial_value); + } + + DynamicSpatialHashedVoxelGridChunk(const CHUNK_REGION& region, const double chunk_x_size, const double chunk_y_size, const double chunk_z_size, const T& initial_value) + { + SafetyCheckSizes(chunk_x_size, chunk_y_size, chunk_z_size); + cell_x_size_ = 0.0; + cell_y_size_ = 0.0; + cell_z_size_ = 0.0; + num_x_cells_ = 1; + num_y_cells_ = 1; + num_z_cells_ = 1; + chunk_x_size_ = fabs(chunk_x_size); + chunk_y_size_ = fabs(chunk_y_size); + chunk_z_size_ = fabs(chunk_z_size); + stride1_ = num_y_cells_ * num_z_cells_; + stride2_ = num_z_cells_; + region_ = region; + initial_value_ = initial_value; + data_.resize(1, initial_value); + cell_initialized_ = false; + chunk_initialized_ = true; + } + + DynamicSpatialHashedVoxelGridChunk() + { + cell_x_size_ = 0.0; + cell_y_size_ = 0.0; + cell_z_size_ = 0.0; + num_x_cells_ = 0; + num_y_cells_ = 0; + num_z_cells_ = 0; + chunk_x_size_ = 0.0; + chunk_y_size_ = 0.0; + chunk_z_size_ = 0.0; + stride1_ = 0; + stride2_ = 0; + cell_initialized_ = false; + chunk_initialized_ = false; + } + + bool IsCellInitialized() const + { + return cell_initialized_; + } + + bool IsChunkInitialized() const + { + return chunk_initialized_; + } + + inline bool IndexInBounds(const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + if (x_index >= 0 && y_index >= 0 && z_index >= 0 && x_index < num_x_cells_ && y_index < num_y_cells_ && z_index < num_z_cells_) + { + return true; + } + else + { + return false; + } + } + + inline std::pair GetImmutableByIndex(const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + assert(chunk_initialized_ || cell_initialized_); + if (IndexInBounds(x_index, y_index, z_index)) + { + int64_t data_index = GetDataIndex(x_index, y_index, z_index); + assert(data_index >= 0 && data_index < data_.size()); + return std::pair(data_[data_index], true); + } + else + { + return std::pair(initial_value_, false); + } + } + + inline std::pair GetMutableByIndex(const int64_t x_index, const int64_t y_index, const int64_t z_index) + { + assert(chunk_initialized_ || cell_initialized_); + if (IndexInBounds(x_index, y_index, z_index)) + { + int64_t data_index = GetDataIndex(x_index, y_index, z_index); + assert(data_index >= 0 && data_index < data_.size()); + return std::pair(data_[data_index], true); + } + else + { + return std::pair(initial_value_, false); + } + } + + inline std::pair GetCellMutable(const Eigen::Vector3d& location) + { + assert(cell_initialized_); + int64_t data_index = GetLocationDataIndex(location); + if (data_index >= 0) + { + assert(data_index < data_.size()); + return std::pair(data_[data_index], true); + } + else + { + return std::pair(initial_value_, false); + } + } + + inline std::pair GetCellImmutable(const Eigen::Vector3d& location) const + { + assert(cell_initialized_); + int64_t data_index = GetLocationDataIndex(location); + if (data_index >= 0) + { + assert(data_index < data_.size()); + return std::pair(data_[data_index], true); + } + else + { + return std::pair(initial_value_, false); + } + } + + inline T& GetChunkMutable() + { + assert(chunk_initialized_); + assert(data_.size() == 1); + return data_[0]; + } + + inline const T& GetChunkImmutable() const + { + assert(chunk_initialized_); + assert(data_.size() == 1); + return data_[0]; + } + + inline bool SetCellValue(const Eigen::Vector3d& location, const T& value) + { + assert(cell_initialized_); + int64_t data_index = GetLocationDataIndex(location); + if (data_index >= 0) + { + assert(data_index < data_.size()); + data_[data_index] = value; + return true; + } + else + { + return false; + } + } + + inline bool SetCellValue(const Eigen::Vector3d& location, T&& value) + { + assert(cell_initialized_); + int64_t data_index = GetLocationDataIndex(location); + if (data_index >= 0) + { + assert(data_index < data_.size()); + data_[data_index] = value; + return true; + } + else + { + return false; + } + } + + inline bool SetChunkValue(const T& value) + { + assert(chunk_initialized_); + assert(data_.size() == 1); + data_[0] = value; + return true; + } + + inline bool SetChunkValue(T&& value) + { + assert(chunk_initialized_); + assert(data_.size() == 1); + data_[0] = value; + return true; + } + + inline std::vector GetIndexLocationInGrid(const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + assert(chunk_initialized_ || cell_initialized_); + if (IndexInBounds(x_index, y_index, z_index)) + { + if (chunk_initialized_) + { + Eigen::Vector3d point_in_chunk_frame(chunk_x_size_ * 0.5, chunk_y_size_ * 0.5, chunk_z_size_ * 0.5); + Eigen::Vector3d point_in_grid_frame = region_.base + point_in_chunk_frame; + return std::vector{point_in_grid_frame.x(), point_in_grid_frame.y(), point_in_grid_frame.z()}; + } + else + { + Eigen::Vector3d point_in_chunk_frame(cell_x_size_ * ((double)x_index + 0.5), cell_y_size_ * ((double)y_index + 0.5), cell_z_size_ * ((double)z_index + 0.5)); + Eigen::Vector3d point_in_grid_frame = region_.base + point_in_chunk_frame; + return std::vector{point_in_grid_frame.x(), point_in_grid_frame.y(), point_in_grid_frame.z()}; + } + } + else + { + return std::vector(); + } + } + + inline std::vector GetElementSize() const + { + assert(chunk_initialized_ || cell_initialized_); + if (chunk_initialized_) + { + return std::vector{chunk_x_size_, chunk_y_size_, chunk_z_size_}; + } + else + { + return std::vector{cell_x_size_, cell_y_size_, cell_z_size_}; + } + } + + inline int64_t GetNumXCells() const + { + return num_x_cells_; + } + + inline int64_t GetNumYCells() const + { + return num_y_cells_; + } + + inline int64_t GetNumZCells() const + { + return num_z_cells_; + } + }; + + enum FOUND_STATUS {NOT_FOUND, FOUND_IN_CHUNK, FOUND_IN_CELL}; + + enum SET_STATUS {NOT_SET, SET_CHUNK, SET_CELL}; + + template> + class DynamicSpatialHashedVoxelGrid + { + protected: + + Eigen::Isometry3d origin_transform_; + Eigen::Isometry3d inverse_origin_transform_; + T default_value_; + std::unordered_map> chunks_; + double chunk_x_size_; + double chunk_y_size_; + double chunk_z_size_; + double cell_x_size_; + double cell_y_size_; + double cell_z_size_; + int64_t chunk_num_x_cells_; + int64_t chunk_num_y_cells_; + int64_t chunk_num_z_cells_; + int64_t chunk_stride1_; + int64_t chunk_stride2_; + bool initialized_; + + inline void SafetyCheckSizes(const double cell_x_size, const double cell_y_size, const double cell_z_size, const int64_t chunk_num_x_cells,const int64_t chunk_num_y_cells, const int64_t chunk_num_z_cells) const + { + if (cell_x_size <= 0.0) + { + throw std::invalid_argument("cell_x_size must be positive and non-zero"); + } + if (std::isnan(cell_x_size)) + { + throw std::invalid_argument("cell_x_size must not be NaN"); + } + if (std::isinf(cell_x_size) != 0) + { + throw std::invalid_argument("cell_x_size must not be INF"); + } + if (cell_y_size <= 0.0) + { + throw std::invalid_argument("cell_y_size must be positive and non-zero"); + } + if (std::isnan(cell_y_size)) + { + throw std::invalid_argument("cell_y_size must not be NaN"); + } + if (std::isinf(cell_y_size) != 0) + { + throw std::invalid_argument("cell_y_size must not be INF"); + } + if (cell_z_size <= 0.0) + { + throw std::invalid_argument("cell_z_size must be positive and non-zero"); + } + if (std::isnan(cell_z_size)) + { + throw std::invalid_argument("cell_z_size must not be NaN"); + } + if (std::isinf(cell_z_size) != 0) + { + throw std::invalid_argument("cell_z_size must not be INF"); + } + if (chunk_num_x_cells <= 0) + { + throw std::invalid_argument("chunk_num_x_cells must be positive and non-zero"); + } + if (chunk_num_y_cells <= 0) + { + throw std::invalid_argument("chunk_num_y_cells must be positive and non-zero"); + } + if (chunk_num_z_cells <= 0) + { + throw std::invalid_argument("chunk_num_z_cells must be positive and non-zero"); + } + } + + inline void CoreInitialize(const double cell_x_size, const double cell_y_size, const double cell_z_size, const int64_t chunk_num_x_cells, const int64_t chunk_num_y_cells, const int64_t chunk_num_z_cells, const T& default_value) + { + SafetyCheckSizes(cell_x_size, cell_y_size, cell_z_size, chunk_num_x_cells, chunk_num_y_cells, chunk_num_z_cells); + cell_x_size_ = fabs(cell_x_size); + cell_y_size_ = fabs(cell_y_size); + cell_z_size_ = fabs(cell_z_size); + chunk_num_x_cells_ = chunk_num_x_cells; + chunk_num_y_cells_ = chunk_num_y_cells; + chunk_num_z_cells_ = chunk_num_z_cells; + chunk_x_size_ = cell_x_size_ * (double)chunk_num_x_cells_; + chunk_y_size_ = cell_y_size_ * (double)chunk_num_y_cells_; + chunk_z_size_ = cell_z_size_ * (double)chunk_num_z_cells_; + default_value_ = default_value; + chunk_stride1_ = chunk_num_y_cells_ * chunk_num_z_cells_; + chunk_stride2_ = chunk_num_z_cells_; + chunks_.clear(); + } + + public: + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + DynamicSpatialHashedVoxelGrid(const Eigen::Isometry3d& origin_transform, const double cell_x_size, const double cell_y_size, const double cell_z_size, const int64_t chunk_num_x_cells, const int64_t chunk_num_y_cells, const int64_t chunk_num_z_cells, const T& default_value) + { + Initialize(origin_transform, cell_x_size, cell_y_size, cell_z_size, chunk_num_x_cells, chunk_num_y_cells, chunk_num_z_cells, default_value); + } + + DynamicSpatialHashedVoxelGrid(const Eigen::Isometry3d& origin_transform, const double cell_size, const int64_t chunk_num_x_cells, const int64_t chunk_num_y_cells, const int64_t chunk_num_z_cells, const T& default_value) + { + Initialize(origin_transform, cell_size, cell_size, cell_size, chunk_num_x_cells, chunk_num_y_cells, chunk_num_z_cells, default_value); + } + + DynamicSpatialHashedVoxelGrid(const double cell_x_size, const double cell_y_size, const double cell_z_size, const int64_t chunk_num_x_cells, const int64_t chunk_num_y_cells, const int64_t chunk_num_z_cells, const T& default_value) + { + Initialize(cell_x_size, cell_y_size, cell_z_size, chunk_num_x_cells, chunk_num_y_cells, chunk_num_z_cells, default_value); + } + + DynamicSpatialHashedVoxelGrid(const double cell_size, const int64_t chunk_num_x_cells, const int64_t chunk_num_y_cells, const int64_t chunk_num_z_cells, const T& default_value) + { + Initialize(cell_size, cell_size, cell_size, chunk_num_x_cells, chunk_num_y_cells, chunk_num_z_cells, default_value); + } + + DynamicSpatialHashedVoxelGrid() + { + origin_transform_.setIdentity(); + inverse_origin_transform_ = origin_transform_.inverse(); + cell_x_size_ = 0.0; + cell_y_size_ = 0.0; + cell_z_size_ = 0.0; + chunk_num_x_cells_ = 0; + chunk_num_y_cells_ = 0; + chunk_num_z_cells_ = 0; + chunk_x_size_ = cell_x_size_ * (double)chunk_num_x_cells_; + chunk_y_size_ = cell_y_size_ * (double)chunk_num_y_cells_; + chunk_z_size_ = cell_z_size_ * (double)chunk_num_z_cells_; + chunk_stride1_ = chunk_num_y_cells_ * chunk_num_z_cells_; + chunk_stride2_ = chunk_num_z_cells_; + initialized_ = true; + } + + inline void Initialize(const Eigen::Isometry3d& origin_transform, const double cell_x_size, const double cell_y_size, const double cell_z_size, const int64_t chunk_num_x_cells, const int64_t chunk_num_y_cells, const int64_t chunk_num_z_cells, const T& default_value) + { + SafetyCheckSizes(cell_x_size, cell_y_size, cell_z_size, chunk_num_x_cells, chunk_num_y_cells, chunk_num_z_cells); + CoreInitialize(cell_x_size, cell_y_size, cell_z_size, chunk_num_x_cells, chunk_num_y_cells, chunk_num_z_cells, default_value); + origin_transform_ = origin_transform; + inverse_origin_transform_ = origin_transform_.inverse(); + initialized_ = true; + } + + inline void Initialize(const double cell_x_size, const double cell_y_size, const double cell_z_size, const int64_t chunk_num_x_cells, const int64_t chunk_num_y_cells, const int64_t chunk_num_z_cells, const T& default_value) + { + SafetyCheckSizes(cell_x_size, cell_y_size, cell_z_size, chunk_num_x_cells, chunk_num_y_cells, chunk_num_z_cells); + CoreInitialize(cell_x_size, cell_y_size, cell_z_size, chunk_num_x_cells, chunk_num_y_cells, chunk_num_z_cells, default_value); + origin_transform_.setIdentity(); + inverse_origin_transform_ = origin_transform_.inverse(); + initialized_ = true; + } + + inline bool IsInitialized() const + { + return initialized_; + } + + inline std::pair GetImmutable(const double x, const double y, const double z) const + { + Eigen::Vector3d location(x, y, z); + return GetImmutable(location); + } + + inline std::pair GetMutable(const double x, const double y, const double z) + { + Eigen::Vector3d location(x, y, z); + return GetMutable(location); + } + + inline SET_STATUS SetCellValue(const double x, const double y, const double z, const T& value) + { + Eigen::Vector3d location(x, y, z); + return SetCellValue(location, value); + } + + inline SET_STATUS SetCellValue(const double x, const double y, const double z, T&& value) + { + Eigen::Vector3d location(x, y, z); + return SetCellValue(location, value); + } + + inline SET_STATUS SetChunkValue(const double x, const double y, const double z, const T& value) + { + Eigen::Vector3d location(x, y, z); + return SetCellValue(location, value); + } + + inline SET_STATUS SetChunkValue(const double x, const double y, const double z, T&& value) + { + Eigen::Vector3d location(x, y, z); + return SetCellValue(location, value); + } + + inline CHUNK_REGION GetContainingChunkRegion(const Eigen::Vector3d& grid_location) const + { + assert(initialized_); + // Given a location in the grid frame, figure out which chunk region it falls into + double raw_x_chunk_num = grid_location.x() / chunk_x_size_; + double raw_y_chunk_num = grid_location.y() / chunk_y_size_; + double raw_z_chunk_num = grid_location.z() / chunk_z_size_; + int64_t x_chunk_num = (int64_t)floor(raw_x_chunk_num); + int64_t y_chunk_num = (int64_t)floor(raw_y_chunk_num); + int64_t z_chunk_num = (int64_t)floor(raw_z_chunk_num); + double region_base_x = (double)x_chunk_num * chunk_x_size_; + double region_base_y = (double)y_chunk_num * chunk_y_size_; + double region_base_z = (double)z_chunk_num * chunk_z_size_; + CHUNK_REGION region(region_base_x, region_base_y, region_base_z); + return region; + } + + inline std::pair GetImmutable(const Eigen::Vector3d& location) const + { + assert(initialized_); + Eigen::Vector3d grid_location = inverse_origin_transform_ * location; + CHUNK_REGION region = GetContainingChunkRegion(grid_location); + auto found_chunk_itr = chunks_.find(region); + if (found_chunk_itr != chunks_.end()) + { + const DynamicSpatialHashedVoxelGridChunk& chunk = found_chunk_itr->second; + if (chunk.IsCellInitialized()) + { + // Get the data + std::pair found_in_cell = chunk.GetCellImmutable(grid_location); + if (found_in_cell.second) + { + return std::pair(found_in_cell.first, FOUND_IN_CELL); + } + else + { + return std::pair(default_value_, NOT_FOUND); + } + } + else if (chunk.IsChunkInitialized()) + { + return std::pair(chunk.GetChunkImmutable(), FOUND_IN_CHUNK); + } + else + { + return std::pair(default_value_, NOT_FOUND); + } + } + else + { + return std::pair(default_value_, NOT_FOUND); + } + } + + inline std::pair GetMutable(const Eigen::Vector3d& location) + { + assert(initialized_); + Eigen::Vector3d grid_location = inverse_origin_transform_ * location; + CHUNK_REGION region = GetContainingChunkRegion(grid_location); + auto found_chunk_itr = chunks_.find(region); + if (found_chunk_itr != chunks_.end()) + { + DynamicSpatialHashedVoxelGridChunk& chunk = found_chunk_itr->second; + if (chunk.IsCellInitialized()) + { + // Get the data + std::pair found_in_cell = chunk.GetCellMutable(grid_location); + if (found_in_cell.second) + { + return std::pair(found_in_cell.first, FOUND_IN_CELL); + } + else + { + return std::pair(default_value_, NOT_FOUND); + } + } + else if (chunk.IsChunkInitialized()) + { + return std::pair(chunk.GetChunkMutable(), FOUND_IN_CHUNK); + } + else + { + return std::pair(default_value_, NOT_FOUND); + } + } + else + { + return std::pair(default_value_, NOT_FOUND); + } + } + + inline SET_STATUS SetCellValue(const Eigen::Vector3d& location, const T& value) + { + assert(initialized_); + Eigen::Vector3d grid_location = inverse_origin_transform_ * location; + CHUNK_REGION region = GetContainingChunkRegion(grid_location); + auto found_chunk_itr = chunks_.find(region); + if (found_chunk_itr != chunks_.end()) + { + DynamicSpatialHashedVoxelGridChunk& chunk = found_chunk_itr->second; + if (chunk.IsCellInitialized()) + { + if (chunk.SetCellValue(grid_location, value)) + { + return SET_CELL; + } + else + { + return NOT_SET; + } + } + else if (chunk.IsChunkInitialized()) + { + T current_chunk_value = chunk.GetChunkMutable(); + // Make a new chunk + DynamicSpatialHashedVoxelGridChunk new_chunk(region, cell_x_size_, cell_y_size_, cell_z_size_, chunk_num_x_cells_, chunk_num_y_cells_, chunk_num_z_cells_, current_chunk_value); + if (new_chunk.SetCellValue(grid_location, value)) + { + chunks_[region] = new_chunk; + return SET_CELL; + } + else + { + return NOT_SET; + } + } + else + { + // Make a new chunk + DynamicSpatialHashedVoxelGridChunk new_chunk(region, cell_x_size_, cell_y_size_, cell_z_size_, chunk_num_x_cells_, chunk_num_y_cells_, chunk_num_z_cells_, default_value_); + if (new_chunk.SetCellValue(grid_location, value)) + { + chunks_[region] = new_chunk; + return SET_CELL; + } + else + { + return NOT_SET; + } + } + } + else + { + // Make a new chunk + DynamicSpatialHashedVoxelGridChunk new_chunk(region, cell_x_size_, cell_y_size_, cell_z_size_, chunk_num_x_cells_, chunk_num_y_cells_, chunk_num_z_cells_, default_value_); + if (new_chunk.SetCellValue(grid_location, value)) + { + chunks_[region] = new_chunk; + return SET_CELL; + } + else + { + return NOT_SET; + } + } + } + + inline SET_STATUS SetCellValue(const Eigen::Vector3d& location, T&& value) + { + assert(initialized_); + Eigen::Vector3d grid_location = inverse_origin_transform_ * location; + CHUNK_REGION region = GetContainingChunkRegion(grid_location); + auto found_chunk_itr = chunks_.find(region); + if (found_chunk_itr != chunks_.end()) + { + DynamicSpatialHashedVoxelGridChunk& chunk = found_chunk_itr->second; + if (chunk.IsCellInitialized()) + { + if (chunk.SetCellValue(grid_location, value)) + { + return SET_CELL; + } + else + { + return NOT_SET; + } + } + else if (chunk.IsChunkInitialized()) + { + T current_chunk_value = chunk.GetChunkMutable(); + // Make a new chunk + DynamicSpatialHashedVoxelGridChunk new_chunk(region, cell_x_size_, cell_y_size_, cell_z_size_, chunk_num_x_cells_, chunk_num_y_cells_, chunk_num_z_cells_, current_chunk_value); + if (new_chunk.SetCellValue(grid_location, value)) + { + chunks_[region] = new_chunk; + return SET_CELL; + } + else + { + return NOT_SET; + } + } + else + { + // Make a new chunk + DynamicSpatialHashedVoxelGridChunk new_chunk(region, cell_x_size_, cell_y_size_, cell_z_size_, chunk_num_x_cells_, chunk_num_y_cells_, chunk_num_z_cells_, default_value_); + if (new_chunk.SetCellValue(grid_location, value)) + { + chunks_[region] = new_chunk; + return SET_CELL; + } + else + { + return NOT_SET; + } + } + } + else + { + // Make a new chunk + DynamicSpatialHashedVoxelGridChunk new_chunk(region, cell_x_size_, cell_y_size_, cell_z_size_, chunk_num_x_cells_, chunk_num_y_cells_, chunk_num_z_cells_, default_value_); + if (new_chunk.SetCellValue(grid_location, value)) + { + chunks_[region] = new_chunk; + return SET_CELL; + } + else + { + return NOT_SET; + } + } + } + + inline SET_STATUS SetChunkValue(const Eigen::Vector3d& location, const T& value) + { + assert(initialized_); + Eigen::Vector3d grid_location = inverse_origin_transform_ * location; + CHUNK_REGION region = GetContainingChunkRegion(grid_location); + auto found_chunk_itr = chunks_.find(region); + if (found_chunk_itr != chunks_.end()) + { + DynamicSpatialHashedVoxelGridChunk& chunk = found_chunk_itr->second; + if (chunk.IsCellInitialized()) + { + // Make a new chunk + DynamicSpatialHashedVoxelGridChunk new_chunk(region, chunk_x_size_, chunk_y_size_, chunk_z_size_, value); + chunks_[region] = new_chunk; + return SET_CHUNK; + } + else if (chunk.IsChunkInitialized()) + { + if (chunk.SetChunkValue(value)) + { + return SET_CHUNK; + } + else + { + return NOT_SET; + } + } + else + { + // Make a new chunk + DynamicSpatialHashedVoxelGridChunk new_chunk(region, chunk_x_size_, chunk_y_size_, chunk_z_size_, value); + chunks_[region] = new_chunk; + return SET_CHUNK; + } + } + else + { + // Make a new chunk + DynamicSpatialHashedVoxelGridChunk new_chunk(region, chunk_x_size_, chunk_y_size_, chunk_z_size_, value); + chunks_[region] = new_chunk; + return SET_CHUNK; + } + } + + inline SET_STATUS SetChunkValue(const Eigen::Vector3d& location, T&& value) + { + assert(initialized_); + Eigen::Vector3d grid_location = inverse_origin_transform_ * location; + CHUNK_REGION region = GetContainingChunkRegion(grid_location); + auto found_chunk_itr = chunks_.find(region); + if (found_chunk_itr != chunks_.end()) + { + DynamicSpatialHashedVoxelGridChunk& chunk = found_chunk_itr->second; + if (chunk.IsCellInitialized()) + { + // Make a new chunk + DynamicSpatialHashedVoxelGridChunk new_chunk(region, chunk_x_size_, chunk_y_size_, chunk_z_size_, value); + chunks_[region] = new_chunk; + return SET_CHUNK; + } + else if (chunk.IsChunkInitialized()) + { + if (chunk.SetChunkValue(value)) + { + return SET_CHUNK; + } + else + { + return NOT_SET; + } + } + else + { + // Make a new chunk + DynamicSpatialHashedVoxelGridChunk new_chunk(region, chunk_x_size_, chunk_y_size_, chunk_z_size_, value); + chunks_[region] = new_chunk; + return SET_CHUNK; + } + } + else + { + // Make a new chunk + DynamicSpatialHashedVoxelGridChunk new_chunk(region, chunk_x_size_, chunk_y_size_, chunk_z_size_, value); + chunks_[region] = new_chunk; + return SET_CHUNK; + } + } + + inline std::vector GetCellSizes() const + { + return std::vector{cell_x_size_, cell_y_size_, cell_z_size_}; + } + + inline std::vector GetChunkSizes() const + { + return std::vector{cell_x_size_ * (double)chunk_num_x_cells_, cell_y_size_ * (double)chunk_num_y_cells_, cell_z_size_ * (double)chunk_num_z_cells_}; + } + + inline std::vector GetChunkNumCells() const + { + return std::vector{chunk_num_x_cells_, chunk_num_y_cells_, chunk_num_z_cells_}; + } + + inline T GetDefaultValue() const + { + return default_value_; + } + + inline void SetDefaultValue(const T& default_value) + { + default_value_ = default_value; + } + + inline Eigen::Isometry3d GetOriginTransform() const + { + return origin_transform_; + } + + inline const std::unordered_map>& GetInternalChunks() const + { + return chunks_; + } + + }; +} + +namespace std +{ + template <> + struct hash + { + std::size_t operator()(const VoxelGrid::CHUNK_REGION& region) const + { + using std::size_t; + using std::hash; + return (std::hash()(region.base)); + } + }; +} + +#endif // DYNAMIC_SPATIAL_HASHED_VOXEL_GRID_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/eigen_helpers.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/eigen_helpers.hpp new file mode 100644 index 0000000..b4e4595 --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/eigen_helpers.hpp @@ -0,0 +1,1569 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef EIGEN_HELPERS_HPP +#define EIGEN_HELPERS_HPP + +namespace std +{ + // http://stackoverflow.com/questions/2590677/how-do-i-combine-hash-values-in-c0x + template + inline void hash_combine(std::size_t& seed, const T& v) + { + std::hash hasher; + seed ^= hasher(v) + 0x9e3779b9 + (seed<<6) + (seed>>2); + } + + template + struct hash> + { + std::size_t operator()(const std::complex& val) const + { + return (std::hash()(val.real()) ^ ((std::hash()(val.imag()) << 1) >> 1)); + } + }; + + template <> + struct hash + { + std::size_t operator()(const Eigen::Vector3d& vector) const + { + return (std::hash()(vector.x()) ^ ((std::hash()(vector.y()) << 1) >> 1) ^ (std::hash()(vector.z()) << 1)); + } + }; + + // Hash function for Eigen vector. + // Based on here: https://wjngkoh.wordpress.com/2015/03/04/c-hash-function-for-eigen-matrix-and-vector/ + template + struct hash> + { + std::size_t operator() (const Eigen::Matrix<_Scalar, _Rows, 1>& vector) const + { + std::size_t hash = 0; + for (ssize_t idx = 0; idx < vector.size(); idx++) + { + std::hash_combine(hash, vector(idx)); + } + return hash; + } + }; + + template + struct hash> + { + std::size_t operator()(const std::pair& val) const + { + std::size_t seed = 0; + std::hash_combine(seed, val.first); + std::hash_combine(seed, val.second); + return seed; + } + }; + +} + +namespace EigenHelpers +{ + //////////////////////////////////////////////////////////////////////////// + // Typedefs for aligned STL containers using Eigen types + //////////////////////////////////////////////////////////////////////////// + + typedef std::vector> VectorVector2d; + typedef std::vector> VectorVector3f; + typedef std::vector> VectorVector3d; + typedef std::vector> VectorVector4f; + typedef std::vector> VectorVector4d; + typedef std::vector> VectorQuaternionf; + typedef std::vector> VectorQuaterniond; + typedef std::vector> VectorIsometry3f; + typedef std::vector> VectorIsometry3d; + typedef std::map, Eigen::aligned_allocator>> MapStringVector3f; + typedef std::map, Eigen::aligned_allocator>> MapStringVector3d; + typedef std::map, Eigen::aligned_allocator>> MapStringVector4f; + typedef std::map, Eigen::aligned_allocator>> MapStringVector4d; + typedef std::map, Eigen::aligned_allocator>> MapStringQuaternionf; + typedef std::map, Eigen::aligned_allocator>> MapStringQuaterniond; + typedef std::map, Eigen::aligned_allocator>> MapStringIsometry3f; + typedef std::map, Eigen::aligned_allocator>> MapStringIsometry3d; + + inline bool Equal(const Eigen::Vector3d& v1, const Eigen::Vector3d& v2) + { + if ((v1.x() == v2.x()) && (v1.y() == v2.y()) && (v1.z() == v2.z())) + { + return true; + } + else + { + return false; + } + } + + inline bool CloseEnough(const double p1, const double p2, const double threshold) + { + const double real_threshold = std::abs(threshold); + const double abs_delta = std::abs(p2 - p1); + if (abs_delta <= real_threshold) + { + return true; + } + else + { + return false; + } + } + + inline bool CloseEnough(const Eigen::Vector3d& v1, const Eigen::Vector3d& v2, const double threshold) + { + double real_threshold = std::fabs(threshold); + if (std::fabs(v1.x() - v2.x()) > real_threshold) + { + return false; + } + if (std::fabs(v1.y() - v2.y()) > real_threshold) + { + return false; + } + if (std::fabs(v1.z() - v2.z()) > real_threshold) + { + return false; + } + return true; + } + + template > + inline bool CloseEnough(const std::vector& a, const std::vector& b, const double threshold) + { + if (a.size() != b.size()) + { + return false; + } + for (size_t idx = 0; idx < a.size(); idx++) + { + if (!CloseEnough(a[idx], b[idx], threshold)) + { + return false; + } + } + return true; + } + + // Inspired by Eigen's "isApprox" function + inline bool IsApprox(const double p1, const double p2, const double precision) + { + const double smallest_element = std::min(std::abs(p1), std::abs(p2)); + const double threshold = precision * smallest_element; + return CloseEnough(p1, p2, threshold); + } + + template > + inline bool IsApprox(const std::vector& a, const std::vector& b, + const typename EigenType::Scalar& precision = Eigen::NumTraits::dummy_precision()) + { + if (a.size() != b.size()) + { + return false; + } + for (size_t idx = 0; idx < a.size(); idx++) + { + if (!a[idx].isApprox(b[idx], precision)) + { + return false; + } + } + return true; + } + + template + inline Eigen::MatrixXd ClampNorm(const Eigen::MatrixBase& item_to_clamp, const double max_norm) + { + assert(max_norm >= 0 && "You must pass a maximum norm that is positive"); + const double current_norm = item_to_clamp.norm(); + if (current_norm > max_norm) + { + return item_to_clamp * (max_norm / current_norm); + } + return item_to_clamp; + } + + //////////////////////////////////////////////////////////////////////////// + // Kinematics functions + //////////////////////////////////////////////////////////////////////////// + + inline Eigen::Vector3d RotateVector(const Eigen::Quaterniond& quat, const Eigen::Vector3d& vec) + { + const Eigen::Quaterniond temp(0.0, vec.x(), vec.y(), vec.z()); + const Eigen::Quaterniond res = quat * (temp * quat.inverse()); + return Eigen::Vector3d(res.x(), res.y(), res.z()); + } + + inline Eigen::Vector3d RotateVectorReverse(const Eigen::Quaterniond& quat, const Eigen::Vector3d& vec) + { + const Eigen::Quaterniond temp(0.0, vec.x(), vec.y(), vec.z()); + const Eigen::Quaterniond res = quat.inverse() * (temp * quat); + return Eigen::Vector3d(res.x(), res.y(), res.z()); + } + + inline double EnforceContinuousRevoluteBounds(const double value) + { + if ((value <= -M_PI) || (value > M_PI)) + { + const double remainder = fmod(value, 2.0 * M_PI); + if (remainder <= -M_PI) + { + return (remainder + (2.0 * M_PI)); + } + else if (remainder > M_PI) + { + return (remainder - (2.0 * M_PI)); + } + else + { + return remainder; + } + } + else + { + return value; + } + } + + inline Eigen::VectorXd SafeNormal(const Eigen::VectorXd& vec) + { + const double norm = vec.norm(); + if (norm > std::numeric_limits::epsilon()) + { + return vec / norm; + } + else + { + return vec; + } + } + + inline double SquaredNorm(const std::vector& vec) + { + double squared_norm = 0.0; + for (size_t idx = 0; idx < vec.size(); idx++) + { + const double element = vec[idx]; + squared_norm += (element * element); + } + return squared_norm; + } + + inline double Norm(const std::vector& vec) + { + return std::sqrt(SquaredNorm(vec)); + } + + inline std::vector Abs(const std::vector& vec) + { + std::vector absed(vec.size(), 0.0); + for (size_t idx = 0; idx < absed.size(); idx++) + { + absed[idx] = std::abs(vec[idx]); + } + return absed; + } + + inline std::vector Multiply(const std::vector& vec, const double scalar) + { + std::vector multiplied(vec.size(), 0.0); + for (size_t idx = 0; idx < multiplied.size(); idx++) + { + const double element = vec[idx]; + multiplied[idx] = element * scalar; + } + return multiplied; + } + + inline std::vector Multiply(const std::vector& vec1, const std::vector& vec2) + { + if (vec1.size() == vec2.size()) + { + std::vector multiplied(vec1.size(), 0.0); + for (size_t idx = 0; idx < multiplied.size(); idx++) + { + const double element1 = vec1[idx]; + const double element2 = vec2[idx]; + multiplied[idx] = element1 * element2; + } + return multiplied; + } + else + { + return std::vector(); + } + } + + inline std::vector Divide(const std::vector& vec, const double scalar) + { + const double inv_scalar = 1.0 / scalar; + return Multiply(vec, inv_scalar); + } + + inline std::vector Divide(const std::vector& vec1, const std::vector& vec2) + { + if (vec1.size() == vec2.size()) + { + std::vector divided(vec1.size(), 0.0); + for (size_t idx = 0; idx < divided.size(); idx++) + { + const double element1 = vec1[idx]; + const double element2 = vec2[idx]; + divided[idx] = element1 / element2; + } + return divided; + } + else + { + return std::vector(); + } + } + + inline std::vector Add(const std::vector& vec, const double scalar) + { + std::vector added(vec.size(), 0.0); + for (size_t idx = 0; idx < added.size(); idx++) + { + added[idx] = vec[idx] + scalar; + } + return added; + } + + inline std::vector Add(const std::vector& vec1, const std::vector& vec2) + { + if (vec1.size() == vec2.size()) + { + std::vector added(vec1.size(), 0.0); + for (size_t idx = 0; idx < added.size(); idx++) + { + const double element1 = vec1[idx]; + const double element2 = vec2[idx]; + added[idx] = element1 + element2; + } + return added; + } + else + { + return std::vector(); + } + } + + inline std::vector Sub(const std::vector& vec, const double scalar) + { + std::vector subed(vec.size(), 0.0); + for (size_t idx = 0; idx < subed.size(); idx++) + { + subed[idx] = vec[idx] - scalar; + } + return subed; + } + + inline std::vector Sub(const std::vector& vec1, const std::vector& vec2) + { + if (vec1.size() == vec2.size()) + { + std::vector subed(vec1.size(), 0.0); + for (size_t idx = 0; idx < subed.size(); idx++) + { + const double element1 = vec1[idx]; + const double element2 = vec2[idx]; + subed[idx] = element1 - element2; + } + return subed; + } + else + { + return std::vector(); + } + } + + inline Eigen::Matrix3d Skew(const Eigen::Vector3d& vector) + { + Eigen::Matrix3d skewed; + skewed << 0.0, -vector.z(), vector.y(), + vector.z(), 0.0, -vector.x(), + -vector.y(), vector.x(), 0.0; + return skewed; + } + + inline Eigen::Vector3d Unskew(const Eigen::Matrix3d& matrix) + { + const Eigen::Matrix3d matrix_symetric = (matrix - matrix.transpose()) / 2.0; + const Eigen::Vector3d unskewed(matrix_symetric(2, 1), matrix_symetric(0, 2), matrix_symetric(1, 0)); + return unskewed; + } + + inline Eigen::Matrix4d TwistHat(const Eigen::Matrix& twist) + { + const Eigen::Vector3d trans_velocity = twist.segment<3>(0); + const Eigen::Matrix3d hatted_rot_velocity = Skew(twist.segment<3>(3)); + Eigen::Matrix4d hatted_twist = Eigen::Matrix4d::Zero(); + hatted_twist.block<3, 3>(0, 0) = hatted_rot_velocity; + hatted_twist.block<3, 1>(0, 3) = trans_velocity; + return hatted_twist; + } + + inline Eigen::Matrix TwistUnhat(const Eigen::Matrix4d& hatted_twist) + { + const Eigen::Vector3d trans_velocity = hatted_twist.block<3, 1>(0, 3); + const Eigen::Vector3d rot_velocity = Unskew(hatted_twist.block<3, 3>(0, 0)); + Eigen::Matrix twist; + twist.segment<3>(0) = trans_velocity; + twist.segment<3>(3) = rot_velocity; + return twist; + } + + inline Eigen::Matrix AdjointFromTransform(const Eigen::Isometry3d& transform) + { + const Eigen::Matrix3d rotation = transform.matrix().block<3, 3>(0, 0); + const Eigen::Vector3d translation = transform.matrix().block<3, 1>(0, 3); + const Eigen::Matrix3d translation_hat = Skew(translation); + // Assemble the adjoint matrix + Eigen::Matrix adjoint; + adjoint.block<3, 3>(0, 0) = rotation; + adjoint.block<3, 3>(0, 3) = translation_hat * rotation; + adjoint.block<3, 3>(3, 0) = Eigen::Matrix3d::Zero(); + adjoint.block<3, 3>(3, 3) = rotation; + return adjoint; + } + + inline Eigen::Matrix TransformTwist(const Eigen::Isometry3d& transform, const Eigen::Matrix& initial_twist) + { + return (Eigen::Matrix)(EigenHelpers::AdjointFromTransform(transform) * initial_twist); + } + + inline Eigen::Matrix TwistBetweenTransforms(const Eigen::Isometry3d& start, const Eigen::Isometry3d& end) + { + const Eigen::Isometry3d t_diff = start.inverse() * end; + return TwistUnhat(t_diff.matrix().log()); + } + + inline Eigen::Matrix3d ExpMatrixExact(const Eigen::Matrix3d& hatted_rot_velocity, const double delta_t) + { + assert(std::fabs(Unskew(hatted_rot_velocity).norm() - 1.0) < 1e-10); + const Eigen::Matrix3d exp_matrix = Eigen::Matrix3d::Identity() + (hatted_rot_velocity * sin(delta_t)) + (hatted_rot_velocity * hatted_rot_velocity * (1.0 - cos(delta_t))); + return exp_matrix; + } + + inline Eigen::Isometry3d ExpTwist(const Eigen::Matrix& twist, const double delta_t) + { + const Eigen::Vector3d trans_velocity = twist.segment<3>(0); + const Eigen::Vector3d rot_velocity = twist.segment<3>(3); + const double trans_velocity_norm = trans_velocity.norm(); + const double rot_velocity_norm = rot_velocity.norm(); + Eigen::Matrix4d raw_transform = Eigen::Matrix4d::Identity(); + if (rot_velocity_norm >= 1e-100) + { + const double scaled_delta_t = delta_t * rot_velocity_norm; + const Eigen::Vector3d scaled_trans_velocity = trans_velocity / rot_velocity_norm; + const Eigen::Vector3d scaled_rot_velocity = rot_velocity / rot_velocity_norm; + const Eigen::Matrix3d rotation_displacement = ExpMatrixExact(Skew(scaled_rot_velocity), scaled_delta_t); + const Eigen::Vector3d translation_displacement = ((Eigen::Matrix3d::Identity() - rotation_displacement) * scaled_rot_velocity.cross(scaled_trans_velocity)) + (scaled_rot_velocity * scaled_rot_velocity.transpose() * scaled_trans_velocity * scaled_delta_t); + raw_transform.block<3, 3>(0, 0) = rotation_displacement; + raw_transform.block<3, 1>(0, 3) = translation_displacement; + } + else + { + if ((trans_velocity_norm >= 1e-100) || (rot_velocity_norm == 0.0)) + { + raw_transform.block<3, 1>(0, 3) = trans_velocity * delta_t; + } + else + { + std::cerr << "*** WARNING - YOU MAY ENCOUNTER NUMERICAL INSTABILITY IN EXPTWIST(...) WITH TRANS & ROT VELOCITY NORM < 1e-100 ***" << std::endl; + const double scaled_delta_t = delta_t * rot_velocity_norm; + const Eigen::Vector3d scaled_trans_velocity = trans_velocity / rot_velocity_norm; + const Eigen::Vector3d scaled_rot_velocity = rot_velocity / rot_velocity_norm; + const Eigen::Matrix3d rotation_displacement = ExpMatrixExact(Skew(scaled_rot_velocity), scaled_delta_t); + const Eigen::Vector3d translation_displacement = ((Eigen::Matrix3d::Identity() - rotation_displacement) * scaled_rot_velocity.cross(scaled_trans_velocity)) + (scaled_rot_velocity * scaled_rot_velocity.transpose() * scaled_trans_velocity * scaled_delta_t); + raw_transform.block<3, 3>(0, 0) = rotation_displacement; + raw_transform.block<3, 1>(0, 3) = translation_displacement; + } + } + Eigen::Isometry3d transform; + transform = raw_transform; + return transform; + } + + //////////////////////////////////////////////////////////////////////////// + // Interpolation functions + //////////////////////////////////////////////////////////////////////////// + + inline double Interpolate(const double p1, const double p2, const double ratio) + { + // Safety check ratio + double real_ratio = ratio; + if (real_ratio < 0.0) + { + real_ratio = 0.0; + std::cerr << "Interpolation ratio < 0.0, set to 0.0" << std::endl; + } + else if (real_ratio > 1.0) + { + real_ratio = 1.0; + std::cerr << "Interpolation ratio > 1.0, set to 1.0" << std::endl; + } + // Interpolate + // This is the numerically stable version, rather than (p1 + (p2 - p1) * real_ratio) + return ((p1 * (1.0 - real_ratio)) + (p2 * real_ratio)); + } + + inline double InterpolateContinuousRevolute(const double p1, const double p2, const double ratio) + { + // Safety check ratio + double real_ratio = ratio; + if (real_ratio < 0.0) + { + real_ratio = 0.0; + std::cerr << "Interpolation ratio < 0.0, set to 0.0" << std::endl; + } + else if (real_ratio > 1.0) + { + real_ratio = 1.0; + std::cerr << "Interpolation ratio > 1.0, set to 1.0" << std::endl; + } + // Safety check args + const double real_p1 = EnforceContinuousRevoluteBounds(p1); + const double real_p2 = EnforceContinuousRevoluteBounds(p2); + // Interpolate + double interpolated = 0.0; + double diff = real_p2 - real_p1; + if (std::fabs(diff) <= M_PI) + { + interpolated = real_p1 + diff * real_ratio; + } + else + { + if (diff > 0.0) + { + diff = 2.0 * M_PI - diff; + } + else + { + diff = -2.0 * M_PI - diff; + } + interpolated = real_p1 - diff * real_ratio; + // Input states are within bounds, so the following check is sufficient + if (interpolated > M_PI) + { + interpolated -= 2.0 * M_PI; + } + else + { + if (interpolated < -M_PI) + { + interpolated += 2.0 * M_PI; + } + } + } + return interpolated; + } + + inline std::vector Interpolate(const std::vector& v1, const std::vector& v2, const double ratio) + { + // Safety check ratio + double real_ratio = ratio; + if (real_ratio < 0.0) + { + real_ratio = 0.0; + std::cerr << "Interpolation ratio < 0.0, set to 0.0" << std::endl; + } + else if (real_ratio > 1.0) + { + real_ratio = 1.0; + std::cerr << "Interpolation ratio > 1.0, set to 1.0" << std::endl; + } + // Safety check inputs + const size_t len = v1.size(); + if (len != v2.size()) + { + std::cerr << "Vectors to interpolate are different sizes (" << v1.size() << " versus " << v2.size() << ")" << std::endl; + return std::vector(); + } + // Interpolate + // This is the numerically stable version, rather than (p1 + (p2 - p1) * real_ratio) + std::vector interped(len, 0); + for (size_t idx = 0; idx < len; idx++) + { + interped[idx] = ((v1[idx] * (1.0 - real_ratio)) + (v2[idx] * real_ratio)); + } + return interped; + } + + inline Eigen::Quaterniond Interpolate(const Eigen::Quaterniond& q1, const Eigen::Quaterniond& q2, const double ratio) + { + // Safety check ratio + double real_ratio = ratio; + if (real_ratio < 0.0) + { + real_ratio = 0.0; + std::cerr << "Interpolation ratio < 0.0, set to 0.0" << std::endl; + } + else if (real_ratio > 1.0) + { + real_ratio = 1.0; + std::cerr << "Interpolation ratio > 1.0, set to 1.0" << std::endl; + } + // Interpolate + return q1.slerp(real_ratio, q2); + } + + inline Eigen::Vector3d Interpolate(const Eigen::Vector3d& v1, const Eigen::Vector3d& v2, const double ratio) + { + // Safety check ratio + double real_ratio = ratio; + if (real_ratio < 0.0) + { + real_ratio = 0.0; + std::cerr << "Interpolation ratio < 0.0, set to 0.0" << std::endl; + } + else if (real_ratio > 1.0) + { + real_ratio = 1.0; + std::cerr << "Interpolation ratio > 1.0, set to 1.0" << std::endl; + } + // Interpolate + // This is the numerically stable version, rather than (p1 + (p2 - p1) * real_ratio) + return ((v1 * (1.0 - real_ratio)) + (v2 * real_ratio)); + } + + inline Eigen::Isometry3d Interpolate(const Eigen::Isometry3d& t1, const Eigen::Isometry3d& t2, const double ratio) + { + // Safety check ratio + double real_ratio = ratio; + if (real_ratio < 0.0) + { + real_ratio = 0.0; + std::cerr << "Interpolation ratio < 0.0, set to 0.0" << std::endl; + } + else if (real_ratio > 1.0) + { + real_ratio = 1.0; + std::cerr << "Interpolation ratio > 1.0, set to 1.0" << std::endl; + } + // Interpolate + const Eigen::Vector3d v1 = t1.translation(); + const Eigen::Quaterniond q1(t1.rotation()); + const Eigen::Vector3d v2 = t2.translation(); + const Eigen::Quaterniond q2(t2.rotation()); + const Eigen::Vector3d vint = Interpolate(v1, v2, real_ratio); + const Eigen::Quaterniond qint = Interpolate(q1, q2, real_ratio); + const Eigen::Isometry3d tint = ((Eigen::Translation3d)vint) * qint; + return tint; + } + + //////////////////////////////////////////////////////////////////////////// + // Distance functions + //////////////////////////////////////////////////////////////////////////// + + inline double SquaredDistance(const Eigen::Vector2d& v1, const Eigen::Vector2d& v2) + { + const double xd = v2.x() - v1.x(); + const double yd = v2.y() - v1.y(); + return ((xd * xd) + (yd * yd)); + } + + inline double Distance(const Eigen::Vector2d& v1, const Eigen::Vector2d& v2) + { + return sqrt(SquaredDistance(v1, v2)); + } + + inline double SquaredDistance(const Eigen::Vector3d& v1, const Eigen::Vector3d& v2) + { + const double xd = v2.x() - v1.x(); + const double yd = v2.y() - v1.y(); + const double zd = v2.z() - v1.z(); + return ((xd * xd) + (yd * yd) + (zd * zd)); + } + + inline double Distance(const Eigen::Vector3d& v1, const Eigen::Vector3d& v2) + { + return sqrt(SquaredDistance(v1, v2)); + } + + inline double SquaredDistance(const Eigen::VectorXd& v1, const Eigen::VectorXd& v2) + { + assert(v1.size() == v2.size()); + return (v2 - v1).squaredNorm(); + } + + inline double Distance(const Eigen::VectorXd& v1, const Eigen::VectorXd& v2) + { + return (v2 - v1).norm(); + } + + inline double Distance(const Eigen::Quaterniond& q1, const Eigen::Quaterniond& q2) + { + const double dq = std::fabs((q1.w() * q2.w()) + (q1.x() * q2.x()) + (q1.y() * q2.y()) + (q1.z() * q2.z())); + if (dq < (1.0 - std::numeric_limits::epsilon())) + { + return acos(2.0 * (dq * dq) - 1.0); + } + else + { + return 0.0; + } + } + + inline double Distance(const Eigen::Isometry3d& t1, const Eigen::Isometry3d& t2, const double alpha = 0.5) + { + assert(alpha >= 0.0); + assert(alpha <= 1.0); + const Eigen::Vector3d v1 = t1.translation(); + const Eigen::Quaterniond q1(t1.rotation()); + const Eigen::Vector3d v2 = t2.translation(); + const Eigen::Quaterniond q2(t2.rotation()); + const double vdist = Distance(v1, v2) * (1.0 - alpha); + const double qdist = Distance(q1, q2) * (alpha); + return vdist + qdist; + } + + inline double SquaredDistance(const std::vector& p1, const std::vector& p2) + { + if (p1.size() == p2.size()) + { + double distance = 0.0; + for (size_t idx = 0; idx < p1.size(); idx++) + { + distance += (p2[idx] - p1[idx]) * (p2[idx] - p1[idx]); + } + return distance; + } + else + { + return INFINITY; + } + } + + inline double Distance(const std::vector& p1, const std::vector& p2) + { + if (p1.size() == p2.size()) + { + return sqrt(SquaredDistance(p1, p2)); + } + else + { + return INFINITY; + } + } + + inline double ContinuousRevoluteSignedDistance(const double p1, const double p2) + { + // Safety check args + const double real_p1 = EnforceContinuousRevoluteBounds(p1); + const double real_p2 = EnforceContinuousRevoluteBounds(p2); + const double raw_distance = real_p2 - real_p1; + if ((raw_distance <= -M_PI) || (raw_distance > M_PI)) + { + if (raw_distance <= -M_PI) + { + return (-(2.0 * M_PI) - raw_distance); + } + else if (raw_distance > M_PI) + { + return ((2.0 * M_PI) - raw_distance); + } + else + { + return raw_distance; + } + } + else + { + return raw_distance; + } + } + + inline double ContinuousRevoluteDistance(const double p1, const double p2) + { + return std::fabs(ContinuousRevoluteSignedDistance(p1, p2)); + } + + inline double AddContinuousRevoluteValues(const double start, const double change) + { + return EnforceContinuousRevoluteBounds(start + change); + } + + inline double GetContinuousRevoluteRange(const double start, const double end) + { + const double raw_range = ContinuousRevoluteSignedDistance(start, end); + if (raw_range >= 0.0) + { + return raw_range; + } + else + { + return (2.0 * M_PI) + raw_range; + } + } + + inline bool CheckInContinuousRevoluteRange(const double start, const double range, const double val) + { + const double real_val = EnforceContinuousRevoluteBounds(val); + const double real_start = EnforceContinuousRevoluteBounds(start); + const double delta = ContinuousRevoluteSignedDistance(real_start, real_val); + if (delta >= 0.0) + { + if (delta <= range) + { + return true; + } + else + { + return false; + } + } + else + { + const double real_delta = (2.0 * M_PI) + delta; + if (real_delta <= range) + { + return true; + } + else + { + return false; + } + } + } + + inline bool CheckInContinuousRevoluteBounds(const double start, const double end, const double val) + { + const double range = GetContinuousRevoluteRange(start, end); + return CheckInContinuousRevoluteRange(start, range, val); + } + + // DistanceFn must match the following interface: std::function + template> + inline double CalculateTotalDistance(const std::vector& path, const DistanceFn& distance_fn) + { + double total_dist = 0; + for (size_t path_idx = 0; path_idx + 1 < path.size(); path_idx++) + { + const double delta = distance_fn(path[path_idx], path[path_idx + 1]); + total_dist += delta; + } + return total_dist; + } + + inline double CalculateTotalDistance(const EigenHelpers::VectorVector3d& points) + { + double distance = 0; + + for (size_t idx = 1; idx < points.size(); ++idx) + { + const double delta = (points[idx] - points[idx - 1]).norm(); + distance += delta; + } + + return distance; + } + + inline std::vector CalculateIndividualDistances(const EigenHelpers::VectorVector3d& points) + { + std::vector distances(points.size()); + + if (points.size() > 0) + { + distances[0] = 0.0; + for (size_t idx = 1; idx < points.size(); ++idx) + { + distances[idx] = (points[idx] - points[idx - 1]).norm(); + } + } + + return distances; + } + + inline std::vector CalculateCumulativeDistances(const EigenHelpers::VectorVector3d& points) + { + std::vector distances(points.size()); + + if (points.size() > 0) + { + distances[0] = 0.0; + for (size_t idx = 1; idx < points.size(); ++idx) + { + const double delta = (points[idx] - points[idx - 1]).norm(); + distances[idx] = distances[idx - 1] + delta; + } + } + + return distances; + } + + //////////////////////////////////////////////////////////////////////////// + // Conversion functions + //////////////////////////////////////////////////////////////////////////// + + inline Eigen::Quaterniond QuaternionFromRPY(const double R, const double P, const double Y) + { + const Eigen::AngleAxisd roll(R, Eigen::Vector3d::UnitX()); + const Eigen::AngleAxisd pitch(P, Eigen::Vector3d::UnitY()); + const Eigen::AngleAxisd yaw(Y, Eigen::Vector3d::UnitZ()); + const Eigen::Quaterniond quat(roll * pitch * yaw); + return quat; + } + + /* URDF RPY IS ACTUALLY APPLIED Y*P*R */ + inline Eigen::Quaterniond QuaternionFromUrdfRPY(const double R, const double P, const double Y) + { + const Eigen::AngleAxisd roll(R, Eigen::Vector3d::UnitX()); + const Eigen::AngleAxisd pitch(P, Eigen::Vector3d::UnitY()); + const Eigen::AngleAxisd yaw(Y, Eigen::Vector3d::UnitZ()); + const Eigen::Quaterniond quat(yaw * pitch * roll); + return quat; + } + + // Returns XYZ Euler angles + inline Eigen::Vector3d EulerAnglesFromRotationMatrix(const Eigen::Matrix3d& rot_matrix) + { + const Eigen::Vector3d euler_angles = rot_matrix.eulerAngles(0, 1, 2); // Use XYZ angles + return euler_angles; + } + + // Returns XYZ Euler angles + inline Eigen::Vector3d EulerAnglesFromQuaternion(const Eigen::Quaterniond& quat) + { + return EulerAnglesFromRotationMatrix(quat.toRotationMatrix()); + } + + // Returns XYZ Euler angles + inline Eigen::Vector3d EulerAnglesFromIsometry3d(const Eigen::Isometry3d& trans) + { + return EulerAnglesFromRotationMatrix(trans.rotation()); + } + + inline Eigen::Isometry3d TransformFromRPY(const double x, const double y, const double z, const double roll, const double pitch, const double yaw) + { + const Eigen::Isometry3d transform = Eigen::Translation3d(x, y, z) * QuaternionFromRPY(roll, pitch, yaw); + return transform; + } + + inline Eigen::Isometry3d TransformFromRPY(const Eigen::Vector3d& translation, const Eigen::Vector3d& rotation) + { + const Eigen::Isometry3d transform = (Eigen::Translation3d)translation * QuaternionFromRPY(rotation.x(), rotation.y(), rotation.z()); + return transform; + } + + inline Eigen::Isometry3d TransformFromRPY(const Eigen::VectorXd& components) + { + assert(components.size() == 6); + const Eigen::Isometry3d transform = Eigen::Translation3d(components(0), components(1), components(2)) * QuaternionFromRPY(components(3), components(4), components(5)); + return transform; + } + + inline Eigen::VectorXd TransformToRPY(const Eigen::Isometry3d& transform) + { + Eigen::VectorXd components = Eigen::VectorXd::Zero(6); + const Eigen::Vector3d translation = transform.translation(); + const Eigen::Vector3d rotation = EulerAnglesFromRotationMatrix(transform.rotation()); + components << translation, rotation; + return components; + } + + inline Eigen::Vector3d StdVectorDoubleToEigenVector3d(const std::vector& vector) + { + assert(vector.size() == 3 && "std::vector source vector is not 3 elements in size"); + return Eigen::Vector3d(vector[0], vector[1], vector[2]); + } + + inline Eigen::VectorXd StdVectorDoubleToEigenVectorXd(const std::vector& vector) + { + Eigen::VectorXd eigen_vector(vector.size()); + for (size_t idx = 0; idx < vector.size(); idx++) + { + const double val = vector[idx]; + eigen_vector((ssize_t)idx) = val; + } + return eigen_vector; + } + + inline std::vector EigenVector3dToStdVectorDouble(const Eigen::Vector3d& point) + { + return std::vector{point.x(), point.y(), point.z()}; + } + + inline std::vector EigenVectorXdToStdVectorDouble(const Eigen::VectorXd& eigen_vector) + { + std::vector vector((size_t)eigen_vector.size()); + for (size_t idx = 0; idx < (size_t)eigen_vector.size(); idx++) + { + const double val = eigen_vector[(ssize_t)idx]; + vector[idx] = val; + } + return vector; + } + + // Takes as is the ROS custom! + inline Eigen::Quaterniond StdVectorDoubleToEigenQuaterniond(const std::vector& vector) + { + if (vector.size() != 4) + { + std::cerr << "Quaterniond source vector is not 4 elements in size" << std::endl; + assert(false); + } + Eigen::Quaterniond eigen_quaternion(vector[3], vector[0], vector[1], vector[2]); + return eigen_quaternion; + } + + // Returns as is the ROS custom! + inline std::vector EigenQuaterniondToStdVectorDouble(const Eigen::Quaterniond& quat) + { + return std::vector{quat.x(), quat.y(), quat.z(), quat.w()}; + } + + //////////////////////////////////////////////////////////////////////////// + // Averaging functions + // Numerically more stable averages taken from http://people.ds.cam.ac.uk/fanf2/hermes/doc/antiforgery/stats.pdf + //////////////////////////////////////////////////////////////////////////// + + inline double AverageStdVectorDouble( + const std::vector& values, + const std::vector& weights = std::vector()) + { + // Get the weights + assert(values.size() > 0); + assert((weights.size() == values.size()) || (weights.size() == 0)); + const bool use_weights = (weights.size() != 0); + // Find the first element with non-zero weight + size_t starting_idx = 0; + while (starting_idx < weights.size() && weights[starting_idx] == 0.0) + { + starting_idx++; + } + // If all weights are zero, result is undefined + assert(starting_idx < values.size()); + // Start the recursive definition with the base case + double average = values[starting_idx]; + const double starting_weight = use_weights ? std::abs(weights[starting_idx]) : 1.0; + assert(starting_weight > 0.0); + double weights_running_sum = starting_weight; + // Do the weighted averaging on the rest of the vectors + for (size_t idx = starting_idx + 1; idx < values.size(); idx++) + { + const double weight = use_weights ? std::abs(weights[idx]) : 1.0; + weights_running_sum += weight; + const double effective_weight = weight / weights_running_sum; + const double prev_average = average; + const double current = values[idx]; + average = prev_average + (effective_weight * (current - prev_average)); + } + return average; + } + + inline double ComputeStdDevStdVectorDouble(const std::vector& values, const double mean) + { + assert(values.size() > 0); + if (values.size() == 1) + { + return 0.0; + } + else + { + const double inv_n_minus_1 = 1.0 / (double)(values.size() - 1); + double stddev_sum = 0.0; + for (size_t idx = 0; idx < values.size(); idx++) + { + const double delta = values[idx] - mean; + stddev_sum += (delta * delta); + } + return std::sqrt(stddev_sum * inv_n_minus_1); + } + } + + inline double ComputeStdDevStdVectorDouble(const std::vector& values) + { + const double mean = AverageStdVectorDouble(values); + return ComputeStdDevStdVectorDouble(values, mean); + } + + /* + * This function does not actually deal with the continuous revolute space correctly, + * it just assumes a normal real Euclidean space + */ + inline double AverageContinuousRevolute( + const std::vector& angles, + const std::vector& weights = std::vector()) + { + return AverageStdVectorDouble(angles, weights); + } + + /** + * This function is really only going to work well for "approximately continuous" + * types, i.e. floats and doubles, due to the implementation + */ + template>> + inline Eigen::Matrix AverageEigenVector( + const std::vector, Allocator>& vectors, + const std::vector& weights = std::vector()) + { + // Get the weights + assert(vectors.size() > 0); + assert((weights.size() == vectors.size()) || (weights.size() == 0)); + const bool use_weights = (weights.size() != 0); + // Find the first element with non-zero weight + size_t starting_idx = 0; + while (starting_idx < weights.size() && weights[starting_idx] == 0.0) + { + starting_idx++; + } + // If all weights are zero, result is undefined + assert(starting_idx < vectors.size()); + // Start the recursive definition with the base case + Eigen::Matrix avg_vector = vectors[starting_idx]; + const double starting_weight = use_weights ? std::abs(weights[starting_idx]) : 1.0; + assert(starting_weight > 0.0); + double weights_running_sum = starting_weight; + // Do the weighted averaging on the rest of the vectors + for (size_t idx = starting_idx + 1; idx < vectors.size(); ++idx) + { + const double weight = use_weights ? std::abs(weights[idx]) : 1.0; + weights_running_sum += weight; + const double effective_weight = weight / weights_running_sum; + const Eigen::Matrix prev_avg_vector = avg_vector; + const Eigen::Matrix& current = vectors[idx]; + avg_vector = prev_avg_vector + (effective_weight * (current - prev_avg_vector)); + } + return avg_vector; + } + + inline Eigen::Vector3d AverageEigenVector3d( + const EigenHelpers::VectorVector3d& vectors, + const std::vector& weights = std::vector()) + { + return AverageEigenVector(vectors, weights); + } + + inline Eigen::VectorXd AverageEigenVectorXd( + const std::vector& vectors, + const std::vector& weights = std::vector()) + { + return AverageEigenVector(vectors, weights); + } + + /** + * Implementation of method described in (http://stackoverflow.com/a/27410865) + * See paper at (http://www.acsu.buffalo.edu/~johnc/ave_quat07.pdf) for full explanation + */ + inline Eigen::Quaterniond AverageEigenQuaterniond( + const EigenHelpers::VectorQuaterniond& quaternions, + const std::vector& weights = std::vector()) + { + // Get the weights + const bool use_weights = weights.size() == quaternions.size() ? true : false; + assert(quaternions.size() > 0); + assert((weights.size() == quaternions.size()) || (weights.size() == 0)); + // Shortcut the process if there is only 1 quaternion + if (quaternions.size() == 1) + { + assert(weights.size() == 0 || weights[0] != 0.0); + return quaternions[0]; + } + // Build the averaging matrix + Eigen::MatrixXd q_matrix(4, quaternions.size()); + for (size_t idx = 0; idx < quaternions.size(); idx++) + { + const double weight = use_weights ? std::abs(weights[idx]) : 1.0; + const Eigen::Quaterniond& q = quaternions[idx]; + q_matrix.col((ssize_t)idx) << weight * q.w(), weight * q.x(), weight * q.y(), weight * q.z(); + } + // Make the matrix square + const Eigen::Matrix qqtranspose_matrix = q_matrix * q_matrix.transpose(); + // Compute the eigenvectors and eigenvalues of the qqtranspose matrix + const Eigen::EigenSolver> solver(qqtranspose_matrix); + const Eigen::EigenSolver>::EigenvalueType eigen_values = solver.eigenvalues(); + const Eigen::EigenSolver>::EigenvectorsType eigen_vectors = solver.eigenvectors(); + // Extract the eigenvector corresponding to the largest eigenvalue + double max_eigenvalue = -INFINITY; + int64_t max_eigenvector_index = -1; + for (size_t idx = 0; idx < 4; idx++) + { + const double current_eigenvalue = eigen_values((long)idx).real(); + if (current_eigenvalue > max_eigenvalue) + { + max_eigenvalue = current_eigenvalue; + max_eigenvector_index = (int64_t)idx; + } + } + assert(max_eigenvector_index >= 0); + // Note that these are already normalized! + const Eigen::Vector4cd best_eigenvector = eigen_vectors.col((long)max_eigenvector_index); + // Convert back into a quaternion + const Eigen::Quaterniond average_q(best_eigenvector(0).real(), best_eigenvector(1).real(), best_eigenvector(2).real(), best_eigenvector(3).real()); + return average_q; + } + + inline Eigen::Isometry3d AverageEigenIsometry3d( + const EigenHelpers::VectorIsometry3d& transforms, + const std::vector& weights = std::vector()) + { + assert(transforms.size() > 0); + assert((weights.size() == transforms.size()) || (weights.size() == 0)); + // Shortcut the process if there is only 1 transform + if (transforms.size() == 1) + { + assert(weights.size() == 0 || weights[0] != 0.0); + return transforms[0]; + } + // Extract components + EigenHelpers::VectorVector3d translations(transforms.size()); + EigenHelpers::VectorQuaterniond rotations(transforms.size()); + for (size_t idx = 0; idx < transforms.size(); idx++) + { + translations[idx] = transforms[idx].translation(); + rotations[idx] = Eigen::Quaterniond(transforms[idx].rotation()); + } + // Average + const Eigen::Vector3d average_translation = AverageEigenVector(translations, weights); + const Eigen::Quaterniond average_rotation = AverageEigenQuaterniond(rotations, weights); + // Make the average transform + const Eigen::Isometry3d average_transform = (Eigen::Translation3d)average_translation * average_rotation; + return average_transform; + } + + //////////////////////////////////////////////////////////////////////////// + // Geometry functions + //////////////////////////////////////////////////////////////////////////// + + /** + * @brief DistanceToLine + * Math taken from http://mathworld.wolfram.com/Point-LineDistance3-Dimensional.html + * x = x0 + * point_on_line = x1 + * unit_vector = x2 - x1 / |x2 - x1| + * @param point_on_line + * @param unit_vector + * @param x + * @return The distance to the line, and the displacement along the line + */ + inline std::pair DistanceToLine( + const Eigen::Vector3d& point_on_line, + const Eigen::Vector3d& unit_vector, + const Eigen::Vector3d x) + { + // Ensure that our input data is valid + const auto real_unit_vector = unit_vector.normalized(); + if (!CloseEnough(unit_vector.norm(), 1.0, 1e-13)) + { + std::cerr << "[Distance to line]: unit vector was not normalized: " + << unit_vector.transpose() << " Norm: " << unit_vector.norm() << std::endl; + } + + const auto delta = x - point_on_line; + const double displacement_along_line = real_unit_vector.dot(delta); + const auto x_projected_onto_line = point_on_line + real_unit_vector * displacement_along_line; + const double distance_to_line = (x_projected_onto_line - x).norm(); + + // A simple neccescary (but not sufficient) check to look for math errors + assert(IsApprox(distance_to_line * distance_to_line + + displacement_along_line * displacement_along_line, delta.squaredNorm(), 1e-10)); + + return std::make_pair(distance_to_line, displacement_along_line); + } + + //////////////////////////////////////////////////////////////////////////// + // Projection/Rejection functions + //////////////////////////////////////////////////////////////////////////// + + // Projects vector_to_project onto base_vector and returns the portion that is parallel to base_vector + template + inline Eigen::Matrix VectorProjection( + const Eigen::MatrixBase& base_vector, + const Eigen::MatrixBase& vector_to_project) + { + EIGEN_STATIC_ASSERT_VECTOR_ONLY(DerivedB); + EIGEN_STATIC_ASSERT_VECTOR_ONLY(DerivedV); + EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(DerivedB, DerivedV) + static_assert(std::is_same::value, + "base_vector and vector_to_project must have the same data type"); + // Perform projection + const typename DerivedB::Scalar b_squared_norm = base_vector.squaredNorm(); + if (b_squared_norm > 0) + { + return (base_vector.dot(vector_to_project) / b_squared_norm) * base_vector; + } + else + { + return Eigen::Matrix::Zero(base_vector.rows()); + } + } + + // Projects vector_to_project onto base_vector and returns the portion that is perpendicular to base_vector + template + inline Eigen::Matrix VectorRejection( + const Eigen::MatrixBase& base_vector, + const Eigen::MatrixBase& vector_to_project) + { + // Rejection is defined in relation to projection + return vector_to_project - VectorProjection(base_vector, vector_to_project); + } + + //////////////////////////////////////////////////////////////////////////// + // (Weighted) dot product, norm, and angle functions + //////////////////////////////////////////////////////////////////////////// + + // Returns the (non-negative) angle defined by the vectors (b - a), and (b - c) + template + inline double AngleDefinedByPoints(const Eigen::MatrixBase& a, const Eigen::MatrixBase& b, const Eigen::MatrixBase& c) + { + // Check for potential numerical problems + if (a.isApprox(b) || (b.isApprox(c))) + { + std::cerr << "Warning: Potential numerical stability problems in AngleDefinedByPoints\n"; + } + + // Do the actual math here + const auto vec1 = (a - b).normalized(); + const auto vec2 = (c - b).normalized(); + const double cosine_raw = vec1.dot(vec2); + const double cosine = std::max(-1.0, std::min(cosine_raw, 1.0)); + return std::acos(cosine); + } + + inline double WeightedDotProduct(const Eigen::VectorXd& vec1, const Eigen::VectorXd& vec2, const Eigen::VectorXd& weights) + { + return vec1.cwiseProduct(weights).dot(vec2); + } + + inline double WeightedSquaredNorm(const Eigen::VectorXd& vec, const Eigen::VectorXd weights) + { + return WeightedDotProduct(vec, vec, weights); + } + + inline double WeightedNorm(const Eigen::VectorXd& vec, const Eigen::VectorXd& weights) + { + return std::sqrt(WeightedSquaredNorm(vec, weights)); + } + + inline double WeightedCosineAngleBetweenVectors(const Eigen::VectorXd& vec1, const Eigen::VectorXd& vec2, const Eigen::VectorXd& weights) + { + const double vec1_norm = WeightedNorm(vec1, weights); + const double vec2_norm = WeightedNorm(vec2, weights); + assert(vec1_norm > 0 && vec2_norm > 0); + const double result = WeightedDotProduct(vec1, vec2, weights) / (vec1_norm * vec2_norm); + return std::max(-1.0, std::min(result, 1.0)); + } + + inline double WeightedAngleBetweenVectors(const Eigen::VectorXd& vec1, const Eigen::VectorXd& vec2, const Eigen::VectorXd& weights) + { + return std::acos(WeightedCosineAngleBetweenVectors(vec1, vec2, weights)); + } + + //////////////////////////////////////////////////////////////////////////// + // Other auxiliary functions + //////////////////////////////////////////////////////////////////////////// + + class Hyperplane + { + protected: + + Eigen::VectorXd plane_origin_; + Eigen::VectorXd plane_normal_; + + public: + + Hyperplane(const Eigen::VectorXd& origin, const Eigen::VectorXd& normal) + { + assert(origin.size() == normal.size()); + plane_origin_ = origin; + plane_normal_ = normal; + } + + Hyperplane() {} + + const Eigen::VectorXd& GetOrigin() const + { + return plane_origin_; + } + + const Eigen::VectorXd& GetNormal() const + { + return plane_normal_; + } + + double GetNormedDotProduct(const Eigen::VectorXd& point) const + { + assert(point.size() == plane_origin_.size()); + const Eigen::VectorXd check_vector = point - plane_origin_; + const Eigen::VectorXd check_vector_normed = EigenHelpers::SafeNormal(check_vector); + const double dot_product = check_vector_normed.dot(plane_normal_); + return dot_product; + } + + double GetRawDotProduct(const Eigen::VectorXd& point) const + { + assert(point.size() == plane_origin_.size()); + const Eigen::VectorXd check_vector = point - plane_origin_; + const double dot_product = check_vector.dot(plane_normal_); + return dot_product; + } + + Eigen::VectorXd RejectVectorOntoPlane(const Eigen::VectorXd& vector) const + { + return VectorProjection(plane_normal_, vector); + } + + double GetSquaredDistanceToPlane(const Eigen::VectorXd& point) const + { + const Eigen::VectorXd origin_to_point_vector = point - plane_origin_; + return VectorProjection(plane_normal_, origin_to_point_vector).squaredNorm(); + } + + double GetDistanceToPlane(const Eigen::VectorXd& point) const + { + const Eigen::VectorXd origin_to_point_vector = point - plane_origin_; + return VectorProjection(plane_normal_, origin_to_point_vector).norm(); + } + + Eigen::VectorXd ProjectVectorOntoPlane(const Eigen::VectorXd& vector) const + { + return VectorRejection(plane_normal_, vector); + } + + Eigen::VectorXd ProjectPointOntoPlane(const Eigen::VectorXd& point) const + { + const Eigen::VectorXd origin_to_point_vector = point - plane_origin_; + const Eigen::VectorXd projected_to_point_vector = VectorRejection(plane_normal_, origin_to_point_vector); + const Eigen::VectorXd projected_point = plane_origin_ + projected_to_point_vector; + return projected_point; + } + }; + + /* + * Returns a pair of defining the plane + */ + inline Hyperplane FitPlaneToPoints(const std::vector& points) + { + // Subtract out the centroid + const Eigen::VectorXd centroid = EigenHelpers::AverageEigenVectorXd(points); + Eigen::MatrixXd centered_points(centroid.size(), points.size()); + for (size_t idx = 0; idx < points.size(); idx++) + { + const Eigen::VectorXd& current_point = points[idx]; + centered_points.block(0, (ssize_t)idx, centroid.size(), 1) = (current_point - centroid); + } + // Compute SVD of the centered points + Eigen::JacobiSVD svd(centered_points, Eigen::ComputeThinU | Eigen::ComputeThinV); + // Get results of SVD + const Eigen::JacobiSVD::SingularValuesType& singular_values = svd.singularValues(); + const Eigen::JacobiSVD::MatrixUType& u_matrix = svd.matrixU(); + // Get the left singular vector corresponding to the minimum singular value + double minimum_singular_value = INFINITY; + ssize_t best_singular_value_index = -1; + for (ssize_t idx = 0; idx < singular_values.size(); idx++) + { + const std::complex current_singular_value = singular_values(idx); + if (current_singular_value.real() < minimum_singular_value) + { + minimum_singular_value = current_singular_value.real(); + best_singular_value_index = idx; + } + } + assert(best_singular_value_index >= 0); + // The corresponding left singular vector is the normal vector of the best-fit plane + const Eigen::VectorXd best_left_singular_vector = u_matrix.col(best_singular_value_index); + const Eigen::VectorXd normal_vector = EigenHelpers::SafeNormal(best_left_singular_vector); + return Hyperplane(centroid, normal_vector); + } + + inline double SuggestedRcond() + { + return 0.001; + } + + // Derived from code by Yohann Solaro ( http://listengine.tuxfamily.org/lists.tuxfamily.org/eigen/2010/01/msg00187.html ) + // see : http://en.wikipedia.org/wiki/Moore-Penrose_pseudoinverse#The_general_case_and_the_SVD_method + inline Eigen::MatrixXd Pinv(const Eigen::MatrixXd& b, const double rcond, const bool enable_flip=true) + { + bool flip = false; + Eigen::MatrixXd a; + if (enable_flip && (b.rows() < b.cols())) + { + a = b.transpose(); + flip = true; + } + else + { + a = b; + } + // SVD + Eigen::JacobiSVD svdA; + svdA.compute(a, Eigen::ComputeFullU | Eigen::ComputeThinV); + Eigen::JacobiSVD::SingularValuesType vSingular = svdA.singularValues(); + // Build a diagonal matrix with the Inverted Singular values + // The pseudo inverted singular matrix is easy to compute : + // is formed by replacing every nonzero entry by its reciprocal (inversing). + Eigen::VectorXd vPseudoInvertedSingular(svdA.matrixV().cols()); + for (int iRow = 0; iRow < vSingular.rows(); iRow++) + { + if (std::fabs(vSingular(iRow)) <= rcond) // Todo : Put epsilon in parameter + { + vPseudoInvertedSingular(iRow)= 0.0; + } + else + { + vPseudoInvertedSingular(iRow) = 1.0 / vSingular(iRow); + } + } + // A little optimization here + const Eigen::MatrixXd mAdjointU = svdA.matrixU().adjoint().block(0, 0, vSingular.rows(), svdA.matrixU().adjoint().cols()); + // Yes, this is ugly. This is to suppress a warning on type conversion related to Eigen operations + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wconversion" + // Pseudo-Inversion : V * S * U' + const Eigen::MatrixXd a_pinv = (svdA.matrixV() * vPseudoInvertedSingular.asDiagonal()) * mAdjointU; + #pragma GCC diagnostic pop + // Flip back if need be + if (flip) + { + return a_pinv.transpose(); + } + else + { + return a_pinv; + } + } + + /** + * @brief WeightedLeastSquaresSolver Solves the minimization problem min || Ax - b ||^2 for x, using weights w in the norm + * If the problem is ill-conditioned, adds in a damping factor. This is equivalent to + * solving A^T * diag(W) * A * x = A^T * diag(W) * b for x. + * @param A size M x N with M > N + * @param b size M x 1 + * @param w size M x 1 + * @param damping_threshold The smallest singular value we allow in A^T * W * A before we apply damping + * @param damping_value The damping value we apply to the main diagonal of A^T * W * A if we exceed the threshold + * @return size N x 1 + */ + inline Eigen::VectorXd WeightedLeastSquaresSolver(const Eigen::MatrixXd& A, const Eigen::VectorXd& b, const Eigen::VectorXd& w, const double damping_threshold, const double damping_value) + { + // Yes, this is ugly. This is to suppress a warning on type conversion related to Eigen operations + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wconversion" + Eigen::MatrixXd left_side = A.transpose() * w.asDiagonal() * A; + #pragma GCC diagnostic pop + const double minimum_singular_value = left_side.jacobiSvd().singularValues().minCoeff(); + + if (minimum_singular_value < damping_threshold) + { + left_side += damping_value * Eigen::MatrixXd::Identity(left_side.rows(), left_side.cols()); + } + + // With the damping we can assume that the left side is positive definite, so use LLT to solve this + return left_side.llt().solve(A.transpose() * w.cwiseProduct(b)); + } +} + +#endif // EIGEN_HELPERS_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/eigen_helpers_conversions.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/eigen_helpers_conversions.hpp new file mode 100644 index 0000000..744997c --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/eigen_helpers_conversions.hpp @@ -0,0 +1,285 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef EIGEN_HELPERS_CONVERSIONS_HPP +#define EIGEN_HELPERS_CONVERSIONS_HPP + +namespace EigenHelpersConversions +{ + inline Eigen::Vector3d GeometryPointToEigenVector3d(const geometry_msgs::Point& point) + { + Eigen::Vector3d eigen_point(point.x, point.y, point.z); + return eigen_point; + } + + inline geometry_msgs::Point EigenVector3dToGeometryPoint(const Eigen::Vector3d& point) + { + geometry_msgs::Point geom_point; + geom_point.x = point.x(); + geom_point.y = point.y(); + geom_point.z = point.z(); + return geom_point; + } + + inline Eigen::Vector4d GeometryPointToEigenVector4d(const geometry_msgs::Point& point) + { + Eigen::Vector4d eigen_point(point.x, point.y, point.z, 1.0); + return eigen_point; + } + + inline geometry_msgs::Point EigenVector4dToGeometryPoint(const Eigen::Vector4d& point) + { + geometry_msgs::Point geom_point; + geom_point.x = point(0); + geom_point.y = point(1); + geom_point.z = point(2); + return geom_point; + } + + inline geometry_msgs::PointStamped EigenVector3dToGeometryPointStamped(const Eigen::Vector3d& point, const std::string& frame_id) + { + geometry_msgs::PointStamped point_stamped; + point_stamped.header.frame_id = frame_id; + point_stamped.point = EigenVector3dToGeometryPoint(point); + return point_stamped; + } + + inline Eigen::Vector3d GeometryVector3ToEigenVector3d(const geometry_msgs::Vector3& vector) + { + Eigen::Vector3d eigen_vector(vector.x, vector.y, vector.z); + return eigen_vector; + } + + inline geometry_msgs::Vector3 EigenVector3dToGeometryVector3(const Eigen::Vector3d& vector) + { + geometry_msgs::Vector3 geom_vector; + geom_vector.x = vector.x(); + geom_vector.y = vector.y(); + geom_vector.z = vector.z(); + return geom_vector; + } + + inline Eigen::Quaterniond GeometryQuaternionToEigenQuaterniond(const geometry_msgs::Quaternion& quat) + { + Eigen::Quaterniond eigen_quaternion(quat.w, quat.x, quat.y, quat.z); + return eigen_quaternion; + } + + inline geometry_msgs::Quaternion EigenQuaterniondToGeometryQuaternion(const Eigen::Quaterniond& quat) + { + geometry_msgs::Quaternion geom_quaternion; + geom_quaternion.w = quat.w(); + geom_quaternion.x = quat.x(); + geom_quaternion.y = quat.y(); + geom_quaternion.z = quat.z(); + return geom_quaternion; + } + + inline Eigen::Isometry3d GeometryPoseToEigenIsometry3d(const geometry_msgs::Pose& pose) + { + const Eigen::Translation3d trans(pose.position.x, pose.position.y, pose.position.z); + const Eigen::Quaterniond quat(pose.orientation.w, pose.orientation.x, pose.orientation.y, pose.orientation.z); + const Eigen::Isometry3d eigen_pose = trans * quat; + return eigen_pose; + } + + inline geometry_msgs::Pose EigenIsometry3dToGeometryPose(const Eigen::Isometry3d& transform) + { + const Eigen::Vector3d trans = transform.translation(); + const Eigen::Quaterniond quat(transform.rotation()); + geometry_msgs::Pose geom_pose; + geom_pose.position.x = trans.x(); + geom_pose.position.y = trans.y(); + geom_pose.position.z = trans.z(); + geom_pose.orientation.w = quat.w(); + geom_pose.orientation.x = quat.x(); + geom_pose.orientation.y = quat.y(); + geom_pose.orientation.z = quat.z(); + return geom_pose; + } + + inline geometry_msgs::PoseStamped EigenIsometry3dToGeometryPoseStamped(const Eigen::Isometry3d& transform, const std::string& frame_id) + { + geometry_msgs::PoseStamped pose_stamped; + pose_stamped.header.frame_id = frame_id; + pose_stamped.pose = EigenIsometry3dToGeometryPose(transform); + return pose_stamped; + } + + inline Eigen::Isometry3d GeometryTransformToEigenIsometry3d(const geometry_msgs::Transform& transform) + { + const Eigen::Translation3d trans(transform.translation.x, transform.translation.y, transform.translation.z); + const Eigen::Quaterniond quat(transform.rotation.w, transform.rotation.x, transform.rotation.y, transform.rotation.z); + const Eigen::Isometry3d eigen_transform = trans * quat; + return eigen_transform; + } + + inline geometry_msgs::Transform EigenIsometry3dToGeometryTransform(const Eigen::Isometry3d& transform) + { + const Eigen::Vector3d trans = transform.translation(); + const Eigen::Quaterniond quat(transform.rotation()); + geometry_msgs::Transform geom_transform; + geom_transform.translation.x = trans.x(); + geom_transform.translation.y = trans.y(); + geom_transform.translation.z = trans.z(); + geom_transform.rotation.w = quat.w(); + geom_transform.rotation.x = quat.x(); + geom_transform.rotation.y = quat.y(); + geom_transform.rotation.z = quat.z(); + return geom_transform; + } + + inline Eigen::Matrix3Xd VectorGeometryPointToEigenMatrix3Xd(const std::vector& vector_geom) + { + Eigen::Matrix3Xd eigen_matrix = Eigen::MatrixXd(3, vector_geom.size()); + for (size_t idx = 0; idx < vector_geom.size(); idx++) + { + eigen_matrix.block<3,1>(0, idx) = GeometryPointToEigenVector3d(vector_geom[idx]); + } + return eigen_matrix; + } + + inline std::vector EigenMatrix3XdToVectorGeometryPoint(const Eigen::Matrix3Xd& eigen_matrix) + { + std::vector vector_geom(eigen_matrix.cols()); + for (size_t idx = 0; idx < vector_geom.size(); idx++) + { + vector_geom[idx] = EigenVector3dToGeometryPoint(eigen_matrix.block<3,1>(0,idx)); + } + return vector_geom; + } + + inline std::vector VectorEigenVector3dToVectorGeometryPoint(const EigenHelpers::VectorVector3d& vector_eigen) + { + std::vector vector_geom(vector_eigen.size()); + for (size_t idx = 0; idx < vector_eigen.size(); idx++) + { + vector_geom[idx] = EigenVector3dToGeometryPoint(vector_eigen[idx]); + } + return vector_geom; + } + + inline Eigen::Matrix3Xd VectorEigenVector3dToEigenMatrix3Xd(const EigenHelpers::VectorVector3d& vector_eigen) + { + Eigen::Matrix3Xd eigen_matrix(3, vector_eigen.size()); + for (size_t idx = 0; idx < vector_eigen.size(); idx++) + { + eigen_matrix.col(idx) = vector_eigen[idx]; + } + return eigen_matrix; + } + + inline EigenHelpers::VectorVector3d VectorGeometryPointToVectorEigenVector3d(const std::vector& vector_geom) + { + EigenHelpers::VectorVector3d vector_eigen(vector_geom.size()); + for (size_t idx = 0; idx < vector_geom.size(); idx++) + { + vector_eigen[idx] = GeometryPointToEigenVector3d(vector_geom[idx]); + } + return vector_eigen; + } + + inline EigenHelpers::VectorVector3d VectorGeometryVector3ToEigenVector3d(const std::vector& vector_geom) + { + EigenHelpers::VectorVector3d vector_eigen(vector_geom.size()); + for (size_t idx = 0; idx < vector_geom.size(); idx++) + { + vector_eigen[idx] = GeometryVector3ToEigenVector3d(vector_geom[idx]); + } + return vector_eigen; + } + + inline EigenHelpers::VectorIsometry3d VectorGeometryPoseToVectorIsometry3d(const std::vector& vector_geom) + { + EigenHelpers::VectorIsometry3d vector_eigen(vector_geom.size()); + for (size_t idx = 0; idx < vector_geom.size(); idx++) + { + vector_eigen[idx] = GeometryPoseToEigenIsometry3d(vector_geom[idx]); + } + return vector_eigen; + } + + inline EigenHelpers::VectorIsometry3d VectorGeometryPoseToVectorIsometry3d(const std::vector& vector_geom) + { + EigenHelpers::VectorIsometry3d vector_eigen(vector_geom.size()); + for (size_t idx = 0; idx < vector_geom.size(); idx++) + { + vector_eigen[idx] = GeometryTransformToEigenIsometry3d(vector_geom[idx]); + } + return vector_eigen; + } + + inline std::vector VectorIsometry3dToVectorGeometryPose(const EigenHelpers::VectorIsometry3d& vector_eigen) + { + std::vector vector_geom(vector_eigen.size()); + for (size_t idx = 0; idx < vector_eigen.size(); idx++) + { + vector_geom[idx] = EigenIsometry3dToGeometryPose(vector_eigen[idx]); + } + return vector_geom; + } + + inline std::vector VectorIsometry3dToVectorGeometryTransform(const EigenHelpers::VectorIsometry3d& vector_eigen) + { + std::vector vector_geom(vector_eigen.size()); + for (size_t idx = 0; idx < vector_eigen.size(); idx++) + { + vector_geom[idx] = EigenIsometry3dToGeometryTransform(vector_eigen[idx]); + } + return vector_geom; + } + + // Convert wrench (force and torque) ROS message to Eigen typed data + inline std::pair GeometryWrenchToEigenPairVector(const geometry_msgs::Wrench& wrench) + { + const Eigen::Vector3d eigen_force(wrench.force.x, wrench.force.y, wrench.force.z); + const Eigen::Vector3d eigen_torque(wrench.torque.x, wrench.torque.y, wrench.torque.z); + const std::pair eigen_wrench = std::make_pair(eigen_force, eigen_torque); + return eigen_wrench; + } + + template + inline Eigen::Matrix VectorEigenVectorToEigenVectorX(const std::vector>& vector_eigen_input) + { + assert(vector_eigen_input.size() > 0); + + Eigen::Matrix eigen_result; + eigen_result.resize((ssize_t)vector_eigen_input.size() * vector_eigen_input[0].rows()); + + for (size_t idx = 0; idx < vector_eigen_input.size(); idx++) + { + eigen_result.segment((ssize_t)idx * LENGTH, LENGTH) = vector_eigen_input[idx]; + } + + return eigen_result; + } + + template + inline std::vector, Eigen::aligned_allocator>> EigenVectorXToVectorEigenVector(const Eigen::Matrix& eigen_input) + { + assert(eigen_input.rows() % LENGTH == 0); + size_t num_vectors = eigen_input.rows() / LENGTH; + + std::vector, Eigen::aligned_allocator>> vector_eigen_output(num_vectors); + + for (size_t idx = 0; idx < num_vectors; idx++) + { + vector_eigen_output[idx] = eigen_input.segment((ssize_t)idx * LENGTH); + } + + return vector_eigen_output; + } +} + +#endif // EIGEN_HELPERS_CONVERSIONS_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/filesystem.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/filesystem.hpp new file mode 100644 index 0000000..cd259ba --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/filesystem.hpp @@ -0,0 +1,35 @@ +#ifndef FILESYSTEM_HPP +#define FILESYSTEM_HPP + +#include +#include +#include "arc_utilities/arc_exceptions.hpp" + +namespace arc_utilities +{ + void CreateDirectory(const boost::filesystem::path& p) + { + if (!boost::filesystem::is_directory(p)) + { + std::cout << "\x1b[33;1m" << p << " does not exist! Creating ... "; + + // NOTE: create_directories should be able to return true in this case + // however due to a bug related to a trailing '/' this is not currently + // the case in my version of boost + // https://svn.boost.org/trac/boost/ticket/7258 + boost::filesystem::create_directories(p); + if (boost::filesystem::is_directory(p)) + // if (boost::filesystem::create_directories(p)) + { + std::cout << "Succeeded!\x1b[37m\n"; + } + else + { + std::cout << "\x1b[31;1mFailed!\x1b[37m\n"; + throw_arc_exception(std::runtime_error, "Unable to create directory, likely a 'trailing slash' issue"); + } + } + } +} + +#endif // FILESYSTEM_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/first_order_deformation.h b/flightlib/third_party/arc_utilities/include/arc_utilities/first_order_deformation.h new file mode 100644 index 0000000..b7d07ee --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/first_order_deformation.h @@ -0,0 +1,21 @@ +#ifndef FIRST_ORDER_DEFORMATION_H +#define FIRST_ORDER_DEFORMATION_H + +#include + +namespace arc_utilities +{ + namespace FirstOrderDeformation + { + typedef std::pair ConfigType; + typedef std::pair ConfigAndDistType; + typedef std::function ValidityCheckFnType; + + bool CheckFirstOrderDeformation( + const ssize_t rows, + const ssize_t cols, + const ValidityCheckFnType& validity_check_fn); + } +} + +#endif // FIRST_ORDER_DEFORMATION_H diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/get_neighbours.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/get_neighbours.hpp new file mode 100644 index 0000000..c517224 --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/get_neighbours.hpp @@ -0,0 +1,114 @@ +#ifndef GET_NEIGHBOURS_HPP +#define GET_NEIGHBOURS_HPP + +#include +#include +#include + +namespace arc_utilities +{ + namespace GetNeighbours + { + template> + inline std::vector TwoDimensional8Connected( + const ConfigType& config, + const StepType& min_x, + const StepType& max_x, + const StepType& min_y, + const StepType& max_y, + const StepType& step_size, + const std::function& round_to_grid_fn, + const std::function& validity_check_fn) + { + std::vector neighbours; + neighbours.reserve(8); + + const StepType x_min = std::max(min_x, config[0] - step_size); + const StepType x_max = std::min(max_x, config[0] + step_size); + + const StepType y_min = std::max(min_y, config[1] - step_size); + const StepType y_max = std::min(max_y, config[1] + step_size); + + const ConfigType min_vector = round_to_grid_fn(ConfigType(x_min, y_min)); + const ConfigType max_vector = round_to_grid_fn(ConfigType(x_max, y_max)); + + for (int x_offset = -1; x_offset <= 1; ++x_offset) + { + const double x = config[0] + step_size * x_offset; + for (int y_offset = -1; y_offset <= 1; ++y_offset) + { + const double y = config[1] + step_size * y_offset; + const ConfigType neighbour = round_to_grid_fn(ConfigType(x, y)); + + if (min_vector[0] <= neighbour[0] && neighbour[0] <= max_vector[0] && + min_vector[1] <= neighbour[1] && neighbour[1] <= max_vector[1] && + (neighbour[0] != config[0] || neighbour[1] != config[1]) && + validity_check_fn(neighbour) == true) + { + neighbours.push_back(neighbour); + } + } + } + + neighbours.shrink_to_fit(); + return neighbours; + } + + template> + inline std::vector ThreeDimensional8Connected( + const ConfigType& config, + const StepType& min_x, + const StepType& max_x, + const StepType& min_y, + const StepType& max_y, + const StepType& min_z, + const StepType& max_z, + const StepType& step_size, + const std::function& round_to_grid_fn, + const std::function& validity_check_fn) + { + std::vector neighbours; + neighbours.reserve(26); + + const StepType x_min = std::max(min_x, config[0] - step_size); + const StepType x_max = std::min(max_x, config[0] + step_size); + + const StepType y_min = std::max(min_y, config[1] - step_size); + const StepType y_max = std::min(max_y, config[1] + step_size); + + const StepType z_min = std::max(min_z, config[2] - step_size); + const StepType z_max = std::min(max_z, config[2] + step_size); + + const ConfigType min_vector = round_to_grid_fn(ConfigType(x_min, y_min, z_min)); + const ConfigType max_vector = round_to_grid_fn(ConfigType(x_max, y_max, z_max)); + + for (int x_offset = -1; x_offset <= 1; ++x_offset) + { + const double x = config[0] + step_size * x_offset; + for (int y_offset = -1; y_offset <= 1; ++y_offset) + { + const double y = config[1] + step_size * y_offset; + for (int z_offset = -1; z_offset <= 1; ++z_offset) + { + const double z = config[2] + step_size * z_offset; + const ConfigType neighbour = round_to_grid_fn(ConfigType(x, y, z)); + + if (min_vector[0] <= neighbour[0] && neighbour[0] <= max_vector[0] && + min_vector[1] <= neighbour[1] && neighbour[1] <= max_vector[1] && + min_vector[2] <= neighbour[2] && neighbour[2] <= max_vector[2] && + (neighbour[0] != config[0] || neighbour[1] != config[1] || neighbour[2] != config[2]) && + validity_check_fn(neighbour) == true) + { + neighbours.push_back(neighbour); + } + } + } + } + + neighbours.shrink_to_fit(); + return neighbours; + } + } +} + +#endif // GET_NEIGHBOURS_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/iiwa_14_fk_fast.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/iiwa_14_fk_fast.hpp new file mode 100644 index 0000000..3329980 --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/iiwa_14_fk_fast.hpp @@ -0,0 +1,171 @@ +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef IIWA_14_FK_FAST_HPP +#define IIWA_14_FK_FAST_HPP + +namespace IIWA_14_FK_FAST +{ + const size_t IIWA_14_NUM_ACTIVE_JOINTS = 7; + const size_t IIWA_14_NUM_LINKS = 8; + + const std::string IIWA_14_ACTIVE_JOINT_1_NAME = "iiwa_joint_1"; + const std::string IIWA_14_ACTIVE_JOINT_2_NAME = "iiwa_joint_2"; + const std::string IIWA_14_ACTIVE_JOINT_3_NAME = "iiwa_joint_3"; + const std::string IIWA_14_ACTIVE_JOINT_4_NAME = "iiwa_joint_4"; + const std::string IIWA_14_ACTIVE_JOINT_5_NAME = "iiwa_joint_5"; + const std::string IIWA_14_ACTIVE_JOINT_6_NAME = "iiwa_joint_6"; + const std::string IIWA_14_ACTIVE_JOINT_7_NAME = "iiwa_joint_7"; + + const std::string IIWA_14_LINK_1_NAME = "iiwa_link_0"; + const std::string IIWA_14_LINK_2_NAME = "iiwa_link_1"; + const std::string IIWA_14_LINK_3_NAME = "iiwa_link_2"; + const std::string IIWA_14_LINK_4_NAME = "iiwa_link_3"; + const std::string IIWA_14_LINK_5_NAME = "iiwa_link_4"; + const std::string IIWA_14_LINK_6_NAME = "iiwa_link_5"; + const std::string IIWA_14_LINK_7_NAME = "iiwa_link_6"; + const std::string IIWA_14_LINK_8_NAME = "iiwa_link_7"; + + inline Eigen::Isometry3d Get_link_0_joint_1_LinkJointTransform(const double joint_val) + { + const Eigen::Translation3d pre_joint_translation(0.0, 0.0, 0.1575); + const Eigen::Quaterniond pre_joint_rotation = EigenHelpers::QuaternionFromUrdfRPY(0.0, 0.0, 0.0); + const Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + const Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + const Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitZ())); + const Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline Eigen::Isometry3d Get_link_1_joint_2_LinkJointTransform(const double joint_val) + { + const Eigen::Translation3d pre_joint_translation(0.0, 0.0, 0.2025); + const Eigen::Quaterniond pre_joint_rotation = EigenHelpers::QuaternionFromUrdfRPY(M_PI_2, 0.0, M_PI); + const Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + const Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + const Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitZ())); + const Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline Eigen::Isometry3d Get_link_2_joint_3_LinkJointTransform(const double joint_val) + { + const Eigen::Translation3d pre_joint_translation(0.0, 0.2045, 0.0); + const Eigen::Quaterniond pre_joint_rotation = EigenHelpers::QuaternionFromUrdfRPY(M_PI_2, 0.0, M_PI); + const Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + const Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + const Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitZ())); + const Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline Eigen::Isometry3d Get_link_3_joint_4_LinkJointTransform(const double joint_val) + { + const Eigen::Translation3d pre_joint_translation(0.0, 0.0, 0.2155); + const Eigen::Quaterniond pre_joint_rotation = EigenHelpers::QuaternionFromUrdfRPY(M_PI_2, 0.0, 0.0); + const Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + const Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + const Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitZ())); + const Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline Eigen::Isometry3d Get_link_4_joint_5_LinkJointTransform(const double joint_val) + { + const Eigen::Translation3d pre_joint_translation(0.0, 0.1845, 0.0); + const Eigen::Quaterniond pre_joint_rotation = EigenHelpers::QuaternionFromUrdfRPY(-M_PI_2, M_PI, 0.0); + const Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + const Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + const Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitZ())); + const Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline Eigen::Isometry3d Get_link_5_joint_6_LinkJointTransform(const double joint_val) + { + const Eigen::Translation3d pre_joint_translation(0.0, 0.0, 0.2155); + const Eigen::Quaterniond pre_joint_rotation = EigenHelpers::QuaternionFromUrdfRPY(M_PI_2, 0.0, 0.0); + const Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + const Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + const Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitZ())); + const Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline Eigen::Isometry3d Get_link_6_joint_7_LinkJointTransform(const double joint_val) + { + const Eigen::Translation3d pre_joint_translation(0.0, 0.081, 0.0); + const Eigen::Quaterniond pre_joint_rotation = EigenHelpers::QuaternionFromUrdfRPY(-M_PI_2, M_PI, 0.0); + const Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + const Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + const Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitZ())); + const Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline EigenHelpers::VectorIsometry3d GetLinkTransforms(const std::vector& configuration, const Eigen::Isometry3d& base_transform=Eigen::Isometry3d::Identity()) + { + assert(configuration.size() == IIWA_14_NUM_ACTIVE_JOINTS); + EigenHelpers::VectorIsometry3d link_transforms(IIWA_14_NUM_LINKS); + link_transforms[0] = base_transform; + link_transforms[1] = link_transforms[0] * Get_link_0_joint_1_LinkJointTransform(configuration[0]); + link_transforms[2] = link_transforms[1] * Get_link_1_joint_2_LinkJointTransform(configuration[1]); + link_transforms[3] = link_transforms[2] * Get_link_2_joint_3_LinkJointTransform(configuration[2]); + link_transforms[4] = link_transforms[3] * Get_link_3_joint_4_LinkJointTransform(configuration[3]); + link_transforms[5] = link_transforms[4] * Get_link_4_joint_5_LinkJointTransform(configuration[4]); + link_transforms[6] = link_transforms[5] * Get_link_5_joint_6_LinkJointTransform(configuration[5]); + link_transforms[7] = link_transforms[6] * Get_link_6_joint_7_LinkJointTransform(configuration[6]); + return link_transforms; + } + + inline EigenHelpers::VectorIsometry3d GetLinkTransforms(const std::map& configuration, const Eigen::Isometry3d& base_transform=Eigen::Isometry3d::Identity()) + { + std::vector configuration_vector(IIWA_14_NUM_ACTIVE_JOINTS); + configuration_vector[0] = arc_helpers::RetrieveOrDefault(configuration, IIWA_14_ACTIVE_JOINT_1_NAME, 0.0); + configuration_vector[1] = arc_helpers::RetrieveOrDefault(configuration, IIWA_14_ACTIVE_JOINT_2_NAME, 0.0); + configuration_vector[2] = arc_helpers::RetrieveOrDefault(configuration, IIWA_14_ACTIVE_JOINT_3_NAME, 0.0); + configuration_vector[3] = arc_helpers::RetrieveOrDefault(configuration, IIWA_14_ACTIVE_JOINT_4_NAME, 0.0); + configuration_vector[4] = arc_helpers::RetrieveOrDefault(configuration, IIWA_14_ACTIVE_JOINT_5_NAME, 0.0); + configuration_vector[5] = arc_helpers::RetrieveOrDefault(configuration, IIWA_14_ACTIVE_JOINT_6_NAME, 0.0); + configuration_vector[6] = arc_helpers::RetrieveOrDefault(configuration, IIWA_14_ACTIVE_JOINT_7_NAME, 0.0); + return GetLinkTransforms(configuration_vector, base_transform); + } + + inline EigenHelpers::MapStringIsometry3d GetLinkTransformsMap(const std::vector& configuration, const Eigen::Isometry3d& base_transform=Eigen::Isometry3d::Identity()) + { + const EigenHelpers::VectorIsometry3d link_transforms = GetLinkTransforms(configuration, base_transform); + EigenHelpers::MapStringIsometry3d link_transforms_map; + link_transforms_map[IIWA_14_LINK_1_NAME] = link_transforms[0]; + link_transforms_map[IIWA_14_LINK_2_NAME] = link_transforms[1]; + link_transforms_map[IIWA_14_LINK_3_NAME] = link_transforms[2]; + link_transforms_map[IIWA_14_LINK_4_NAME] = link_transforms[3]; + link_transforms_map[IIWA_14_LINK_5_NAME] = link_transforms[4]; + link_transforms_map[IIWA_14_LINK_6_NAME] = link_transforms[5]; + link_transforms_map[IIWA_14_LINK_7_NAME] = link_transforms[6]; + link_transforms_map[IIWA_14_LINK_8_NAME] = link_transforms[7]; + return link_transforms_map; + } + + inline EigenHelpers::MapStringIsometry3d GetLinkTransformsMap(const std::map& configuration, const Eigen::Isometry3d& base_transform=Eigen::Isometry3d::Identity()) + { + const EigenHelpers::VectorIsometry3d link_transforms = GetLinkTransforms(configuration, base_transform); + EigenHelpers::MapStringIsometry3d link_transforms_map; + link_transforms_map[IIWA_14_LINK_1_NAME] = link_transforms[0]; + link_transforms_map[IIWA_14_LINK_2_NAME] = link_transforms[1]; + link_transforms_map[IIWA_14_LINK_3_NAME] = link_transforms[2]; + link_transforms_map[IIWA_14_LINK_4_NAME] = link_transforms[3]; + link_transforms_map[IIWA_14_LINK_5_NAME] = link_transforms[4]; + link_transforms_map[IIWA_14_LINK_6_NAME] = link_transforms[5]; + link_transforms_map[IIWA_14_LINK_7_NAME] = link_transforms[6]; + link_transforms_map[IIWA_14_LINK_8_NAME] = link_transforms[7]; + return link_transforms_map; + } +} + +#endif // IIWA_14_FK_FAST_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/iiwa_7_fk_fast.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/iiwa_7_fk_fast.hpp new file mode 100644 index 0000000..c752c49 --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/iiwa_7_fk_fast.hpp @@ -0,0 +1,171 @@ +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef IIWA_7_FK_FAST_HPP +#define IIWA_7_FK_FAST_HPP + +namespace IIWA_7_FK_FAST +{ + const size_t IIWA_7_NUM_ACTIVE_JOINTS = 7; + const size_t IIWA_7_NUM_LINKS = 8; + + const std::string IIWA_7_ACTIVE_JOINT_1_NAME = "iiwa_joint_1"; + const std::string IIWA_7_ACTIVE_JOINT_2_NAME = "iiwa_joint_2"; + const std::string IIWA_7_ACTIVE_JOINT_3_NAME = "iiwa_joint_3"; + const std::string IIWA_7_ACTIVE_JOINT_4_NAME = "iiwa_joint_4"; + const std::string IIWA_7_ACTIVE_JOINT_5_NAME = "iiwa_joint_5"; + const std::string IIWA_7_ACTIVE_JOINT_6_NAME = "iiwa_joint_6"; + const std::string IIWA_7_ACTIVE_JOINT_7_NAME = "iiwa_joint_7"; + + const std::string IIWA_7_LINK_1_NAME = "iiwa_link_0"; + const std::string IIWA_7_LINK_2_NAME = "iiwa_link_1"; + const std::string IIWA_7_LINK_3_NAME = "iiwa_link_2"; + const std::string IIWA_7_LINK_4_NAME = "iiwa_link_3"; + const std::string IIWA_7_LINK_5_NAME = "iiwa_link_4"; + const std::string IIWA_7_LINK_6_NAME = "iiwa_link_5"; + const std::string IIWA_7_LINK_7_NAME = "iiwa_link_6"; + const std::string IIWA_7_LINK_8_NAME = "iiwa_link_7"; + + inline Eigen::Isometry3d Get_link_0_joint_1_LinkJointTransform(const double joint_val) + { + const Eigen::Translation3d pre_joint_translation(0.0, 0.0, 0.15); + const Eigen::Quaterniond pre_joint_rotation = EigenHelpers::QuaternionFromUrdfRPY(0.0, 0.0, 0.0); + const Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + const Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + const Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitZ())); + const Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline Eigen::Isometry3d Get_link_1_joint_2_LinkJointTransform(const double joint_val) + { + const Eigen::Translation3d pre_joint_translation(0.0, 0.0, 0.19); + const Eigen::Quaterniond pre_joint_rotation = EigenHelpers::QuaternionFromUrdfRPY(M_PI_2, 0.0, M_PI); + const Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + const Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + const Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitZ())); + const Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline Eigen::Isometry3d Get_link_2_joint_3_LinkJointTransform(const double joint_val) + { + const Eigen::Translation3d pre_joint_translation(0.0, 0.21, 0.0); + const Eigen::Quaterniond pre_joint_rotation = EigenHelpers::QuaternionFromUrdfRPY(M_PI_2, 0.0, M_PI); + const Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + const Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + const Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitZ())); + const Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline Eigen::Isometry3d Get_link_3_joint_4_LinkJointTransform(const double joint_val) + { + const Eigen::Translation3d pre_joint_translation(0.0, 0.0, 0.19); + const Eigen::Quaterniond pre_joint_rotation = EigenHelpers::QuaternionFromUrdfRPY(M_PI_2, 0.0, 0.0); + const Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + const Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + const Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitZ())); + const Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline Eigen::Isometry3d Get_link_4_joint_5_LinkJointTransform(const double joint_val) + { + const Eigen::Translation3d pre_joint_translation(0.0, 0.21, 0.0); + const Eigen::Quaterniond pre_joint_rotation = EigenHelpers::QuaternionFromUrdfRPY(-M_PI_2, M_PI, 0.0); + const Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + const Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + const Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitZ())); + const Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline Eigen::Isometry3d Get_link_5_joint_6_LinkJointTransform(const double joint_val) + { + const Eigen::Translation3d pre_joint_translation(0.0, 0.06070, 0.19); + const Eigen::Quaterniond pre_joint_rotation = EigenHelpers::QuaternionFromUrdfRPY(M_PI_2, 0.0, 0.0); + const Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + const Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + const Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitZ())); + const Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline Eigen::Isometry3d Get_link_6_joint_7_LinkJointTransform(const double joint_val) + { + const Eigen::Translation3d pre_joint_translation(0.0, 0.081, 0.06070); + const Eigen::Quaterniond pre_joint_rotation = EigenHelpers::QuaternionFromUrdfRPY(-M_PI_2, M_PI, 0.0); + const Eigen::Isometry3d pre_joint_transform = pre_joint_translation * pre_joint_rotation; + const Eigen::Translation3d joint_translation(0.0, 0.0, 0.0); + const Eigen::Quaterniond joint_rotation(Eigen::AngleAxisd(joint_val, Eigen::Vector3d::UnitZ())); + const Eigen::Isometry3d joint_transform = joint_translation * joint_rotation; + return (pre_joint_transform * joint_transform); + } + + inline EigenHelpers::VectorIsometry3d GetLinkTransforms(const std::vector& configuration, const Eigen::Isometry3d& base_transform=Eigen::Isometry3d::Identity()) + { + assert(configuration.size() == IIWA_7_NUM_ACTIVE_JOINTS); + EigenHelpers::VectorIsometry3d link_transforms(IIWA_7_NUM_LINKS); + link_transforms[0] = base_transform; + link_transforms[1] = link_transforms[0] * Get_link_0_joint_1_LinkJointTransform(configuration[0]); + link_transforms[2] = link_transforms[1] * Get_link_1_joint_2_LinkJointTransform(configuration[1]); + link_transforms[3] = link_transforms[2] * Get_link_2_joint_3_LinkJointTransform(configuration[2]); + link_transforms[4] = link_transforms[3] * Get_link_3_joint_4_LinkJointTransform(configuration[3]); + link_transforms[5] = link_transforms[4] * Get_link_4_joint_5_LinkJointTransform(configuration[4]); + link_transforms[6] = link_transforms[5] * Get_link_5_joint_6_LinkJointTransform(configuration[5]); + link_transforms[7] = link_transforms[6] * Get_link_6_joint_7_LinkJointTransform(configuration[6]); + return link_transforms; + } + + inline EigenHelpers::VectorIsometry3d GetLinkTransforms(const std::map& configuration, const Eigen::Isometry3d& base_transform=Eigen::Isometry3d::Identity()) + { + std::vector configuration_vector(IIWA_7_NUM_ACTIVE_JOINTS); + configuration_vector[0] = arc_helpers::RetrieveOrDefault(configuration, IIWA_7_ACTIVE_JOINT_1_NAME, 0.0); + configuration_vector[1] = arc_helpers::RetrieveOrDefault(configuration, IIWA_7_ACTIVE_JOINT_2_NAME, 0.0); + configuration_vector[2] = arc_helpers::RetrieveOrDefault(configuration, IIWA_7_ACTIVE_JOINT_3_NAME, 0.0); + configuration_vector[3] = arc_helpers::RetrieveOrDefault(configuration, IIWA_7_ACTIVE_JOINT_4_NAME, 0.0); + configuration_vector[4] = arc_helpers::RetrieveOrDefault(configuration, IIWA_7_ACTIVE_JOINT_5_NAME, 0.0); + configuration_vector[5] = arc_helpers::RetrieveOrDefault(configuration, IIWA_7_ACTIVE_JOINT_6_NAME, 0.0); + configuration_vector[6] = arc_helpers::RetrieveOrDefault(configuration, IIWA_7_ACTIVE_JOINT_7_NAME, 0.0); + return GetLinkTransforms(configuration_vector, base_transform); + } + + inline EigenHelpers::MapStringIsometry3d GetLinkTransformsMap(const std::vector& configuration, const Eigen::Isometry3d& base_transform=Eigen::Isometry3d::Identity()) + { + const EigenHelpers::VectorIsometry3d link_transforms = GetLinkTransforms(configuration, base_transform); + EigenHelpers::MapStringIsometry3d link_transforms_map; + link_transforms_map[IIWA_7_LINK_1_NAME] = link_transforms[0]; + link_transforms_map[IIWA_7_LINK_2_NAME] = link_transforms[1]; + link_transforms_map[IIWA_7_LINK_3_NAME] = link_transforms[2]; + link_transforms_map[IIWA_7_LINK_4_NAME] = link_transforms[3]; + link_transforms_map[IIWA_7_LINK_5_NAME] = link_transforms[4]; + link_transforms_map[IIWA_7_LINK_6_NAME] = link_transforms[5]; + link_transforms_map[IIWA_7_LINK_7_NAME] = link_transforms[6]; + link_transforms_map[IIWA_7_LINK_8_NAME] = link_transforms[7]; + return link_transforms_map; + } + + inline EigenHelpers::MapStringIsometry3d GetLinkTransformsMap(const std::map& configuration, const Eigen::Isometry3d& base_transform=Eigen::Isometry3d::Identity()) + { + const EigenHelpers::VectorIsometry3d link_transforms = GetLinkTransforms(configuration, base_transform); + EigenHelpers::MapStringIsometry3d link_transforms_map; + link_transforms_map[IIWA_7_LINK_1_NAME] = link_transforms[0]; + link_transforms_map[IIWA_7_LINK_2_NAME] = link_transforms[1]; + link_transforms_map[IIWA_7_LINK_3_NAME] = link_transforms[2]; + link_transforms_map[IIWA_7_LINK_4_NAME] = link_transforms[3]; + link_transforms_map[IIWA_7_LINK_5_NAME] = link_transforms[4]; + link_transforms_map[IIWA_7_LINK_6_NAME] = link_transforms[5]; + link_transforms_map[IIWA_7_LINK_7_NAME] = link_transforms[6]; + link_transforms_map[IIWA_7_LINK_8_NAME] = link_transforms[7]; + return link_transforms_map; + } +} + +#endif // IIWA_7_FK_FAST_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/log.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/log.hpp new file mode 100644 index 0000000..c6aae2b --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/log.hpp @@ -0,0 +1,151 @@ +#include +#include +#include +#include +#include +#include + +#ifndef LOG_HPP +#define LOG_HPP + +#define LOG(log, message) \ + (log).logMessage( \ + static_cast( \ + std::ostringstream().flush() \ + << std::setprecision(12) \ + << (message) \ + ).str() \ + ) + +#define LOG_STREAM(log, message) \ + (log).logMessage( \ + static_cast( \ + std::ostringstream().flush() \ + << std::setprecision(12) \ + << message \ + ).str() \ + ) + +#define LOG_COND(log, cond, message) \ + if ((cond)) LOG(log, message) + + +#define LOG_COND_STREAM(log, cond, message) \ + if ((cond)) LOG_STREAM(log, message) + +// TODO: confirm that I havn't made any mistakes in this file +namespace Log +{ + class Log + { + public: + Log(const std::string& filename, bool add_header = true) + : filename_(filename) + { + // If it hasn't been opened, assume that it is because the + // directory doesn't exist. + boost::filesystem::path p(filename_); + boost::filesystem::path dir = p.parent_path(); + if (!boost::filesystem::is_directory(dir)) + { + std::cerr << "\x1b[33;1m" << dir << " does not exist! Creating ... "; + + // NOTE: create_directories should be able to return true in this case + // however due to a bug related to a trailing '/' this is not currently + // the case in my version of boost + // https://svn.boost.org/trac/boost/ticket/7258 + boost::filesystem::create_directories(dir); + if (boost::filesystem::is_directory(dir)) + // if (boost::filesystem::create_directories(p)) + { + std::cerr << "Succeeded!\x1b[37m\n"; + } + else + { + std::cerr << "\x1b[31;1mFailed!\x1b[37m\n"; + } + } + + out_file_.open(filename, std::ios_base::out | std::ios_base::trunc); + // check if we've succesfully opened the file + if (!out_file_.is_open()) + { + std::cerr << "\x1b[31;1m Unable to create folder/file to log to: " << filename << "\x1b[37m \n"; + throw std::invalid_argument("filename must be write-openable"); + } + + if (add_header) + { + time_t rawtime; + tm * timeinfo; + char buffer[80]; + + time(&rawtime); + timeinfo = localtime(&rawtime); + + strftime(buffer, 80, "%Y-%m-%d %H:%M:%S", timeinfo); + + out_file_ << buffer << std::endl; + } + } + + /** Copy constructor */ + Log(const Log& other) + : filename_(other.filename_) + , out_file_(filename_, std::ios_base::out | std::ios_base::app) + { + } + + /** Move constructor */ + Log(Log&& other) + : filename_(other.filename_) + , out_file_(filename_, std::ios_base::out | std::ios_base::app) + { + other.out_file_.close(); + } + + /** Destructor */ + ~Log() + { + if (out_file_.is_open()) + { + out_file_.close(); + } + } + + /** Copy assignment operator */ + Log& operator= (const Log& other) + { + Log tmp(other); // re-use copy-constructor + *this = std::move(tmp); // re-use move-assignment + return *this; + } + + /** Move assignment operator */ + Log& operator= (Log&& other) + { + std::swap(filename_, other.filename_); + other.out_file_.close(); + + if (out_file_.is_open()) + { + out_file_.close(); + } + + out_file_.open(filename_, std::ios_base::out | std::ios_base::app); + + return *this; + } + + void logMessage(const std::string& message) + { + out_file_ << message << std::endl; + } + + private: + std::string filename_; + std::ofstream out_file_; + }; +} + +#endif // LOG_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/maybe.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/maybe.hpp new file mode 100644 index 0000000..5ae528d --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/maybe.hpp @@ -0,0 +1,81 @@ +#include + +#ifndef MAYBE_HPP +#define MAYBE_HPP + +/* Simple implementation of a Maybe/Option type (or monad, if you're into that sort of thing). + * Allows the safe passing of a value (or lack of a value!) without the need for null values. + * + * For example, Maybe stores a double value OR the lack of such value. + * + * To use this class, create a Maybe via Maybe example_maybe(Type value) + * To assign a new value, use example_maybe = Type value + * To check if a Maybe contains a value, use example_maybe.Valid() + * To get the stored value, use example_maybe.Get() or example_maybe.GetImmutable() + * Note that both getter functions assert that a valid value is containted! + * + */ +namespace Maybe +{ + template + class Maybe + { + protected: + + bool maybe_; + T value_; + + public: + + Maybe() : maybe_(false) {} + + Maybe(const T& value) : maybe_(true), value_(value) {} + + Maybe(T&& value) : maybe_(true), value_(value) {} + + bool Valid() const + { + return maybe_; + } + + T& Get() + { + assert(maybe_); + return value_; + } + + const T& GetImmutable() const + { + assert(maybe_); + return value_; + } + + void Set(const T& value) + { + maybe_ = true; + value_ = value; + } + + void Set(T&& value) + { + maybe_ = true; + value_ = value; + } + + Maybe& operator=(const T& value) + { + maybe_ = true; + value_ = value; + return *this; + } + + Maybe& operator=(T&& value) + { + maybe_ = true; + value_ = value; + return *this; + } + }; +} + +#endif // MAYBE_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/pretty_print.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/pretty_print.hpp new file mode 100644 index 0000000..a5e82be --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/pretty_print.hpp @@ -0,0 +1,781 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef PRETTY_PRINT_HPP +#define PRETTY_PRINT_HPP + +// Handy functions for printing vectors and pairs +namespace PrettyPrint +{ + // Base template function for printing types + template + inline std::string PrettyPrint(const T& toprint, const bool add_delimiters=false, const std::string& separator=", ") + { + UNUSED(add_delimiters); + UNUSED(separator); + std::ostringstream strm; + strm << toprint; + return strm.str(); + } + + ///////////////////////////////////////////////////////////////////////////////////////////////////////// + ///// PROTOTYPES ONLY ///// + ///// Specializations for specific types - if you want a specialization for a new type, add it here ///// + ///////////////////////////////////////////////////////////////////////////////////////////////////////// + + template<> + inline std::string PrettyPrint(const bool& bool_to_print, const bool add_delimiters, const std::string& separator); + + template<> + inline std::string PrettyPrint(const Eigen::Vector2d& vector_to_print, const bool add_delimiters, const std::string& separator); + + template<> + inline std::string PrettyPrint(const Eigen::Vector3d& vector_to_print, const bool add_delimiters, const std::string& separator); + + template<> + inline std::string PrettyPrint(const Eigen::Vector4d& vector_to_print, const bool add_delimiters, const std::string& separator); + + template<> + inline std::string PrettyPrint(const Eigen::VectorXd& vector_to_print, const bool add_delimiters, const std::string& separator); + + template<> + inline std::string PrettyPrint(const Eigen::MatrixXd& matrix_to_print, const bool add_delimiters, const std::string& separator); + + template<> + inline std::string PrettyPrint(const Eigen::Quaterniond& quaternion_to_print, const bool add_delimiters, const std::string& separator); + + template<> + inline std::string PrettyPrint(const Eigen::Isometry3d& transform_to_print, const bool add_delimiters, const std::string& separator); + + template + inline std::string PrettyPrint(const std::pair& pairtoprint, const bool add_delimiters=false, const std::string& separator=", "); + + template + inline std::string PrettyPrint(const std::array& arraytoprint, const bool add_delimiters=false, const std::string& separator=", "); + + template > + inline std::string PrettyPrint(const std::vector& vectoprint, const bool add_delimiters=false, const std::string& separator=", "); + + template > + inline std::string PrettyPrint(const std::list& listtoprint, const bool add_delimiters=false, const std::string& separator=", "); + + template > + inline std::string PrettyPrint(const std::forward_list& listtoprint, const bool add_delimiters=false, const std::string& separator=", "); + + template > + inline std::string PrettyPrint(const std::deque& dequetoprint, const bool add_delimiters=false, const std::string& separator=", "); + + template , typename Allocator=std::allocator>> + inline std::string PrettyPrint(const std::map& maptoprint, const bool add_delimiters=false, const std::string& separator=", "); + + template , typename Allocator=std::allocator>> + inline std::string PrettyPrint(const std::multimap& maptoprint, const bool add_delimiters=false, const std::string& separator=", "); + + template , typename Allocator=std::allocator> + inline std::string PrettyPrint(const std::set& settoprint, const bool add_delimiters=false, const std::string& separator=", "); + + template , typename Allocator=std::allocator> + inline std::string PrettyPrint(const std::multiset& settoprint, const bool add_delimiters=false, const std::string& separator=", "); + + template , typename Predicate=std::equal_to, typename Allocator=std::allocator>> + inline std::string PrettyPrint(const std::unordered_map& maptoprint, const bool add_delimiters=false, const std::string& separator=", "); + + template , typename Predicate=std::equal_to, typename Allocator=std::allocator>> + inline std::string PrettyPrint(const std::unordered_multimap& maptoprint, const bool add_delimiters=false, const std::string& separator=", "); + + template , typename Predicate=std::equal_to, typename Allocator=std::allocator> + inline std::string PrettyPrint(const std::unordered_set& settoprint, const bool add_delimiters=false, const std::string& separator=", "); + + template , typename Predicate=std::equal_to, typename Allocator=std::allocator> + inline std::string PrettyPrint(const std::unordered_multiset& settoprint, const bool add_delimiters=false, const std::string& separator=", "); + + ///////////////////////////////////////////////////////////////////////////////////////////////////////// + ///// IMPLEMENTATIONS ONLY ///// + ///// Specializations for specific types - if you want a specialization for a new type, add it here ///// + ///////////////////////////////////////////////////////////////////////////////////////////////////////// + + template<> + inline std::string PrettyPrint(const bool& bool_to_print, const bool add_delimiters, const std::string& separator) + { + UNUSED(add_delimiters); + UNUSED(separator); + if (bool_to_print) + { + return "true"; + } + else + { + return "false"; + } + } + + template<> + inline std::string PrettyPrint(const Eigen::Vector2d& vector_to_print, const bool add_delimiters, const std::string& separator) + { + UNUSED(separator); + std::ostringstream strm; + strm << std::setprecision(12); + if (add_delimiters) + { + strm << "Vector2d: "; + } + else + { + strm << vector_to_print(0) << ", " << vector_to_print(1); + } + return strm.str(); + } + + template<> + inline std::string PrettyPrint(const Eigen::Vector3d& vector_to_print, const bool add_delimiters, const std::string& separator) + { + UNUSED(separator); + std::ostringstream strm; + strm << std::setprecision(12); + if (add_delimiters) + { + strm << "Vector3d: "; + } + else + { + strm << vector_to_print.x() << ", " << vector_to_print.y() << ", " << vector_to_print.z();; + } + return strm.str(); + } + + template<> + inline std::string PrettyPrint(const Eigen::Vector4d& vector_to_print, const bool add_delimiters, const std::string& separator) + { + UNUSED(separator); + std::ostringstream strm; + strm << std::setprecision(12); + if (add_delimiters) + { + strm << "Vector4d: "; + } + else + { + strm << vector_to_print(0) << ", " << vector_to_print(1) << ", " << vector_to_print(2) << ", " << vector_to_print(3); + } + return strm.str(); + } + + template<> + inline std::string PrettyPrint(const Eigen::VectorXd& vector_to_print, const bool add_delimiters, const std::string& separator) + { + UNUSED(separator); + Eigen::IOFormat io_format(Eigen::StreamPrecision, 0, ", ", ", ", "", "", "", ""); + if (add_delimiters) + { + io_format = Eigen::IOFormat(Eigen::StreamPrecision, 0, ", ", ", ", "", "", "VectorXd: <", ">");; + } + std::ostringstream strm; + strm << std::setprecision(12); + strm << vector_to_print.format(io_format); + return strm.str(); + } + + template<> + inline std::string PrettyPrint(const Eigen::MatrixXd& matrix_to_print, const bool add_delimiters, const std::string& separator) + { + UNUSED(separator); + Eigen::IOFormat io_format(Eigen::StreamPrecision, 0, ", ", "\n", "", "", "", ""); + if (add_delimiters) + { + io_format = Eigen::IOFormat(Eigen::StreamPrecision, 0, ", ", "\n", "", "", "MatrixXd:\n[", "]");; + } + std::ostringstream strm; + strm << std::setprecision(12); + strm << matrix_to_print.format(io_format); + return strm.str(); + } + + template<> + inline std::string PrettyPrint(const Eigen::Quaterniond& quaternion_to_print, const bool add_delimiters, const std::string& separator) + { + UNUSED(separator); + std::ostringstream strm; + strm << std::setprecision(12); + if (add_delimiters) + { + strm << "Quaterniond "; + } + else + { + strm << quaternion_to_print.x() << ", " << quaternion_to_print.y() << ", " << quaternion_to_print.z() << ", " << quaternion_to_print.w(); + } + return strm.str(); + } + + template<> + inline std::string PrettyPrint(const Eigen::Isometry3d& transform_to_print, const bool add_delimiters, const std::string& separator) + { + UNUSED(separator); + std::ostringstream strm; + strm << std::setprecision(12); + Eigen::Vector3d vector_to_print = transform_to_print.translation(); + Eigen::Quaterniond quaternion_to_print(transform_to_print.rotation()); + if (add_delimiters) + { + strm << "Isometry3d , "; + } + else + { + strm << vector_to_print.x() << ", " << vector_to_print.y() << ", " << vector_to_print.z() << " : " << quaternion_to_print.x() << ", " << quaternion_to_print.y() << ", " << quaternion_to_print.z() << ", " << quaternion_to_print.w(); + } + return strm.str(); + } + + template + inline std::string PrettyPrint(const std::pair& pairtoprint, const bool add_delimiters, const std::string& separator) + { + std::ostringstream strm; + if (add_delimiters) + { + strm << "<" << PrettyPrint(pairtoprint.first, add_delimiters, separator) << ": " << PrettyPrint(pairtoprint.second, add_delimiters, separator) << ">"; + } + else + { + strm << PrettyPrint(pairtoprint.first, add_delimiters, separator) << ": " << PrettyPrint(pairtoprint.second, add_delimiters, separator); + } + return strm.str(); + } + + template + inline std::string PrettyPrint(const std::array& arraytoprint, const bool add_delimiters, const std::string& separator) + { + std::ostringstream strm; + if (arraytoprint.size() > 0) + { + if (add_delimiters) + { + strm << "[" << PrettyPrint(arraytoprint[0], add_delimiters, separator); + for (size_t idx = 1; idx < arraytoprint.size(); idx++) + { + strm << separator << PrettyPrint(arraytoprint[idx], add_delimiters, separator); + } + strm << "]"; + } + else + { + strm << PrettyPrint(arraytoprint[0], add_delimiters, separator); + for (size_t idx = 1; idx < arraytoprint.size(); idx++) + { + strm << separator << PrettyPrint(arraytoprint[idx], add_delimiters, separator); + } + } + } + return strm.str(); + } + + template + inline std::string PrettyPrint(const std::vector& vectoprint, const bool add_delimiters, const std::string& separator) + { + std::ostringstream strm; + if (vectoprint.size() > 0) + { + if (add_delimiters) + { + strm << "[" << PrettyPrint(vectoprint[0], add_delimiters, separator); + for (size_t idx = 1; idx < vectoprint.size(); idx++) + { + strm << separator << PrettyPrint(vectoprint[idx], add_delimiters, separator); + } + strm << "]"; + } + else + { + strm << PrettyPrint(vectoprint[0], add_delimiters, separator); + for (size_t idx = 1; idx < vectoprint.size(); idx++) + { + strm << separator << PrettyPrint(vectoprint[idx], add_delimiters, separator); + } + } + } + return strm.str(); + } + + template + inline std::string PrettyPrint(const std::list& listtoprint, const bool add_delimiters, const std::string& separator) + { + std::ostringstream strm; + if (listtoprint.size() > 0) + { + if (add_delimiters) + { + strm << "["; + typename std::list::const_iterator itr; + for (itr = listtoprint.begin(); itr != listtoprint.end(); ++itr) + { + if (itr != listtoprint.begin()) + { + strm << separator << PrettyPrint(*itr, add_delimiters, separator); + } + else + { + strm << PrettyPrint(*itr, add_delimiters, separator); + } + } + strm << "]"; + } + else + { + typename std::list::const_iterator itr; + for (itr = listtoprint.begin(); itr != listtoprint.end(); ++itr) + { + if (itr != listtoprint.begin()) + { + strm << separator << PrettyPrint(*itr, add_delimiters, separator); + } + else + { + strm << PrettyPrint(*itr, add_delimiters, separator); + } + } + } + } + return strm.str(); + } + + template + inline std::string PrettyPrint(const std::forward_list& listtoprint, const bool add_delimiters, const std::string& separator) + { + std::ostringstream strm; + if (listtoprint.size() > 0) + { + if (add_delimiters) + { + strm << "["; + typename std::forward_list::const_iterator itr; + for (itr = listtoprint.begin(); itr != listtoprint.end(); ++itr) + { + if (itr != listtoprint.begin()) + { + strm << separator << PrettyPrint(*itr, add_delimiters, separator); + } + else + { + strm << PrettyPrint(*itr, add_delimiters, separator); + } + } + strm << "]"; + } + else + { + typename std::forward_list::const_iterator itr; + for (itr = listtoprint.begin(); itr != listtoprint.end(); ++itr) + { + if (itr != listtoprint.begin()) + { + strm << separator << PrettyPrint(*itr, add_delimiters, separator); + } + else + { + strm << PrettyPrint(*itr, add_delimiters, separator); + } + } + } + } + return strm.str(); + } + + template + inline std::string PrettyPrint(const std::deque& dequetoprint, const bool add_delimiters, const std::string& separator) + { + std::ostringstream strm; + if (dequetoprint.size() > 0) + { + if (add_delimiters) + { + strm << "["; + typename std::deque::const_iterator itr; + for (itr = dequetoprint.begin(); itr != dequetoprint.end(); ++itr) + { + if (itr != dequetoprint.begin()) + { + strm << separator << PrettyPrint(*itr, add_delimiters, separator); + } + else + { + strm << PrettyPrint(*itr, add_delimiters, separator); + } + } + strm << "]"; + } + else + { + typename std::deque::const_iterator itr; + for (itr = dequetoprint.begin(); itr != dequetoprint.end(); ++itr) + { + if (itr != dequetoprint.begin()) + { + strm << separator << PrettyPrint(*itr, add_delimiters, separator); + } + else + { + strm << PrettyPrint(*itr, add_delimiters, separator); + } + } + } + } + return strm.str(); + } + + template + inline std::string PrettyPrint(const std::map& maptoprint, const bool add_delimiters, const std::string& separator) + { + std::ostringstream strm; + if (maptoprint.size() > 0) + { + if (add_delimiters) + { + strm << "{"; + typename std::map::const_iterator itr; + for (itr = maptoprint.begin(); itr != maptoprint.end(); ++itr) + { + std::pair cur_pair(itr->first, itr->second); + if (itr != maptoprint.begin()) + { + strm << separator << PrettyPrint(cur_pair, add_delimiters, separator); + } + else + { + strm << PrettyPrint(cur_pair, add_delimiters, separator); + } + } + strm << "}"; + } + else + { + typename std::map::const_iterator itr; + for (itr = maptoprint.begin(); itr != maptoprint.end(); ++itr) + { + std::pair cur_pair(itr->first, itr->second); + if (itr != maptoprint.begin()) + { + strm << separator << PrettyPrint(cur_pair, add_delimiters, separator); + } + else + { + strm << PrettyPrint(cur_pair, add_delimiters, separator); + } + } + } + } + return strm.str(); + } + + template + inline std::string PrettyPrint(const std::multimap& maptoprint, const bool add_delimiters, const std::string& separator) + { + std::ostringstream strm; + if (maptoprint.size() > 0) + { + if (add_delimiters) + { + strm << "{"; + typename std::multimap::const_iterator itr; + for (itr = maptoprint.begin(); itr != maptoprint.end(); ++itr) + { + std::pair cur_pair(itr->first, itr->second); + if (itr != maptoprint.begin()) + { + strm << separator << PrettyPrint(cur_pair, add_delimiters, separator); + } + else + { + strm << PrettyPrint(cur_pair, add_delimiters, separator); + } + } + strm << "}"; + } + else + { + typename std::multimap::const_iterator itr; + for (itr = maptoprint.begin(); itr != maptoprint.end(); ++itr) + { + std::pair cur_pair(itr->first, itr->second); + if (itr != maptoprint.begin()) + { + strm << separator << PrettyPrint(cur_pair, add_delimiters, separator); + } + else + { + strm << PrettyPrint(cur_pair, add_delimiters, separator); + } + } + } + } + return strm.str(); + } + + template + inline std::string PrettyPrint(const std::set& settoprint, const bool add_delimiters, const std::string& separator) + { + std::ostringstream strm; + if (settoprint.size() > 0) + { + if (add_delimiters) + { + strm << "("; + typename std::set::const_iterator itr; + for (itr = settoprint.begin(); itr != settoprint.end(); ++itr) + { + if (itr != settoprint.begin()) + { + strm << separator << PrettyPrint(*itr, add_delimiters, separator); + } + else + { + strm << PrettyPrint(*itr, add_delimiters, separator); + } + } + strm << ")"; + } + else + { + typename std::set::const_iterator itr; + for (itr = settoprint.begin(); itr != settoprint.end(); ++itr) + { + if (itr != settoprint.begin()) + { + strm << separator << PrettyPrint(*itr, add_delimiters, separator); + } + else + { + strm << PrettyPrint(*itr, add_delimiters, separator); + } + } + } + } + return strm.str(); + } + + template + inline std::string PrettyPrint(const std::multiset& settoprint, const bool add_delimiters, const std::string& separator) + { + std::ostringstream strm; + if (settoprint.size() > 0) + { + if (add_delimiters) + { + strm << "("; + typename std::multiset::const_iterator itr; + for (itr = settoprint.begin(); itr != settoprint.end(); ++itr) + { + if (itr != settoprint.begin()) + { + strm << separator << PrettyPrint(*itr, add_delimiters, separator); + } + else + { + strm << PrettyPrint(*itr, add_delimiters, separator); + } + } + strm << ")"; + } + else + { + typename std::multiset::const_iterator itr; + for (itr = settoprint.begin(); itr != settoprint.end(); ++itr) + { + if (itr != settoprint.begin()) + { + strm << separator << PrettyPrint(*itr, add_delimiters, separator); + } + else + { + strm << PrettyPrint(*itr, add_delimiters, separator); + } + } + } + } + return strm.str(); + } + + template + inline std::string PrettyPrint(const std::unordered_map& maptoprint, const bool add_delimiters, const std::string& separator) + { + std::ostringstream strm; + if (maptoprint.size() > 0) + { + if (add_delimiters) + { + strm << "{"; + typename std::unordered_map::const_iterator itr; + for (itr = maptoprint.begin(); itr != maptoprint.end(); ++itr) + { + std::pair cur_pair(itr->first, itr->second); + if (itr != maptoprint.begin()) + { + strm << separator << PrettyPrint(cur_pair, add_delimiters, separator); + } + else + { + strm << PrettyPrint(cur_pair, add_delimiters, separator); + } + } + strm << "}"; + } + else + { + typename std::unordered_map::const_iterator itr; + for (itr = maptoprint.begin(); itr != maptoprint.end(); ++itr) + { + std::pair cur_pair(itr->first, itr->second); + if (itr != maptoprint.begin()) + { + strm << separator << PrettyPrint(cur_pair, add_delimiters, separator); + } + else + { + strm << PrettyPrint(cur_pair, add_delimiters, separator); + } + } + } + } + return strm.str(); + } + + template + inline std::string PrettyPrint(const std::unordered_multimap& maptoprint, const bool add_delimiters, const std::string& separator) + { + std::ostringstream strm; + if (maptoprint.size() > 0) + { + if (add_delimiters) + { + strm << "{"; + typename std::unordered_multimap::const_iterator itr; + for (itr = maptoprint.begin(); itr != maptoprint.end(); ++itr) + { + std::pair cur_pair(itr->first, itr->second); + if (itr != maptoprint.begin()) + { + strm << separator << PrettyPrint(cur_pair, add_delimiters, separator); + } + else + { + strm << PrettyPrint(cur_pair, add_delimiters, separator); + } + } + strm << "}"; + } + else + { + typename std::unordered_multimap::const_iterator itr; + for (itr = maptoprint.begin(); itr != maptoprint.end(); ++itr) + { + std::pair cur_pair(itr->first, itr->second); + if (itr != maptoprint.begin()) + { + strm << separator << PrettyPrint(cur_pair, add_delimiters, separator); + } + else + { + strm << PrettyPrint(cur_pair, add_delimiters, separator); + } + } + } + } + return strm.str(); + } + + template + inline std::string PrettyPrint(const std::unordered_set& settoprint, const bool add_delimiters, const std::string& separator) + { + std::ostringstream strm; + if (settoprint.size() > 0) + { + if (add_delimiters) + { + strm << "("; + typename std::unordered_set::const_iterator itr; + for (itr = settoprint.begin(); itr != settoprint.end(); ++itr) + { + if (itr != settoprint.begin()) + { + strm << separator << PrettyPrint(*itr, add_delimiters, separator); + } + else + { + strm << PrettyPrint(*itr, add_delimiters, separator); + } + } + strm << ")"; + } + else + { + typename std::unordered_set::const_iterator itr; + for (itr = settoprint.begin(); itr != settoprint.end(); ++itr) + { + if (itr != settoprint.begin()) + { + strm << separator << PrettyPrint(*itr, add_delimiters, separator); + } + else + { + strm << PrettyPrint(*itr, add_delimiters, separator); + } + } + } + } + return strm.str(); + } + + template + inline std::string PrettyPrint(const std::unordered_multiset& settoprint, const bool add_delimiters, const std::string& separator) + { + std::ostringstream strm; + if (settoprint.size() > 0) + { + if (add_delimiters) + { + strm << "("; + typename std::unordered_multiset::const_iterator itr; + for (itr = settoprint.begin(); itr != settoprint.end(); ++itr) + { + if (itr != settoprint.begin()) + { + strm << separator << PrettyPrint(*itr, add_delimiters, separator); + } + else + { + strm << PrettyPrint(*itr, add_delimiters, separator); + } + } + strm << ")"; + } + else + { + typename std::unordered_multiset::const_iterator itr; + for (itr = settoprint.begin(); itr != settoprint.end(); ++itr) + { + if (itr != settoprint.begin()) + { + strm << separator << PrettyPrint(*itr, add_delimiters, separator); + } + else + { + strm << PrettyPrint(*itr, add_delimiters, separator); + } + } + } + } + return strm.str(); + } +} + +#endif // PRETTY_PRINT_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/ros_helpers.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/ros_helpers.hpp new file mode 100644 index 0000000..d2054c2 --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/ros_helpers.hpp @@ -0,0 +1,120 @@ +#include +#include + +#include "arc_utilities/maybe.hpp" + +#ifndef ROS_HELPERS_HPP +#define ROS_HELPERS_HPP + +#define PARAM_NAME_WIDTH (50) + +namespace ROSHelpers +{ + inline void Spin(const double loop_period) + { + while (ros::ok()) + { + ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(loop_period)); + } + } + + template + inline T GetParam(const ros::NodeHandle& nh, const std::string& param_name, const T& default_val) + { + T param_val; + if (nh.getParam(param_name, param_val)) + { + ROS_INFO_STREAM_NAMED("params", "Retrieving " << std::left << std::setw(PARAM_NAME_WIDTH) << param_name << " as " << param_val); + } + else + { + param_val = default_val; + ROS_WARN_STREAM_NAMED("params", "Defaulting " << std::left << std::setw(PARAM_NAME_WIDTH) << param_name << " to " << param_val); + } + return param_val; + } + + template + inline T GetParam(const ros::NodeHandle& nh, const std::string& param_name, T&& default_val) + { + T param_val; + if (nh.getParam(param_name, param_val)) + { + ROS_INFO_STREAM_NAMED("params", "Retrieving " << std::left << std::setw(PARAM_NAME_WIDTH) << param_name << " as " << param_val); + } + else + { + param_val = default_val; + ROS_WARN_STREAM_NAMED("params", "Defaulting " << std::left << std::setw(PARAM_NAME_WIDTH) << param_name << " to " << param_val); + } + return param_val; + } + + template + inline T GetParamDebugLog(const ros::NodeHandle& nh, const std::string& param_name, const T& default_val) + { + T param_val; + if (nh.getParam(param_name, param_val)) + { + ROS_DEBUG_STREAM_NAMED("params", "Retrieving " << std::left << std::setw(PARAM_NAME_WIDTH) << param_name << " as " << param_val); + } + else + { + param_val = default_val; + ROS_DEBUG_STREAM_NAMED("params", "Defaulting " << std::left << std::setw(PARAM_NAME_WIDTH) << param_name << " to " << param_val); + } + return param_val; + } + + template + inline T GetParamDebugLog(const ros::NodeHandle& nh, const std::string& param_name, T&& default_val) + { + T param_val; + if (nh.getParam(param_name, param_val)) + { + ROS_DEBUG_STREAM_NAMED("params", "Retrieving " << std::left << std::setw(PARAM_NAME_WIDTH) << param_name << " as " << param_val); + } + else + { + param_val = default_val; + ROS_DEBUG_STREAM_NAMED("params", "Defaulting " << std::left << std::setw(PARAM_NAME_WIDTH) << param_name << " to " << param_val); + } + return param_val; + } + + template + inline Maybe::Maybe GetParamRequired(const ros::NodeHandle& nh, const std::string& param_name, const std::string& calling_fn_name) + { + ROS_DEBUG_STREAM_NAMED("params", "No default value for " << param_name << ": Value must be on paramter sever"); + T param_val; + if (nh.getParam(param_name, param_val)) + { + ROS_INFO_STREAM_NAMED("params", "Retrieving " << std::left << std::setw(PARAM_NAME_WIDTH) << param_name << " as " << param_val); + return Maybe::Maybe(param_val); + } + else + { + ROS_FATAL_STREAM_NAMED("params", "Cannot find " << nh.getNamespace() << "/" << param_name << " on parameter server for " << calling_fn_name << ": Value must be on paramter sever"); + return Maybe::Maybe(); + } + } + + template + inline Maybe::Maybe GetParamRequiredDebugLog(const ros::NodeHandle& nh, const std::string& param_name, const std::string& calling_fn_name) + { + ROS_DEBUG_STREAM_NAMED("params", "No default value for " << param_name << ": Value must be on paramter sever"); + T param_val; + if (nh.getParam(param_name, param_val)) + { + ROS_DEBUG_STREAM_NAMED("params", "Retrieving " << std::left << std::setw(PARAM_NAME_WIDTH) << param_name << " as " << param_val); + return Maybe::Maybe(param_val); + } + else + { + ROS_FATAL_STREAM_NAMED("params", "Cannot find " << nh.getNamespace() << "/" << param_name << " on parameter server for " << calling_fn_name << ": Value must be on paramter sever"); + return Maybe::Maybe(); + } + } +} + +#endif // ROS_HELPERS_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/serialization.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/serialization.hpp new file mode 100644 index 0000000..6e351b8 --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/serialization.hpp @@ -0,0 +1,290 @@ +#ifndef SERIALIZATION_HPP +#define SERIALIZATION_HPP + +#include +#include +#include +#include +#include + +namespace arc_utilities +{ + ///////////////////////////////////////////////////////////////////////////////////////////////////////// + ///// PROTOTYPES ONLY ///// + ///// Specializations for specific types - if you want a specialization for a new type, add it here ///// + ///////////////////////////////////////////////////////////////////////////////////////////////////////// + + template + inline uint64_t SerializeFixedSizePOD( + const T& item_to_serialize, + std::vector& buffer); + + template + inline std::pair DeserializeFixedSizePOD( + const std::vector& buffer, + const uint64_t current); + + template> + inline uint64_t SerializeVector( + const std::vector& vec_to_serialize, std::vector& buffer, + const std::function&)>& item_serializer); + + template> + inline std::pair, uint64_t> DeserializeVector( + const std::vector& buffer, + const uint64_t current, + const std::function(const std::vector&, const uint64_t)>& item_deserializer); + + template, typename Allocator = std::allocator>> + inline uint64_t SerializeMap( + const std::map& map_to_serialize, + std::vector& buffer, + const std::function&)>& key_serializer, + const std::function&)>& value_serializer); + + template, typename Allocator = std::allocator>> + inline std::pair, uint64_t> DeserializeMap( + const std::vector& buffer, + const uint64_t current, + const std::function(const std::vector&, const uint64_t)>& key_deserializer, + const std::function(const std::vector&, const uint64_t)>& value_deserializer); + + template + inline uint64_t SerializePair( + const std::pair& pair_to_serialize, + std::vector& buffer, + const std::function&)>& first_serializer, + const std::function&)>& second_serializer); + + template + inline const std::pair, uint64_t> DeserializePair( + const std::vector& buffer, + const uint64_t current, + const std::function(const std::vector&, const uint64_t)>& first_deserializer, + const std::function(const std::vector&, const uint64_t)>& second_deserializer); + + ///////////////////////////////////////////////////////////////////////////////////////////////////////// + ///// IMPLEMENTATIONS ONLY ///// + ///// Specializations for specific types - if you want a specialization for a new type, add it here ///// + ///////////////////////////////////////////////////////////////////////////////////////////////////////// + + template + inline uint64_t SerializeFixedSizePOD( + const T& item_to_serialize, + std::vector& buffer) + { + const uint64_t start_buffer_size = buffer.size(); + // Fixed-size serialization via memcpy + std::vector temp_buffer(sizeof(item_to_serialize), 0x00); + std::memcpy(&temp_buffer[0], &item_to_serialize, sizeof(item_to_serialize)); + // Move to buffer + buffer.insert(buffer.end(), temp_buffer.begin(), temp_buffer.end()); + // Figure out how many bytes were written + const uint64_t end_buffer_size = buffer.size(); + const uint64_t bytes_written = end_buffer_size - start_buffer_size; + return bytes_written; + } + + template + inline std::pair DeserializeFixedSizePOD( + const std::vector& buffer, + const uint64_t current) + { + T temp_item; + assert(current <= buffer.size()); + assert((current + sizeof(temp_item)) <= buffer.size()); + std::memcpy(&temp_item, &buffer[current], sizeof(temp_item)); + return std::make_pair(temp_item, sizeof(temp_item)); + } + + template + inline uint64_t SerializeString( + const std::basic_string& str_to_serialize, + std::vector& buffer) + { + const uint64_t start_buffer_size = buffer.size(); + // First, write a uint64_t size header + const uint64_t size = (uint64_t)str_to_serialize.size(); + SerializeFixedSizePOD(size, buffer); + // Serialize the contained items + for (size_t idx = 0; idx < size; idx++) + { + const CharType& current = str_to_serialize[idx]; + SerializeFixedSizePOD(current, buffer); + } + // Figure out how many bytes were written + const uint64_t end_buffer_size = buffer.size(); + const uint64_t bytes_written = end_buffer_size - start_buffer_size; + return bytes_written; + } + + template + inline std::pair, uint64_t> DeserializeString( + const std::vector& buffer, + const uint64_t current) + { + // First, try to load the header + assert(current < buffer.size()); + uint64_t current_position = current; + // Load the header + const std::pair deserialized_size = DeserializeFixedSizePOD(buffer, current_position); + const uint64_t size = deserialized_size.first; + current_position += deserialized_size.second; + // Deserialize the items + std::basic_string deserialized; + deserialized.reserve(size); + for (uint64_t idx = 0; idx < size; idx++) + { + const std::pair deserialized_char = DeserializeFixedSizePOD(buffer, current_position); + deserialized.push_back(deserialized_char.first); + current_position += deserialized_char.second; + } + deserialized.shrink_to_fit(); + // Figure out how many bytes were read + const uint64_t bytes_read = current_position - current; + return std::make_pair(deserialized, bytes_read); + } + + template + inline uint64_t SerializeVector( + const std::vector& vec_to_serialize, + std::vector& buffer, + const std::function&)>& item_serializer) + { + const uint64_t start_buffer_size = buffer.size(); + // First, write a uint64_t size header + const uint64_t size = (uint64_t)vec_to_serialize.size(); + SerializeFixedSizePOD(size, buffer); + // Serialize the contained items + for (size_t idx = 0; idx < size; idx++) + { + const T& current = vec_to_serialize[idx]; + item_serializer(current, buffer); + } + // Figure out how many bytes were written + const uint64_t end_buffer_size = buffer.size(); + const uint64_t bytes_written = end_buffer_size - start_buffer_size; + return bytes_written; + } + + template + inline std::pair, uint64_t> DeserializeVector( + const std::vector& buffer, + const uint64_t current, + const std::function(const std::vector&, const uint64_t)>& item_deserializer) + { + // First, try to load the header + assert(current < buffer.size()); + uint64_t current_position = current; + // Load the header + const std::pair deserialized_size = DeserializeFixedSizePOD(buffer, current_position); + const uint64_t size = deserialized_size.first; + current_position += deserialized_size.second; + // Deserialize the items + std::vector deserialized; + deserialized.reserve(size); + for (uint64_t idx = 0; idx < size; idx++) + { + const std::pair deserialized_item = item_deserializer(buffer, current_position); + deserialized.push_back(deserialized_item.first); + current_position += deserialized_item.second; + } + deserialized.shrink_to_fit(); + // Figure out how many bytes were read + const uint64_t bytes_read = current_position - current; + return std::make_pair(deserialized, bytes_read); + } + + template + inline uint64_t SerializeMap( + const std::map& map_to_serialize, + std::vector& buffer, + const std::function&)>& key_serializer, + const std::function&)>& value_serializer) + { + const uint64_t start_buffer_size = buffer.size(); + // First, write a uint64_t size header + const uint64_t size = (uint64_t)map_to_serialize.size(); + SerializeFixedSizePOD(size, buffer); + // Serialize the contained items + typename std::map::const_iterator itr; + for (itr = map_to_serialize.begin(); itr != map_to_serialize.end(); ++itr) + { + SerializePair(*itr, buffer, key_serializer, value_serializer); + } + // Figure out how many bytes were written + const uint64_t end_buffer_size = buffer.size(); + const uint64_t bytes_written = end_buffer_size - start_buffer_size; + return bytes_written; + } + + template + inline std::pair, uint64_t> DeserializeMap( + const std::vector& buffer, + const uint64_t current, + const std::function(const std::vector&, const uint64_t)>& key_deserializer, + const std::function(const std::vector&, const uint64_t)>& value_deserializer) + { + // First, try to load the header + assert(current < buffer.size()); + uint64_t current_position = current; + // Load the header + const std::pair deserialized_size = DeserializeFixedSizePOD(buffer, current_position); + const uint64_t size = deserialized_size.first; + current_position += deserialized_size.second; + // Deserialize the items + std::map deserialized; + for (uint64_t idx = 0; idx < size; idx++) + { + std::pair, uint64_t> deserialized_pair = DeserializePair(buffer, current_position, key_deserializer, value_deserializer); + deserialized.insert(deserialized_pair.first); + current_position += deserialized_pair.second; + } + // Figure out how many bytes were read + const uint64_t bytes_read = current_position - current; + return std::make_pair(deserialized, bytes_read); + } + + template + inline uint64_t SerializePair( + const std::pair& pair_to_serialize, + std::vector& buffer, + const std::function&)>& first_serializer, + const std::function&)>& second_serializer) + { + const uint64_t start_buffer_size = buffer.size(); + uint64_t running_total = 0u; + // Write each element of the pair into the buffer + running_total += first_serializer(pair_to_serialize.first, buffer); + running_total += second_serializer(pair_to_serialize.second, buffer); + // Figure out how many bytes were written + const uint64_t end_buffer_size = buffer.size(); + const uint64_t bytes_written = end_buffer_size - start_buffer_size; + assert(bytes_written == running_total); + return bytes_written; + } + + template + inline const std::pair, uint64_t> DeserializePair( + const std::vector& buffer, + const uint64_t current, + const std::function(const std::vector&, const uint64_t)>& first_deserializer, + const std::function(const std::vector&, const uint64_t)>& second_deserializer) + { + assert(current < buffer.size()); + // Deserialize each item in the pair individually + uint64_t current_position = current; + const std::pair deserialized_first = first_deserializer(buffer, current_position); + current_position += deserialized_first.second; + const std::pair deserialized_second = second_deserializer(buffer, current_position); + current_position += deserialized_second.second; + // Build the resulting pair + // TODO: Why can't I used make_pair here? + const std::pair deserialized(deserialized_first.first, deserialized_second.first); + // Figure out how many bytes were read + const uint64_t bytes_read = current_position - current; + return std::make_pair(deserialized, bytes_read); + } +} + +#endif // SERIALIZATION_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/serialization_eigen.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/serialization_eigen.hpp new file mode 100644 index 0000000..5bfacee --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/serialization_eigen.hpp @@ -0,0 +1,179 @@ +#ifndef SERIALIZATION_EIGEN_HPP +#define SERIALIZATION_EIGEN_HPP + +#include "arc_utilities/serialization.hpp" +#include "arc_utilities/eigen_helpers.hpp" + +namespace arc_utilities +{ + //////////////////////////////////////////////////////////////////////////// + // Serialization/Deserialization functions + //////////////////////////////////////////////////////////////////////////// + + // Prototypes for serialization/deserialization functions + template + inline uint64_t SerializedSizeEigenType(const Container& value); + + // For fixed-size containers only (others have a uint64_t size header first) + template + inline uint64_t SerializedSizeEigenType(void); + + template + inline uint64_t SerializeEigenType(const Container& value, std::vector& buffer); + + template + inline std::pair DeserializeEigenType(const std::vector& buffer, const uint64_t current); + + // Concrete implementations + template<> + inline uint64_t SerializedSizeEigenType(const Eigen::VectorXd& value) + { + (void)(value); + return (uint64_t)((1 * sizeof(uint64_t)) + ((size_t)value.size() * sizeof(double))); // Space for a uint64_t size header and the data + } + + template<> + inline uint64_t SerializeEigenType(const Eigen::VectorXd& value, std::vector& buffer) + { + // Takes a state to serialize and a buffer to serialize into + // Return number of bytes written to buffer + const uint64_t serialized_size = SerializedSizeEigenType(value); + std::vector temp_buffer(serialized_size, 0x00); + // Make the header + const uint64_t size_header = (uint64_t)value.size(); + memcpy(&temp_buffer.front(), & size_header, sizeof(size_header)); + // Copy the data + memcpy(&(temp_buffer[sizeof(size_header)]), value.data(), (serialized_size - sizeof(size_header))); + buffer.insert(buffer.end(), temp_buffer.begin(), temp_buffer.end()); + return serialized_size; + } + + template<> + inline std::pair DeserializeEigenType(const std::vector& buffer, const uint64_t current) + { + assert(current < buffer.size()); + assert((current + sizeof(uint64_t)) <= buffer.size()); + // Takes a buffer to read from and the starting index in the buffer + // Return the loaded state and how many bytes we read from the buffer + // Load the header + uint64_t size_header = 0u; + memcpy(&size_header, &buffer[current], sizeof(uint64_t)); + // Check buffer size + Eigen::VectorXd temp_value = Eigen::VectorXd::Zero((ssize_t)size_header); + const uint64_t serialized_size = SerializedSizeEigenType(temp_value); + assert((current + serialized_size) <= buffer.size()); + // Load from the buffer + memcpy(temp_value.data(), &buffer[current + sizeof(size_header)], (serialized_size - sizeof(size_header))); + return std::make_pair(temp_value, serialized_size); + } + + template<> + inline uint64_t SerializedSizeEigenType(const Eigen::Vector3d& value) + { + (void)(value); + return (uint64_t)(3 * sizeof(double)); + } + + template<> + inline uint64_t SerializedSizeEigenType(void) + { + return (uint64_t)(3 * sizeof(double)); + } + + template<> + inline uint64_t SerializeEigenType(const Eigen::Vector3d& value, std::vector& buffer) + { + // Takes a state to serialize and a buffer to serialize into + // Return number of bytes written to buffer + std::vector temp_buffer(SerializedSizeEigenType(), 0x00); + memcpy(&temp_buffer.front(), value.data(), SerializedSizeEigenType()); + buffer.insert(buffer.end(), temp_buffer.begin(), temp_buffer.end()); + return SerializedSizeEigenType(); + } + + template<> + inline std::pair DeserializeEigenType(const std::vector& buffer, const uint64_t current) + { + assert(current < buffer.size()); + assert((current + SerializedSizeEigenType()) <= buffer.size()); + // Takes a buffer to read from and the starting index in the buffer + // Return the loaded state and how many bytes we read from the buffer + Eigen::Vector3d temp_value; + memcpy(temp_value.data(), &buffer[current], SerializedSizeEigenType()); + return std::make_pair(temp_value, SerializedSizeEigenType()); + } + + template<> + inline uint64_t SerializedSizeEigenType(const Eigen::Matrix& value) + { + (void)(value); + return (uint64_t)(6 * sizeof(double)); + } + + template<> + inline uint64_t SerializedSizeEigenType>(void) + { + return (uint64_t)(6 * sizeof(double)); + } + + template<> + inline uint64_t SerializeEigenType(const Eigen::Matrix& value, std::vector& buffer) + { + // Takes a state to serialize and a buffer to serialize into + // Return number of bytes written to buffer + std::vector temp_buffer(SerializedSizeEigenType>(), 0x00); + memcpy(&temp_buffer.front(), value.data(), SerializedSizeEigenType>()); + buffer.insert(buffer.end(), temp_buffer.begin(), temp_buffer.end()); + return SerializedSizeEigenType>(); + } + + template<> + inline std::pair, uint64_t> DeserializeEigenType>(const std::vector& buffer, const uint64_t current) + { + assert(current < buffer.size()); + assert((current + SerializedSizeEigenType>()) <= buffer.size()); + // Takes a buffer to read from and the starting index in the buffer + // Return the loaded state and how many bytes we read from the buffer + Eigen::Matrix temp_value; + memcpy(temp_value.data(), &buffer[current], SerializedSizeEigenType>()); + return std::make_pair(temp_value, SerializedSizeEigenType>()); + } + + template<> + inline uint64_t SerializedSizeEigenType(const Eigen::Isometry3d& value) + { + (void)(value); + return (uint64_t)(16 * sizeof(double)); + } + + template<> + inline uint64_t SerializedSizeEigenType(void) + { + return (uint64_t)(16 * sizeof(double)); + } + + template<> + inline uint64_t SerializeEigenType(const Eigen::Isometry3d& value, std::vector& buffer) + { + // Takes a state to serialize and a buffer to serialize into + // Return number of bytes written to buffer + std::vector temp_buffer(SerializedSizeEigenType(), 0x00); + memcpy(&temp_buffer.front(), value.matrix().data(), SerializedSizeEigenType()); + buffer.insert(buffer.end(), temp_buffer.begin(), temp_buffer.end()); + return SerializedSizeEigenType(); + } + + template<> + inline std::pair DeserializeEigenType(const std::vector& buffer, const uint64_t current) + { + assert(current < buffer.size()); + assert((current + SerializedSizeEigenType()) <= buffer.size()); + // Takes a buffer to read from and the starting index in the buffer + // Return the loaded state and how many bytes we read from the buffer + Eigen::Isometry3d temp_value; + memcpy(temp_value.matrix().data(), &buffer[current], SerializedSizeEigenType()); + return std::make_pair(temp_value, SerializedSizeEigenType()); + } +} + +#endif // SERIALIZATION_EIGEN_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/serialization_ros.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/serialization_ros.hpp new file mode 100644 index 0000000..5c54242 --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/serialization_ros.hpp @@ -0,0 +1,241 @@ +#ifndef SERIALIZATION_ROS_HPP +#define SERIALIZATION_ROS_HPP + +#include "arc_utilities/serialization.hpp" +#include +#include +#include +#include + +namespace arc_utilities +{ + inline uint64_t SerializeHeader( + const std_msgs::Header& header, + std::vector& buffer) + { + uint64_t bytes_written = 0; + bytes_written += SerializeFixedSizePOD(header.seq, buffer); + bytes_written += SerializeFixedSizePOD(header.stamp.sec, buffer); + bytes_written += SerializeFixedSizePOD(header.stamp.nsec, buffer); + bytes_written += SerializeString(header.frame_id, buffer); + return bytes_written; + } + + inline std::pair DeserializeHeader( + const std::vector& buffer, + const uint64_t current) + { + std_msgs::Header header; + uint64_t bytes_read = 0; + const auto deserialized_seq = DeserializeFixedSizePOD(buffer, current + bytes_read); + header.seq = deserialized_seq.first; + bytes_read += deserialized_seq.second; + const auto deserialized_sec = DeserializeFixedSizePOD(buffer, current + bytes_read); + header.stamp.sec = deserialized_sec.first; + bytes_read += deserialized_sec.second; + const auto deserialized_nsec = DeserializeFixedSizePOD(buffer, current + bytes_read); + header.stamp.nsec = deserialized_nsec.first; + bytes_read += deserialized_nsec.second; + const auto deserialized_frame_id = DeserializeString(buffer, current + bytes_read); + header.frame_id = deserialized_frame_id.first; + bytes_read += deserialized_frame_id.second; + return {header, bytes_read}; + } + + inline uint64_t SerializePoint( + const geometry_msgs::Point& point, + std::vector& buffer) + { + uint64_t bytes_written = 0; + bytes_written += SerializeFixedSizePOD(point.x, buffer); + bytes_written += SerializeFixedSizePOD(point.y, buffer); + bytes_written += SerializeFixedSizePOD(point.z, buffer); + return bytes_written; + } + + inline std::pair DeserializePoint( + const std::vector& buffer, + const uint64_t current) + { + geometry_msgs::Point point; + uint64_t bytes_read = 0; + const auto deserialized_x = DeserializeFixedSizePOD(buffer, current + bytes_read); + point.x = deserialized_x.first; + bytes_read += deserialized_x.second; + const auto deserialized_y = DeserializeFixedSizePOD(buffer, current + bytes_read); + point.y = deserialized_y.first; + bytes_read += deserialized_y.second; + const auto deserialized_z = DeserializeFixedSizePOD(buffer, current + bytes_read); + point.z = deserialized_z.first; + bytes_read += deserialized_z.second; + return {point, bytes_read}; + } + + inline uint64_t SerializeVector3( + const geometry_msgs::Vector3& vector, + std::vector& buffer) + { + uint64_t bytes_written = 0; + bytes_written += SerializeFixedSizePOD(vector.x, buffer); + bytes_written += SerializeFixedSizePOD(vector.y, buffer); + bytes_written += SerializeFixedSizePOD(vector.z, buffer); + return bytes_written; + } + + inline std::pair DeserializeVector3( + const std::vector& buffer, + const uint64_t current) + { + geometry_msgs::Vector3 vector; + uint64_t bytes_read = 0; + const auto deserialized_x = DeserializeFixedSizePOD(buffer, current + bytes_read); + vector.x = deserialized_x.first; + bytes_read += deserialized_x.second; + const auto deserialized_y = DeserializeFixedSizePOD(buffer, current + bytes_read); + vector.y = deserialized_y.first; + bytes_read += deserialized_y.second; + const auto deserialized_z = DeserializeFixedSizePOD(buffer, current + bytes_read); + vector.z = deserialized_z.first; + bytes_read += deserialized_z.second; + return {vector, bytes_read}; + } + + inline uint64_t SerializeQuaternion( + const geometry_msgs::Quaternion& quat, + std::vector& buffer) + { + uint64_t bytes_written = 0; + bytes_written += SerializeFixedSizePOD(quat.x, buffer); + bytes_written += SerializeFixedSizePOD(quat.y, buffer); + bytes_written += SerializeFixedSizePOD(quat.z, buffer); + bytes_written += SerializeFixedSizePOD(quat.w, buffer); + return bytes_written; + } + + inline std::pair DeserializeQuaternion( + const std::vector& buffer, + const uint64_t current) + { + geometry_msgs::Quaternion quat; + uint64_t bytes_read = 0; + const auto deserialized_x = DeserializeFixedSizePOD(buffer, current + bytes_read); + quat.x = deserialized_x.first; + bytes_read += deserialized_x.second; + const auto deserialized_y = DeserializeFixedSizePOD(buffer, current + bytes_read); + quat.y = deserialized_y.first; + bytes_read += deserialized_y.second; + const auto deserialized_z = DeserializeFixedSizePOD(buffer, current + bytes_read); + quat.z = deserialized_z.first; + bytes_read += deserialized_z.second; + const auto deserialized_w = DeserializeFixedSizePOD(buffer, current + bytes_read); + quat.w = deserialized_w.first; + bytes_read += deserialized_w.second; + return {quat, bytes_read}; + } + + inline uint64_t SerializePose( + const geometry_msgs::Pose& pose, + std::vector& buffer) + { + uint64_t bytes_written = 0; + bytes_written += SerializePoint(pose.position, buffer); + bytes_written += SerializeQuaternion(pose.orientation, buffer); + return bytes_written; + } + + inline std::pair DeserializePose( + const std::vector& buffer, + const uint64_t current) + { + geometry_msgs::Pose pose; + uint64_t bytes_read = 0; + const auto deserialized_position = DeserializePoint(buffer, current + bytes_read); + pose.position = deserialized_position.first; + bytes_read += deserialized_position.second; + const auto deserialized_quat = DeserializeQuaternion(buffer, current + bytes_read); + pose.orientation = deserialized_quat.first; + bytes_read += deserialized_quat.second; + return {pose, bytes_read}; + } + + inline uint64_t SerializePoseStamped( + const geometry_msgs::PoseStamped& pose, + std::vector& buffer) + { + uint64_t bytes_written = 0; + bytes_written += SerializeHeader(pose.header, buffer); + bytes_written += SerializePose(pose.pose, buffer); + return bytes_written; + } + + inline std::pair DeserializePoseStamped( + const std::vector& buffer, + const uint64_t current) + { + geometry_msgs::PoseStamped pose; + uint64_t bytes_read = 0; + const auto deserialized_header = DeserializeHeader(buffer, current + bytes_read); + pose.header = deserialized_header.first; + bytes_read += deserialized_header.second; + const auto deserialized_pose = DeserializePose(buffer, current + bytes_read); + pose.pose = deserialized_pose.first; + bytes_read += deserialized_pose.second; + return {pose, bytes_read}; + } + + inline uint64_t SerializeTransform( + const geometry_msgs::Transform& transform, + std::vector& buffer) + { + uint64_t bytes_written = 0; + bytes_written += SerializeVector3(transform.translation, buffer); + bytes_written += SerializeQuaternion(transform.rotation, buffer); + return bytes_written; + } + + inline std::pair DeserializeTransform( + const std::vector& buffer, + const uint64_t current) + { + geometry_msgs::Transform transform; + uint64_t bytes_read = 0; + const auto deserialized_translation = DeserializeVector3(buffer, current + bytes_read); + transform.translation = deserialized_translation.first; + bytes_read += deserialized_translation.second; + const auto deserialized_quat = DeserializeQuaternion(buffer, current + bytes_read); + transform.rotation = deserialized_quat.first; + bytes_read += deserialized_quat.second; + return {transform, bytes_read}; + } + + inline uint64_t SerializeTransformStamped( + const geometry_msgs::TransformStamped& transform, + std::vector& buffer) + { + uint64_t bytes_written = 0; + bytes_written += SerializeHeader(transform.header, buffer); + bytes_written += SerializeTransform(transform.transform, buffer); + bytes_written += SerializeString(transform.child_frame_id, buffer); + return bytes_written; + } + + inline std::pair DeserializeTransformStamped( + const std::vector& buffer, + const uint64_t current) + { + geometry_msgs::TransformStamped transform; + uint64_t bytes_read = 0; + const auto deserialized_header = DeserializeHeader(buffer, current + bytes_read); + transform.header = deserialized_header.first; + bytes_read += deserialized_header.second; + const auto deserialized_transform = DeserializeTransform(buffer, current + bytes_read); + transform.transform = deserialized_transform.first; + bytes_read += deserialized_transform.second; + const auto deserialized_child_frame_id = DeserializeString(buffer, current + bytes_read); + transform.child_frame_id = deserialized_child_frame_id.first; + bytes_read += deserialized_child_frame_id.second; + return {transform, bytes_read}; + } +} + +#endif // SERIALIZATION_ROS_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/shortcut_smoothing.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/shortcut_smoothing.hpp new file mode 100644 index 0000000..d469ab9 --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/shortcut_smoothing.hpp @@ -0,0 +1,210 @@ +#include +#include +#include + +#ifndef SHORTCUT_SMOOTHING_HPP +#define SHORTCUT_SMOOTHING_HPP + +namespace shortcut_smoothing +{ + inline EigenHelpers::VectorVector3d InterpolateWithCollisionCheck( + const EigenHelpers::VectorVector3d& input_vector, + const size_t first_ind, + const size_t second_ind, + const double step_size, + const std::function& collision_fn) + { + const size_t starting_ind = std::min(first_ind, second_ind); + const size_t ending_ind = std::max(first_ind, second_ind); + + const Eigen::Vector3d& starting_point = input_vector[starting_ind]; + const Eigen::Vector3d& ending_point = input_vector[ending_ind]; + const Eigen::Vector3d delta = ending_point - starting_point; + const Eigen::Vector3d delta_unit_vec = delta.normalized(); + + const double total_dist = delta.norm(); + + if (total_dist <= step_size) + { + return input_vector; + } + + // Collision check the path between the first and second index + // We assume that the endpoints are not in collision, so we don't check dist == 0 or dist == total_dist + bool collision = false; + for (double dist = step_size; !collision && dist < total_dist; dist += step_size) + { + const Eigen::Vector3d point_to_check = starting_point + dist * delta_unit_vec; + collision = collision_fn(point_to_check); + } + + + if (!collision) + { + const size_t num_original_elements = ending_ind - starting_ind - 1; + const size_t num_new_elements = (size_t)std::ceil(total_dist / step_size); + + EigenHelpers::VectorVector3d output_vector(input_vector.size() - num_original_elements + num_new_elements - 1); + + // Copy in the first unchanged elements of the vector + std::copy(input_vector.begin(), input_vector.begin() + starting_ind + 1, output_vector.begin()); + + // Assign the replaced elements + for (size_t new_element_ind = 1; new_element_ind < num_new_elements; ++new_element_ind) + { + const double dist = (double)new_element_ind * step_size; + output_vector[starting_ind + new_element_ind] = starting_point + dist * delta_unit_vec; + } + + // Copy in the last unchanged elements of the vector + std::copy(input_vector.begin() + ending_ind, input_vector.end(), output_vector.begin() + starting_ind + num_new_elements); + + return output_vector; + + } + else + { + return input_vector; + } + } + + + /** + * @brief ShortcutSmoothPath + * @param path + * @param max_iterations + * @param max_failed_iterations + * @param max_shortcut_fraction + * @param edge_validity_check_fn - Must match the following prototype: std::function&> + * @param prng + * @return + */ + template, class EdgeValidityCheckFn> + inline std::vector ShortcutSmoothPath( + const std::vector& path, + const uint32_t max_iterations, const uint32_t max_failed_iterations, + const double max_shortcut_fraction, + const EdgeValidityCheckFn& edge_validity_check_fn, + PRNG& prng) + { + std::vector current_path = path; + uint32_t num_iterations = 0; + uint32_t failed_iterations = 0; + while (num_iterations < max_iterations && failed_iterations < max_failed_iterations && current_path.size() > 2) + { + // Attempt a shortcut + const int64_t base_index = std::uniform_int_distribution(0, current_path.size() - 1)(prng); + // Pick an offset fraction + const double offset_fraction = std::uniform_real_distribution(-max_shortcut_fraction, max_shortcut_fraction)(prng); + // Compute the offset index + const int64_t offset_index = base_index + (int64_t)((double)current_path.size() * offset_fraction); // Could be out of bounds + const int64_t safe_offset_index = arc_helpers::ClampValue(offset_index, (int64_t)0, (int64_t)(current_path.size() - 1)); + // Get start & end indices + const size_t start_index = (size_t)std::min(base_index, safe_offset_index); + const size_t end_index = (size_t)std::max(base_index, safe_offset_index); + if (end_index <= start_index + 1) + { + num_iterations++; + continue; + } + // Check if the edge is valid + const Configuration& start_config = current_path[start_index]; + const Configuration& end_config = current_path[end_index]; + const bool edge_valid = edge_validity_check_fn(start_config, end_config); + if (edge_valid) + { + // Make the shortened path + std::vector shortened_path; + shortened_path.insert(shortened_path.end(), current_path.begin(), current_path.begin() + start_index + 1); + shortened_path.insert(shortened_path.end(), current_path.begin() + end_index, current_path.end()); + current_path = shortened_path; + num_iterations++; + } + else + { + num_iterations++; + failed_iterations++; + } + } + return current_path; + } + + /** + * @brief ResamplePathPartial Returns the resampled portion of the path between [start_ind, end_ind); *not* the whole path + * @param path + * @param start_ind + * @param end_ind + * @param resampled_state_distance + * @param state_distance_fn - must match the following prototype: std::function + * @param state_interpolation_fn - must match the following prototype: std::function + * @return + */ + template, class DistanceFn, class InterpolationFn> + inline std::vector ResamplePathPartial( + const std::vector& path, + const size_t start_ind, + const size_t end_ind, + const double resampled_state_distance, + const DistanceFn& state_distance_fn, + const InterpolationFn& state_interpolation_fn) + { + assert(end_ind > start_ind); + assert(end_ind <= path.size()); + + // If we only have one element, to resample between, return it + if (end_ind - start_ind == 1) + { + return std::vector(1, path[start_ind]); + } + + // Add the first state + std::vector resampled_path; + resampled_path.push_back(path[start_ind]); + + // Loop through the path, adding interpolated states as needed + for (size_t idx = start_ind; idx < end_ind - 1; idx++) + { + // Get the states from the original path + const Configuration& current_state = path[idx]; + const Configuration& next_state = path[idx + 1]; + + // We want to add all the intermediate states to our returned path + const double distance = state_distance_fn(current_state, next_state); + const double raw_num_intervals = distance / resampled_state_distance; + const uint32_t num_segments = (uint32_t)std::ceil(raw_num_intervals); + + if (num_segments == 0u) + { + // Do nothing because this means distance was exactly 0, so we are going to discard the extra point + } + // If there's only one segment, we just add the end state of the window + else if (num_segments == 1u) + { + resampled_path.push_back(next_state); + } + // If there is more than one segment, interpolate between previous_state and current_state (including the next_state) + else + { + for (uint32_t segment = 1u; segment <= num_segments; segment++) + { + const double interpolation_ratio = (double)segment / (double)num_segments; + const Configuration interpolated_state = state_interpolation_fn(current_state, next_state, interpolation_ratio); + resampled_path.push_back(interpolated_state); + } + } + } + return resampled_path; + } + + template, class DistanceFn, class InterpolationFn> + inline std::vector ResamplePath( + const std::vector& path, + const double resampled_state_distance, + const DistanceFn& state_distance_fn, + const InterpolationFn& state_interpolation_fn) + { + return ResamplePathPartial(path, 0, path.size(), resampled_state_distance, state_distance_fn, state_interpolation_fn); + } +} + +#endif // SHORTCUT_SMOOTHING_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/simple_astar_planner.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/simple_astar_planner.hpp new file mode 100644 index 0000000..b1e1f38 --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/simple_astar_planner.hpp @@ -0,0 +1,205 @@ +#ifndef SIMPLE_ASTAR_PLANNER_HPP +#define SIMPLE_ASTAR_PLANNER_HPP + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +//#include +//#include +//#include +//#include +//#include + +namespace simple_astar_planner +{ + template> + class SimpleAStarPlanner + { + protected: + SimpleAStarPlanner() {} + + typedef std::pair ConfigAndDistType; + struct AStarComparator + { + public: + AStarComparator(const std::function& heuristic_fn) + : heuristic_fn_(heuristic_fn) + {} + + // Defines a "less" operation"; by using "greater" then the smallest element will appear at the top of the priority queue + bool operator()(const ConfigAndDistType& c1, const ConfigAndDistType& c2) const + { + // If both expected distances are the same, then we want to explore the one that has the smaller heuristic distance + if (EigenHelpers::IsApprox(c1.second, c2.second, 1e-10)) + { + const double hdist_c1 = heuristic_fn_(c1.first); + const double hdist_c2 = heuristic_fn_(c2.first); + return (hdist_c1 > hdist_c2); + } + // If expected distances are different, we want to explore the one with the smaller expected distance + else + { + return (c1.second > c2.second); + } + } + + const std::function& heuristic_fn_; + }; + + template> + static std::vector ExtractPathBasic(const std::unordered_map& backpointers, ConfigType last_state) + { + std::vector path; + for (auto backpointer_ittr = backpointers.find(last_state); backpointer_ittr != backpointers.end(); backpointer_ittr = backpointers.find(last_state)) + { + path.push_back(last_state); + last_state = backpointer_ittr->second; + } + path.push_back(last_state); + std::reverse(path.begin(), path.end()); + return path; + } + + public: + template> + static std::pair, std::map> Plan( + const ConfigType& start, + const std::function(const ConfigType&)>& neighbour_fn, + const std::function& distance_fn, + const std::function& heuristic_fn, + const std::function& goal_reached_fn) + { + const auto start_time = std::chrono::steady_clock::now(); + +// ros::NodeHandle nh; +// visualization_msgs::Marker marker; +// marker.header.frame_id = "mocap_world"; +// marker.type = visualization_msgs::Marker::CUBE_LIST; +// marker.action = visualization_msgs::Marker::ADD; +// marker.ns = "explored_states"; +// marker.id = 1; +// marker.scale.x = ROSHelpers::GetParam(nh, "world_x_step", 1.0); +// marker.scale.y = ROSHelpers::GetParam(nh, "world_y_step", 1.0); +// marker.scale.z = ROSHelpers::GetParam(nh, "world_z_step", 1.0); +// marker.points.reserve(4096); +// marker.color = arc_helpers::RGBAColorBuilder::MakeFromFloatColors(1.0, 1.0, 0.0, 1.0); + +// visualization_msgs::Marker neighbours_marker; +// neighbours_marker.header.frame_id = "mocap_world"; +// neighbours_marker.type = visualization_msgs::Marker::CUBE_LIST; +// neighbours_marker.action = visualization_msgs::Marker::ADD; +// neighbours_marker.ns = "neighbours"; +// neighbours_marker.id = 1; +// neighbours_marker.scale.x = ROSHelpers::GetParam(nh, "world_x_step", 1.0); +// neighbours_marker.scale.y = ROSHelpers::GetParam(nh, "world_y_step", 1.0); +// neighbours_marker.scale.z = ROSHelpers::GetParam(nh, "world_z_step", 1.0); +// neighbours_marker.points.reserve(26); +// neighbours_marker.color = arc_helpers::RGBAColorBuilder::MakeFromFloatColors(0.0, 0.0, 1.0, 0.3); + +// ros::Publisher marker_pub = nh.advertise("visualization_marker", 100, false); + + + + std::pair, std::map> results; + + const AStarComparator astar_compare(heuristic_fn); + std::priority_queue, AStarComparator> frontier(astar_compare); + std::unordered_set explored; + std::unordered_map cost_to_come; + std::unordered_map backpointers; + + frontier.push(ConfigAndDistType(start, heuristic_fn(start))); + cost_to_come[start] = 0.0; + + bool goal_reached = false; + while (!goal_reached && frontier.size() > 0) + { + const ConfigAndDistType current = frontier.top(); + frontier.pop(); + const ConfigType& current_node = current.first; + + if (goal_reached_fn(current_node) == true) + { + results.first = ExtractPathBasic(backpointers, current_node); + goal_reached = true; + } + // Double check if we've already explored this node: + // a single node can be inserted into the frontier multiple times at the same or different priorities + // so we want to avoid the expense of re-exploring it, and just discard this one once we pop it + else if (explored.find(current_node) == explored.end()) + { +// geometry_msgs::Point p; +// p.x = current_node[0]; +// p.y = current_node[1]; +// p.z = current_node[2]; +// marker.points.push_back(p); +// marker.header.stamp = ros::Time::now(); +// marker_pub.publish(marker); + + explored.insert(current_node); + const double current_cost_to_come = cost_to_come.at(current_node); + + // Expand the node to find all neighbours, adding them to the frontier if we have not already explored them + const auto neighbours = neighbour_fn(current_node); + +// neighbours_marker.points = EigenHelpersConversions::VectorEigenVector3dToVectorGeometryPoint(neighbours); +// neighbours_marker.header.stamp = ros::Time::now(); +// marker_pub.publish(neighbours_marker); +// std::cout << std::flush; + + for (const auto neighbour : neighbours) + { + // Check if we've already explored this neighbour + if (explored.find(neighbour) != explored.end()) + { + continue; + } + + // Do some sanity checks so that we can make assumptions later + const auto neighbour_cost_to_come_ittr = cost_to_come.find(neighbour); + const auto neighbour_backpointer_ittr = backpointers.find(neighbour); + if (neighbour_cost_to_come_ittr == cost_to_come.end()) + { + assert(neighbour_backpointer_ittr == backpointers.end()); + } + if (neighbour_backpointer_ittr == backpointers.end()) + { + assert(neighbour_cost_to_come_ittr == cost_to_come.end()); + } + + // If we haven't already explored this neighbour, see if we've found a cheaper path + const double neighbour_new_cost_to_come = current_cost_to_come + distance_fn(current_node, neighbour); + if (neighbour_cost_to_come_ittr != cost_to_come.end() && neighbour_cost_to_come_ittr->second <= neighbour_new_cost_to_come) + { + continue; + } + + frontier.push(ConfigAndDistType(neighbour, neighbour_new_cost_to_come + heuristic_fn(neighbour))); + cost_to_come[neighbour] = neighbour_new_cost_to_come; + backpointers[neighbour] = current_node; + } + } + else + { +// std::cout << "Already explored this node, skipping\n"; + } + } + + const auto end_time = std::chrono::steady_clock::now(); + results.second["planning time"] = std::chrono::duration(end_time - start_time).count(); + results.second["nodes explored"] = explored.size(); + + return results; + } + }; +} + +#endif // SIMPLE_ASTAR_PLANNER_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/simple_dtw.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/simple_dtw.hpp new file mode 100644 index 0000000..ca3a225 --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/simple_dtw.hpp @@ -0,0 +1,117 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef SIMPLE_DTW_HPP +#define SIMPLE_DTW_HPP + +namespace simple_dtw +{ + template, + typename SecondAllocator = std::allocator> + class SimpleDTW + { + private: + + void InitializeMatrix(const size_t first_sequence_size, const size_t second_sequence_size) + { + const ssize_t rows = (ssize_t)first_sequence_size + 1; + const ssize_t cols = (ssize_t)second_sequence_size + 1; + if (dtw_matrix_.rows() < rows || dtw_matrix_.cols() < cols) + { + dtw_matrix_ = Eigen::MatrixXd::Zero(rows, cols); + if (rows > 1 && cols > 1) + { + for (ssize_t row = 1; row < rows; row++) + { + dtw_matrix_(row, 0) = std::numeric_limits::infinity(); + } + for (ssize_t col = 1; col < cols; col++) + { + dtw_matrix_(0, col) = std::numeric_limits::infinity(); + } + } + } + + } + + Eigen::MatrixXd dtw_matrix_; + + public: + + SimpleDTW() + { + InitializeMatrix(0, 0); + } + + SimpleDTW(const size_t first_sequence_size, const size_t second_sequence_size) + { + InitializeMatrix(first_sequence_size, second_sequence_size); + } + + double EvaluateWarpingCost( + const std::vector& first_sequence, + const std::vector& second_sequence, + const DistanceFn& distance_fn) + { + InitializeMatrix(first_sequence.size(), second_sequence.size()); + //Compute DTW cost for the two sequences + for (ssize_t i = 1; i <= (ssize_t)first_sequence.size(); i++) + { + const FirstDatatype& first_item = first_sequence[(size_t)i - 1]; + for (ssize_t j = 1; j <= (ssize_t)second_sequence.size(); j++) + { + const SecondDatatype& second_item = second_sequence[(size_t)j - 1]; + const double index_cost = distance_fn(first_item, second_item); + double prev_cost = 0.0; + // Get the three neighboring values from the matrix to use for the update + double im1j = dtw_matrix_(i - 1, j); + double im1jm1 = dtw_matrix_(i - 1, j - 1); + double ijm1 = dtw_matrix_(i, j - 1); + // Start the update step + if (im1j < im1jm1 && im1j < ijm1) + { + prev_cost = im1j; + } + else if (ijm1 < im1j && ijm1 < im1jm1) + { + prev_cost = ijm1; + } + else + { + prev_cost = im1jm1; + } + // Update the value in the matrix + const double new_cost = index_cost + prev_cost; + dtw_matrix_(i, j) = new_cost; + } + } + //Return total path cost + const double warping_cost = dtw_matrix_((ssize_t)first_sequence.size(), (ssize_t)second_sequence.size()); + return warping_cost; + } + }; + + // DistanceFn must match the prototype std::function + template, + typename SecondAllocator = std::allocator> + inline double ComputeDTWDistance( + const std::vector& first_sequence, + const std::vector& second_sequence, + const DistanceFn& distance_fn) + { + SimpleDTW dtw_evaluator; + return dtw_evaluator.EvaluateWarpingCost(first_sequence, second_sequence, distance_fn); + } +} + +#endif // SIMPLE_DTW_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/simple_hausdorff_distance.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/simple_hausdorff_distance.hpp new file mode 100644 index 0000000..baf09a3 --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/simple_hausdorff_distance.hpp @@ -0,0 +1,95 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifdef ENABLE_PARALLEL_HAUSDORFF_DISTANCE + #include +#endif + +#ifndef SIMPLE_HAUSDORFF_DISTANCE_HPP +#define SIMPLE_HAUSDORFF_DISTANCE_HPP + +namespace simple_hausdorff_distance +{ + class SimpleHausdorffDistance + { + private: + + SimpleHausdorffDistance() {} + + static inline size_t GetNumOMPThreads(void) + { +#ifdef ENABLE_PARALLEL_HAUSDORFF_DISTANCE + #if defined(_OPENMP) + size_t num_threads = 0; + #pragma omp parallel + { + num_threads = (size_t)omp_get_num_threads(); + } + return num_threads; + #else + return 1; + #endif +#else + return 1; +#endif + } + + public: + + template, typename SecondAllocator=std::allocator> + static double ComputeDistance(const std::vector& first_distribution, const std::vector& second_distribution, const std::function& distance_fn) + { + // Compute the Hausdorff distance - the "maximum minimum" distance + std::vector per_thread_storage(GetNumOMPThreads(), 0.0); +#ifdef ENABLE_PARALLEL_HAUSDORFF_DISTANCE + #pragma omp parallel for +#endif + for (size_t idx = 0; idx < first_distribution.size(); idx++) + { + const FirstDatatype& first = first_distribution[idx]; + double minimum_distance = INFINITY; + for (size_t jdx = 0; jdx < second_distribution.size(); jdx++) + { + const SecondDatatype& second = second_distribution[jdx]; + const double current_distance = distance_fn(first, second); + if (current_distance < minimum_distance) + { + minimum_distance = current_distance; + } + } +#ifdef ENABLE_PARALLEL_HAUSDORFF_DISTANCE + #if defined(_OPENMP) + const size_t current_thread_id = (size_t)omp_get_thread_num(); + #else + const size_t current_thread_id = 0; + #endif +#else + const size_t current_thread_id = 0; +#endif + if (minimum_distance > per_thread_storage[current_thread_id]) + { + per_thread_storage[current_thread_id] = minimum_distance; + } + } + double maximum_minimum_distance = 0.0; + for (size_t idx = 0; idx < per_thread_storage.size(); idx++) + { + const double temp_minimum_distance = per_thread_storage[idx]; + if (temp_minimum_distance > maximum_minimum_distance) + { + maximum_minimum_distance = temp_minimum_distance; + } + } + return maximum_minimum_distance; + } + }; +} +#endif // SIMPLE_HAUSDORFF_DISTANCE_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/simple_hierarchical_clustering.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/simple_hierarchical_clustering.hpp new file mode 100644 index 0000000..76ff787 --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/simple_hierarchical_clustering.hpp @@ -0,0 +1,378 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifdef ENABLE_PARALLEL_COMPLETE_LINK_CLUSTERING + #include +#endif + +#ifndef SIMPLE_HIERARCHICAL_CLUSTERING_HPP +#define SIMPLE_HIERARCHICAL_CLUSTERING_HPP + +namespace simple_hierarchical_clustering +{ + class SimpleHierarchicalClustering + { + private: + + SimpleHierarchicalClustering() {} + + static inline size_t GetNumOMPThreads() + { +#ifdef ENABLE_PARALLEL_COMPLETE_LINK_CLUSTERING + size_t num_threads = 0; + #pragma omp parallel + { + num_threads = (size_t)omp_get_num_threads(); + } + return num_threads; +#else + return 1; +#endif + } + + static std::pair, std::pair>, double> GetClosestPair(const std::vector& datapoint_mask, const Eigen::MatrixXd& distance_matrix, const std::vector>& clusters) + { + // Compute distances between unclustered points <-> unclustered points, unclustered_points <-> clusters, and clusters <-> clusters + // Compute the minimum unclustered point <-> unclustered point / unclustered_point <-> cluster distance +#ifdef ENABLE_PARALLEL_COMPLETE_LINK_CLUSTERING + const size_t num_threads = GetNumOMPThreads(); + std::vector per_thread_min_distances(num_threads, INFINITY); + std::vector>> per_thread_min_element_pairs(num_threads, std::make_pair(-1, std::make_pair(false, -1))); + #pragma omp parallel for +#else + double min_distance = INFINITY; + std::pair> min_element_pair(-1, std::pair(false, -1)); +#endif + for (size_t idx = 0; idx < datapoint_mask.size(); idx++) + { + // Make sure we aren't in a cluster already + if (datapoint_mask[idx] == 0) + { + // Compute the minimum unclustered point <-> unclustered point distance + double min_point_point_distance = INFINITY; + int64_t min_point_index = -1; + for (size_t jdx = 0; jdx < datapoint_mask.size(); jdx++) + { + // Make sure the other point isn't us, and isn't already in a cluster + if ((idx != jdx) && (datapoint_mask[jdx] == 0)) + { + const double& current_distance = distance_matrix((ssize_t)idx, (ssize_t)jdx); + // Update the closest point + if (current_distance < min_point_point_distance) + { + min_point_point_distance = current_distance; + min_point_index = (int64_t)jdx; + } + } + } + // Compute the minimum unclustered point <-> cluster distance + double min_point_cluster_distance = INFINITY; + int64_t min_cluster_index = -1; + for (size_t cdx = 0; cdx < clusters.size(); cdx++) + { + // We only work with clusters that aren't empty + if (clusters[cdx].size() > 0) + { + // Compute the distance to the current cluster + double current_distance = 0.0; + for (size_t cpdx = 0; cpdx < clusters[cdx].size(); cpdx++) + { + const int64_t& current_cluster_point_index = clusters[cdx][cpdx]; + const double& new_distance = distance_matrix((ssize_t)idx, (ssize_t)current_cluster_point_index); + if (new_distance > current_distance) + { + current_distance = new_distance; + } + } + // Update the closest cluster + if (current_distance < min_point_cluster_distance) + { + min_point_cluster_distance = current_distance; + min_cluster_index = (int64_t)cdx; + } + } + } +#ifdef ENABLE_PARALLEL_COMPLETE_LINK_CLUSTERING + const size_t thread_num = (size_t)omp_get_thread_num(); + double& per_thread_min_distance = per_thread_min_distances[thread_num]; + std::pair>& per_thread_min_element_pair = per_thread_min_element_pairs[thread_num]; + // Update the closest index + if (min_point_point_distance < per_thread_min_distance) + { + per_thread_min_distance = min_point_point_distance; + per_thread_min_element_pair.first = idx; + per_thread_min_element_pair.second.first = false; + per_thread_min_element_pair.second.second = min_point_index; + } + if (min_point_cluster_distance < per_thread_min_distance) + { + per_thread_min_distance = min_point_cluster_distance; + per_thread_min_element_pair.first = idx; + per_thread_min_element_pair.second.first = true; + per_thread_min_element_pair.second.second = min_cluster_index; + } +#else + // Update the closest index + if (min_point_point_distance < min_distance) + { + min_distance = min_point_point_distance; + min_element_pair.first = (int64_t)idx; + min_element_pair.second.first = false; + min_element_pair.second.second = min_point_index; + } + if (min_point_cluster_distance < min_distance) + { + min_distance = min_point_cluster_distance; + min_element_pair.first = (int64_t)idx; + min_element_pair.second.first = true; + min_element_pair.second.second = min_cluster_index; + } +#endif + } + } +#ifdef ENABLE_PARALLEL_COMPLETE_LINK_CLUSTERING + double min_distance = INFINITY; + std::pair> min_element_pair(-1, std::pair(false, -1)); + for (size_t idx = 0; idx < num_threads; idx++) + { + const double& current_min_distance = per_thread_min_distances[idx]; + const std::pair>& current_min_element_pair = per_thread_min_element_pairs[idx]; + if (current_min_distance < min_distance) + { + min_distance = current_min_distance; + min_element_pair = current_min_element_pair; + } + } +#endif + // Compute the minimum cluster <-> cluster distance +#ifdef ENABLE_PARALLEL_COMPLETE_LINK_CLUSTERING + std::vector per_thread_min_cluster_cluster_distances(num_threads, INFINITY); + std::vector> per_thread_min_cluster_pairs(num_threads, std::make_pair(-1, -1)); + #pragma omp parallel for +#else + double min_cluster_cluster_distance = INFINITY; + std::pair min_cluster_pair(-1, -1); +#endif + for (size_t fcdx = 0; fcdx < clusters.size(); fcdx++) + { + const std::vector& first_cluster = clusters[fcdx]; + // Don't evaluate empty clusters + if (first_cluster.size() > 0) + { + for (size_t scdx = 0; scdx < clusters.size(); scdx++) + { + // Don't compare against ourself + if (fcdx != scdx) + { + const std::vector& second_cluster = clusters[scdx]; + // Don't evaluate empty clusters + if (second_cluster.size() > 0) + { + // Compute the cluster <-> cluster distance + double max_point_point_distance = 0.0; + // Find the maximum-pointwise distance between clusters + for (size_t fcpx = 0; fcpx < first_cluster.size(); fcpx++) + { + const int64_t& fcp_index = first_cluster[fcpx]; + for (size_t scpx = 0; scpx < second_cluster.size(); scpx++) + { + const int64_t& scp_index = second_cluster[scpx]; + const double& new_distance = distance_matrix(fcp_index, scp_index); + if (new_distance > max_point_point_distance) + { + max_point_point_distance = new_distance; + } + } + } + const double cluster_cluster_distance = max_point_point_distance; +#ifdef ENABLE_PARALLEL_COMPLETE_LINK_CLUSTERING + const size_t thread_num = (size_t)omp_get_thread_num(); + double& per_thread_min_cluster_cluster_distance = per_thread_min_cluster_cluster_distances[thread_num]; + std::pair& per_thread_min_cluster_pair = per_thread_min_cluster_pairs[thread_num]; + if (cluster_cluster_distance < per_thread_min_cluster_cluster_distance) + { + per_thread_min_cluster_cluster_distance = cluster_cluster_distance; + per_thread_min_cluster_pair.first = fcdx; + per_thread_min_cluster_pair.second = scdx; + } +#else + if (cluster_cluster_distance < min_cluster_cluster_distance) + { + min_cluster_cluster_distance = cluster_cluster_distance; + min_cluster_pair.first = (int64_t)fcdx; + min_cluster_pair.second = (int64_t)scdx; + } +#endif + } + } + } + } + } +#ifdef ENABLE_PARALLEL_COMPLETE_LINK_CLUSTERING + double min_cluster_cluster_distance = INFINITY; + std::pair min_cluster_pair(-1, -1); + for (size_t idx = 0; idx < num_threads; idx++) + { + const double& current_min_cluster_cluster_distance = per_thread_min_cluster_cluster_distances[idx]; + const std::pair& current_min_cluster_pair = per_thread_min_cluster_pairs[idx]; + if (current_min_cluster_cluster_distance < min_cluster_cluster_distance) + { + min_cluster_cluster_distance = current_min_cluster_cluster_distance; + min_cluster_pair = current_min_cluster_pair; + } + } +#endif + // Return the minimum-distance pair + if (min_distance < min_cluster_cluster_distance) + { + // Set the indices + const std::pair first_index(false, min_element_pair.first); + const std::pair second_index = min_element_pair.second; + const std::pair, std::pair> indices(first_index, second_index); + const std::pair, std::pair>, double> minimum_pair(indices, min_distance); + return minimum_pair; + } + // A cluster <-> cluster pair is closest + else + { + // Set the indices + const std::pair first_index(true, min_cluster_pair.first); + const std::pair second_index(true, min_cluster_pair.second); + const std::pair, std::pair> indices(first_index, second_index); + const std::pair, std::pair>, double> minimum_pair(indices, min_cluster_cluster_distance); + return minimum_pair; + } + } + + public: + + template> + static std::pair>, double> Cluster(const std::vector& data, const std::function& distance_fn, const double max_cluster_distance) + { + const Eigen::MatrixXd distance_matrix = arc_helpers::BuildDistanceMatrix(data, distance_fn); + return Cluster(data, distance_matrix, max_cluster_distance); + } + + template> + static std::pair>, double> Cluster(const std::vector& data, const Eigen::MatrixXd& distance_matrix, const double max_cluster_distance) + { + assert((size_t)distance_matrix.rows() == data.size()); + assert((size_t)distance_matrix.cols() == data.size()); + std::vector datapoint_mask(data.size(), 0u); + std::vector> cluster_indices; + double closest_distance = 0.0; + bool complete = false; + while (!complete) + { + // Get closest pair of elements (an element can be a cluster or single data value!) + const std::pair, std::pair>, double> closest_element_pair = GetClosestPair(datapoint_mask, distance_matrix, cluster_indices); + const std::pair, std::pair>& closest_elements = closest_element_pair.first; + closest_distance = closest_element_pair.second; + //std::cout << "Element pair: " << PrettyPrint::PrettyPrint(closest_element_pair, true) << std::endl; + if (closest_distance <= max_cluster_distance) + { + const std::pair& first_element = closest_elements.first; + const std::pair& second_element = closest_elements.second; + // If both elements are points, create a new cluster + if ((first_element.first == false) && (second_element.first == false)) + { + //std::cout << "New point-point cluster" << std::endl; + const int64_t first_element_index = first_element.second; + assert(first_element_index >= 0); + const int64_t second_element_index = second_element.second; + assert(second_element_index >= 0); + // Add a cluster + cluster_indices.push_back(std::vector{first_element_index, second_element_index}); + // Mask out the indices + datapoint_mask[(size_t)first_element_index] = 1u; + datapoint_mask[(size_t)second_element_index] = 1u; + } + // If both elements are clusters, merge the clusters + else if ((first_element.first == true) && (second_element.first == true)) + { + //std::cout << "Combining clusters" << std::endl; + // Get the cluster indices + const int64_t first_cluster_index = first_element.second; + assert(first_cluster_index >= 0); + const int64_t second_cluster_index = second_element.second; + assert(second_cluster_index >= 0); + // Merge the second cluster into the first + std::vector& first_cluster = cluster_indices[(size_t)first_cluster_index]; + std::vector& second_cluster = cluster_indices[(size_t)second_cluster_index]; + first_cluster.insert(first_cluster.end(), second_cluster.begin(), second_cluster.end()); + // Empty the second cluster (we don't remove, because this triggers move) + second_cluster.clear(); + } + // If one of the elements is a cluster and the other is a point, add the point to the existing cluster + else + { + //std::cout << "Adding to an existing cluster" << std::endl; + int64_t cluster_index = -1; + int64_t element_index = -1; + if (first_element.first) + { + cluster_index = first_element.second; + element_index = second_element.second; + } + else if (second_element.first) + { + cluster_index = second_element.second; + element_index = first_element.second; + } + else + { + assert(false); + } + assert(cluster_index >= 0); + assert(element_index >= 0); + // Add the element to the cluster + std::vector& cluster = cluster_indices[(size_t)cluster_index]; + cluster.push_back(element_index); + // Mask out the element index + datapoint_mask[(size_t)element_index] = 1u; + } + } + else + { + complete = true; + } + } + // Extract the actual cluster data + std::vector> clusters; + for (size_t idx = 0; idx < cluster_indices.size(); idx++) + { + const std::vector& current_cluster = cluster_indices[idx]; + // Ignore empty clusters + if (current_cluster.size() > 0) + { + std::vector new_cluster; + for (size_t cdx = 0; cdx < current_cluster.size(); cdx++) + { + const int64_t index = current_cluster[cdx]; + new_cluster.push_back(data[(size_t)index]); + } + clusters.push_back(new_cluster); + } + } + // Add any points that we haven't clustered into their own clusters + for (size_t idx = 0; idx < datapoint_mask.size(); idx++) + { + // If an element hasn't been clustered at all + if (datapoint_mask[idx] == 0) + { + clusters.push_back(std::vector{data[idx]}); + } + } + return std::pair>, double>(clusters, closest_distance); + } + }; +} +#endif // SIMPLE_HIERARCHICAL_CLUSTERING_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/simple_kmeans_clustering.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/simple_kmeans_clustering.hpp new file mode 100644 index 0000000..b34f158 --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/simple_kmeans_clustering.hpp @@ -0,0 +1,398 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef SIMPLE_KMEANS_CLUSTERING_HPP +#define SIMPLE_KMEANS_CLUSTERING_HPP + +namespace simple_kmeans_clustering +{ + class SimpleKMeansClustering + { + private: + + SimpleKMeansClustering() {} + + template> + static uint32_t GetClosestCluster( + const Datatype& datapoint, + const std::function& distance_fn, + const std::vector& cluster_centers) + { + int64_t best_label = -1; + double best_distance = INFINITY; + for (size_t cluster = 0; cluster < cluster_centers.size(); cluster++) + { + const Datatype& cluster_center = cluster_centers[cluster]; + const double distance = distance_fn(cluster_center, datapoint); + if (distance < best_distance) + { + best_distance = distance; + best_label = (int64_t)cluster; + } + } + assert(best_label >= 0); + return (uint32_t)best_label; + } + + template> + static std::vector PerformSingleClusteringIteration( + const std::vector& data, + const std::function& distance_fn, + const std::vector& cluster_centers) + { + std::vector cluster_labels(data.size()); + for (size_t idx = 0; idx < data.size(); idx++) + { + const Datatype& datapoint = data[idx]; + const uint32_t label = GetClosestCluster(datapoint, distance_fn, cluster_centers); + cluster_labels[idx] = label; + } + return cluster_labels; + } + + template> + static std::vector ComputeClusterCenters( + const std::vector& data, + const std::vector& cluster_labels, + const std::function&)>& average_fn, + const uint32_t num_clusters) + { + assert(data.size() == cluster_labels.size()); + + // Separate the datapoints into their clusters + std::vector> clustered_data(num_clusters); + for (size_t idx = 0; idx < data.size(); idx++) + { + const Datatype& datapoint = data[idx]; + const uint32_t label = cluster_labels[idx]; + clustered_data[label].push_back(datapoint); + } + + // Compute the center of each cluster + std::vector cluster_centers(num_clusters); + for (uint32_t cluster = 0; cluster < num_clusters; cluster++) + { + const std::vector& cluster_data = clustered_data[cluster]; + cluster_centers[cluster] = average_fn(cluster_data); + } + return cluster_centers; + } + + template> + static std::vector ComputeClusterCentersWeighted( + const std::vector& data, + const std::vector& weights, + const std::vector& cluster_labels, + const std::function&, const std::vector&)>& average_fn, + const uint32_t num_clusters) + { + assert(data.size() == cluster_labels.size()); + + // Separate the datapoints into their clusters + std::vector> clustered_data(num_clusters); + std::vector> clustered_weights(num_clusters); + for (size_t idx = 0; idx < data.size(); idx++) + { + const Datatype& datapoint = data[idx]; + const double weight = weights[idx]; + const uint32_t label = cluster_labels[idx]; + + clustered_data[label].push_back(datapoint); + clustered_weights[label].push_back(weight); + } + + // Compute the center of each cluster + std::vector cluster_centers(num_clusters); + for (uint32_t cluster = 0; cluster < num_clusters; cluster++) + { + const std::vector& cluster_data = clustered_data[cluster]; + const std::vector& cluster_weights = clustered_weights[cluster]; + cluster_centers[cluster] = average_fn(cluster_data, cluster_weights); + } + return cluster_centers; + } + + static bool CheckForConvergence( + const std::vector& old_labels, + const std::vector& new_labels) + { + assert(old_labels.size() == new_labels.size()); + for (size_t idx = 0; idx < old_labels.size(); idx++) + { + const uint32_t old_label = old_labels[idx]; + const uint32_t new_label = new_labels[idx]; + if (old_label != new_label) + { + return false; + } + } + return true; + } + + public: + + template> + static std::pair, std::vector> Cluster( + const std::vector& data, + const std::function& distance_fn, + const std::function&)>& average_fn, + std::vector cluster_centers) + { + const uint32_t num_clusters = cluster_centers.size(); + assert(num_clusters < std::numeric_limits::max()); + + // Run the first iteration of clustering + std::vector cluster_labels = PerformSingleClusteringIteration(data, distance_fn, cluster_centers); + + // Itterate until converged + bool converged = false; + uint32_t iteration = 1u; + while (!converged) + { + // Update cluster centers + cluster_centers = ComputeClusterCenters(data, cluster_labels, average_fn, num_clusters); + // Cluster with the new centers + std::vector new_cluster_labels = PerformSingleClusteringIteration(data, distance_fn, cluster_centers); + // Check for convergence + converged = CheckForConvergence(cluster_labels, new_cluster_labels); + cluster_labels = new_cluster_labels; + iteration++; + } + std::cerr << "[K-means clustering] Clustering converged after " << iteration << " iterations" << std::endl; + return std::make_pair(cluster_labels, cluster_centers); + } + + template> + static std::vector Cluster( + const std::vector& data, + const std::function& distance_fn, + const std::function&)>& average_fn, + const uint32_t num_clusters, + const bool do_preliminary_clustering = false) + { + assert(data.size() > 0); + assert(num_clusters > 0); + + if (num_clusters == 1) + { + std::cerr << "[K-means clustering] Provided num_clusters = 1, returning default labels for cluster 0" << std::endl; + return std::vector(data.size(), 0u); + } + + // Prepare an RNG for cluster initialization + auto seed = std::chrono::high_resolution_clock::now().time_since_epoch().count(); + std::mt19937_64 prng(seed); + std::uniform_int_distribution initialization_distribution(0u, data.size() - 1); + // Initialize cluster centers + std::vector cluster_centers; + + // Make sure we have enough datapoints to do meaningful preliminary clustering + bool enable_preliminary_clustering = do_preliminary_clustering; + if (enable_preliminary_clustering) + { + const size_t subset_size = (size_t)ceil((double)data.size() * 0.1); + if (subset_size >= (num_clusters * 5)) + { + enable_preliminary_clustering = true; + std::cerr << "[K-means clustering] Preliminary clustering enabled, using subset of " << subset_size << " datapoints from " << data.size() << " total" << std::endl; + } + else + { + enable_preliminary_clustering = false; + std::cerr << "[K-means clustering] Preliminary clustering disabled as input data is too small w.r.t. number of clusters" << std::endl; + } + } + + if (enable_preliminary_clustering) + { + // Select a random 10% of the input data + const size_t subset_size = (size_t)ceil((double)data.size() * 0.1); + // This makes sure we don't get duplicates + std::map index_map; + while (index_map.size() < subset_size) + { + const size_t random_index = initialization_distribution(prng); + index_map[random_index] = 1u; + } + std::vector random_subset; + random_subset.reserve(subset_size); + for (auto itr = index_map.begin(); itr != index_map.end(); ++itr) + { + if (itr->second == 1u) + { + const size_t random_index = itr->first; + const Datatype& random_element = data[random_index]; + random_subset.push_back(random_element); + } + } + assert(random_subset.size() == subset_size); + // Run clustering on the subset + std::vector random_subset_labels = Cluster(random_subset, distance_fn, average_fn, num_clusters, false); + // Now we use the centers of the clusters to form the cluster centers + cluster_centers = ComputeClusterCenters(random_subset, random_subset_labels, average_fn, num_clusters); + } + else + { + // This makes sure we don't get duplicates + std::map index_map; + while (index_map.size() < num_clusters) + { + const size_t random_index = initialization_distribution(prng); + index_map[random_index] = 1u; + } + cluster_centers.reserve(num_clusters); + for (auto itr = index_map.begin(); itr != index_map.end(); ++itr) + { + if (itr->second == 1u) + { + const size_t random_index = itr->first; + const Datatype& random_element = data[random_index]; + cluster_centers.push_back(random_element); + } + } + } + + assert(cluster_centers.size() == num_clusters); + return Cluster(data, distance_fn, average_fn, cluster_centers).first; + } + + + + template> + static std::pair, std::vector> ClusterWeighted( + const std::vector& data, + const std::vector& weights, + const std::function& distance_fn, + const std::function&, const std::vector&)>& average_fn, + std::vector cluster_centers) + { + const uint32_t num_clusters = cluster_centers.size(); + assert(num_clusters < std::numeric_limits::max()); + + // Run the first iteration of clustering + std::vector cluster_labels = PerformSingleClusteringIteration(data, distance_fn, cluster_centers); + + // Itterate until converged + bool converged = false; + uint32_t iteration = 1u; + while (!converged) + { + // Update cluster centers + cluster_centers = ComputeClusterCentersWeighted(data, weights, cluster_labels, average_fn, num_clusters); + // Cluster with the new centers + std::vector new_cluster_labels = PerformSingleClusteringIteration(data, distance_fn, cluster_centers); + // Check for convergence + converged = CheckForConvergence(cluster_labels, new_cluster_labels); + cluster_labels = new_cluster_labels; + iteration++; + } + std::cerr << "[K-means clustering] Clustering converged after " << iteration << " iterations" << std::endl; + return std::make_pair(cluster_labels, cluster_centers); + } + + template> + static std::vector ClusterWeighted( + const std::vector& data, + const std::vector& weights, + const std::function& distance_fn, + const std::function&, const std::vector&)>& average_fn, + const uint32_t num_clusters, + const bool do_preliminary_clustering = false) + { + assert(data.size() > 0); + assert(num_clusters > 0); + + if (num_clusters == 1) + { + std::cerr << "[K-means clustering] Provided num_clusters = 1, returning default labels for cluster 0" << std::endl; + return std::vector(data.size(), 0u); + } + + // Prepare an RNG for cluster initialization + auto seed = std::chrono::high_resolution_clock::now().time_since_epoch().count(); + std::mt19937_64 prng(seed); + std::uniform_int_distribution initialization_distribution(0u, data.size() - 1); + // Initialize cluster centers + std::vector cluster_centers; + + // Make sure we have enough datapoints to do meaningful preliminary clustering + bool enable_preliminary_clustering = do_preliminary_clustering; + if (enable_preliminary_clustering) + { + const size_t subset_size = (size_t)ceil((double)data.size() * 0.1); + if (subset_size >= (num_clusters * 5)) + { + enable_preliminary_clustering = true; + std::cerr << "[K-means clustering] Preliminary clustering enabled, using subset of " << subset_size << " datapoints from " << data.size() << " total" << std::endl; + } + else + { + enable_preliminary_clustering = false; + std::cerr << "[K-means clustering] Preliminary clustering disabled as input data is too small w.r.t. number of clusters" << std::endl; + } + } + + if (enable_preliminary_clustering) + { + // Select a random 10% of the input data + const size_t subset_size = (size_t)ceil((double)data.size() * 0.1); + // This makes sure we don't get duplicates + std::map index_map; + while (index_map.size() < subset_size) + { + const size_t random_index = initialization_distribution(prng); + index_map[random_index] = 1u; + } + std::vector random_subset; + random_subset.reserve(subset_size); + for (auto itr = index_map.begin(); itr != index_map.end(); ++itr) + { + if (itr->second == 1u) + { + const size_t random_index = itr->first; + const Datatype& random_element = data[random_index]; + random_subset.push_back(random_element); + } + } + assert(random_subset.size() == subset_size); + // Run clustering on the subset + std::vector random_subset_labels = ClusterWeighted(random_subset, weights, distance_fn, average_fn, num_clusters, false); + // Now we use the centers of the clusters to form the cluster centers + cluster_centers = ComputeClusterCentersWeighted(random_subset, weights, random_subset_labels, average_fn, num_clusters); + } + else + { + // This makes sure we don't get duplicates + std::map index_map; + while (index_map.size() < num_clusters) + { + const size_t random_index = initialization_distribution(prng); + index_map[random_index] = 1u; + } + cluster_centers.reserve(num_clusters); + for (auto itr = index_map.begin(); itr != index_map.end(); ++itr) + { + if (itr->second == 1u) + { + const size_t random_index = itr->first; + const Datatype& random_element = data[random_index]; + cluster_centers.push_back(random_element); + } + } + } + + assert(cluster_centers.size() == num_clusters); + return ClusterWeighted(data, weights, distance_fn, average_fn, cluster_centers).first; + } + }; +} +#endif // SIMPLE_KMEANS_CLUSTERING_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/simple_prm_planner.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/simple_prm_planner.hpp new file mode 100644 index 0000000..e047f9f --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/simple_prm_planner.hpp @@ -0,0 +1,450 @@ +#include +#include +#include +#ifdef ENABLE_PARALLEL_ROADMAP + #ifndef ENABLE_PARALLEL_K_NEAREST_NEIGHBORS + #define ENABLE_PARALLEL_K_NEAREST_NEIGHBORS + #include + #undef ENABLE_PARALLEL_K_NEAREST_NEIGHBORS + #else + #include + #endif +#else + #include +#endif +#include + + +#ifndef SIMPLE_PRM_PLANNER_HPP +#define SIMPLE_PRM_PLANNER_HPP + +namespace simple_prm_planner +{ + class SimpleGeometricPrmPlanner + { + protected: + + SimpleGeometricPrmPlanner() {} + + enum NNDistanceDirection {ROADMAP_TO_NEW_STATE, NEW_STATE_TO_ROADMAP}; + + template> + static int64_t AddNodeToRoadmap( + const T& state, + const NNDistanceDirection nn_distance_direction, + arc_dijkstras::Graph& roadmap, + const std::function& distance_fn, + const std::function& edge_validity_check_fn, + const size_t K, + const bool distance_is_symmetric = true) + { + // Make the node->graph or graph->node distance function as needed, then call KNN + std::function&, const T&)> graph_distance_fn = nullptr; + if (nn_distance_direction == ROADMAP_TO_NEW_STATE) + { + graph_distance_fn = [&] (const arc_dijkstras::GraphNode& node, const T& state) + { + return distance_fn(node.GetValueImmutable(), state); + }; + } + else + { + graph_distance_fn = [&] (const arc_dijkstras::GraphNode& node, const T& state) + { + return distance_fn(state, node.GetValueImmutable()); + }; + } + const std::vector> nearest_neighbors = + arc_helpers::GetKNearestNeighbors(roadmap.GetNodesImmutable(), state, graph_distance_fn, K); + + // Check to see this node is already in the PRM, if it is, don't re-add it, returning the existing state index + for (const auto& nn_result : nearest_neighbors) + { + // If the distance is zero, check that the states are also equal + // This allows for a psuedo-metric and not just a true metric to be used as the distance function + if (nn_result.second == 0) + { + const int64_t neighbour_node_idx = nn_result.first; + const T& neighbour_state = roadmap.GetNodeImmutable(neighbour_node_idx).GetValueImmutable(); + if (neighbour_state == state) + { + return neighbour_node_idx; + } + } + } + + // Add the new node AFTER KNN is performed + const int64_t new_node_index = roadmap.AddNode(state); + // Parallelize the collision-checking and distance computation + std::vector> nearest_neighbors_distances(nearest_neighbors.size()); +#ifdef ENABLE_PARALLEL_ROADMAP + #pragma omp parallel for +#endif + for (size_t idx = 0; idx < nearest_neighbors.size(); idx++) + { + const std::pair& nearest_neighbor = nearest_neighbors[idx]; + const int64_t nearest_neighbor_index = nearest_neighbor.first; + const double nearest_neighbor_distance = nearest_neighbor.second; + const T& nearest_neighbor_state = roadmap.GetNodeImmutable(nearest_neighbor_index).GetValueImmutable(); + if (edge_validity_check_fn(nearest_neighbor_state, state)) + { + if (distance_is_symmetric) + { + nearest_neighbors_distances[idx] = std::make_pair(nearest_neighbor_distance, nearest_neighbor_distance); + } + else + { + const double reverse_graph_distance = distance_fn(state, roadmap.GetNodeImmutable(nearest_neighbor_index).GetValueImmutable()); + if (nn_distance_direction == ROADMAP_TO_NEW_STATE) + { + nearest_neighbors_distances[idx] = std::make_pair(nearest_neighbor_distance, reverse_graph_distance); + } + else if (nn_distance_direction == ROADMAP_TO_NEW_STATE) + { + nearest_neighbors_distances[idx] = std::make_pair(reverse_graph_distance, nearest_neighbor_distance); + } + else + { + assert(false && "This code should not be reachable"); + } + } + } + else + { + nearest_neighbors_distances[idx] = std::make_pair(-1.0, -1.0); + } + } + // THIS MUST BE SERIAL - add edges to roadmap + for (size_t idx = 0; idx < nearest_neighbors.size(); idx++) + { + const std::pair& nearest_neighbor = nearest_neighbors[idx]; + const int64_t nearest_neighbor_index = nearest_neighbor.first; + const std::pair& nearest_neighbor_distances = nearest_neighbors_distances[idx]; + if (nearest_neighbor_distances.first >= 0.0 && nearest_neighbor_distances.second >= 0.0) + { + // Add the edges individually to allow for different distances in each direction + roadmap.AddEdgeBetweenNodes(nearest_neighbor_index, new_node_index, nearest_neighbor_distances.first); + roadmap.AddEdgeBetweenNodes(new_node_index, nearest_neighbor_index, nearest_neighbor_distances.second); + } + } + return new_node_index; + } + + template> + static std::vector ExtractSolutionPath( + const arc_dijkstras::Graph& roadmap, + const std::vector& solution_path_indices) + { + std::vector solution_path; + solution_path.reserve(solution_path_indices.size()); + for (size_t idx = 0; idx < solution_path_indices.size(); idx++) + { + const int64_t path_index = solution_path_indices[idx]; + solution_path.push_back(roadmap.GetNodeImmutable(path_index).GetValueImmutable()); + } + solution_path.shrink_to_fit(); + return solution_path; + } + + public: + + template> + static void ExtendRoadMap( + arc_dijkstras::Graph& roadmap, + const std::function& sampling_fn, + const std::function& distance_fn, + const std::function& state_validity_check_fn, + const std::function& edge_validity_check_fn, + const std::function& termination_check_fn, + const size_t K, + const bool distance_is_symmetric = true) + { + while (!termination_check_fn()) + { + const T random_state = sampling_fn(); + if (state_validity_check_fn(random_state)) + { + AddNodeToRoadmap(random_state, ROADMAP_TO_NEW_STATE, roadmap, distance_fn, edge_validity_check_fn, K, distance_is_symmetric); + } + } + } + + template> + static arc_dijkstras::Graph BuildRoadMap( + const std::function& sampling_fn, + const std::function& distance_fn, + const std::function& state_validity_check_fn, + const std::function& edge_validity_check_fn, + const std::function& termination_check_fn, + const size_t K, + const bool distance_is_symmetric = true) + { + arc_dijkstras::Graph roadmap; + ExtendRoadMap(roadmap, sampling_fn, distance_fn, state_validity_check_fn, edge_validity_check_fn, termination_check_fn, K, distance_is_symmetric); + return roadmap; + } + + template> + static void UpdateRoadMapEdges( + arc_dijkstras::Graph& roadmap, + const std::function& edge_validity_check_fn, + const std::function& distance_fn) + { + assert(roadmap.CheckGraphLinkage()); +#ifdef ENABLE_PARALLEL_ROADMAP + #pragma omp parallel for +#endif + for (size_t current_node_index = 0; current_node_index < roadmap.GetNodesImmutable().size(); current_node_index++) + { + arc_dijkstras::GraphNode& current_node = roadmap.GetNodeMutable(current_node_index); + std::vector& current_node_out_edges = current_node.GetOutEdgesMutable(); + for (size_t out_edge_idx = 0; out_edge_idx < current_node_out_edges.size(); out_edge_idx++) + { + arc_dijkstras::GraphEdge& current_out_edge = current_node_out_edges[out_edge_idx]; + const int64_t other_node_idx = current_out_edge.GetToIndex(); + arc_dijkstras::GraphNode& other_node = roadmap.GetNodeMutable(other_node_idx); + std::vector& other_node_in_edges = other_node.GetInEdgesMutable(); + // If the edge is not valid, set the weight to infinity, otherwise use the distance function + double updated_weight = std::numeric_limits::infinity(); + if (edge_validity_check_fn(current_node.GetValueImmutable(), other_node.GetValueImmutable())) + { + updated_weight = distance_fn(current_node.GetValueImmutable(), other_node.GetValueImmutable()); + } + // Update our out edge + current_out_edge.SetWeight(updated_weight); + // Update the other node's in edges + for (size_t in_edge_idx = 0; in_edge_idx < other_node_in_edges.size(); in_edge_idx++) + { + arc_dijkstras::GraphEdge& other_in_edge = other_node_in_edges[in_edge_idx]; + if (other_in_edge.GetFromIndex() == current_node_index) + { + other_in_edge.SetWeight(updated_weight); + } + } + } + } + } + + template> + static std::pair, double> QueryPathAndAddNodesMultiStartSingleGoal( + const std::vector& starts, + const T& goal, + arc_dijkstras::Graph& roadmap, + const std::function& edge_validity_check_fn, + const std::function& distance_fn, + const size_t K, + const bool distance_is_symmetric = true) + { + // Add the multiple start nodes to the roadmap + std::vector start_node_indices(starts.size()); + for (size_t start_idx = 0; start_idx < starts.size(); start_idx++) + { + const T& start = starts[start_idx]; + start_node_indices[start_idx] = AddNodeToRoadmap(start, NEW_STATE_TO_ROADMAP, roadmap, distance_fn, edge_validity_check_fn, K, distance_is_symmetric); + } + // Add the goal node to the roadmap + const int64_t goal_node_index = AddNodeToRoadmap(goal, ROADMAP_TO_NEW_STATE, roadmap, distance_fn, edge_validity_check_fn, K, distance_is_symmetric); + // Call Dijkstra's + const auto dijkstras_solution = arc_dijkstras::SimpleDijkstrasAlgorithm::PerformDijkstrasAlgorithm(roadmap, goal_node_index); + // Identify the lowest-distance starting state + const std::pair, std::vector>& solution_map_distances = dijkstras_solution.second; + double best_start_node_distance = std::numeric_limits::infinity(); + int64_t best_start_node_index = -1; + for (size_t start_idx = 0; start_idx < starts.size(); start_idx++) + { + const int64_t start_node_index = start_node_indices[start_idx]; + const double start_node_distance = solution_map_distances.second[start_node_index]; + if (start_node_distance < best_start_node_distance) + { + best_start_node_distance = start_node_distance; + best_start_node_index = start_node_index; + } + } + const int64_t start_node_index = best_start_node_index; + const double start_node_distance = best_start_node_distance; + // Extract solution path + if (std::isinf(start_node_distance)) + { + return std::make_pair(std::vector(), std::numeric_limits::infinity()); + } + else + { + std::vector solution_path_indices; + solution_path_indices.push_back(start_node_index); + int64_t previous_index = solution_map_distances.first[start_node_index]; + while (previous_index >= 0) + { + const int64_t current_index = previous_index; + solution_path_indices.push_back(current_index); + if (current_index == goal_node_index) + { + break; + } + else + { + previous_index = solution_map_distances.first[current_index]; + } + } + const std::vector solution_path = ExtractSolutionPath(roadmap, solution_path_indices); + return std::make_pair(solution_path, start_node_distance); + } + } + + template> + static std::pair, double> QueryPathAndAddNodesSingleStartSingleGoal( + const T& start, + const T& goal, + arc_dijkstras::Graph& roadmap, + const std::function& edge_validity_check_fn, + const std::function& distance_fn, + const size_t K, + const bool distance_is_symmetric = true, + const bool limit_astar_pqueue_duplicates = true) + { + // Add the start node to the roadmap + const int64_t start_node_index = AddNodeToRoadmap(start, NEW_STATE_TO_ROADMAP, roadmap, distance_fn, edge_validity_check_fn, K, distance_is_symmetric); + // Add the goal node to the roadmap + const int64_t goal_node_index = AddNodeToRoadmap(goal, ROADMAP_TO_NEW_STATE, roadmap, distance_fn, edge_validity_check_fn, K, distance_is_symmetric); + // Call graph A* + const std::pair, double> astar_result = arc_dijkstras::SimpleGraphAstar::PerformAstar( + roadmap, start_node_index, goal_node_index, distance_fn, limit_astar_pqueue_duplicates); + // Convert the solution path from A* provided as indices into real states + const std::vector& solution_path_indices = astar_result.first; + std::vector solution_path; + solution_path.reserve(astar_result.first.size()); + for (size_t idx = 0; idx < solution_path_indices.size(); idx++) + { + const int64_t path_index = solution_path_indices[idx]; + solution_path.push_back(roadmap.GetNodeImmutable(path_index).GetValueImmutable()); + } + solution_path.shrink_to_fit(); + return std::make_pair(solution_path, astar_result.second); + } + + template> + static std::pair, double> LazyQueryPathAndAddNodesSingleStartSingleGoal( + const T& start, + const T& goal, + arc_dijkstras::Graph& roadmap, + const std::function& edge_validity_check_fn, + const std::function& distance_fn, + const size_t K, const bool distance_is_symmetric=true, + const bool limit_astar_pqueue_duplicates = true) + { + // Add the start node to the roadmap + const int64_t start_node_index = AddNodeToRoadmap(start, NEW_STATE_TO_ROADMAP, roadmap, distance_fn, edge_validity_check_fn, K, distance_is_symmetric); + // Add the goal node to the roadmap + const int64_t goal_node_index = AddNodeToRoadmap(goal, ROADMAP_TO_NEW_STATE, roadmap, distance_fn, edge_validity_check_fn, K, distance_is_symmetric); + // Call graph A* + const std::pair, double> astar_result = arc_dijkstras::SimpleGraphAstar::PerformLazyAstar( + roadmap, start_node_index, goal_node_index, edge_validity_check_fn, distance_fn, distance_fn, limit_astar_pqueue_duplicates); + // Convert the solution path from A* provided as indices into real states + const std::vector solution_path = ExtractSolutionPath(roadmap, astar_result.first); + return std::make_pair(solution_path, astar_result.second); + } + + template, typename Generator = std::mt19937_64> + static std::pair, double> QueryPathAndAddNodesSingleStartSingleGoalRandomWalk( + const T& start, + const T& goal, + Generator& generator, + arc_dijkstras::Graph& roadmap, + const std::function& edge_validity_check_fn, + const std::function& distance_fn, + const size_t K, + const bool distance_is_symmetric = true) + { + // Add the start node to the roadmap + const int64_t start_node_index = AddNodeToRoadmap(start, NEW_STATE_TO_ROADMAP, roadmap, distance_fn, edge_validity_check_fn, K, distance_is_symmetric); + // Add the goal node to the roadmap + const int64_t goal_node_index = AddNodeToRoadmap(goal, ROADMAP_TO_NEW_STATE, roadmap, distance_fn, edge_validity_check_fn, K, distance_is_symmetric); + // Call the random walk algorithm + const auto random_walk_result = arc_dijkstras::GraphRandomWalk::PerformRandomWalk(roadmap, start_node_index, goal_node_index, generator); + // Convert the result into a path and return it + const auto solution_path = ExtractSolutionPath(roadmap, random_walk_result); + const auto distance = EigenHelpers::CalculateTotalDistance(solution_path, distance_fn); + return std::make_pair(solution_path, distance); + } + + // TODO - figure out a better way to balance parallelism between KNN queries inside path calls and multiple calls to Dijkstras + template> + static std::pair, double> QueryPathMultiStartMultiGoal( + const std::vector& starts, + const std::vector& goals, + const arc_dijkstras::Graph& roadmap, + const std::function& edge_validity_check_fn, + const std::function& distance_fn, + const size_t K, + const bool distance_is_symmetric = true) + { + std::vector, double>> possible_solutions(goals.size()); + for (size_t goal_idx = 0; goal_idx < goals.size(); goal_idx++) + { + possible_solutions[goal_idx] = QueryPathMultiStartSingleGoal(starts, goals[goal_idx], roadmap, edge_validity_check_fn, distance_fn, K, distance_is_symmetric); + } + const double best_solution_distance = std::numeric_limits::infinity(); + const int64_t best_solution_index = -1; + for (size_t goal_idx = 0; goal_idx < goals.size(); goal_idx++) + { + const double solution_distance = possible_solutions[goal_idx].second; + if (solution_distance < best_solution_distance) + { + best_solution_distance = solution_distance; + best_solution_index = goal_idx; + } + } + if ((best_solution_index >= 0) && (best_solution_distance < std::numeric_limits::infinity())) + { + return possible_solutions[best_solution_index]; + } + else + { + return std::make_pair(std::vector(), std::numeric_limits::infinity()); + } + } + + template> + static std::pair, double> QueryPathMultiStartSingleGoal( + const std::vector& starts, + const T& goal, + const arc_dijkstras::Graph& roadmap, + const std::function& edge_validity_check_fn, + const std::function& distance_fn, + const size_t K, + const bool distance_is_symmetric = true) + { + arc_dijkstras::Graph working_copy = roadmap; + return QueryPathAndAddNodesMultiStartSingleGoal(starts, goal, working_copy, edge_validity_check_fn, distance_fn, K, distance_is_symmetric); + } + + template> + static std::pair, double> QueryPathSingleStartSingleGoal( + const T& start, + const T& goal, + const arc_dijkstras::Graph& roadmap, + const std::function& edge_validity_check_fn, + const std::function& distance_fn, + const size_t K, + const bool distance_is_symmetric = true) + { + arc_dijkstras::Graph working_copy = roadmap; + return QueryPathAndAddNodesSingleStartSingleGoal(start, goal, working_copy, edge_validity_check_fn, distance_fn, K, distance_is_symmetric); + } + + template> + static std::pair, double> LazyQueryPathSingleStartSingleGoal( + const T& start, const T& goal, const arc_dijkstras::Graph& roadmap, + const std::function& edge_validity_check_fn, + const std::function& distance_fn, + const size_t K, + const bool distance_is_symmetric = true) + { + arc_dijkstras::Graph working_copy = roadmap; + return LazyQueryPathAndAddNodesSingleStartSingleGoal(start, goal, working_copy, edge_validity_check_fn, distance_fn, K, distance_is_symmetric); + } + + // TODO update to provide lazy and non-lazy variants of single start/single goal + }; +} + +#endif // SIMPLE_PRM_PLANNER diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/simple_rrt_planner.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/simple_rrt_planner.hpp new file mode 100644 index 0000000..02e78d9 --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/simple_rrt_planner.hpp @@ -0,0 +1,887 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef SIMPLE_RRT_PLANNER_HPP +#define SIMPLE_RRT_PLANNER_HPP + +namespace simple_rrt_planner +{ + template> + class SimpleRRTPlannerState + { + protected: + + T value_; + std::vector child_indices_; + int64_t parent_index_; + bool initialized_; + + public: + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + static uint64_t Serialize(const SimpleRRTPlannerState& state, std::vector& buffer, const std::function&)>& value_serializer) + { + return state.SerializeSelf(buffer, value_serializer); + } + + static std::pair, uint64_t> Deserialize(const std::vector& buffer, const uint64_t current, const std::function(const std::vector&, const uint64_t)>& value_deserializer) + { + SimpleRRTPlannerState temp_state; + const uint64_t bytes_read = temp_state.DeserializeSelf(buffer, current, value_deserializer); + return std::make_pair(temp_state, bytes_read); + } + + SimpleRRTPlannerState() + : parent_index_(-1) + , initialized_(false) + { + child_indices_.clear(); + } + + SimpleRRTPlannerState(const T& value, const int64_t parent_index, const std::vector& child_indices) + : value_(value) + , child_indices_(child_indices) + , parent_index_(parent_index) + , initialized_(true) + {} + + SimpleRRTPlannerState(const T& value, const int64_t parent_index) + : value_(value) + , parent_index_(parent_index) + , initialized_(true) + { + child_indices_.clear(); + } + + SimpleRRTPlannerState(const T& value) + : value_(value) + , parent_index_(-1) + , initialized_(true) + { + child_indices_.clear(); + } + + uint64_t SerializeSelf(std::vector& buffer, const std::function&)>& value_serializer) const + { + const uint64_t start_buffer_size = buffer.size(); + // Serialize the initialized + arc_utilities::SerializeFixedSizePOD((uint8_t)initialized_, buffer); + // Serialize the parent index + arc_utilities::SerializeFixedSizePOD(parent_index_, buffer); + // Serialize the child indices + arc_utilities::SerializeVector(child_indices_, buffer, arc_utilities::SerializeFixedSizePOD); + // Serialize the value + value_serializer(value_, buffer); + // Figure out how many bytes were written + const uint64_t end_buffer_size = buffer.size(); + const uint64_t bytes_written = end_buffer_size - start_buffer_size; + return bytes_written; + } + + uint64_t DeserializeSelf(const std::vector& buffer, const uint64_t current, const std::function(const std::vector&, const uint64_t)>& value_deserializer) + { + uint64_t current_position = current; + // Deserialize the initialized + const std::pair initialized_deserialized = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + initialized_ = (bool)initialized_deserialized.first; + current_position += initialized_deserialized.second; + // Deserialize the parent index + const std::pair parent_index_deserialized = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + parent_index_ = parent_index_deserialized.first; + current_position += parent_index_deserialized.second; + // Deserialize the child indices + const std::pair, uint64_t> child_indices_deserialized = arc_utilities::DeserializeVector(buffer, current_position, arc_utilities::DeserializeFixedSizePOD); + child_indices_ = child_indices_deserialized.first; + current_position += child_indices_deserialized.second; + // Deserialize the value + const std::pair value_deserialized = value_deserializer(buffer, current_position); + value_ = value_deserialized.first; + current_position += value_deserialized.second; + // Figure out how many bytes were read + const uint64_t bytes_read = current_position - current; + return bytes_read; + } + + bool IsInitialized() const + { + return initialized_; + } + + const T& GetValueImmutable() const + { + return value_; + } + + T& GetValueMutable() + { + return value_; + } + + int64_t GetParentIndex() const + { + return parent_index_; + } + + void SetParentIndex(const int64_t parent_index) + { + parent_index_ = parent_index; + } + + const std::vector& GetChildIndices() const + { + return child_indices_; + } + + void ClearChildIndicies() + { + child_indices_.clear(); + } + + void AddChildIndex(const int64_t child_index) + { + for (size_t idx = 0; idx < child_indices_.size(); idx++) + { + if (child_indices_[idx] == child_index) + { + return; + } + } + child_indices_.push_back(child_index); + } + + void RemoveChildIndex(const int64_t child_index) + { + std::vector new_child_indices; + for (size_t idx = 0; idx < child_indices_.size(); idx++) + { + if (child_indices_[idx] != child_index) + { + new_child_indices.push_back(child_indices_[idx]); + } + } + child_indices_ = new_child_indices; + } + }; + + template> + class SimpleRRTPlannerPointerState + { + protected: + + T value_; + std::shared_ptr> parent_; + bool initialized_; + + public: + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + SimpleRRTPlannerPointerState() + : parent_(nullptr) + , initialized_(false) + {} + + SimpleRRTPlannerPointerState(const T& value, const std::shared_ptr>& parent) + : value_(value) + , parent_(parent) + , initialized_(true) + {} + + SimpleRRTPlannerPointerState(const T& value) + : value_(value) + , parent_(std::shared_ptr>()) + , initialized_(true) + {} + + bool IsInitialized() const + { + return initialized_; + } + + const T& GetValueImmutable() const + { + return value_; + } + + T& GetValueMutable() + { + return value_; + } + + const std::shared_ptr>& GetParent() const + { + return parent_; + } + + void SetParent(const std::shared_ptr>& parent) + { + parent_(parent); + } + }; + + class SimpleHybridRRTPlanner + { + private: + + SimpleHybridRRTPlanner() {} + + public: + + /* Template-based single-tree RRT planner + * + * Template type T is your state type (i.e. a configuration) + * + * Arguments: + * start - starting configuration + * goal - target configuration + * nearest_neighbor_fn - given all nodes explored so far, and a new state, return the index of the "closest" node + * goal_reached_fn - return if a given state meets the goal conditions (for example, within a radius of the goal state) + * state_sampling_fn - returns a new state (randomly- or deterministically-sampled) + * forward_propagation_fn - given the nearest neighbor and a new target state, returns the states that would grow the tree towards the target + * goal_bias - in (0, 1), selects the probability that the new sampled state is the goal state + * time_limit - limit, in seconds, for the runtime of the planner + * rng - a random number generator matching the interface of the generators provided by std::random + * + * Returns: + * std::pair + * path - vector of states corresponding to the planned path + * statistics - map of string keys/double values of planner statistics (i.e. run time, #states explored, #states in solution + */ + template> + static std::pair, std::map> Plan( + const T& start, + const T& goal, + const std::function>&,const T&)>& nearest_neighbor_fn, + const std::function& goal_reached_fn, + const std::function& state_sampling_fn, + const std::function>(const T&, const T&)>& forward_propagation_fn, + const double goal_bias, + const std::chrono::duration& time_limit, + RNG& rng) + { + std::uniform_real_distribution goal_bias_distribution(0.0, 1.0); + const std::function sampling_function = [&](void) { return ((goal_bias_distribution(rng) > goal_bias) ? state_sampling_fn() : goal); }; + return Plan(start, nearest_neighbor_fn, goal_reached_fn, sampling_function, forward_propagation_fn, time_limit); + } + + /* Template-based single-tree RRT planner + * + * Template type T is your state type (i.e. a configuration) + * + * Arguments: + * start - starting configuration + * nearest_neighbor_fn - given all nodes explored so far, and a new state, return the index of the "closest" node + * goal_reached_fn - return if a given state meets the goal conditions (for example, within a radius of a goal state) + * state_sampling_fn - returns a new state (randomly- or deterministically-sampled) + * goal_sampling_fn - returns a goal state (randomly- or deterministically-sampled) + * forward_propagation_fn - given the nearest neighbor and a new target state, returns the states that would grow the tree towards the target + * goal_bias - in (0, 1), selects the probability that the new sampled state is a goal state + * time_limit - limit, in seconds, for the runtime of the planner + * rng - a random number generator matching the interface of the generators provided by std::random + * + * Returns: + * std::pair + * path - vector of states corresponding to the planned path + * statistics - map of string keys/double values of planner statistics (i.e. run time, #states explored, #states in solution + */ + template> + static std::pair, std::map> Plan( + const T& start, + const std::function>&, const T&)>& nearest_neighbor_fn, + const std::function& goal_reached_fn, + const std::function& state_sampling_fn, + const std::function& goal_sampling_fn, + const std::function>(const T&, const T&)>& forward_propagation_fn, + const double goal_bias, + const std::chrono::duration& time_limit, + RNG& rng) + { + std::uniform_real_distribution goal_bias_distribution(0.0, 1.0); + const std::function sampling_function = [&](void) { return ((goal_bias_distribution(rng) > goal_bias) ? state_sampling_fn() : goal_sampling_fn()); }; + return Plan(start, nearest_neighbor_fn, goal_reached_fn, sampling_function, forward_propagation_fn, time_limit); + } + + /* Template-based single-tree RRT planner + * + * Template type T is your state type (i.e. a configuration) + * + * Arguments: + * start - starting configuration + * nearest_neighbor_fn - given all nodes explored so far, and a new state, return the index of the "closest" node + * goal_reached_fn - return if a given state meets the goal conditions (for example, within a radius of a goal state) + * state_sampling_fn - returns a new state (randomly- or deterministically-sampled) + * forward_propagation_fn - given the nearest neighbor and a new target state, returns the states that would grow the tree towards the target + * time_limit - limit, in seconds, for the runtime of the planner + * + * Returns: + * std::pair + * path - vector of states corresponding to the planned path + * statistics - map of string keys/double values of planner statistics (i.e. run time, #states explored, #states in solution + */ + template> + static std::pair, std::map> Plan( + const T& start, + const std::function>&, const T&)>& nearest_neighbor_fn, + const std::function& goal_reached_fn, + const std::function& sampling_fn, + const std::function>(const T&, const T&)>& forward_propagation_fn, + const std::chrono::duration& time_limit) + { + std::chrono::time_point start_time = std::chrono::steady_clock::now(); + const std::function termination_check_fn = [&](void) { return (((std::chrono::time_point)std::chrono::steady_clock::now() - start_time) > time_limit); }; + return Plan(start, nearest_neighbor_fn, goal_reached_fn, sampling_fn, forward_propagation_fn, termination_check_fn); + } + + /* Template-based single-tree RRT planner + * + * Template type T is your state type (i.e. a configuration) + * + * Arguments: + * start - starting configuration + * nearest_neighbor_fn - given all nodes explored so far, and a new state, return the index of the "closest" node + * goal_reached_fn - return if a given state meets the goal conditions (for example, within a radius of a goal state) + * state_sampling_fn - returns a new state (randomly- or deterministically-sampled) + * forward_propagation_fn - given the nearest neighbor and a new target state, returns the states that would grow the tree towards the target + * termination_check_fn - returns if the planner should terminate (for example, if it has exceeded time/space limits) + * + * Returns: + * std::pair + * path - vector of states corresponding to the planned path + * statistics - map of string keys/double values of planner statistics (i.e. run time, #states explored, #states in solution + */ + template> + static std::pair, std::map> Plan( + const T& start, + const std::function>&, const T&)>& nearest_neighbor_fn, + const std::function& goal_reached_fn, + const std::function& sampling_fn, + const std::function>(const T&, const T&)>& forward_propagation_fn, + const std::function& termination_check_fn) + { + // Define a couple lambdas to let us use the generic multi-path planner as if it were a single-path planner + bool solution_found = false; + const std::function real_goal_found_fn = [&](const T& state) { if (goal_reached_fn(state)) { solution_found = true; return true; } else {return false;} }; + const std::function real_termination_check_fn = [&](void) { if (!solution_found) { return termination_check_fn(); } else {return true;} }; + const std::function&)> dummy_goal_callback_fn = [](SimpleRRTPlannerState& state) {;}; + // Call the planner + std::pair>, std::map> planning_result = PlanMultiPath(start, nearest_neighbor_fn, real_goal_found_fn, dummy_goal_callback_fn, sampling_fn, forward_propagation_fn, real_termination_check_fn); + // Put together the return + std::vector planned_path; + if (planning_result.first.size() > 0) + { + planned_path = planning_result.first[0]; + } + return std::pair, std::map>(planned_path, planning_result.second); + } + + /* Template-based single-tree RRT planner + * + * Template type T is your state type (i.e. a configuration) + * + * Arguments: + * nodes - a mutable vector of planner states, used internally to store the planner tree. + * This is provided to allow external use of the tree during and after planning. + * start - starting configuration + * nearest_neighbor_fn - given all nodes explored so far, and a new state, return the index of the "closest" node + * goal_reached_fn - return if a given state meets the goal conditions (for example, within a radius of a goal state) + * state_sampling_fn - returns a new state (randomly- or deterministically-sampled) + * forward_propagation_fn - given the nearest neighbor and a new target state, returns the states that would grow the tree towards the target + * termination_check_fn - returns if the planner should terminate (for example, if it has exceeded time/space limits) + * + * Returns: + * std::pair + * path - vector of states corresponding to the planned path + * statistics - map of string keys/double values of planner statistics (i.e. run time, #states explored, #states in solution + */ + template> + static std::pair, std::map> Plan( + std::vector>& nodes, + const T& start, + const std::function>&, const T&)>& nearest_neighbor_fn, + const std::function& goal_reached_fn, + const std::function& sampling_fn, + const std::function>(const T&, const T&)>& forward_propagation_fn, + const std::function& termination_check_fn) + { + // Define a couple lambdas to let us use the generic multi-path planner as if it were a single-path planner + bool solution_found = false; + const std::function real_goal_found_fn = [&](const T& state) { if (goal_reached_fn(state)) { solution_found = true; return true; } else {return false;} }; + const std::function real_termination_check_fn = [&](void) { if (!solution_found) { return termination_check_fn(); } else {return true;} }; + const std::function&)> dummy_goal_callback_fn = [](SimpleRRTPlannerState& state) {;}; + // Call the planner + std::pair>, std::map> planning_result = PlanMultiPath(nodes, start, nearest_neighbor_fn, real_goal_found_fn, dummy_goal_callback_fn, sampling_fn, forward_propagation_fn, real_termination_check_fn); + // Put together the return + std::vector planned_path; + if (planning_result.first.size() > 0) + { + planned_path = planning_result.first[0]; + } + return std::pair, std::map>(planned_path, planning_result.second); + } + + /* Template-based single-tree RRT planner + * + * Template type T is your state type (i.e. a configuration) + * + * Arguments: + * start - starting configuration + * nearest_neighbor_fn - given all nodes explored so far, and a new state, return the index of the "closest" node + * goal_reached_fn - return if a given state meets the goal conditions (for example, within a radius of a goal state) + * state_sampling_fn - returns a new state (randomly- or deterministically-sampled) + * forward_propagation_fn - given the nearest neighbor and a new target state, returns the states that would grow the tree towards the target + * termination_check_fn - returns if the planner should terminate (for example, if it has exceeded time/space limits) + * + * Returns: + * std::pair + * paths - vector of vector of states corresponding to the planned path(s) + * statistics - map of string keys/double values of planner statistics (i.e. run time, #states explored, #states in solution + */ + template> + static std::pair>, std::map> PlanMultiPath( + const T& start, + const std::function>&, const T&)>& nearest_neighbor_fn, + const std::function& goal_reached_fn, + const std::function&)>& goal_reached_callback_fn, + const std::function& sampling_fn, + const std::function>(const T&, const T&)>& forward_propagation_fn, + const std::function& termination_check_fn) + { + // Keep track of states + std::vector> nodes; + return PlanMultiPath(nodes, start, nearest_neighbor_fn, goal_reached_fn, goal_reached_callback_fn, sampling_fn, forward_propagation_fn, termination_check_fn); + } + + /* Template-based single-tree RRT planner + * + * Template type T is your state type (i.e. a configuration) + * + * Arguments: + * nodes - a mutable vector of planner states, used internally to store the planner tree. + * This is provided to allow external use of the tree during and after planning. + * start - starting configuration + * nearest_neighbor_fn - given all nodes explored so far, and a new state, return the index of the "closest" node + * goal_reached_fn - return if a given state meets the goal conditions (for example, within a radius of a goal state) + * state_sampling_fn - returns a new state (randomly- or deterministically-sampled) + * forward_propagation_fn - given the nearest neighbor and a new target state, returns the states that would grow the tree towards the target + * termination_check_fn - returns if the planner should terminate (for example, if it has exceeded time/space limits) + * + * Returns: + * std::pair + * paths - vector of vector of states corresponding to the planned path(s) + * statistics - map of string keys/double values of planner statistics (i.e. run time, #states explored, #states in solution + */ + template> + static std::pair>, std::map> PlanMultiPath( + std::vector>& nodes, + const T& start, + const std::function>&, const T&)>& nearest_neighbor_fn, + const std::function& goal_reached_fn, + const std::function&)>& goal_reached_callback_fn, + const std::function& sampling_fn, + const std::function>(const T&, const T&)>& forward_propagation_fn, + const std::function& termination_check_fn) + { + // Clear the tree we've been given + nodes.clear(); + // Add the start state + SimpleRRTPlannerState start_state(start); + nodes.push_back(start_state); + // Call the planner + return PlanMultiPath(nodes, nearest_neighbor_fn, goal_reached_fn, goal_reached_callback_fn, sampling_fn, forward_propagation_fn, termination_check_fn); + } + + /* Template-based single-tree RRT planner + * + * Template type T is your state type (i.e. a configuration) + * + * Arguments: + * nodes - a mutable vector of planner states, used internally to store the planner tree. + * This is provided to allow external use of the tree during and after planning. + * This contains either a SINGLE start state, or the tree resulting from previous planning. + * nearest_neighbor_fn - given all nodes explored so far, and a new state, return the index of the "closest" node + * goal_reached_fn - return if a given state meets the goal conditions (for example, within a radius of a goal state) + * state_sampling_fn - returns a new state (randomly- or deterministically-sampled) + * forward_propagation_fn - given the nearest neighbor and a new target state, returns the states that would grow the tree towards the target + * termination_check_fn - returns if the planner should terminate (for example, if it has exceeded time/space limits) + * + * Returns: + * std::pair + * paths - vector of vector of states corresponding to the planned path(s) + * statistics - map of string keys/double values of planner statistics (i.e. run time, #states explored, #states in solution + */ + template> + static std::pair>, std::map> PlanMultiPath( + std::vector>& nodes, + const std::function>&, const T&)>& nearest_neighbor_fn, + const std::function& goal_reached_fn, + const std::function&)>& goal_reached_callback_fn, + const std::function& sampling_fn, + const std::function>(const T&, const T&)>& forward_propagation_fn, + const std::function& termination_check_fn) + { + // Make a dummy state added function + const std::function&, SimpleRRTPlannerState&)> dummy_state_added_fn = [] (SimpleRRTPlannerState& parent, SimpleRRTPlannerState& new_child) { ; }; + // Call the planner + return PlanMultiPath(nodes, nearest_neighbor_fn, dummy_state_added_fn, goal_reached_fn, goal_reached_callback_fn, sampling_fn, forward_propagation_fn, termination_check_fn); + } + + /* Template-based single-tree RRT planner + * + * Template type T is your state type (i.e. a configuration) + * + * Arguments: + * nodes - a mutable vector of planner states, used internally to store the planner tree. + * This is provided to allow external use of the tree during and after planning. + * This contains either a SINGLE start state, or the tree resulting from previous planning. + * nearest_neighbor_fn - given all nodes explored so far, and a new state, return the index of the "closest" node + * state_added_fn - callback function that takes (parent, child) for each extension + * goal_reached_fn - return if a given state meets the goal conditions (for example, within a radius of a goal state) + * state_sampling_fn - returns a new state (randomly- or deterministically-sampled) + * forward_propagation_fn - given the nearest neighbor and a new target state, returns the states that would grow the tree towards the target + * termination_check_fn - returns if the planner should terminate (for example, if it has exceeded time/space limits) + * + * Returns: + * std::pair + * paths - vector of vector of states corresponding to the planned path(s) + * statistics - map of string keys/double values of planner statistics (i.e. run time, #states explored, #states in solution + */ + template> + static std::pair>, std::map> PlanMultiPath( + std::vector>& nodes, + const std::function>&, const T&)>& nearest_neighbor_fn, + const std::function&, SimpleRRTPlannerState&)>& state_added_fn, + const std::function& goal_reached_fn, + const std::function&)>& goal_reached_callback_fn, + const std::function& sampling_fn, + const std::function>(const T&, const T&)>& forward_propagation_fn, + const std::function& termination_check_fn) + { + // Make sure we've been given a start state + assert(nodes.size() > 0); + // Make sure the tree is properly linked + assert(CheckTreeLinkage(nodes)); + // Keep track of statistics + std::map statistics; + statistics["total_samples"] = 0.0; + statistics["successful_samples"] = 0.0; + statistics["failed_samples"] = 0.0; + // Storage for the goal states we reach + std::vector goal_state_indices; + // Safety check before doing real work + if (goal_reached_fn(nodes[0].GetValueImmutable())) + { + goal_state_indices.push_back(0); + std::cerr << "Start state meets goal conditions, returning default path [start]" << std::endl; + // Put together the results + std::vector> planned_paths = ExtractSolutionPaths(nodes, goal_state_indices); + statistics["planning_time"] = 0.0; + statistics["total_states"] = nodes.size(); + statistics["solutions"] = (double)planned_paths.size(); + return std::pair>, std::map>(planned_paths, statistics); + } + // Update the start time + std::chrono::time_point start_time = std::chrono::steady_clock::now(); + // Plan + while (!termination_check_fn()) + { + // Sample a random goal + T random_target = sampling_fn(); + // Get the nearest neighbor + int64_t nearest_neighbor_index = nearest_neighbor_fn(nodes, random_target); + assert((nearest_neighbor_index >= 0) && (nearest_neighbor_index < nodes.size())); + const T& nearest_neighbor = nodes.at(nearest_neighbor_index).GetValueImmutable(); + // Forward propagate towards the goal + std::vector> propagated = forward_propagation_fn(nearest_neighbor, random_target); + if (!propagated.empty()) + { + statistics["total_samples"] += 1.0; + statistics["successful_samples"] += 1.0; + for (size_t idx = 0; idx < propagated.size(); idx++) + { + const std::pair& current_propagation = propagated[idx]; + // Determine the parent index of the new state + // This process deserves some explanation + // The "current relative parent index" is the index of the parent, relative to the list of propagated nodes. + // A negative value means the nearest neighbor in the tree, zero means the first propagated node, and so on. + // NOTE - the relative parent index *must* be lower than the index in the list of prograted nodes + // i.e. the first node must have a negative value, and so on. + const int64_t& current_relative_parent_index = current_propagation.second; + int64_t node_parent_index = nearest_neighbor_index; + if (current_relative_parent_index >= 0) + { + const int64_t current_relative_index = (int64_t)idx; + assert(current_relative_parent_index < current_relative_index); + const int64_t current_relative_offset = current_relative_parent_index - current_relative_index; + assert(current_relative_offset < 0); + assert(current_relative_offset >= -(int64_t)propagated.size()); + const int64_t current_nodes_size = (int64_t)nodes.size(); + node_parent_index = current_nodes_size + current_relative_offset; // Offset is negative! + } + else + { + node_parent_index = nearest_neighbor_index; // Negative relative parent index means our parent index is the nearest neighbor index + } + // Build the new state + const T& current_propagated = current_propagation.first; + SimpleRRTPlannerState new_state(current_propagated, node_parent_index); + // Add the state to the tree + nodes.push_back(new_state); + int64_t new_node_index = (int64_t)nodes.size() - 1; + nodes[node_parent_index].AddChildIndex(new_node_index); + // Call the state added callback + state_added_fn(nodes[node_parent_index], nodes[new_node_index]); + // Check if we've reached the goal + if (goal_reached_fn(nodes[new_node_index].GetValueImmutable())) + { + goal_state_indices.push_back(new_node_index); + goal_reached_callback_fn(nodes[new_node_index]); + } + } + } + else + { + statistics["total_samples"] += 1.0; + statistics["failed_samples"] += 1.0; + } + } + // Put together the results + // Make sure the tree is properly linked + assert(CheckTreeLinkage(nodes)); + std::vector> planned_paths = ExtractSolutionPaths(nodes, goal_state_indices); + std::chrono::time_point cur_time = std::chrono::steady_clock::now(); + std::chrono::duration planning_time(cur_time - start_time); + statistics["planning_time"] = planning_time.count(); + statistics["total_states"] = nodes.size(); + statistics["solutions"] = (double)planned_paths.size(); + return std::pair>, std::map>(planned_paths, statistics); + } + + /* Checks the planner tree to make sure the parent-child linkages are correct + */ + template> + static bool CheckTreeLinkage(const std::vector>& nodes) + { + // Step through each state in the tree. Make sure that the linkage to the parent and child states are correct + for (size_t current_index = 0; current_index < nodes.size(); current_index++) + { + // For every state, make sure all the parent<->child linkages are valid + const SimpleRRTPlannerState& current_state = nodes[current_index]; + if (!current_state.IsInitialized()) + { + std::cerr << "Tree contains uninitialized node(s) " << current_index << std::endl; + return false; + } + // Check the linkage to the parent state + const int64_t parent_index = current_state.GetParentIndex(); + if ((parent_index >= 0) && (parent_index < (int64_t)nodes.size())) + { + if (parent_index != (int64_t)current_index) + { + const SimpleRRTPlannerState& parent_state = nodes[parent_index]; + if (!parent_state.IsInitialized()) + { + std::cerr << "Tree contains uninitialized node(s) " << parent_index << std::endl; + return false; + } + // Make sure the corresponding parent contains the current node in the list of child indices + const std::vector& parent_child_indices = parent_state.GetChildIndices(); + auto index_found = std::find(parent_child_indices.begin(), parent_child_indices.end(), (int64_t)current_index); + if (index_found == parent_child_indices.end()) + { + std::cerr << "Parent state " << parent_index << " does not contain child index for current node " << current_index << std::endl; + return false; + } + } + else + { + std::cerr << "Invalid parent index " << parent_index << " for state " << current_index << " [Indices can't be the same]" << std::endl; + return false; + } + } + else if (parent_index < -1) + { + std::cerr << "Invalid parent index " << parent_index << " for state " << current_index << std::endl; + return false; + } + // Check the linkage to the child states + const std::vector& current_child_indices = current_state.GetChildIndices(); + for (size_t idx = 0; idx < current_child_indices.size(); idx++) + { + // Get the current child index + const int64_t current_child_index = current_child_indices[idx]; + if ((current_child_index > 0) && (current_child_index < (int64_t)nodes.size())) + { + if (current_child_index != (int64_t)current_index) + { + const SimpleRRTPlannerState& child_state = nodes[current_child_index]; + if (!child_state.IsInitialized()) + { + std::cerr << "Tree contains uninitialized node(s) " << current_child_index << std::endl; + return false; + } + // Make sure the child node points to us as the parent index + const int64_t child_parent_index = child_state.GetParentIndex(); + if (child_parent_index != (int64_t)current_index) + { + std::cerr << "Parent index " << child_parent_index << " for current child state " << current_child_index << " does not match index " << current_index << " for current node " << std::endl; + return false; + } + } + else + { + std::cerr << "Invalid child index " << current_child_index << " for state " << current_index << " [Indices can't be the same]" << std::endl; + return false; + } + } + else + { + std::cerr << "Invalid child index " << current_child_index << " for state " << current_index << std::endl; + return false; + } + } + } + return true; + } + + /* Extracts all the solution paths corresponding to the provided goal states + */ + template> + static std::vector> ExtractSolutionPaths( + const std::vector>& nodes, + const std::vector& goal_state_indices) + { + std::vector> solution_paths; + for (size_t idx = 0; idx < goal_state_indices.size(); idx++) + { + std::vector solution_path = ExtractSolutionPath(nodes, goal_state_indices[idx]); + solution_paths.push_back(solution_path); + } + return solution_paths; + } + + /* Extracts a single solution path corresponding to the provided goal state + */ + template> + static std::vector ExtractSolutionPath( + const std::vector>& nodes, + const int64_t goal_state_index) + { + std::vector solution_path; + const SimpleRRTPlannerState& goal_state = nodes[goal_state_index]; + solution_path.push_back(goal_state.GetValueImmutable()); + int64_t parent_index = goal_state.GetParentIndex(); + while (parent_index >= 0) + { + assert(parent_index < nodes.size()); + const SimpleRRTPlannerState& parent_state = nodes[parent_index]; + const T& parent = parent_state.GetValueImmutable(); + solution_path.push_back(parent); + parent_index = parent_state.GetParentIndex(); + } + // Put it in the right order + std::reverse(solution_path.begin(), solution_path.end()); + return solution_path; + } + + /* Template-based single-tree RRT planner + * + * Template type T is your state type (i.e. a configuration) + * + * Arguments: + * start - starting configuration + * nearest_neighbor_fn - given all nodes explored so far, and a new state, return the index of the "closest" node + * goal_reached_fn - return if a given state meets the goal conditions (for example, within a radius of a goal state) + * state_sampling_fn - returns a new state (randomly- or deterministically-sampled) + * forward_propagation_fn - given the nearest neighbor and a new target state, returns the states that would grow the tree towards the target + * time_limit - limit, in seconds, for the runtime of the planner + * + * Returns: + * std::pair + * path - vector of states corresponding to the planned path + * statistics - map of string keys/double values of planner statistics (i.e. run time, #states explored, #states in solution + */ + template> + static std::pair>, std::map> PlanMultiPath( + const T& start, + const std::function>&)>& register_nearest_neighbors_fn, + const std::function>&(const T&)>& get_nearest_neighbor_fn, + const std::function>(void)>& extract_solution_paths, + const std::function& sampling_fn, + const std::function& goal_reached_fn, + const std::function>&)>& register_goal_state_fn, + const std::function(const T&, const T&)>& forward_propagation_fn, + const std::function& termination_check_fn) + { + // Keep track of statistics + std::map statistics; + statistics["total_states"] = 0.0; + statistics["total_samples"] = 0.0; + statistics["successful_samples"] = 0.0; + statistics["failed_samples"] = 0.0; + // Add the start state + SimpleRRTPlannerState start_state(start); + register_nearest_neighbors_fn(start_state); + // Update the start time + std::chrono::time_point start_time = std::chrono::steady_clock::now(); + // Plan + while (!termination_check_fn()) + { + // Sample a random goal + T random_target = sampling_fn(); + // Get the nearest neighbor + const std::shared_ptr>& nearest_neighbor_ptr = get_nearest_neighbor_fn(random_target); + assert(nearest_neighbor_ptr); + const T& nearest_neighbor_value = nearest_neighbor_ptr->GetValueImmutable(); + // Forward propagate towards the goal + std::vector propagated = forward_propagation_fn(nearest_neighbor_value, random_target); + if (!propagated.empty()) + { + statistics["total_samples"] += 1.0; + statistics["successful_samples"] += 1.0; + std::shared_ptr> parent_ptr(nearest_neighbor_ptr); + for (size_t idx = 0; idx < propagated.size(); idx++) + { + statistics["total_states"] += 1.0; + const T& current_propagated = propagated[idx]; + std::shared_ptr> new_state_ptr(new SimpleRRTPlannerPointerState(current_propagated, parent_ptr)); + // If we've reached a goal, register it specially + if (goal_reached_fn(current_propagated)) + { + register_goal_state_fn(new_state_ptr); + break; + } + // Otherwise, simply register it as a nearest neighbor + else + { + register_nearest_neighbors_fn(new_state_ptr); + parent_ptr = new_state_ptr; + } + } + } + else + { + statistics["total_samples"] += 1.0; + statistics["failed_samples"] += 1.0; + } + } + // Put together the results + std::chrono::time_point cur_time = std::chrono::steady_clock::now(); + std::chrono::duration planning_time(cur_time - start_time); + std::vector> planned_paths = extract_solution_paths(); + statistics["planning_time"] = planning_time.count(); + statistics["solutions"] = (double)planned_paths.size(); + return std::pair>, std::map>(planned_paths, statistics); + } + }; + +} + +#endif // SIMPLE_RRT_PLANNER diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/timing.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/timing.hpp new file mode 100644 index 0000000..38c3789 --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/timing.hpp @@ -0,0 +1,35 @@ +#ifndef ARC_UTILITIES_TIMING_HPP +#define ARC_UTILITIES_TIMING_HPP + +#include + +namespace arc_utilities +{ + enum StopwatchControl {RESET, READ}; + + class Stopwatch + { + public: + Stopwatch() + : start_time_(std::chrono::steady_clock::now()) + {} + + double operator() (const StopwatchControl control = READ) + { + const auto end_time = std::chrono::steady_clock::now(); + if (control == RESET) + { + start_time_ = end_time; + } + + return std::chrono::duration(end_time - start_time_).count(); + } + + private: + std::chrono::steady_clock::time_point start_time_; + }; + + double GlobalStopwatch(const StopwatchControl control = READ); +} + +#endif // ARC_UTILITIES_TIMING_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/voxel_grid.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/voxel_grid.hpp new file mode 100644 index 0000000..ecbf0cc --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/voxel_grid.hpp @@ -0,0 +1,926 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef VOXEL_GRID_HPP +#define VOXEL_GRID_HPP + +namespace VoxelGrid +{ + struct GRID_INDEX + { + int64_t x; + int64_t y; + int64_t z; + + GRID_INDEX() : x(-1), y(-1), z(-1) {} + + GRID_INDEX(const int64_t in_x, const int64_t in_y, const int64_t in_z) : x(in_x), y(in_y), z(in_z) {} + + bool operator==(const GRID_INDEX& other) const + { + return (x == other.x && y == other.y && z == other.z); + } + }; + + template> + class VoxelGrid + { + protected: + + Eigen::Isometry3d origin_transform_; + Eigen::Isometry3d inverse_origin_transform_; + T default_value_; + T oob_value_; + std::vector data_; + double cell_x_size_; + double cell_y_size_; + double cell_z_size_; + double inv_cell_x_size_; + double inv_cell_y_size_; + double inv_cell_z_size_; + double x_size_; + double y_size_; + double z_size_; + int64_t stride1_; + int64_t stride2_; + int64_t num_x_cells_; + int64_t num_y_cells_; + int64_t num_z_cells_; + bool initialized_; + + inline int64_t GetDataIndex(const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + return (x_index * stride1_) + (y_index * stride2_) + z_index; + } + + inline void SetContents(const T& value) + { + data_.clear(); + data_.resize(num_x_cells_ * num_y_cells_ * num_z_cells_, value); + } + + inline void SafetyCheckSizes(const double cell_x_size, const double cell_y_size, const double cell_z_size, const double x_size,const double y_size, const double z_size) const + { + if (cell_x_size <= 0.0) + { + throw std::invalid_argument("cell_x_size must be positive and non-zero"); + } + if (std::isnan(cell_x_size)) + { + throw std::invalid_argument("cell_x_size must not be NaN"); + } + if (std::isinf(cell_x_size) != 0) + { + throw std::invalid_argument("cell_x_size must not be INF"); + } + if (cell_y_size <= 0.0) + { + throw std::invalid_argument("cell_y_size must be positive and non-zero"); + } + if (std::isnan(cell_y_size)) + { + throw std::invalid_argument("cell_y_size must not be NaN"); + } + if (std::isinf(cell_y_size) != 0) + { + throw std::invalid_argument("cell_y_size must not be INF"); + } + if (cell_z_size <= 0.0) + { + throw std::invalid_argument("cell_z_size must be positive and non-zero"); + } + if (std::isnan(cell_z_size)) + { + throw std::invalid_argument("cell_z_size must not be NaN"); + } + if (std::isinf(cell_z_size) != 0) + { + throw std::invalid_argument("cell_z_size must not be INF"); + } + if (x_size <= 0.0) + { + throw std::invalid_argument("x_size must be positive and non-zero"); + } + if (y_size <= 0.0) + { + throw std::invalid_argument("y_size must be positive and non-zero"); + } + if (z_size <= 0.0) + { + throw std::invalid_argument("z_size must be positive and non-zero"); + } + if (std::isnan(x_size)) + { + throw std::invalid_argument("x_size must not be NaN"); + } + if (std::isnan(y_size)) + { + throw std::invalid_argument("y_size must not be NaN"); + } + if (std::isnan(z_size)) + { + throw std::invalid_argument("z_size must not be NaN"); + } + if (std::isinf(x_size) != 0) + { + throw std::invalid_argument("x_size must not be INF"); + } + if (std::isinf(y_size) != 0) + { + throw std::invalid_argument("y_size must not be INF"); + } + if (std::isinf(z_size) != 0) + { + throw std::invalid_argument("z_size must not be INF"); + } + } + + inline void SafetyCheckSizes(const double cell_x_size, const double cell_y_size, const double cell_z_size, const int64_t num_x_cells,const int64_t num_y_cells, const int64_t num_z_cells) const + { + if (cell_x_size <= 0.0) + { + throw std::invalid_argument("cell_x_size must be positive and non-zero"); + } + if (std::isnan(cell_x_size)) + { + throw std::invalid_argument("cell_x_size must not be NaN"); + } + if (std::isinf(cell_x_size) != 0) + { + throw std::invalid_argument("cell_x_size must not be INF"); + } + if (cell_y_size <= 0.0) + { + throw std::invalid_argument("cell_y_size must be positive and non-zero"); + } + if (std::isnan(cell_y_size)) + { + throw std::invalid_argument("cell_y_size must not be NaN"); + } + if (std::isinf(cell_y_size) != 0) + { + throw std::invalid_argument("cell_y_size must not be INF"); + } + if (cell_z_size <= 0.0) + { + throw std::invalid_argument("cell_z_size must be positive and non-zero"); + } + if (std::isnan(cell_z_size)) + { + throw std::invalid_argument("cell_z_size must not be NaN"); + } + if (std::isinf(cell_z_size) != 0) + { + throw std::invalid_argument("cell_z_size must not be INF"); + } + if (num_x_cells <= 0) + { + throw std::invalid_argument("num_x_cells must be positive and non-zero"); + } + if (num_y_cells <= 0) + { + throw std::invalid_argument("num_y_cells must be positive and non-zero"); + } + if (num_z_cells <= 0) + { + throw std::invalid_argument("num_z_cells must be positive and non-zero"); + } + } + + inline void CoreInitialize(const double cell_x_size, const double cell_y_size, const double cell_z_size, const int64_t num_x_cells, const int64_t num_y_cells, const int64_t num_z_cells, const T& default_value, const T& oob_value) + { + SafetyCheckSizes(cell_x_size, cell_y_size, cell_z_size, num_x_cells, num_y_cells, num_z_cells); + cell_x_size_ = fabs(cell_x_size); + cell_y_size_ = fabs(cell_y_size); + cell_z_size_ = fabs(cell_z_size); + inv_cell_x_size_ = 1.0 / cell_x_size_; + inv_cell_y_size_ = 1.0 / cell_y_size_; + inv_cell_z_size_ = 1.0 / cell_z_size_; + num_x_cells_ = num_x_cells; + num_y_cells_ = num_y_cells; + num_z_cells_ = num_z_cells; + x_size_ = (double)num_x_cells_ * cell_x_size_; + y_size_ = (double)num_y_cells_ * cell_y_size_; + z_size_ = (double)num_z_cells_ * cell_z_size_; + default_value_ = default_value; + oob_value_ = oob_value; + stride1_ = num_y_cells_ * num_z_cells_; + stride2_ = num_z_cells_; + SetContents(default_value_); + } + + public: + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + inline static uint64_t Serialize(const VoxelGrid& grid, std::vector& buffer, const std::function&)>& value_serializer) + { + return grid.SerializeSelf(buffer, value_serializer); + } + + inline static std::pair, uint64_t> Deserialize(const std::vector& buffer, const uint64_t current, const std::function(const std::vector&, const uint64_t)>& value_deserializer) + { + VoxelGrid temp_grid; + const uint64_t bytes_read = temp_grid.DeserializeSelf(buffer, current, value_deserializer); + return std::make_pair(temp_grid, bytes_read); + } + + VoxelGrid(const Eigen::Isometry3d& origin_transform, const double cell_size, const double x_size, const double y_size, double const z_size, const T& default_value) + { + Initialize(origin_transform, cell_size, cell_size, cell_size, x_size, y_size, z_size, default_value, default_value); + } + + VoxelGrid(const Eigen::Isometry3d& origin_transform, const double cell_size, const double x_size, const double y_size, const double z_size, const T& default_value, const T& oob_value) + { + Initialize(origin_transform, cell_size, cell_size, cell_size, x_size, y_size, z_size, default_value, oob_value); + } + + VoxelGrid(const Eigen::Isometry3d& origin_transform, const double cell_x_size, const double cell_y_size, const double cell_z_size, const double x_size, const double y_size, double const z_size, const T& default_value) + { + Initialize(origin_transform, cell_x_size, cell_y_size, cell_z_size, x_size, y_size, z_size, default_value, default_value); + } + + VoxelGrid(const Eigen::Isometry3d& origin_transform, const double cell_x_size, const double cell_y_size, const double cell_z_size, const double x_size, const double y_size, const double z_size, const T& default_value, const T& oob_value) + { + Initialize(origin_transform, cell_x_size, cell_y_size, cell_z_size, x_size, y_size, z_size, default_value, oob_value); + } + + VoxelGrid(const Eigen::Isometry3d& origin_transform, const double cell_size, const int64_t num_x_cells, const int64_t num_y_cells, const int64_t num_z_cells, const T& default_value) + { + Initialize(origin_transform, cell_size, cell_size, cell_size, num_x_cells, num_y_cells, num_z_cells, default_value, default_value); + } + + VoxelGrid(const Eigen::Isometry3d& origin_transform, const double cell_size, const int64_t num_x_cells, const int64_t num_y_cells, const int64_t num_z_cells, const T& default_value, const T& oob_value) + { + Initialize(origin_transform, cell_size, cell_size, cell_size, num_x_cells, num_y_cells, num_z_cells, default_value, oob_value); + } + + VoxelGrid(const Eigen::Isometry3d& origin_transform, const double cell_x_size, const double cell_y_size, const double cell_z_size, const int64_t num_x_cells, const int64_t num_y_cells, const int64_t num_z_cells, const T& default_value) + { + Initialize(origin_transform, cell_x_size, cell_y_size, cell_z_size, num_x_cells, num_y_cells, num_z_cells, default_value, default_value); + } + + VoxelGrid(const Eigen::Isometry3d& origin_transform, const double cell_x_size, const double cell_y_size, const double cell_z_size, const int64_t num_x_cells, const int64_t num_y_cells, const int64_t num_z_cells, const T& default_value, const T& oob_value) + { + Initialize(origin_transform, cell_x_size, cell_y_size, cell_z_size, num_x_cells, num_y_cells, num_z_cells, default_value, oob_value); + } + + VoxelGrid(const double cell_size, const double x_size, const double y_size, const double z_size, const T& default_value) + { + Initialize(cell_size, cell_size, cell_size, x_size, y_size, z_size, default_value, default_value); + } + + VoxelGrid(const double cell_size, const double x_size, const double y_size, const double z_size, const T& default_value, const T& oob_value) + { + Initialize(cell_size, cell_size, cell_size, x_size, y_size, z_size, default_value, oob_value); + } + + VoxelGrid(const double cell_x_size, const double cell_y_size, const double cell_z_size, const double x_size, const double y_size, const double z_size, const T& default_value) + { + Initialize(cell_x_size, cell_y_size, cell_z_size, x_size, y_size, z_size, default_value, default_value); + } + + VoxelGrid(const double cell_x_size, const double cell_y_size, const double cell_z_size, const double x_size, const double y_size, const double z_size, const T& default_value, const T& oob_value) + { + Initialize(cell_x_size, cell_y_size, cell_z_size, x_size, y_size, z_size, default_value, oob_value); + } + + VoxelGrid(const double cell_size, const int64_t num_x_cells, const int64_t num_y_cells, const int64_t num_z_cells, const T& default_value) + { + Initialize(cell_size, cell_size, cell_size, num_x_cells, num_y_cells, num_z_cells, default_value, default_value); + } + + VoxelGrid(const double cell_size, const int64_t num_x_cells, const int64_t num_y_cells, const int64_t num_z_cells, const T& default_value, const T& oob_value) + { + Initialize(cell_size, cell_size, cell_size, num_x_cells, num_y_cells, num_z_cells, default_value, oob_value); + } + + VoxelGrid(const double cell_x_size, const double cell_y_size, const double cell_z_size, const int64_t num_x_cells, const int64_t num_y_cells, const int64_t num_z_cells, const T& default_value) + { + Initialize(cell_x_size, cell_y_size, cell_z_size, num_x_cells, num_y_cells, num_z_cells, default_value, default_value); + } + + VoxelGrid(const double cell_x_size, const double cell_y_size, const double cell_z_size, const int64_t num_x_cells, const int64_t num_y_cells, const int64_t num_z_cells, const T& default_value, const T& oob_value) + { + Initialize(cell_x_size, cell_y_size, cell_z_size, num_x_cells, num_y_cells, num_z_cells, default_value, oob_value); + } + + VoxelGrid() + { + origin_transform_ = Eigen::Isometry3d::Identity(); + inverse_origin_transform_ = origin_transform_.inverse(); + arc_helpers::RequireAlignment(origin_transform_, 16u); + arc_helpers::RequireAlignment(inverse_origin_transform_, 16u); + cell_x_size_ = 0.0; + cell_y_size_ = 0.0; + cell_z_size_ = 0.0; + inv_cell_x_size_ = 0.0; + inv_cell_y_size_ = 0.0; + inv_cell_z_size_ = 0.0; + x_size_ = 0.0; + y_size_ = 0.0; + z_size_ = 0.0; + num_x_cells_ = 0; + num_y_cells_ = 0; + num_z_cells_ = 0; + stride1_ = num_y_cells_ * num_z_cells_; + stride2_ = num_z_cells_; + data_.clear(); + initialized_ = false; + } + + inline void Initialize(const Eigen::Isometry3d& origin_transform, const double cell_x_size, const double cell_y_size, const double cell_z_size, const double x_size, const double y_size, double const z_size, const T& default_value, const T& oob_value) + { + SafetyCheckSizes(cell_x_size, cell_y_size, cell_z_size, x_size, y_size, z_size); + int64_t num_x_cells = (int64_t)(ceil(fabs(x_size) / fabs(cell_x_size))); + int64_t num_y_cells = (int64_t)(ceil(fabs(y_size) / fabs(cell_y_size))); + int64_t num_z_cells = (int64_t)(ceil(fabs(z_size) / fabs(cell_z_size))); + Initialize(origin_transform, cell_x_size, cell_y_size, cell_z_size, num_x_cells, num_y_cells, num_z_cells, default_value, oob_value); + } + + inline void Initialize(const Eigen::Isometry3d& origin_transform, const double cell_x_size, const double cell_y_size, const double cell_z_size, const int64_t num_x_cells, const int64_t num_y_cells, const int64_t num_z_cells, const T& default_value, const T& oob_value) + { + SafetyCheckSizes(cell_x_size, cell_y_size, cell_z_size, num_x_cells, num_y_cells, num_z_cells); + CoreInitialize(cell_x_size, cell_y_size, cell_z_size, num_x_cells, num_y_cells, num_z_cells, default_value, oob_value); + origin_transform_ = origin_transform; + inverse_origin_transform_ = origin_transform_.inverse(); + arc_helpers::RequireAlignment(origin_transform_, 16u); + arc_helpers::RequireAlignment(inverse_origin_transform_, 16u); + initialized_ = true; + } + + inline void Initialize(const double cell_x_size, const double cell_y_size, const double cell_z_size, const double x_size, const double y_size, double const z_size, const T& default_value, const T& oob_value) + { + SafetyCheckSizes(cell_x_size, cell_y_size, cell_z_size, x_size, y_size, z_size); + int64_t num_x_cells = (int64_t)(ceil(fabs(x_size) / fabs(cell_x_size))); + int64_t num_y_cells = (int64_t)(ceil(fabs(y_size) / fabs(cell_y_size))); + int64_t num_z_cells = (int64_t)(ceil(fabs(z_size) / fabs(cell_z_size))); + Initialize(cell_x_size, cell_y_size, cell_z_size, num_x_cells, num_y_cells, num_z_cells, default_value, oob_value); + } + + inline void Initialize(const double cell_x_size, const double cell_y_size, const double cell_z_size, const int64_t num_x_cells, const int64_t num_y_cells, const int64_t num_z_cells, const T& default_value, const T& oob_value) + { + SafetyCheckSizes(cell_x_size, cell_y_size, cell_z_size, num_x_cells, num_y_cells, num_z_cells); + CoreInitialize(cell_x_size, cell_y_size, cell_z_size, num_x_cells, num_y_cells, num_z_cells, default_value, oob_value); + const Eigen::Translation3d origin_translation(-x_size_ * 0.5, -y_size_ * 0.5, -z_size_ * 0.5); + const Eigen::Isometry3d origin_transform = origin_translation * Eigen::Quaterniond::Identity(); + origin_transform_ = origin_transform; + inverse_origin_transform_ = origin_transform_.inverse(); + arc_helpers::RequireAlignment(origin_transform_, 16u); + arc_helpers::RequireAlignment(inverse_origin_transform_, 16u); + initialized_ = true; + } + + inline uint64_t SerializeSelf(std::vector& buffer, const std::function&)>& value_serializer) const + { + const uint64_t start_buffer_size = buffer.size(); + // Serialize the initialized + arc_utilities::SerializeFixedSizePOD((uint8_t)initialized_, buffer); + // Serialize the transforms + arc_utilities::SerializeEigenType(origin_transform_, buffer); + arc_utilities::SerializeEigenType(inverse_origin_transform_, buffer); + // Serialize the data + arc_utilities::SerializeVector(data_, buffer, value_serializer); + // Serialize the cell sizes + arc_utilities::SerializeFixedSizePOD(cell_x_size_, buffer); + arc_utilities::SerializeFixedSizePOD(cell_y_size_, buffer); + arc_utilities::SerializeFixedSizePOD(cell_z_size_, buffer); + arc_utilities::SerializeFixedSizePOD(inv_cell_x_size_, buffer); + arc_utilities::SerializeFixedSizePOD(inv_cell_y_size_, buffer); + arc_utilities::SerializeFixedSizePOD(inv_cell_z_size_, buffer); + // Serialize the grid sizes + arc_utilities::SerializeFixedSizePOD(x_size_, buffer); + arc_utilities::SerializeFixedSizePOD(y_size_, buffer); + arc_utilities::SerializeFixedSizePOD(z_size_, buffer); + // Serialize the control/bounds values + arc_utilities::SerializeFixedSizePOD(stride1_, buffer); + arc_utilities::SerializeFixedSizePOD(stride2_, buffer); + arc_utilities::SerializeFixedSizePOD(num_x_cells_, buffer); + arc_utilities::SerializeFixedSizePOD(num_y_cells_, buffer); + arc_utilities::SerializeFixedSizePOD(num_z_cells_, buffer); + // Serialize the default value + value_serializer(default_value_, buffer); + // Serialize the OOB value + value_serializer(oob_value_, buffer); + // Figure out how many bytes were written + const uint64_t end_buffer_size = buffer.size(); + const uint64_t bytes_written = end_buffer_size - start_buffer_size; + return bytes_written; + } + + inline uint64_t DeserializeSelf(const std::vector& buffer, const uint64_t current, const std::function(const std::vector&, const uint64_t)>& value_deserializer) + { + uint64_t current_position = current; + // Deserialize the initialized + const std::pair initialized_deserialized = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + initialized_ = (bool)initialized_deserialized.first; + current_position += initialized_deserialized.second; + // Deserialize the transforms + const std::pair origin_transform_deserialized = arc_utilities::DeserializeEigenType(buffer, current_position); + origin_transform_ = origin_transform_deserialized.first; + current_position += origin_transform_deserialized.second; + const std::pair inverse_origin_transform_deserialized = arc_utilities::DeserializeEigenType(buffer, current_position); + inverse_origin_transform_ = inverse_origin_transform_deserialized.first; + current_position += inverse_origin_transform_deserialized.second; + // Deserialize the data + const std::pair, uint64_t> data_deserialized = arc_utilities::DeserializeVector(buffer, current_position, value_deserializer); + data_ = data_deserialized.first; + current_position += data_deserialized.second; + // Deserialize the cell sizes + const std::pair cell_x_size_deserialized = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + cell_x_size_ = cell_x_size_deserialized.first; + current_position += cell_x_size_deserialized.second; + const std::pair cell_y_size_deserialized = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + cell_y_size_ = cell_y_size_deserialized.first; + current_position += cell_y_size_deserialized.second; + const std::pair cell_z_size_deserialized = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + cell_z_size_ = cell_z_size_deserialized.first; + current_position += cell_z_size_deserialized.second; + const std::pair inv_cell_x_size_deserialized = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + inv_cell_x_size_ = inv_cell_x_size_deserialized.first; + current_position += inv_cell_x_size_deserialized.second; + const std::pair inv_cell_y_size_deserialized = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + inv_cell_y_size_ = inv_cell_y_size_deserialized.first; + current_position += inv_cell_y_size_deserialized.second; + const std::pair inv_cell_z_size_deserialized = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + inv_cell_z_size_ = inv_cell_z_size_deserialized.first; + current_position += inv_cell_z_size_deserialized.second; + // Deserialize the grid sizes + const std::pair x_size_deserialized = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + x_size_ = x_size_deserialized.first; + current_position += x_size_deserialized.second; + const std::pair y_size_deserialized = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + y_size_ = y_size_deserialized.first; + current_position += y_size_deserialized.second; + const std::pair z_size_deserialized = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + z_size_ = z_size_deserialized.first; + current_position += z_size_deserialized.second; + // Deserialize the control/bounds values + const std::pair stride1_deserialized = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + stride1_ = stride1_deserialized.first; + current_position += stride1_deserialized.second; + const std::pair stride2_deserialized = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + stride2_ = stride2_deserialized.first; + current_position += stride2_deserialized.second; + const std::pair num_x_cells_deserialized = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + num_x_cells_ = num_x_cells_deserialized.first; + current_position += num_x_cells_deserialized.second; + const std::pair num_y_cells_deserialized = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + num_y_cells_ = num_y_cells_deserialized.first; + current_position += num_y_cells_deserialized.second; + const std::pair num_z_cells_deserialized = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + num_z_cells_ = num_z_cells_deserialized.first; + current_position += num_z_cells_deserialized.second; + // Deserialize the default value + const std::pair default_value_deserialized = value_deserializer(buffer, current_position); + default_value_ = default_value_deserialized.first; + current_position += default_value_deserialized.second; + // Deserialize the OOB value + const std::pair oob_value_deserialized = value_deserializer(buffer, current_position); + oob_value_ = oob_value_deserialized.first; + current_position += oob_value_deserialized.second; + // Figure out how many bytes were read + const uint64_t bytes_read = current_position - current; + return bytes_read; + } + + inline bool IsInitialized() const + { + return initialized_; + } + + inline void ResetWithDefault() + { + SetContents(default_value_); + } + + inline void ResetWithNewValue(const T& new_value) + { + SetContents(new_value); + } + + inline void ResetWithNewDefault(const T& new_default) + { + default_value_ = new_default; + SetContents(default_value_); + } + + inline bool IndexInBounds(const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + if (x_index >= 0 && y_index >= 0 && z_index >= 0 && x_index < num_x_cells_ && y_index < num_y_cells_ && z_index < num_z_cells_) + { + return true; + } + else + { + return false; + } + } + + inline std::pair GetImmutable3d(const Eigen::Vector3d& location) const + { + assert(initialized_); + const std::vector indices = LocationToGridIndex3d(location); + if (indices.size() == 3) + { + return GetImmutable(indices[0], indices[1], indices[2]); + } + else + { + return std::pair(oob_value_, false); + } + } + + inline std::pair GetImmutable4d(const Eigen::Vector4d& location) const + { + assert(initialized_); + const std::vector indices = LocationToGridIndex4d(location); + if (indices.size() == 3) + { + return GetImmutable(indices[0], indices[1], indices[2]); + } + else + { + return std::pair(oob_value_, false); + } + } + + inline std::pair GetImmutable(const double x, const double y, const double z) const + { + const Eigen::Vector4d location(x, y, z, 1.0); + return GetImmutable4d(location); + } + + inline std::pair GetImmutable(const GRID_INDEX& index) const + { + return GetImmutable(index.x, index.y, index.z); + } + + inline std::pair GetImmutable(const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + assert(initialized_); + if (IndexInBounds(x_index, y_index, z_index)) + { + const int64_t data_index = GetDataIndex(x_index, y_index, z_index); + assert(data_index >= 0 && data_index < (int64_t)data_.size()); + return std::pair(data_[data_index], true); + } + else + { + return std::pair(oob_value_, false); + } + } + + inline std::pair GetMutable3d(const Eigen::Vector3d& location) + { + assert(initialized_); + const std::vector indices = LocationToGridIndex3d(location); + if (indices.size() == 3) + { + return GetMutable(indices[0], indices[1], indices[2]); + } + else + { + return std::pair(oob_value_, false); + } + } + + inline std::pair GetMutable4d(const Eigen::Vector4d& location) + { + assert(initialized_); + const std::vector indices = LocationToGridIndex4d(location); + if (indices.size() == 3) + { + return GetMutable(indices[0], indices[1], indices[2]); + } + else + { + return std::pair(oob_value_, false); + } + } + + inline std::pair GetMutable(const double x, const double y, const double z) + { + const Eigen::Vector4d location(x, y, z, 1.0); + return GetMutable4d(location); + } + + inline std::pair GetMutable(const GRID_INDEX& index) + { + return GetMutable(index.x, index.y, index.z); + } + + inline std::pair GetMutable(const int64_t x_index, const int64_t y_index, const int64_t z_index) + { + assert(initialized_); + if (IndexInBounds(x_index, y_index, z_index)) + { + const int64_t data_index = GetDataIndex(x_index, y_index, z_index); + assert(data_index >= 0 && data_index < (int64_t)data_.size()); + return std::pair(data_[data_index], true); + } + else + { + return std::pair(oob_value_, false); + } + } + + inline bool SetValue3d(const Eigen::Vector3d& location, const T& value) + { + assert(initialized_); + const std::vector indices = LocationToGridIndex3d(location); + if (indices.size() == 3) + { + return SetValue(indices[0], indices[1], indices[2], value); + } + else + { + return false; + } + } + + inline bool SetValue4d(const Eigen::Vector4d& location, const T& value) + { + assert(initialized_); + const std::vector indices = LocationToGridIndex4d(location); + if (indices.size() == 3) + { + return SetValue(indices[0], indices[1], indices[2], value); + } + else + { + return false; + } + } + + inline bool SetValue(const double x, const double y, const double z, const T& value) + { + const Eigen::Vector4d location(x, y, z, 1.0); + return SetValue4d(location, value); + } + + inline bool SetValue(const GRID_INDEX& index, const T& value) + { + return SetValue(index.x, index.y, index.z, value); + } + + inline bool SetValue(const int64_t x_index, const int64_t y_index, const int64_t z_index, const T& value) + { + assert(initialized_); + if (IndexInBounds(x_index, y_index, z_index)) + { + const int64_t data_index = GetDataIndex(x_index, y_index, z_index); + assert(data_index >= 0 && data_index < (int64_t)data_.size()); + data_[data_index] = value; + return true; + } + else + { + return false; + } + } + + inline bool SetValue3d(const Eigen::Vector3d& location, T&& value) + { + assert(initialized_); + const std::vector indices = LocationToGridIndex3d(location); + if (indices.size() == 3) + { + return SetValue(indices[0], indices[1], indices[2], value); + } + else + { + return false; + } + } + + inline bool SetValue4d(const Eigen::Vector4d& location, T&& value) + { + assert(initialized_); + const std::vector indices = LocationToGridIndex4d(location); + if (indices.size() == 3) + { + return SetValue(indices[0], indices[1], indices[2], value); + } + else + { + return false; + } + } + + inline bool SetValue(const double x, const double y, const double z, T&& value) + { + const Eigen::Vector4d location(x, y, z, 1.0); + return SetValue4d(location, value); + } + + inline bool SetValue(const GRID_INDEX& index, T&& value) + { + return SetValue(index.x, index.y, index.z, value); + } + + inline bool SetValue(const int64_t x_index, const int64_t y_index, const int64_t z_index, T&& value) + { + assert(initialized_); + if (IndexInBounds(x_index, y_index, z_index)) + { + const int64_t data_index = GetDataIndex(x_index, y_index, z_index); + assert(data_index >= 0 && data_index < (int64_t)data_.size()); + data_[data_index] = value; + return true; + } + else + { + return false; + } + } + + inline double GetXSize() const + { + return x_size_; + } + + inline double GetYSize() const + { + return y_size_; + } + + inline double GetZSize() const + { + return z_size_; + } + + inline std::vector GetCellSizes() const + { + return std::vector{cell_x_size_, cell_y_size_, cell_z_size_}; + } + + inline T GetDefaultValue() const + { + return default_value_; + } + + inline T GetOOBValue() const + { + return oob_value_; + } + + inline void SetDefaultValue(const T& default_value) + { + default_value_ = default_value; + } + + inline void SetOOBValue(const T& oob_value) + { + oob_value_ = oob_value; + } + + inline int64_t GetNumXCells() const + { + return num_x_cells_; + } + + inline int64_t GetNumYCells() const + { + return num_y_cells_; + } + + inline int64_t GetNumZCells() const + { + return num_z_cells_; + } + + inline const Eigen::Isometry3d& GetOriginTransform() const + { + return origin_transform_; + } + + inline const Eigen::Isometry3d& GetInverseOriginTransform() const + { + return inverse_origin_transform_; + } + + inline std::vector LocationToGridIndex(const double x, const double y, const double z) const + { + const Eigen::Vector4d point(x, y, z, 1.0); + return LocationToGridIndex4d(point); + } + + inline std::vector LocationToGridIndex3d(const Eigen::Vector3d& location) const + { + assert(initialized_); + const Eigen::Vector3d point_in_grid_frame = inverse_origin_transform_ * location; + const int64_t x_cell = (int64_t)(point_in_grid_frame.x() * inv_cell_x_size_); + const int64_t y_cell = (int64_t)(point_in_grid_frame.y() * inv_cell_y_size_); + const int64_t z_cell = (int64_t)(point_in_grid_frame.z() * inv_cell_z_size_); + if (IndexInBounds(x_cell, y_cell, z_cell)) + { + return std::vector{x_cell, y_cell, z_cell}; + } + else + { + return std::vector(); + } + } + + inline std::vector LocationToGridIndex4d(const Eigen::Vector4d& location) const + { + assert(initialized_); + const Eigen::Vector4d point_in_grid_frame = inverse_origin_transform_ * location; + const int64_t x_cell = (int64_t)(point_in_grid_frame(0) * inv_cell_x_size_); + const int64_t y_cell = (int64_t)(point_in_grid_frame(1) * inv_cell_y_size_); + const int64_t z_cell = (int64_t)(point_in_grid_frame(2) * inv_cell_z_size_); + if (IndexInBounds(x_cell, y_cell, z_cell)) + { + return std::vector{x_cell, y_cell, z_cell}; + } + else + { + return std::vector(); + } + } + + inline std::vector GridIndexToLocation(const GRID_INDEX& index) const + { + return GridIndexToLocation(index.x, index.y, index.z); + } + + inline std::vector GridIndexToLocation(const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + assert(initialized_); + if (IndexInBounds(x_index, y_index, z_index)) + { + const Eigen::Vector3d point_in_grid_frame(cell_x_size_ * ((double)x_index + 0.5), cell_y_size_ * ((double)y_index + 0.5), cell_z_size_ * ((double)z_index + 0.5)); + const Eigen::Vector3d point = origin_transform_ * point_in_grid_frame; + return std::vector{point.x(), point.y(), point.z()}; + } + else + { + return std::vector(); + } + } + + inline const std::vector& GetRawData() const + { + return data_; + } + + inline std::vector CopyRawData() const + { + return data_; + } + + inline bool SetRawData(std::vector& data) + { + assert(initialized_); + const int64_t expected_length = num_x_cells_ * num_y_cells_ * num_z_cells_; + if ((int64_t)data.size() == expected_length) + { + data_ = data; + return true; + } + else + { + std::cerr << "Failed to load internal data - expected " << expected_length << " got " << data.size() << std::endl; + return false; + } + } + + inline uint64_t HashDataIndex(const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + return (x_index * stride1_) + (y_index * stride2_) + z_index; + } + }; +} + +namespace std +{ + template <> + struct hash + { + std::size_t operator()(const VoxelGrid::GRID_INDEX& index) const + { + using std::size_t; + using std::hash; + return ((std::hash()(index.x) ^ (std::hash()(index.y) << 1) >> 1) ^ (std::hash()(index.z) << 1)); + } + }; +} + +inline std::ostream& operator<<(std::ostream& strm, const VoxelGrid::GRID_INDEX& index) +{ + strm << "GridIndex: " << index.x << "," << index.y << "," << index.z; + return strm; +} + +#endif // VOXEL_GRID_HPP diff --git a/flightlib/third_party/arc_utilities/include/arc_utilities/zlib_helpers.hpp b/flightlib/third_party/arc_utilities/include/arc_utilities/zlib_helpers.hpp new file mode 100644 index 0000000..adc75fa --- /dev/null +++ b/flightlib/third_party/arc_utilities/include/arc_utilities/zlib_helpers.hpp @@ -0,0 +1,25 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef ZLIB_HELPERS_HPP +#define ZLIB_HELPERS_HPP + +namespace ZlibHelpers +{ + std::vector DecompressBytes(const std::vector& compressed); + + std::vector CompressBytes(const std::vector& uncompressed); + + std::vector LoadFromFileAndDecompress(const std::string& path); + + void CompressAndWriteToFile(const std::vector& uncompressed, const std::string& path); +} + +#endif // ZLIB_HELPERS_HPP diff --git a/flightlib/third_party/arc_utilities/package.xml b/flightlib/third_party/arc_utilities/package.xml new file mode 100644 index 0000000..ae9bfb7 --- /dev/null +++ b/flightlib/third_party/arc_utilities/package.xml @@ -0,0 +1,31 @@ + + + arc_utilities + 0.0.1 + C++ and Python utilities used in lab projects + Calder Phillips-Grafflin + BSD + + catkin + + roscpp + rospy + std_msgs + sensor_msgs + geometry_msgs + + roscpp + rospy + std_msgs + sensor_msgs + geometry_msgs + + + + + + + + + + diff --git a/flightlib/third_party/arc_utilities/setup.py b/flightlib/third_party/arc_utilities/setup.py new file mode 100644 index 0000000..a81d0a1 --- /dev/null +++ b/flightlib/third_party/arc_utilities/setup.py @@ -0,0 +1,11 @@ +#!/usr/bin/env python + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['arc_utilities'], + package_dir={'': 'src'} +) + +setup(**d) diff --git a/flightlib/third_party/arc_utilities/src/__init__.py b/flightlib/third_party/arc_utilities/src/__init__.py new file mode 100644 index 0000000..23c5a5f --- /dev/null +++ b/flightlib/third_party/arc_utilities/src/__init__.py @@ -0,0 +1 @@ +__author__ = 'calderpg' diff --git a/flightlib/third_party/arc_utilities/src/arc_utilities/__init__.py b/flightlib/third_party/arc_utilities/src/arc_utilities/__init__.py new file mode 100644 index 0000000..62fc9eb --- /dev/null +++ b/flightlib/third_party/arc_utilities/src/arc_utilities/__init__.py @@ -0,0 +1,4 @@ +import color_mapping +import transformation_helper +import extra_functions_to_be_put_in_the_right_place +import numpy_conversions \ No newline at end of file diff --git a/flightlib/third_party/arc_utilities/src/arc_utilities/base64_helpers.cpp b/flightlib/third_party/arc_utilities/src/arc_utilities/base64_helpers.cpp new file mode 100644 index 0000000..8bf8a65 --- /dev/null +++ b/flightlib/third_party/arc_utilities/src/arc_utilities/base64_helpers.cpp @@ -0,0 +1,97 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "arc_utilities/base64_helpers.hpp" + +namespace Base64Helpers +{ + /* + * Implementations derived from post at http://stackoverflow.com/a/41094722 + */ + + static const std::array B64IndexTable = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 62, 63, 62, 62, + 63, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 0, 0, + 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, + 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, + 23, 24, 25, 0, 0, 0, 0, 63, 0, 26, 27, 28, 29, + 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, + 42, 43, 44, 45, 46, 47, 48, 49, 50, 51 }; + + std::vector Decode(const std::string& encoded) + { + const size_t encoded_length = encoded.size(); + const size_t pad = encoded_length > 0 && (encoded_length % 4 || encoded[encoded_length - 1] == '='); + const size_t L = ((encoded_length + 3) / 4 - pad) * 4; + std::vector buffer(L / 4 * 3 + pad, 0x00); + for (size_t i = 0, j = 0; i < L; i += 4) + { + const int32_t n = B64IndexTable[encoded[i]] << 18 | B64IndexTable[encoded[i + 1]] << 12 | B64IndexTable[encoded[i + 2]] << 6 | B64IndexTable[encoded[i + 3]]; + buffer[j++] = (uint8_t)(n >> 16); + buffer[j++] = (uint8_t)(n >> 8 & 0xFF); + buffer[j++] = (uint8_t)(n & 0xFF); + } + if (pad > 0) + { + int32_t n = B64IndexTable[encoded[L]] << 18 | B64IndexTable[encoded[L + 1]] << 12; + buffer[buffer.size() - 1] = (uint8_t)(n >> 16); + if (encoded_length > L + 2 && encoded[L + 2] != '=') + { + n |= B64IndexTable[encoded[L + 2]] << 6; + buffer.push_back((uint8_t)(n >> 8 & 0xFF)); + } + } + return buffer; + } + + static const std::array B64ValueTable = {'A', 'B', 'C', 'D', 'E', 'F', 'G', 'H', 'I', 'J', 'K', 'L', 'M', 'N', 'O', 'P', + 'Q', 'R', 'S', 'T', 'U', 'V', 'W', 'X', 'Y', 'Z', 'a', 'b', 'c', 'd', 'e', 'f', + 'g', 'h', 'i', 'j', 'k', 'l', 'm', 'n', 'o', 'p', 'q', 'r', 's', 't', 'u', 'v', + 'w', 'x', 'y', 'z', '0', '1', '2', '3', '4', '5', '6', '7', '8', '9', '+', '/'}; + + std::string Encode(const std::vector& binary) + { + const size_t binary_length = binary.size(); + const size_t encoded_length = 4 * ((binary_length + 2) / 3); /* 3-byte blocks to 4-byte */ + if (encoded_length < binary_length) + { + return std::string(); /* integer overflow */ + } + std::string encoded; + encoded.resize(encoded_length); + size_t input_position = 0; + size_t output_position = 0; + while (binary_length - input_position >= 3) + { + encoded[output_position++] = B64ValueTable[binary[input_position + 0] >> 2]; + encoded[output_position++] = B64ValueTable[((binary[input_position + 0] & 0x03) << 4) | (binary[input_position + 1] >> 4)]; + encoded[output_position++] = B64ValueTable[((binary[input_position + 1] & 0x0f) << 2) | (binary[input_position + 2] >> 6)]; + encoded[output_position++] = B64ValueTable[binary[input_position + 2] & 0x3f]; + input_position += 3; + } + if (input_position < binary_length) + { + encoded[output_position++] = B64ValueTable[binary[input_position + 0] >> 2]; + if ((binary_length - input_position) == 1) + { + encoded[output_position++] = B64ValueTable[(binary[input_position + 0] & 0x03) << 4]; + encoded[output_position++] = '='; + } + else + { + encoded[output_position++] = B64ValueTable[((binary[input_position + 0] & 0x03) << 4) | (binary[input_position + 1] >> 4)]; + encoded[output_position++] = B64ValueTable[(binary[input_position + 1] & 0x0f) << 2]; + } + encoded[output_position++] = '='; + } + return encoded; + } +} diff --git a/flightlib/third_party/arc_utilities/src/arc_utilities/color_mapping.py b/flightlib/third_party/arc_utilities/src/arc_utilities/color_mapping.py new file mode 100644 index 0000000..b1f50b6 --- /dev/null +++ b/flightlib/third_party/arc_utilities/src/arc_utilities/color_mapping.py @@ -0,0 +1,199 @@ +#!/usr/bin/env python + +import math +import numpy + + +def convert_rgb_to_xyz(r, g, b): + rgb_np = numpy.array([r, g, b]) + rgb_xyz_cvt_np = numpy.array([[0.4124, 0.2126, 0.0193], [0.3576, 0.7152, 0.1192], [0.1805, 0.0722, 0.9505]]) + xyz_np = numpy.dot(rgb_np, rgb_xyz_cvt_np) + return [xyz_np[0], xyz_np[1], xyz_np[2]] + + +def convert_xyz_to_rgb(x, y, z): + xyz_np = numpy.array([x, y, z]) + rgb_xyz_cvt_np = numpy.array([[0.4124, 0.2126, 0.0193], [0.3576, 0.7152, 0.1192], [0.1805, 0.0722, 0.9505]]) + xyz_rgb_cvt_np = numpy.linalg.inv(rgb_xyz_cvt_np) + rgb_np = numpy.dot(xyz_np, xyz_rgb_cvt_np) + return [rgb_np[0], rgb_np[1], rgb_np[2]] + + +def cielab_f(val): + if val > (216.0 / 24389.0): + return math.pow(val, (1.0 / 3.0)) + else: + return (841.0 / 108.0) * val + (16.0 / 116.0) + + +def cielab_finv(val): + if val > (6.0 / 29.0): + return val ** 3 + else: + return (108.0 / 841.0) * (val - (16.0 / 116.0)) + + +def get_ref_xyz(): + xref = 95.047 + yref = 100.0 + zref = 108.883 + return [xref, yref, zref] + + +def convert_xyz_to_lab(x, y, z): + [xref, yref, zref] = get_ref_xyz() + l = 116.0 * (cielab_f(y / yref) - (16.0 / 116.0)) + a = 500.0 * (cielab_f(x / xref) - cielab_f(y / yref)) + b = 200.0 * (cielab_f(y / yref) - cielab_f(z / zref)) + return [l, a, b] + + +def convert_lab_to_xyz(l, a, b): + intermediate = (l + 16.0) * (1.0 / 116.0) + x = cielab_finv(intermediate + a * (1.0 / 500.0)) + y = cielab_finv(intermediate) + z = cielab_finv(intermediate - b * (1.0 / 200.0)) + return [x, y, z] + + +def convert_lab_to_msh(l, a, b): + m = math.sqrt(l ** 2 + a ** 2 + b ** 2) + s = math.acos(l / m) + #h = math.atan2(b, a) + h = math.atan(b / a) + return [m, s, h] + + +def convert_msh_to_lab(m, s, h): + l = m * math.cos(s) + a = m * math.sin(s) * math.cos(h) + b = m * math.sin(s) * math.sin(h) + return [l, a, b] + + +def rgb_to_msh(r, g, b): + [x, y, z] = convert_rgb_to_xyz(r, g, b) + [l, a, b] = convert_xyz_to_lab(x, y, z) + [m, s, h] = convert_lab_to_msh(l, a, b) + return [m, s, h] + + +def msh_to_rgb(m, s, h): + [l, a, b] = convert_msh_to_lab(m, s, h) + [x, y, z] = convert_lab_to_xyz(l, a, b) + [r, g, b] = convert_xyz_to_rgb(x, y, z) + return [r, g, b] + + +def rad_diff(x, y): + diff = abs(x - y) + if diff > math.pi: + return (math.pi * 2.0) - diff + else: + return diff + + +def adjust_hue((m_saturated, s_saturated, h_saturated), m_unsaturated): + if m_saturated >= m_unsaturated: + return h_saturated + else: + h_spin = (s_saturated * math.sqrt(m_unsaturated ** 2 - m_saturated ** 2)) / (m_saturated * math.sin(s_saturated)) + if h_saturated > -(math.pi / 3.0): + return h_saturated + h_spin + else: + return h_saturated - h_spin + + +def interpolate_coolwarm((r1, g1, b1), (r2, g2, b2), interpolation): + assert(0.0 <= interpolation <= 1.0) + [m1, s1, h1] = rgb_to_msh(r1, g1, b1) + [m2, s2, h2] = rgb_to_msh(r2, g2, b2) + # If points saturated and distinct, place white in middle + if (s1 > 0.05) and (s2 > 0.05) and (rad_diff(h1, h2) > (math.pi / 3.0)): + m_mid = max((m1, m2, 88.0)) + if interpolation < 0.5: + m2 = m_mid + s2 = 0.0 + h2 = 0.0 + interpolation *= 2.0 + else: + m1 = m_mid + s1 = 0.0 + h1 = 0.0 + interpolation = 2.0 * interpolation - 1.0 + # Adjust hue of unsaturated colors + if (s1 < 0.05) and (s2 > 0.05): + h1 = adjust_hue((m2, s2, h2), m1) + elif (s2 < 0.05) and (s1 > 0.05): + h2 = adjust_hue((m1, s1, h1), m2) + # Linear interpolation on adjusted control points + m_mid = ((1.0 - interpolation) * m1) + (interpolation * m2) + s_mid = ((1.0 - interpolation) * s1) + (interpolation * s2) + h_mid = ((1.0 - interpolation) * h1) + (interpolation * h2) + return msh_to_rgb(m_mid, s_mid, h_mid) + + +def jet_interpolate(value, y0, x0, y1, x1): + return (value - x0) * (y1 - y0) / (x1 - x0) + y0 + + +def jet_base(value): + if value <= -0.75: + return 0.0 + elif value <= -0.25: + return jet_interpolate(value, 0.0, -0.75, 1.0, -0.25) + elif value <= 0.25: + return 1.0 + elif value <= 0.75: + return jet_interpolate(value, 1.0, 0.25, 0.0, 0.75) + else: + return 0.0 + + +def interpolate_jet(value, use_negative_range=False): + if use_negative_range: + assert(-1.0 <= value <= 1.0) + r = jet_base(value - 0.5) + g = jet_base(value) + b = jet_base(value + 0.5) + return [r, g, b] + else: + assert(0.0 <= value <= 1.0) + if value > 0.5: + value = (value - 0.5) * 2.0 + elif value < 0.5: + value = -(0.5 - value) * 2.0 + else: + value = 0.0 + r = jet_base(value - 0.5) + g = jet_base(value) + b = jet_base(value + 0.5) + return [r, g, b] + + +def interpolate_hot_to_cold(value, min_value=0.0, max_value=1.0): + # Safety checks + assert(min_value < max_value) + if value < min_value: + value = min_value + elif value > max_value: + value = max_value + val_range = max_value - min_value + # Start with white + r = 1.0 + g = 1.0 + b = 1.0 + # Interpolate + if value < (min_value + 0.25 * val_range): + r = 0.0 + g = 4.0 * (value - min_value) / val_range + elif value < (min_value + 0.5 * val_range): + r = 0.0 + b = 1.0 + 4.0 * (min_value + 0.25 * val_range - value) / val_range + elif value < (min_value + 0.75 * val_range): + r = 4 * (value - min_value - 0.5 * val_range) / val_range + b = 0.0 + else: + g = 1.0 + 4.0 * (min_value + 0.75 * val_range - min_value) / val_range + b = 0.0 + return [r, g, b] \ No newline at end of file diff --git a/flightlib/third_party/arc_utilities/src/arc_utilities/extra_functions_to_be_put_in_the_right_place.py b/flightlib/third_party/arc_utilities/src/arc_utilities/extra_functions_to_be_put_in_the_right_place.py new file mode 100644 index 0000000..1d3312f --- /dev/null +++ b/flightlib/third_party/arc_utilities/src/arc_utilities/extra_functions_to_be_put_in_the_right_place.py @@ -0,0 +1,82 @@ +from std_msgs.msg import * +from geometry_msgs.msg import * +from color_mapping import * + +def make_pose((px, py, pz), (rx, ry, rz, rw)): + new_pose = Pose() + new_pose.position.x = px + new_pose.position.y = py + new_pose.position.z = pz + new_pose.orientation.x = rx + new_pose.orientation.y = ry + new_pose.orientation.z = rz + new_pose.orientation.w = rw + return new_pose + + +def make_vector(x, y, z): + new_vector = Vector3() + new_vector.x = x + new_vector.y = y + new_vector.z = z + return new_vector + + +def make_point(x, y, z): + new_point = Point() + new_point.x = x + new_point.y = y + new_point.z = z + return new_point + + +def make_plane((px, py, pz), (nx, ny, nz)): + new_plane = CollisionPlane() + new_plane.point = make_point(px, py, pz) + new_plane.normal = make_vector(nx, ny, nz) + return new_plane + + +def make_unit_point(x, y, z): + mag = math.sqrt(x ** 2 + y ** 2 + z ** 2) + assert(mag > 0.0) + unit_point = Point() + unit_point.x = x / mag + unit_point.y = y / mag + unit_point.z = z / mag + return unit_point + + +def normalize_point(raw_point): + return make_unit_point(raw_point.x, raw_point.y, raw_point.z) + + +def make_plane_from_points(point, normal): + new_plane = CollisionPlane() + new_plane.point = point + new_plane.normal = normal + return new_plane + + +def safe_color_val(val): + if val >= 1.0: + return 1.0 + elif val <= 0.0: + return 0.0 + else: + return val + + +def make_color(r, g, b, a): + new_color = ColorRGBA() + new_color.r = safe_color_val(r) + new_color.g = safe_color_val(g) + new_color.b = safe_color_val(b) + new_color.a = safe_color_val(a) + return new_color + + +def map_color(value): + # [r, g, b] = interpolate_jet(value) + [r, g, b] = interpolate_hot_to_cold(value) + return make_color(r, g, b, 1.0) \ No newline at end of file diff --git a/flightlib/third_party/arc_utilities/src/arc_utilities/first_order_deformation.cpp b/flightlib/third_party/arc_utilities/src/arc_utilities/first_order_deformation.cpp new file mode 100644 index 0000000..a7d7328 --- /dev/null +++ b/flightlib/third_party/arc_utilities/src/arc_utilities/first_order_deformation.cpp @@ -0,0 +1,99 @@ +#include "arc_utilities/first_order_deformation.h" + +#include +#include + +using namespace arc_utilities; +using namespace FirstOrderDeformation; + +static double ConfigTypeDistance(const ConfigType& c1, const ConfigType& c2) +{ + return Eigen::Vector2d((double)(c1.first - c2.first), (double)(c1.second - c2.second)).norm(); +} + +static std::vector GetNeighbours(const ConfigType& config, const ssize_t rows, const ssize_t cols, const ValidityCheckFnType& validity_check_fn) +{ + std::vector neighbours; + neighbours.reserve(8); + + const ssize_t row_min = std::max(0L, config.first - 1); + const ssize_t row_max = std::min(rows - 1, config.first + 1); + + const ssize_t col_min = std::max(0L, config.second - 1); + const ssize_t col_max = std::min(cols - 1, config.second + 1); + + for (ssize_t col = col_min; col <= col_max; col++) + { + for (ssize_t row = row_min; row <= row_max; row++) + { + if (!(row == config. first && col == config.second) && validity_check_fn(row, col) == true) + { + neighbours.push_back(ConfigType(row, col)); + } + } + } + + return neighbours; +} + +bool FirstOrderDeformation::CheckFirstOrderDeformation(const ssize_t rows, const ssize_t cols, const ValidityCheckFnType& validity_check_fn) +{ + struct BestFirstSearchComparator + { + public: + // Defines a "less" operation"; by using "greater" the smallest element will appear at the top of the priority queue + bool operator()(const ConfigAndDistType& c1, const ConfigAndDistType& c2) const + { + // We want to explore the one with the smaller expected distance + return (c1.second > c2.second); + } + }; + + assert(rows > 0 && cols > 0); + typedef Eigen::Array ArrayXb; + + // Setup the strucutres needed to keep track of the search + std::priority_queue, BestFirstSearchComparator> frontier; + ArrayXb explored = ArrayXb::Constant(rows, cols, false); + + // Setup the start and goal + const ConfigType start(0, 0), goal(rows - 1, cols - 1); + const double start_heuristic_distance = ConfigTypeDistance(start, goal); + frontier.push(ConfigAndDistType(start, start_heuristic_distance)); + + // Perform the best first search + bool path_found = false; + while (!path_found && frontier.size() > 0) + { + const ConfigAndDistType current = frontier.top(); + frontier.pop(); + const ConfigType& current_config = current.first; + + if (current_config.first == goal.first && current_config.second == goal.second) + { + path_found = true; + } + // Double check if we've already explored this node: + // a single node can be inserted into the frontier multiple times at the same or different priorities + // so we want to avoid the expense of re-exploring it, and just discard this one once we pop it + else if (explored(current_config.first, current_config.second) == false) + { + explored(current_config.first, current_config.second) = true; + + // Expand the node to find all neighbours, adding them to the frontier if we have not already explored them + const auto neighbours = GetNeighbours(current_config, rows, cols, validity_check_fn); + for (const auto neighbour : neighbours) + { + // Check if we've already explored this neighbour to avoid re-adding it to the frontier + if (explored(neighbour.first, neighbour.second) == false) + { + // We only need the heuristic distance as we are doing a best first search + const double neighbour_heuristic_distance = ConfigTypeDistance(neighbour, goal); + frontier.push(ConfigAndDistType(neighbour, neighbour_heuristic_distance)); + } + } + } + } + + return path_found; +} diff --git a/flightlib/third_party/arc_utilities/src/arc_utilities/numpy_conversions.py b/flightlib/third_party/arc_utilities/src/arc_utilities/numpy_conversions.py new file mode 100644 index 0000000..e4b1fc7 --- /dev/null +++ b/flightlib/third_party/arc_utilities/src/arc_utilities/numpy_conversions.py @@ -0,0 +1,19 @@ +import numpy as np + +def ListPointsToNpArray(points, transform=None): + """ + :param points: Anything that is itterable, with each element having x, y, and z elements + :type points: :class:`list[geometry_msgs.msgs.Point]` + :param transform: + :type transform: :class:`np.array` + :return: + """ + arr = np.empty(shape=(3, len(points))) + if transform is not None: + for ind in range(len(points)): + point = transform.dot([points[ind].x, points[ind].y, points[ind].z, 1]) + arr[:, ind] = point[0:3] + else: + for ind in range(len(points)): + arr[:, ind] = [points[ind].x, points[ind].y, points[ind].z] + return arr diff --git a/flightlib/third_party/arc_utilities/src/arc_utilities/ros_helpers.py b/flightlib/third_party/arc_utilities/src/arc_utilities/ros_helpers.py new file mode 100644 index 0000000..bfc0df7 --- /dev/null +++ b/flightlib/third_party/arc_utilities/src/arc_utilities/ros_helpers.py @@ -0,0 +1,109 @@ +#! /usr/bin/env python + +import rospy +import time +from threading import Lock +from sensor_msgs.msg import Joy + +class Listener: + def __init__(self, topic_name, topic_type, wait_for_data=False): + """ + Listener is a wrapper around a subscriber where the callback simply records the latest msg. + + Listener does not consume the message + (for consuming behavior, use the standard ros callback pattern) + Listener does not check timestamps of message headers + + Parameters: + topic_name (str): name of topic to subscribe to + topic_type (msg_type): type of message received on topic + wait_for_data (bool): block constructor until a message has been received + """ + + self.data = None + self.lock = Lock() + + self.subscriber = rospy.Subscriber(topic_name, topic_type, self.callback) + self.get(wait_for_data) + + + def callback(self, msg): + with self.lock: + self.data = msg + + def get(self, block_until_data=True): + """ + Returns the latest msg from the subscribed topic + + Parameters: + block_until_data (bool): block if no message has been received yet. + Guarantees a msg is returned (not None) + """ + wait_for(lambda: not (block_until_data and self.data is None)) + + with self.lock: + return self.data + + +def wait_for(func): + """ + Waits for function evaluation to be true. Exits cleanly from ros. + + Introduces sleep delay, not recommended for time critical operations + """ + + while not func() and not rospy.is_shutdown(): + time.sleep(0.01) + + +def joy_to_xbox(joy): + """ + Transforms a joystick sensor_msg to a XBox controller for easier code readability + + Parameters: + joy (sensor_msgs/Joy): xbox msg + + Returns: + xbox struct where fields are the button names + """ + class Xbox_msg(): + pass + x = Xbox_msg() + x.A, x.B, x.X, x.Y, x.LB, x.RB, \ + x.back, x.start, x.power,\ + x.stick_button_left, x.stick_button_right, \ + x.DL, x.DR, x.DU, x.DD = joy.buttons + x.LH, x.LV, x.LT, x.RH, x.RV, x.RT, x.DH, x.DV = joy.axes + return x + + +class Xbox(): + def __init__(self, joystick_topic="joy"): + self.xbox_listener = Listener(joystick_topic, Joy) + + def get_buttons_state(self): + """ + Returns an xbox struct of the last joystick message received + """ + return joy_to_xbox(self.xbox_listener.get()) + + def get_button(self, button): + """ + Return value of button or axis of the controller + 0 or 1 for buttons + -1.0 to 1.0 (at most) for axes + """ + return getattr(self.get_buttons_state(), button) + + def wait_for_button(self, button, message=True): + """ + Waits for button press on xbox. + + Parameters: + button (str): Name of xbox button. "A", "B", "X", ... + message (bool): log a message informing the user? + """ + if message: + rospy.loginfo("Waiting for xbox button: " + button) + + wait_for(lambda: not self.get_button(button) == 0) diff --git a/flightlib/third_party/arc_utilities/src/arc_utilities/transformation_helper.py b/flightlib/third_party/arc_utilities/src/arc_utilities/transformation_helper.py new file mode 100644 index 0000000..2429097 --- /dev/null +++ b/flightlib/third_party/arc_utilities/src/arc_utilities/transformation_helper.py @@ -0,0 +1,407 @@ +#!/usr/bin/env python + +# Calder Phillips-Grafflin -- ARC Lab +# +# Various helper functions for operations with transformations +# using quaternions + vectors and 4x4 matrices +# +#################################################################################################### +# +# A note to the user - this code was written because the last time I needed to do one of the +# operations provided in this API (composing a pose with a transform), it required ~20 lines of code +# +# It relies exclusively on the powerful tranformations.py library and numpy linear algebra library +# +#################################################################################################### + +import rospy +import math +import numpy +from numpy import * +from tf.transformations import * +from geometry_msgs.msg import * + +#################################################################################################### +# +# API Documentation +# +# Storage conventions: +# +# translations = [x,y,z] +# quaternions = [x,y,z,w] +# +################################################## +# Math functions +# +# geometry_msgs/Transform composed = ComposeTransforms(geometry_msgs/Transform transform1, geometry_msgs/Transform transform2) +# geometry_msgs/Pose composed = ComposePoses(geometry_msgs/Pose pose1, geometry_msgs/Pose pose2) +# +# geometry_msgs/Transform inverted = InvertTransform(geometry_msgs/Transform old_transform) +# geometry_msgs/Pose inverted = InvertPose(geometry_msgs/Pose old_pose) +# +# numpy/array composed = ComposeMatrices(numpy/array matrix1, numpy/array matrix2) +# numpy/array inverted = InvertMatrix(numpy/array old_matrix) +# +################################################## +# Assist functions +# +# list quaternion = NormalizeQuaternion(list quaternion) +# +# geometry_msgs/Quaternion quaternion = NormalizeQuaternionRos(geometry_msgs/Quaternion quaternion) +# +################################################## +# Conversion functions +# +# geometry_msgs/Transform new_transform = TransformFromComponents(list translation, list quaternion) +# [list translation, list quaternion] = ComponentsFromTransform(geometry_msgs/Transform old_transform) +# +# geometry_msgs/Pose new_pose = PoseFromTransform(geometry_msgs/Transform old_transform) +# geometry_msgs/Transform new_transform = PoseToTransform(geometry_msgs/Pose old_pose) +# +# numpy/array tfmatrix = TransformToMatrix(geometry_msgs/Transform old_transform) +# geometry_msgs/Transform new_transform = TransformFromMatrix(numpy/array old_matrix) +# +# numpy/array tfmatrix = PoseToMatrix(geometry_msgs/Pose old_pose) +# geometry_msgs/Pose new_pose = PoseFromMatrix(numpy/array old_matrix) +# +# [numpy/array rotation, list translation] = ExtractRawFromMatrix(numpy/array old_matrix) +# numpy/array tfmatrix = BuildRawMatrix(numpy/array rotation, list translation) +# +# [list translation, list quaternion] = ExtractFromMatrix(numpy/array old_matrix) +# numpy/array tfmatrix = BuildMatrix(list translation, list quaternion) +# +################################################## +# Generation functions -- these generate various transform representations from D-H parameters +# we recommend against using these functions unless necessary +# +# numpy/array tfmatrix = BuildMatrixFromDH(float d, float a, float theta, float alpha) +# [list translation, list quaternion] = ExtractFromDH(float d, float a, float theta, float alpha) +# geometry_msgs/Transform new_transform = TransformFromDH(float d, float a, float theta, float alpha) +# geometry_msgs/Pose new_pose = PoseFromDH(float d, float a, float theta, float alpha) +# +#################################################################################################### + +'''High-level functions''' + + +def AddPoints(point1, point2): + sum_point = Point() + sum_point.x = point2.x + point1.x + sum_point.y = point2.y + point1.y + sum_point.z = point2.z + point1.z + return sum_point + + +def SubtractPoints(point1, point2): + difference = Point() + difference.x = point2.x - point1.x + difference.y = point2.y - point1.y + difference.z = point2.z - point1.z + return difference + + +def TranslationNorm(trans): + return math.sqrt(trans.x**2 + trans.y**2 + trans.z**2) + + +def ComposePoseWithPoint(pose, point): + matrix = TransformToMatrix(PoseToTransform(pose)) + vector = PointToVector(point) + composed = numpy.dot(matrix, vector) + composed_point = PointFromVector(composed) + return composed_point + + +def ComposeTransformWithPoint(transform, point): + matrix = TransformToMatrix(transform) + vector = PointToVector(point) + composed = numpy.dot(matrix, vector) + composed_point = PointFromVector(composed) + return composed_point + + +def ComposeTransforms(transform1, transform2): + tfmatrix1 = TransformToMatrix(transform1) + tfmatrix2 = TransformToMatrix(transform2) + composedmatrix = dot(tfmatrix1, tfmatrix2) + composed = TransformFromMatrix(composedmatrix) + return composed + + +def ComposePoses(pose1, pose2): + transform1 = PoseToTransform(pose1) + transform2 = PoseToTransform(pose2) + composed = PoseFromTransform(ComposeTransforms(transform1, transform2)) + return composed + + +def InvertTransform(old_transform): + tfmatrix = TransformToMatrix(old_transform) + xirtamft = numpy.linalg.inv(tfmatrix) + inverted = TransformFromMatrix(xirtamft) + return inverted + + +def InvertPose(old_pose): + old_transform = PoseToTransform(old_pose) + inverted = InvertTransform(old_transform) + posed = PoseFromTransform(inverted) + return posed + + +def ComposeMatrices(matrix1, matrix2): + return dot(matrix1, matrix2) + + +def InvertMatrix(old_matrix): + return numpy.linalg.inv(old_matrix) + + +def ComposeQuaternions(q1, q2): + nq1 = NormalizeQuaternion(q1) + nq2 = NormalizeQuaternion(q2) + x = nq1[3]*nq2[0] + nq2[3]*nq1[0] + nq1[1]*nq2[2] - nq2[1]*nq1[2] + y = nq1[3]*nq2[1] + nq2[3]*nq1[1] + nq2[0]*nq1[2] - nq1[0]*nq2[2] + z = nq1[3]*nq2[2] + nq2[3]*nq1[2] + nq1[0]*nq2[1] - nq2[0]*nq1[1] + w = nq1[3]*nq2[3] - nq1[0]*nq2[0] - nq1[1]*nq2[1] - nq1[2]*nq2[2] + return NormalizeQuaternion([x, y, z, w]) + + +def AxisFromQuaternion(q): + nq = NormalizeQuaternion(q) + a = math.acos(nq[3]) * 2.0 + sina2 = math.sin(a * 0.5) + if abs(sina2) > 0.000000001: + i = nq[0] / sina2 + j = nq[1] / sina2 + k = nq[2] / sina2 + return [a, [i, j, k]] + else: + return [0.0, [0.0, 0.0, 1.0]] + + +def NormalizeVector3(axis): + assert(len(axis) == 3) + mag = math.sqrt(axis[0] ** 2 + axis[1] ** 2 + axis[2] ** 2) + assert(mag > 0.0) + return [axis[0] / mag, axis[1] / mag, axis[2] / mag] + + +def QuaternionFromAxisAngle(axis, angle): + try: + naxis = NormalizeVector3(axis) + w = math.cos(angle * 0.5) + x = math.sin(angle * 0.5) * naxis[0] + y = math.sin(angle * 0.5) * naxis[1] + z = math.sin(angle * 0.5) * naxis[2] + return NormalizeQuaternion([x, y, z, w]) + except AssertionError: + print("Vector normalize error, returning identity quaternion") + return [0.0, 0.0, 0.0, 1.0] + + +def AngleBetweenQuaternions(q1, q2): + nq1 = NormalizeQuaternion(q1) + nq2 = NormalizeQuaternion(q2) + dot_product = abs(nq1[0] * nq2[0] + nq1[1] * nq2[1] + nq1[2] * nq2[2] + nq1[3] * nq2[3]) + if dot_product < 0.9999: + return math.acos(2.0 * (dot_product ** 2) - 1.0) + else: + return 0.0 + + +def AngleBetweenQuaternionsRos(q1, q2): + nq1 = NormalizeQuaternionRos(q1) + nq2 = NormalizeQuaternionRos(q2) + dot_product = abs(nq1.x * nq2.x + nq1.y * nq2.y + nq1.z * nq2.z + nq1.z * nq2.w) + if dot_product < 0.9999: + return math.acos(2.0 * (dot_product ** 2) - 1.0) + else: + return 0 + + +'''Assist functions''' + + +def NormalizeQuaternion(q_raw): + magnitude = math.sqrt(q_raw[0]**2 + q_raw[1]**2 + q_raw[2]**2 + q_raw[3]**2) + x = q_raw[0] / magnitude + y = q_raw[1] / magnitude + z = q_raw[2] / magnitude + w = q_raw[3] / magnitude + return [x, y, z, w] + + +def NormalizeQuaternionRos(q_raw): + magnitude = math.sqrt(q_raw.x**2 + q_raw.y**2 + q_raw.z**2 + q_raw.w**2) + q_unit = Quaternion() + q_unit.x = q_raw.x / magnitude + q_unit.y = q_raw.y / magnitude + q_unit.z = q_raw.z / magnitude + q_unit.w = q_raw.w / magnitude + return q_unit + + +'''Conversion functions''' + + +def PointToVector(point): + return numpy.array([point.x, point.y, point.z, 1.0]).transpose() + + +def PointFromVector(vector): + new_point = Point() + new_point.x = float(vector[0]) + new_point.y = float(vector[1]) + new_point.z = float(vector[2]) + return new_point + + +def PoseFromTransform(old_transform): + posed = Pose() + posed.position.x = old_transform.translation.x + posed.position.y = old_transform.translation.y + posed.position.z = old_transform.translation.z + posed.orientation.x = old_transform.rotation.x + posed.orientation.y = old_transform.rotation.y + posed.orientation.z = old_transform.rotation.z + posed.orientation.w = old_transform.rotation.w + return posed + + +def PoseToTransform(old_pose): + transformed = Transform() + transformed.translation.x = old_pose.position.x + transformed.translation.y = old_pose.position.y + transformed.translation.z = old_pose.position.z + transformed.rotation.x = old_pose.orientation.x + transformed.rotation.y = old_pose.orientation.y + transformed.rotation.z = old_pose.orientation.z + transformed.rotation.w = old_pose.orientation.w + return transformed + + +def PoseFromComponents(translation, quaternion): + posed = Pose() + posed.position.x = translation[0] + posed.position.y = translation[1] + posed.position.z = translation[2] + posed.orientation.x = quaternion[0] + posed.orientation.y = quaternion[1] + posed.orientation.z = quaternion[2] + posed.orientation.w = quaternion[3] + return posed + + +def ComponentsFromPose(old_pose): + translation = [old_pose.position.x, old_pose.position.y, old_pose.position.z] + quaternion = [old_pose.orientation.x, old_pose.orientation.y, old_pose.orientation.z, old_pose.orientation.w] + return [translation, quaternion] + + +def TransformFromComponents(translation, quaternion): + transformed = Transform() + transformed.translation.x = translation[0] + transformed.translation.y = translation[1] + transformed.translation.z = translation[2] + transformed.rotation.x = quaternion[0] + transformed.rotation.y = quaternion[1] + transformed.rotation.z = quaternion[2] + transformed.rotation.w = quaternion[3] + return transformed + + +def ComponentsFromTransform(old_transform): + translation = [old_transform.translation.x, old_transform.translation.y, old_transform.translation.z] + quaternion = [old_transform.rotation.x, old_transform.rotation.y, old_transform.rotation.z, old_transform.rotation.w] + return [translation, quaternion] + + +def TransformToMatrix(old_transform): + [translation, quaternion] = ComponentsFromTransform(old_transform) + tfmatrix = BuildMatrix(translation, quaternion) + return tfmatrix + + +def TransformFromMatrix(old_matrix): + [translation, quaternion] = ExtractFromMatrix(old_matrix) + transformed = TransformFromComponents(translation, quaternion) + return transformed + + +def PoseToMatrix(old_pose): + old_transform = PoseToTransform(old_pose) + [translation, quaternion] = ComponentsFromTransform(old_transform) + tfmatrix = BuildMatrix(translation, quaternion) + return tfmatrix + + +def PoseFromMatrix(old_matrix): + [translation, quaternion] = ExtractFromMatrix(old_matrix) + transformed = TransformFromComponents(translation, quaternion) + posed = PoseFromTransform(transformed) + return posed + + +def ExtractRawFromMatrix(tm): + rmat = array([[tm[0][0], tm[0][1], tm[0][2]], [tm[1][0], tm[1][1], tm[1][2]], [tm[2][0], tm[2][1], tm[2][2]]]) + tvec = [tm[0][3], tm[1][3], tm[2][3]] + return [rmat, tvec] + + +def BuildRawMatrix(rm, tv): + tfmatrix = array([[rm[0][0], rm[0][1], rm[0][2], tv[0]], [rm[1][0], rm[1][1], rm[1][2], tv[1]], [rm[2][0], rm[2][1], rm[2][2], tv[2]], [0.0, 0.0, 0.0, 1.0]]) + return tfmatrix + + +def ExtractFromMatrix(old_matrix): + quaternion = quaternion_from_matrix(old_matrix) + translation = [old_matrix[0][3], old_matrix[1][3], old_matrix[2][3]] + return [translation, quaternion] + + +def BuildMatrix(translation, quaternion): + tfmatrix = quaternion_matrix(quaternion) + tfmatrix[0][3] = translation[0] + tfmatrix[1][3] = translation[1] + tfmatrix[2][3] = translation[2] + return tfmatrix + + +def BuildMatrixRos(translation, quaternion): + quat = [quaternion.x, quaternion.y, quaternion.z, quaternion.w] + trans = [translation.x, translation.y, translation.z] + return BuildMatrix(trans, quat) + + +''' Generation Functions ''' + +def BuildMatrixFromTransRot(trans, rot): + transform = numpy.empty(shape=[4, 4]) + transform[0:3, 0:3] = rot + transform[0:3, 3] = trans + transform[3, 0:3] = 0 + transform[3, 3] = 1 + return transform + + +def BuildMatrixFromDH(d, a, theta, alpha): + #Do math here + tfmatrix = array([[math.cos(theta), -sin(theta) * math.cos(alpha), math.sin(theta) * math.sin(alpha), alpha * math.cos(theta)], [math.sin(theta), math.cos(theta) * math.cos(alpha), -math.cos(theta) * math.sin(alpha), alpha * math.sin(theta)], [0.0, math.sin(alpha), math.cos(alpha), d], [0.0, 0.0, 0.0, 1.0]]) + return tfmatrix + + +def ExtractFromDH(d, a, theta, alpha): + tfmatrix = BuildMatrixFromDH(d, a, theta, alpha) + [translation, quaternion] = ExtractFromMatrix(tfmatrix) + return [translation, quaternion] + + +def TransformFromDH(d, a, theta, alpha): + tfmatrix = BuildMatrixFromDH(d, a, theta, alpha) + return TransformFromMatrix(tfmatrix) + + +def PoseFromDH(d, a, theta, alpha): + tfmatrix = BuildMatrixFromDH(d, a, theta, alpha) + return PoseFromMatrix(tfmatrix) \ No newline at end of file diff --git a/flightlib/third_party/arc_utilities/src/arc_utilities/zlib_helpers.cpp b/flightlib/third_party/arc_utilities/src/arc_utilities/zlib_helpers.cpp new file mode 100644 index 0000000..da5ad4f --- /dev/null +++ b/flightlib/third_party/arc_utilities/src/arc_utilities/zlib_helpers.cpp @@ -0,0 +1,141 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "arc_utilities/arc_exceptions.hpp" +#include "arc_utilities/zlib_helpers.hpp" + +namespace ZlibHelpers +{ + // MAKE SURE THE INPUT BUFFER IS LESS THAN 4GB IN SIZE + std::vector DecompressBytes(const std::vector& compressed) + { + z_stream strm; + std::vector buffer; + const size_t BUFSIZE = 1024 * 1024; + uint8_t temp_buffer[BUFSIZE]; + strm.zalloc = Z_NULL; + strm.zfree = Z_NULL; + strm.opaque = Z_NULL; + int ret = inflateInit(&strm); + if (ret != Z_OK) + { + (void)inflateEnd(&strm); + std::cerr << "ZLIB unable to init inflate stream" << std::endl; + throw std::invalid_argument("ZLIB unable to init inflate stream"); + } + strm.avail_in = (uint32_t)compressed.size(); + strm.next_in = const_cast(reinterpret_cast(compressed.data())); + do + { + strm.next_out = temp_buffer; + strm.avail_out = BUFSIZE; + ret = inflate(&strm, Z_NO_FLUSH); + if (buffer.size() < strm.total_out) + { + buffer.insert(buffer.end(), temp_buffer, temp_buffer + BUFSIZE - strm.avail_out); + } + } + while (ret == Z_OK); + if (ret != Z_STREAM_END) + { + (void)inflateEnd(&strm); + std::cerr << "ZLIB unable to inflate stream with ret=" << ret << std::endl; + throw std::invalid_argument("ZLIB unable to inflate stream"); + } + (void)inflateEnd(&strm); + std::vector decompressed(buffer); + return decompressed; + } + + // MAKE SURE THE INPUT BUFFER IS LESS THAN 4GB IN SIZE + std::vector CompressBytes(const std::vector& uncompressed) + { + z_stream strm; + std::vector buffer; + const size_t BUFSIZE = 1024 * 1024; + uint8_t temp_buffer[BUFSIZE]; + strm.zalloc = Z_NULL; + strm.zfree = Z_NULL; + strm.opaque = Z_NULL; + strm.avail_in = (uint32_t)uncompressed.size(); + strm.next_in = const_cast(reinterpret_cast(uncompressed.data())); + strm.next_out = temp_buffer; + strm.avail_out = BUFSIZE; + int ret = deflateInit(&strm, Z_BEST_SPEED); + if (ret != Z_OK) + { + (void)deflateEnd(&strm); + std::cerr << "ZLIB unable to init deflate stream" << std::endl; + throw std::invalid_argument("ZLIB unable to init deflate stream"); + } + while (strm.avail_in != 0) + { + ret = deflate(&strm, Z_NO_FLUSH); + if (ret != Z_OK) + { + (void)deflateEnd(&strm); + std::cerr << "ZLIB unable to deflate stream" << std::endl; + throw std::invalid_argument("ZLIB unable to deflate stream"); + } + if (strm.avail_out == 0) + { + buffer.insert(buffer.end(), temp_buffer, temp_buffer + BUFSIZE); + strm.next_out = temp_buffer; + strm.avail_out = BUFSIZE; + } + } + int deflate_ret = Z_OK; + while (deflate_ret == Z_OK) + { + if (strm.avail_out == 0) + { + buffer.insert(buffer.end(), temp_buffer, temp_buffer + BUFSIZE); + strm.next_out = temp_buffer; + strm.avail_out = BUFSIZE; + } + deflate_ret = deflate(&strm, Z_FINISH); + } + if (deflate_ret != Z_STREAM_END) + { + (void)deflateEnd(&strm); + std::cerr << "ZLIB unable to deflate stream" << std::endl; + throw std::invalid_argument("ZLIB unable to deflate stream"); + } + buffer.insert(buffer.end(), temp_buffer, temp_buffer + BUFSIZE - strm.avail_out); + (void)deflateEnd(&strm); + std::vector compressed(buffer); + return compressed; + } + + std::vector LoadFromFileAndDecompress(const std::string& path) + { + std::ifstream input_file(path, std::ios::binary | std::ios::in | std::ios::ate); + if (!input_file.is_open()) + { + throw_arc_exception(std::runtime_error, "Couldn't open file " + path); + } + std::streamsize size = input_file.tellg(); + input_file.seekg(0, std::ios::beg); + std::vector file_buffer((size_t)size); + if (!(input_file.read(reinterpret_cast(file_buffer.data()), size))) + { + throw_arc_exception(std::runtime_error, "Unable to read entire contents of file"); + } + const std::vector decompressed = ZlibHelpers::DecompressBytes(file_buffer); + return decompressed; + } + + void CompressAndWriteToFile(const std::vector& uncompressed, const std::string& path) + { + const auto compressed = CompressBytes(uncompressed); + std::ofstream output_file(path, std::ios::out | std::ios::binary); + output_file.write(reinterpret_cast(compressed.data()), (std::streamsize)compressed.size()); + output_file.close(); + } +} diff --git a/flightlib/third_party/arc_utilities/src/test_arc_utilities.cpp b/flightlib/third_party/arc_utilities/src/test_arc_utilities.cpp new file mode 100644 index 0000000..4ea8fc4 --- /dev/null +++ b/flightlib/third_party/arc_utilities/src/test_arc_utilities.cpp @@ -0,0 +1,101 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +int main(int argc, char** argv) +{ + printf("%d arguments\n", argc); + for (int idx = 0; idx < argc; idx++) + { + printf("Argument %d: %s\n", idx, argv[idx]); + } + std::cout << "Testing PrettyPrints..." << std::endl; + std::cout << PrettyPrint::PrettyPrint(Eigen::Isometry3d::Identity()) << std::endl; + std::cout << PrettyPrint::PrettyPrint(Eigen::Vector3d(0.0, 0.0, 0.0)) << std::endl; + std::cout << PrettyPrint::PrettyPrint(std::vector{true, false, true, false}) << std::endl; + std::cout << "...done" << std::endl; + const std::vector abb_irb_1600_145_base_config = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0}; + const EigenHelpers::VectorIsometry3d abb_irb_1600_145_link_transforms = ABB_IRB1600_145_FK_FAST::GetLinkTransforms(abb_irb_1600_145_base_config); + std::cout << "ABB IRB1600-145 Link transforms:\n" << PrettyPrint::PrettyPrint(abb_irb_1600_145_link_transforms, false, "\n") << std::endl; + const std::vector iiwa_7_base_config = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}; + const EigenHelpers::VectorIsometry3d iiwa_7_link_transforms = IIWA_7_FK_FAST::GetLinkTransforms(iiwa_7_base_config); + std::cout << "IIWA 7 Link transforms:\n" << PrettyPrint::PrettyPrint(iiwa_7_link_transforms, false, "\n") << std::endl; + const std::vector iiwa_14_base_config = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}; + const EigenHelpers::VectorIsometry3d iiwa_14_link_transforms = IIWA_14_FK_FAST::GetLinkTransforms(iiwa_14_base_config); + std::cout << "IIWA 14 Link transforms:\n" << PrettyPrint::PrettyPrint(iiwa_14_link_transforms, false, "\n") << std::endl; + std::cout << std::endl; + + // Test Vector3d averaging + EigenHelpers::VectorVector3d testvecs(8, Eigen::Vector3d::Zero()); + testvecs[0] = Eigen::Vector3d(-1.0, -1.0, -1.0); + testvecs[1] = Eigen::Vector3d(-1.0, -1.0, 1.0); + testvecs[2] = Eigen::Vector3d(-1.0, 1.0, -1.0); + testvecs[3] = Eigen::Vector3d(-1.0, 1.0, 1.0); + testvecs[4] = Eigen::Vector3d(1.0, -1.0, -1.0); + testvecs[5] = Eigen::Vector3d(1.0, -1.0, 1.0); + testvecs[6] = Eigen::Vector3d(1.0, 1.0, -1.0); + testvecs[7] = Eigen::Vector3d(1.0, 1.0, 1.0); + std::cout << "Individual vectors:\n" << PrettyPrint::PrettyPrint(testvecs, true, "\n") << std::endl; + Eigen::Vector3d averagevec = EigenHelpers::AverageEigenVector3d(testvecs); + std::cout << "Average vector: " << PrettyPrint::PrettyPrint(averagevec) << std::endl; + std::cout << std::endl; + assert(averagevec.isMuchSmallerThan(10^-10) && "The result of this average should be (0, 0, 0)"); + + + // Test weighted dot product functions + Eigen::Vector3d weights(1.0, 2.0, 3.0); + std::cout << "Vector: " << PrettyPrint::PrettyPrint(testvecs[0]) << " Weighted norm: " << EigenHelpers::WeightedNorm(testvecs[0], weights) << std::endl; + std::cout << "Vector: " << PrettyPrint::PrettyPrint(testvecs[7]) << " Weighted norm: " << EigenHelpers::WeightedNorm(testvecs[7], weights) << std::endl; + std::cout << "Weighted angle between vectors: " << EigenHelpers::WeightedAngleBetweenVectors(testvecs[0], testvecs[7], weights) << std::endl; + std::cout << "Unweighted angle between vectors: " << EigenHelpers::WeightedAngleBetweenVectors(testvecs[0], testvecs[7], Eigen::Vector3d::Ones()) << std::endl; + std::cout << "Vector: " << PrettyPrint::PrettyPrint(testvecs[1]) << " Weighted norm: " << EigenHelpers::WeightedNorm(testvecs[1], weights) << std::endl; + std::cout << "Vector: " << PrettyPrint::PrettyPrint(testvecs[2]) << " Weighted norm: " << EigenHelpers::WeightedNorm(testvecs[2], weights) << std::endl; + std::cout << "Weighted angle between vectors: " << EigenHelpers::WeightedAngleBetweenVectors(testvecs[1], testvecs[2], weights) << std::endl; + std::cout << "Unweighted angle between vectors: " << EigenHelpers::WeightedAngleBetweenVectors(testvecs[1], testvecs[2], Eigen::Vector3d::Ones()) << std::endl; + std::cout << std::endl; + + // Test truncated normal distribution + auto seed = std::chrono::high_resolution_clock::now().time_since_epoch().count(); + std::mt19937_64 prng(seed); + arc_helpers::TruncatedNormalDistribution dist(0.0, 1.0, -5.0, 5.0); + std::vector test_trunc_normals(1000, 0.0); + for (size_t idx = 0; idx < test_trunc_normals.size(); idx++) + { + test_trunc_normals[idx] = dist(prng); + } + std::cout << "Truncated normal test:\n" << PrettyPrint::PrettyPrint(test_trunc_normals, false, ",") << std::endl; + std::cout << std::endl; + + // Test multivariate gaussian + std::cout << "MVN Gaussian test:\n"; + Eigen::Vector2d mean(0.0, 1.0); + Eigen::Matrix2d covar; + covar << 10.0, 5.0, + 5.0, 10.0; + arc_helpers::MultivariteGaussianDistribution mvn_dist(mean, covar); + std::vector mvn_gaussians(3000); + for (size_t idx = 0; idx < mvn_gaussians.size(); idx++) + { + mvn_gaussians[idx] = mvn_dist(prng); + std::cout << mvn_gaussians[idx].transpose() << std::endl; + } + std::cout << std::endl; + + // Test DTW + std::vector reversed_test_trunc_normals = test_trunc_normals; + std::reverse(reversed_test_trunc_normals.begin(), reversed_test_trunc_normals.end()); + std::function double_distance_fn = [] (const double& d1, const double& d2) { return std::abs(d1 - d2); }; + const double test_dist = simple_dtw::ComputeDTWDistance(test_trunc_normals, test_trunc_normals, double_distance_fn); + const double reversed_test_dist = simple_dtw::ComputeDTWDistance(test_trunc_normals, reversed_test_trunc_normals, double_distance_fn); + std::cout << "DTW distance test = " << test_dist << ", reversed = " << reversed_test_dist << std::endl; + std::cout << std::endl; +} diff --git a/flightlib/third_party/arc_utilities/src/test_averaging.cpp b/flightlib/third_party/arc_utilities/src/test_averaging.cpp new file mode 100644 index 0000000..55b63d4 --- /dev/null +++ b/flightlib/third_party/arc_utilities/src/test_averaging.cpp @@ -0,0 +1,47 @@ +#include "arc_utilities/eigen_helpers.hpp" +#include "arc_utilities/pretty_print.hpp" + +using namespace Eigen; +using namespace EigenHelpers; + +int main(int argc, char* argv[]) +{ + (void)argc; + (void)argv; + + const std::vector weights = {1.0, 2.0, 3.0}; + + VectorVector3d test_vectors(3); + test_vectors[0] = Vector3d::UnitX(); + test_vectors[1] = Vector3d::UnitY(); + test_vectors[2] = Vector3d::UnitZ(); + + const Vector3d weighted_average = AverageEigenVector(test_vectors, weights); + std::cout << "Test weights: " << PrettyPrint::PrettyPrint(weights) << std::endl; + std::cout << "Test vectors:\n" << PrettyPrint::PrettyPrint(test_vectors, true, "\n") << std::endl; + std::cout << "Weighted Average:\n" << PrettyPrint::PrettyPrint(weighted_average) << std::endl << std::endl; + assert(weighted_average.isApprox(Eigen::Vector3d(1.0, 2.0, 3.0) / 6.0)); + + + VectorVector3d repeated_test_vectors; + for (size_t idx = 0; idx < test_vectors.size(); ++idx) + { + repeated_test_vectors.insert(repeated_test_vectors.end(), (size_t)weights[idx], test_vectors[idx]); + } + + const Vector3d repeated_average = AverageEigenVector(repeated_test_vectors); + std::cout << "Repeated vectors:\n" << PrettyPrint::PrettyPrint(repeated_test_vectors, true, "\n") << std::endl; + std::cout << "Repeated Average:\n" << PrettyPrint::PrettyPrint(repeated_average) << std::endl << std::endl;; + assert(repeated_average.isApprox(Eigen::Vector3d(1.0, 2.0, 3.0) / 6.0)); + + + + const std::vector all_zero_weights = {0.0, 0.0, 0.0}; + const Vector3d weighted_average_all_zero_weights = AverageEigenVector(test_vectors, all_zero_weights); + std::cout << "Test weights: " << PrettyPrint::PrettyPrint(all_zero_weights) << std::endl; + std::cout << "Test vectors:\n" << PrettyPrint::PrettyPrint(test_vectors, true, "\n") << std::endl; + std::cout << "All Zero Weights Average:\n" << PrettyPrint::PrettyPrint(weighted_average_all_zero_weights) << std::endl << std::endl; + assert(weighted_average_all_zero_weights.isMuchSmallerThan(10^-10) && "The result of this average should be (0, 0, 0)"); + + return 0; +} diff --git a/flightlib/third_party/arc_utilities/src/test_closest_point.cpp b/flightlib/third_party/arc_utilities/src/test_closest_point.cpp new file mode 100644 index 0000000..d3fa540 --- /dev/null +++ b/flightlib/third_party/arc_utilities/src/test_closest_point.cpp @@ -0,0 +1,27 @@ +#include "arc_utilities/eigen_helpers.hpp" +#include "arc_utilities/pretty_print.hpp" + +using namespace Eigen; +using namespace EigenHelpers; + +int main(int argc, char* argv[]) +{ + (void)argc; + (void)argv; + + const Vector3d base_point(-0.2, 0.035, 0.2055); + const Vector3d normal(0, 0, 1); + + const Vector3d test_point(-0.198425, 0.0342693, 0.0417458); + + const auto distances = DistanceToLine(base_point, normal, test_point); + + std::cout << "Distance to line: " << distances.first << " DISPLACEMENT along line (can be negative): " << distances.second << std::endl; + + const Vector3d point_on_line = base_point + distances.second * normal; + + std::cout << "Point on line: " << point_on_line.transpose() << std::endl; + std::cout << "Dot product: " << normal.dot(test_point - point_on_line) << std::endl; + + return 0; +} diff --git a/flightlib/third_party/arc_utilities/src/test_dijkstras.cpp b/flightlib/third_party/arc_utilities/src/test_dijkstras.cpp new file mode 100644 index 0000000..2fb05e1 --- /dev/null +++ b/flightlib/third_party/arc_utilities/src/test_dijkstras.cpp @@ -0,0 +1,124 @@ +#include + +#include +#include + +int main(int argc, char* argv[]) +{ + (void)argc; + (void)argv; + + std::cout << "Creating graph with nodes indices:\n\n"; + std::cout << " 2 | 5 | 8\n" + << " --+---+--\n" + << " 1 | 4 | 7\n" + << " --+---+--\n" + << " 0 | 3 | 6\n\n"; + + arc_dijkstras::Graph graph(9); + for (double x = -1; x <= 1; x += 1) + { + for (double y = -1; y <= 1; y += 1) + { + graph.AddNode(Eigen::Vector2d(x, y)); + } + } + + // Y-direction edges + graph.AddEdgeBetweenNodes(0, 1, 1.0); + graph.AddEdgesBetweenNodes(1, 2, 1.0); + graph.AddEdgesBetweenNodes(3, 4, 1.0); + graph.AddEdgesBetweenNodes(4, 5, 1.0); + graph.AddEdgesBetweenNodes(6, 7, 1.0); + graph.AddEdgesBetweenNodes(7, 8, 1.0); + + // X-direction edges + graph.AddEdgesBetweenNodes(0, 3, 1.0); + graph.AddEdgesBetweenNodes(3, 6, 1.0); + graph.AddEdgesBetweenNodes(1, 4, 1.0); + graph.AddEdgesBetweenNodes(4, 7, 1.0); + graph.AddEdgesBetweenNodes(2, 5, 1.0); + graph.AddEdgesBetweenNodes(5, 8, 1.0); + + assert(graph.CheckGraphLinkage()); + + + auto dijkstras_result_4connected = arc_dijkstras::SimpleDijkstrasAlgorithm>::PerformDijkstrasAlgorithm(graph, 0); + + std::cout << "4-connected edges\n" + << "Node index : 0, 1, 2, 3, 4, 5, 6, 7, 8\n"; + std::cout << "Previous graph indices: " << PrettyPrint::PrettyPrint(dijkstras_result_4connected.second.first) << std::endl; + std::cout << "Distance : " << PrettyPrint::PrettyPrint(dijkstras_result_4connected.second.second) << std::endl; + + // Diagonal edges + graph.AddEdgesBetweenNodes(0, 4, std::sqrt(2)); + graph.AddEdgesBetweenNodes(1, 5, std::sqrt(2)); + graph.AddEdgesBetweenNodes(3, 7, std::sqrt(2)); + graph.AddEdgesBetweenNodes(4, 8, std::sqrt(2)); + + graph.AddEdgesBetweenNodes(1, 3, std::sqrt(2)); + graph.AddEdgesBetweenNodes(2, 4, std::sqrt(2)); + graph.AddEdgesBetweenNodes(4, 6, std::sqrt(2)); + graph.AddEdgesBetweenNodes(5, 7, std::sqrt(2)); + + assert(graph.CheckGraphLinkage()); + auto dijkstras_result_8connected = arc_dijkstras::SimpleDijkstrasAlgorithm>::PerformDijkstrasAlgorithm(graph, 0); + + std::cout << "\n8-connected edges\n" + << "Node index : 0, 1, 2, 3, 4, 5, 6, 7, 8\n"; + std::cout << "Previous graph indices: " << PrettyPrint::PrettyPrint(dijkstras_result_8connected.second.first) << std::endl; + std::cout << "Distance : " << PrettyPrint::PrettyPrint(dijkstras_result_8connected.second.second) << std::endl; + + std::cout << "\nSerialization test... "; + + arc_dijkstras::Graph serialization_test_graph(2); + serialization_test_graph.AddNode(Eigen::Vector2d(0,0)); + serialization_test_graph.AddNode(Eigen::Vector2d(1,1)); + serialization_test_graph.AddEdgesBetweenNodes(0, 1, 1.0); + + // Define the graph value serialization function + const auto value_serializer_fn = [] (const Eigen::Vector2d& value, std::vector& buffer) + { + const uint64_t start_buffer_size = buffer.size(); + uint64_t running_total = 0; + + running_total += arc_utilities::SerializeFixedSizePOD(value(0), buffer); + running_total += arc_utilities::SerializeFixedSizePOD(value(1), buffer); + + const uint64_t end_buffer_size = buffer.size(); + const uint64_t bytes_written = end_buffer_size - start_buffer_size; + + assert(running_total == bytes_written); + + return bytes_written; + }; + + // Define the graph value serialization function + const auto value_deserializer_fn = [] (const std::vector& buffer, const uint64_t current) + { + uint64_t current_position = current; + + // Deserialze 2 doubles + std::pair x = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + current_position += x.second; + std::pair y = arc_utilities::DeserializeFixedSizePOD(buffer, current_position); + current_position += y.second; + + const Eigen::Vector2d deserialized(x.first, y.first); + + // Figure out how many bytes were read + const uint64_t bytes_read = current_position - current; + return std::make_pair(deserialized, bytes_read); + }; + + // Serialze the graph + std::vector buffer; + serialization_test_graph.SerializeSelf(buffer, value_serializer_fn); + + auto deserialized_result = arc_dijkstras::Graph::Deserialize(buffer, 0, value_deserializer_fn); + assert(deserialized_result.first.CheckGraphLinkage()); + + std::cout << "passed" << std::endl; + + return 0; +} diff --git a/flightlib/third_party/arc_utilities/src/test_eigen_math.cpp b/flightlib/third_party/arc_utilities/src/test_eigen_math.cpp new file mode 100644 index 0000000..fcba7dd --- /dev/null +++ b/flightlib/third_party/arc_utilities/src/test_eigen_math.cpp @@ -0,0 +1,96 @@ +#include +#include +#include +#include +#include +#include +#include + +inline void TestVector3d(const ssize_t iterations, const Eigen::Isometry3d& base_transform, Eigen::MatrixXd& results) +{ + std::chrono::time_point vector3_start_time = std::chrono::steady_clock::now(); + for (ssize_t idx = 0; idx < iterations; idx++) + { + Eigen::Vector3d test_vector(1.0 * (double)idx, 2.0 * (double)idx, 3.0 * (double)idx); + results.block<3, 1>(idx * 4, 0) = base_transform * test_vector; + } + std::chrono::time_point vector3_end_time = std::chrono::steady_clock::now(); + std::chrono::duration vector3_test_time(vector3_end_time - vector3_start_time); + std::cout << "Isometry3d * Vector3d test - " << vector3_test_time.count() << "s for " << iterations << " iterations to produce " << results.block<4, 1>(100000, 0) << std::endl; +} + +inline void TestVector4d(const ssize_t iterations, const Eigen::Isometry3d& base_transform, Eigen::MatrixXd& results) +{ + std::chrono::time_point vector4_start_time = std::chrono::steady_clock::now(); + for (ssize_t idx = 0; idx < iterations; idx++) + { + Eigen::Vector4d test_vector(1.0 * (double)idx, 2.0 * (double)idx, 3.0 * (double)idx, 1.0); + results.block<4, 1>(idx * 4, 0) = base_transform * test_vector; + } + std::chrono::time_point vector4_end_time = std::chrono::steady_clock::now(); + std::chrono::duration vector4_test_time(vector4_end_time - vector4_start_time); + std::cout << "Isometry3d * Vector4d test - " << vector4_test_time.count() << "s for " << iterations << " iterations to produce " << results.block<4, 1>(100000, 0) << std::endl; +} + +inline void TestAlignedVector3d(const ssize_t iterations, const Eigen::Isometry3d& base_transform, Eigen::MatrixXd& results) +{ + std::chrono::time_point alignedvector3_start_time = std::chrono::steady_clock::now(); + for (ssize_t idx = 0; idx < iterations; idx++) + { + Eigen::Aligned4Vector3 test_vector(1.0 * (double)idx, 2.0 * (double)idx, 3.0 * (double)idx); + results.block<3, 1>(idx * 4, 0) = base_transform * test_vector; + } + std::chrono::time_point alignedvector3_end_time = std::chrono::steady_clock::now(); + std::chrono::duration alignedvector3_test_time(alignedvector3_end_time - alignedvector3_start_time); + std::cout << "Isometry3d * AlignedVector3d test - " << alignedvector3_test_time.count() << "s for " << iterations << " iterations to produce " << results.block<4, 1>(100000, 0) << std::endl; +} + +inline void TestManual(const ssize_t iterations, const Eigen::Isometry3d& base_transform, Eigen::MatrixXd& results) +{ + const Eigen::Matrix4d& base_transform_matrix = base_transform.matrix(); + std::chrono::time_point manual_start_time = std::chrono::steady_clock::now(); + for (ssize_t idx = 0; idx < iterations; idx++) + { + Eigen::Vector4d test_vector(1.0 * (double)idx, 2.0 * (double)idx, 3.0 * (double)idx, 1.0); + results.block<4, 1>(idx * 4, 0) = base_transform_matrix * test_vector; + } + std::chrono::time_point manual_end_time = std::chrono::steady_clock::now(); + std::chrono::duration manual_test_time(manual_end_time - manual_start_time); + std::cout << "Matrix4d * Vector4d test - " << manual_test_time.count() << "s for " << iterations << " iterations to produce " << results.block<4, 1>(100000, 0) << std::endl; +} + +int main(int argc, char** argv) +{ + printf("%d arguments\n", argc); + for (int idx = 0; idx < argc; idx++) + { + printf("Argument %d: %s\n", idx, argv[idx]); + } + const ssize_t iterations = 100000000; + const Eigen::Isometry3d base_transform = Eigen::Translation3d(10.0, 10.0, 10.0) * EigenHelpers::QuaternionFromRPY(0.25, 0.5, 0.75); + Eigen::MatrixXd results = Eigen::MatrixXd::Ones(iterations * 4, 1); + TestVector3d(iterations, base_transform, results); + TestVector3d(iterations, base_transform, results); + TestVector3d(iterations, base_transform, results); + TestVector3d(iterations, base_transform, results); + TestVector3d(iterations, base_transform, results); + // + TestVector4d(iterations, base_transform, results); + TestVector4d(iterations, base_transform, results); + TestVector4d(iterations, base_transform, results); + TestVector4d(iterations, base_transform, results); + TestVector4d(iterations, base_transform, results); + // + TestAlignedVector3d(iterations, base_transform, results); + TestAlignedVector3d(iterations, base_transform, results); + TestAlignedVector3d(iterations, base_transform, results); + TestAlignedVector3d(iterations, base_transform, results); + TestAlignedVector3d(iterations, base_transform, results); + // + TestManual(iterations, base_transform, results); + TestManual(iterations, base_transform, results); + TestManual(iterations, base_transform, results); + TestManual(iterations, base_transform, results); + TestManual(iterations, base_transform, results); + return 0; +} diff --git a/flightlib/third_party/arc_utilities/src/test_hierarchical_clustering.cpp b/flightlib/third_party/arc_utilities/src/test_hierarchical_clustering.cpp new file mode 100644 index 0000000..bf9cf76 --- /dev/null +++ b/flightlib/third_party/arc_utilities/src/test_hierarchical_clustering.cpp @@ -0,0 +1,64 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +int main(int argc, char** argv) +{ + printf("%d arguments\n", argc); + for (int idx = 0; idx < argc; idx++) + { + printf("Argument %d: %s\n", idx, argv[idx]); + } + const size_t num_points = (argc >= 2) ? (size_t)(atoi(argv[1])) : 1000; + std::cout << "Generating " << num_points << " random points..." << std::endl; + const auto seed = std::chrono::high_resolution_clock::now().time_since_epoch().count(); + std::mt19937_64 prng(seed); + std::uniform_real_distribution dist(0.0, 10.0); + EigenHelpers::VectorVector3d random_points(num_points); + std::vector indices(num_points); + for (size_t idx = 0; idx < num_points; idx++) + { + const double x = dist(prng); + const double y = dist(prng); + random_points[idx] = Eigen::Vector3d(x, y, 0.0); + indices[idx] = idx; + } + std::cout << "Clustering " << num_points << " points..." << std::endl; + std::function distance_fn = [] (const Eigen::Vector3d& v1, const Eigen::Vector3d& v2) { return EigenHelpers::Distance(v1, v2); }; + const Eigen::MatrixXd distance_matrix = arc_helpers::BuildDistanceMatrix(random_points, distance_fn); + const std::vector> clusters = simple_hierarchical_clustering::SimpleHierarchicalClustering::Cluster(indices, distance_matrix, 1.0).first; + for (size_t cluster_idx = 0; cluster_idx < clusters.size(); cluster_idx++) + { + const std::vector& current_cluster = clusters[cluster_idx]; + const double cluster_num = 1.0 + (double)cluster_idx; + for (size_t element_idx = 0; element_idx < current_cluster.size(); element_idx++) + { + const size_t index = current_cluster[element_idx]; + random_points[index].z() = cluster_num; + } + } + std::cout << "Saving to CSV..." << std::endl; + const std::string log_file_name = (argc >=3 ) ? std::string(argv[2]) : "/tmp/test_hierarchical_clustering.csv"; + std::ofstream log_file(log_file_name, std::ios_base::out); + if (!log_file.is_open()) + { + std::cerr << "\x1b[31;1m Unable to create folder/file to log to: " << log_file_name << "\x1b[0m \n"; + throw std::invalid_argument("Log filename must be write-openable"); + } + for (size_t idx = 0; idx < num_points; idx++) + { + const Eigen::Vector3d& point = random_points[idx]; + log_file << point.x() << "," << point.y() << "," << point.z() << std::endl; + } + log_file.close(); + std::cout << "Done saving, you can import into matlab and draw with \"scatter3(x, y, z, 50, z, '.')\"" << std::endl; + return 0; +} diff --git a/flightlib/third_party/arc_utilities/src/test_shortcut_smoothing.cpp b/flightlib/third_party/arc_utilities/src/test_shortcut_smoothing.cpp new file mode 100644 index 0000000..c9f8f2c --- /dev/null +++ b/flightlib/third_party/arc_utilities/src/test_shortcut_smoothing.cpp @@ -0,0 +1,26 @@ +#include +#include "arc_utilities/shortcut_smoothing.hpp" +#include "arc_utilities/pretty_print.hpp" + +int main(int argc, char** argv) +{ + (void)argc; + (void)argv; + + EigenHelpers::VectorVector3d vec(10); + for (int i = 0; i < 10; ++i) + { + vec[i] = Eigen::Vector3d(i, 0.0, 0.0); + } + + const double step_size = 0.1; + const auto collision_fn = [] (const Eigen::Vector3d& location) { (void)location; return location.norm() > 4.0; }; + + auto vec_smoothed = shortcut_smoothing::InterpolateWithCollisionCheck(vec, 1, 4, step_size, collision_fn); + + + std::cout << "Original:\n" << PrettyPrint::PrettyPrint(vec, true, "\n") << std::endl << std::endl; + std::cout << "Smoothed:\n" << PrettyPrint::PrettyPrint(vec_smoothed, true, "\n") << std::endl << std::endl; + + return 0; +} diff --git a/flightlib/third_party/arc_utilities/src/timing.cpp b/flightlib/third_party/arc_utilities/src/timing.cpp new file mode 100644 index 0000000..72b671a --- /dev/null +++ b/flightlib/third_party/arc_utilities/src/timing.cpp @@ -0,0 +1,7 @@ +#include "arc_utilities/timing.hpp" + +double arc_utilities::GlobalStopwatch(const StopwatchControl control) +{ + static arc_utilities::Stopwatch global_stopwatch; + return global_stopwatch(control); +} diff --git a/flightlib/third_party/sdf_tools/CMakeLists.txt b/flightlib/third_party/sdf_tools/CMakeLists.txt new file mode 100644 index 0000000..45753e0 --- /dev/null +++ b/flightlib/third_party/sdf_tools/CMakeLists.txt @@ -0,0 +1,138 @@ +cmake_minimum_required(VERSION 2.8.3) +project(sdf_tools) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS rospy std_msgs sensor_msgs visualization_msgs image_transport cv_bridge arc_utilities message_generation) +find_package(cmake_modules REQUIRED) +find_package(Eigen3 REQUIRED) +set(Eigen3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}) +find_package(OpenCV REQUIRED) +# MoveIt! isn't a required dependency +find_package(moveit_msgs) +find_package(moveit_core) +find_package(moveit_ros_planning) +find_package(PCL 1.10 REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/groovy/api/catkin/html/user_guide/setup_dot_py.html +#catkin_python_setup() + +####################################### +## Declare ROS messages and services ## +####################################### + +## Generate messages in the 'msg' folder +add_message_files(DIRECTORY msg FILES SDF.msg CollisionMap.msg TaggedObjectCollisionMap.msg) + +## Generate services in the 'srv' folder +add_service_files(DIRECTORY srv FILES ComputeSDF.srv) + +## Generate added messages and services with any dependencies listed here +generate_messages(DEPENDENCIES geometry_msgs std_msgs) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +if(moveit_core_FOUND) + catkin_package(INCLUDE_DIRS include LIBRARIES ${PROJECT_NAME} CATKIN_DEPENDS rospy std_msgs sensor_msgs moveit_core moveit_ros_planning visualization_msgs moveit_msgs image_transport cv_bridge arc_utilities message_runtime DEPENDS Eigen3 OpenCV) +else() + catkin_package(INCLUDE_DIRS include LIBRARIES ${PROJECT_NAME} CATKIN_DEPENDS rospy std_msgs sensor_msgs visualization_msgs image_transport cv_bridge arc_utilities message_runtime DEPENDS Eigen3 OpenCV) +endif() + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +if(moveit_core_FOUND) + include_directories(include SYSTEM ${catkin_INCLUDE_DIRS} ${Eigen3_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${moveit_core_INCLUDE_DIRS} ${moveit_msgs_INCLUDE_DIRS} ${moveit_ros_planning_INCLUDE_DIRS}) +else() + include_directories(include SYSTEM ${catkin_INCLUDE_DIRS} ${Eigen3_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}) +endif() + +include_directories(${PCL_INCLUDE_DIRS}) +link_directories(${PCL_LIBRARY_DIRS}) + +set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS} -flto -O3 -Wall -Wextra -Werror") +set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib) + +if(moveit_core_FOUND) + message(STATUS "MoveIt! found. Building SDF Tools library with MoveIt! integration.") + # SDF library + add_library(${PROJECT_NAME} + include/${PROJECT_NAME}/collision_map.hpp + include/${PROJECT_NAME}/tagged_object_collision_map.hpp + include/${PROJECT_NAME}/dynamic_spatial_hashed_collision_map.hpp + include/${PROJECT_NAME}/sdf.hpp + include/${PROJECT_NAME}/sdf_builder.hpp + src/${PROJECT_NAME}/collision_map.cpp + src/${PROJECT_NAME}/tagged_object_collision_map.cpp + src/${PROJECT_NAME}/dynamic_spatial_hashed_collision_map.cpp + src/${PROJECT_NAME}/sdf.cpp + src/${PROJECT_NAME}/sdf_builder.cpp) + add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencpp) + target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${moveit_core_LIBRARIES} ${moveit_msgs_LIBRARIES} ${moveit_ros_planning_LIBRARIES}) + # SDF generation node + add_executable(sdf_generation_node src/sdf_generation_node.cpp) + add_dependencies(sdf_generation_node ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencpp) + target_link_libraries(sdf_generation_node ${catkin_LIBRARIES} ${PROJECT_NAME} ${moveit_core_LIBRARIES} ${moveit_msgs_LIBRARIES} ${moveit_ros_planning_LIBRARIES}) +else() + message(STATUS "MoveIt! not found. Building SDF Tools library without MoveIt! integration.") + # SDF library + add_library(${PROJECT_NAME} + include/${PROJECT_NAME}/collision_map.hpp + include/${PROJECT_NAME}/tagged_object_collision_map.hpp + include/${PROJECT_NAME}/dynamic_spatial_hashed_collision_map.hpp + include/${PROJECT_NAME}/sdf.hpp + src/${PROJECT_NAME}/collision_map.cpp + src/${PROJECT_NAME}/tagged_object_collision_map.cpp + src/${PROJECT_NAME}/dynamic_spatial_hashed_collision_map.cpp + src/${PROJECT_NAME}/sdf.cpp) + add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencpp) + target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) +endif() + +# Simple test node for voxel_grid +# add_executable(voxel_grid_test src/test_voxel_grid.cpp) +# add_dependencies(voxel_grid_test ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencpp) +# target_link_libraries(voxel_grid_test ${catkin_LIBRARIES} ${PROJECT_NAME}) + +# Image to SDF node +# add_executable(image_2d_sdf_node src/image_2d_sdf_node.cpp) +# add_dependencies(image_2d_sdf_node ${catkin_EXPORTED_TARGETS}) +# target_link_libraries(image_2d_sdf_node ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) + +# Tutorial on how to use the components of the sdf_tools library +# add_executable(sdf_tools_tutorial src/sdf_tools_tutorial.cpp) +# add_dependencies(sdf_tools_tutorial ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencpp) +# target_link_libraries(sdf_tools_tutorial ${catkin_LIBRARIES} ${PROJECT_NAME}) + +############# +## Install ## +############# + +## Mark library for installation +install(TARGETS ${PROJECT_NAME} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + ARCHIVE DESTINATION ${PROJECT_SOURCE_DIR}/lib + RUNTIME DESTINATION ${PROJECT_SOURCE_DIR}/lib + LIBRARY DESTINATION ${PROJECT_SOURCE_DIR}/lib +) +## Mark cpp header files for installation +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${PROJECT_SOURCE_DIR}/include/sdf_tools + PATTERN ".svn" EXCLUDE +) diff --git a/flightlib/third_party/sdf_tools/LICENSE b/flightlib/third_party/sdf_tools/LICENSE new file mode 100644 index 0000000..5df410b --- /dev/null +++ b/flightlib/third_party/sdf_tools/LICENSE @@ -0,0 +1,23 @@ +Copyright (c) 2014, Autonomous Robotic Collaboration Laboratory +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +* Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. \ No newline at end of file diff --git a/flightlib/third_party/sdf_tools/README.md b/flightlib/third_party/sdf_tools/README.md new file mode 100644 index 0000000..fde68be --- /dev/null +++ b/flightlib/third_party/sdf_tools/README.md @@ -0,0 +1,6 @@ +sdf_tools +========= + +Builds 2D signed distance fields from images, 3D signed distance fields from pointclouds, 3D signed distance fields from Octomap, provides a lightweight signed distance field library, message types for signed distance fields, and tools to compress signed distance fields for transport. + +A simple example/tutorial is provided, see the [Wiki](https://github.com/WPI-ARC/sdf_tools/wiki). diff --git a/flightlib/third_party/sdf_tools/include/sdf_tools/CollisionMap.h b/flightlib/third_party/sdf_tools/include/sdf_tools/CollisionMap.h new file mode 100644 index 0000000..1972f54 --- /dev/null +++ b/flightlib/third_party/sdf_tools/include/sdf_tools/CollisionMap.h @@ -0,0 +1,323 @@ +// Generated by gencpp from file sdf_tools/CollisionMap.msg +// DO NOT EDIT! + + +#ifndef SDF_TOOLS_MESSAGE_COLLISIONMAP_H +#define SDF_TOOLS_MESSAGE_COLLISIONMAP_H + + +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include + +namespace sdf_tools +{ +template +struct CollisionMap_ +{ + typedef CollisionMap_ Type; + + CollisionMap_() + : header() + , origin_transform() + , dimensions() + , cell_size(0.0) + , OOB_occupancy_value(0.0) + , OOB_component_value(0) + , number_of_components(0) + , components_valid(false) + , initialized(false) + , data() { + } + CollisionMap_(const ContainerAllocator& _alloc) + : header(_alloc) + , origin_transform(_alloc) + , dimensions(_alloc) + , cell_size(0.0) + , OOB_occupancy_value(0.0) + , OOB_component_value(0) + , number_of_components(0) + , components_valid(false) + , initialized(false) + , data(_alloc) { + (void)_alloc; + } + + + + typedef ::std_msgs::Header_ _header_type; + _header_type header; + + typedef ::geometry_msgs::Transform_ _origin_transform_type; + _origin_transform_type origin_transform; + + typedef ::geometry_msgs::Vector3_ _dimensions_type; + _dimensions_type dimensions; + + typedef double _cell_size_type; + _cell_size_type cell_size; + + typedef float _OOB_occupancy_value_type; + _OOB_occupancy_value_type OOB_occupancy_value; + + typedef uint32_t _OOB_component_value_type; + _OOB_component_value_type OOB_component_value; + + typedef uint32_t _number_of_components_type; + _number_of_components_type number_of_components; + + typedef uint8_t _components_valid_type; + _components_valid_type components_valid; + + typedef uint8_t _initialized_type; + _initialized_type initialized; + + typedef std::vector::other > _data_type; + _data_type data; + + + + + typedef boost::shared_ptr< ::sdf_tools::CollisionMap_ > Ptr; + typedef boost::shared_ptr< ::sdf_tools::CollisionMap_ const> ConstPtr; + +}; // struct CollisionMap_ + +typedef ::sdf_tools::CollisionMap_ > CollisionMap; + +typedef boost::shared_ptr< ::sdf_tools::CollisionMap > CollisionMapPtr; +typedef boost::shared_ptr< ::sdf_tools::CollisionMap const> CollisionMapConstPtr; + +// constants requiring out of line definition + + + +template +std::ostream& operator<<(std::ostream& s, const ::sdf_tools::CollisionMap_ & v) +{ +ros::message_operations::Printer< ::sdf_tools::CollisionMap_ >::stream(s, "", v); +return s; +} + +} // namespace sdf_tools + +namespace ros +{ +namespace message_traits +{ + + + +// BOOLTRAITS {'IsFixedSize': False, 'IsMessage': True, 'HasHeader': True} +// {'std_msgs': ['/opt/ros/indigo/share/std_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/indigo/share/geometry_msgs/cmake/../msg'], 'sdf_tools': ['/home/zby/workspaces/temp_ws/src/sdf_tools/msg']} + +// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types'] + + + + +template +struct IsFixedSize< ::sdf_tools::CollisionMap_ > + : FalseType + { }; + +template +struct IsFixedSize< ::sdf_tools::CollisionMap_ const> + : FalseType + { }; + +template +struct IsMessage< ::sdf_tools::CollisionMap_ > + : TrueType + { }; + +template +struct IsMessage< ::sdf_tools::CollisionMap_ const> + : TrueType + { }; + +template +struct HasHeader< ::sdf_tools::CollisionMap_ > + : TrueType + { }; + +template +struct HasHeader< ::sdf_tools::CollisionMap_ const> + : TrueType + { }; + + +template +struct MD5Sum< ::sdf_tools::CollisionMap_ > +{ + static const char* value() + { + return "69b7e5097be57c5900575a10000bd373"; + } + + static const char* value(const ::sdf_tools::CollisionMap_&) { return value(); } + static const uint64_t static_value1 = 0x69b7e5097be57c59ULL; + static const uint64_t static_value2 = 0x00575a10000bd373ULL; +}; + +template +struct DataType< ::sdf_tools::CollisionMap_ > +{ + static const char* value() + { + return "sdf_tools/CollisionMap"; + } + + static const char* value(const ::sdf_tools::CollisionMap_&) { return value(); } +}; + +template +struct Definition< ::sdf_tools::CollisionMap_ > +{ + static const char* value() + { + return "std_msgs/Header header\n\ +geometry_msgs/Transform origin_transform\n\ +geometry_msgs/Vector3 dimensions\n\ +float64 cell_size\n\ +float32 OOB_occupancy_value\n\ +uint32 OOB_component_value\n\ +uint32 number_of_components\n\ +bool components_valid\n\ +bool initialized\n\ +uint8[] data\n\ +\n\ +================================================================================\n\ +MSG: std_msgs/Header\n\ +# Standard metadata for higher-level stamped data types.\n\ +# This is generally used to communicate timestamped data \n\ +# in a particular coordinate frame.\n\ +# \n\ +# sequence ID: consecutively increasing ID \n\ +uint32 seq\n\ +#Two-integer timestamp that is expressed as:\n\ +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\ +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\ +# time-handling sugar is provided by the client library\n\ +time stamp\n\ +#Frame this data is associated with\n\ +# 0: no frame\n\ +# 1: global frame\n\ +string frame_id\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Transform\n\ +# This represents the transform between two coordinate frames in free space.\n\ +\n\ +Vector3 translation\n\ +Quaternion rotation\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Vector3\n\ +# This represents a vector in free space. \n\ +# It is only meant to represent a direction. Therefore, it does not\n\ +# make sense to apply a translation to it (e.g., when applying a \n\ +# generic rigid transformation to a Vector3, tf2 will only apply the\n\ +# rotation). If you want your data to be translatable too, use the\n\ +# geometry_msgs/Point message instead.\n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +================================================================================\n\ +MSG: geometry_msgs/Quaternion\n\ +# This represents an orientation in free space in quaternion form.\n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +float64 w\n\ +"; + } + + static const char* value(const ::sdf_tools::CollisionMap_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::sdf_tools::CollisionMap_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.origin_transform); + stream.next(m.dimensions); + stream.next(m.cell_size); + stream.next(m.OOB_occupancy_value); + stream.next(m.OOB_component_value); + stream.next(m.number_of_components); + stream.next(m.components_valid); + stream.next(m.initialized); + stream.next(m.data); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct CollisionMap_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::sdf_tools::CollisionMap_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::sdf_tools::CollisionMap_& v) + { + s << indent << "header: "; + s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "origin_transform: "; + s << std::endl; + Printer< ::geometry_msgs::Transform_ >::stream(s, indent + " ", v.origin_transform); + s << indent << "dimensions: "; + s << std::endl; + Printer< ::geometry_msgs::Vector3_ >::stream(s, indent + " ", v.dimensions); + s << indent << "cell_size: "; + Printer::stream(s, indent + " ", v.cell_size); + s << indent << "OOB_occupancy_value: "; + Printer::stream(s, indent + " ", v.OOB_occupancy_value); + s << indent << "OOB_component_value: "; + Printer::stream(s, indent + " ", v.OOB_component_value); + s << indent << "number_of_components: "; + Printer::stream(s, indent + " ", v.number_of_components); + s << indent << "components_valid: "; + Printer::stream(s, indent + " ", v.components_valid); + s << indent << "initialized: "; + Printer::stream(s, indent + " ", v.initialized); + s << indent << "data[]" << std::endl; + for (size_t i = 0; i < v.data.size(); ++i) + { + s << indent << " data[" << i << "]: "; + Printer::stream(s, indent + " ", v.data[i]); + } + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // SDF_TOOLS_MESSAGE_COLLISIONMAP_H diff --git a/flightlib/third_party/sdf_tools/include/sdf_tools/ComputeSDF.h b/flightlib/third_party/sdf_tools/include/sdf_tools/ComputeSDF.h new file mode 100644 index 0000000..95c433f --- /dev/null +++ b/flightlib/third_party/sdf_tools/include/sdf_tools/ComputeSDF.h @@ -0,0 +1,123 @@ +// Generated by gencpp from file sdf_tools/ComputeSDF.msg +// DO NOT EDIT! + + +#ifndef SDF_TOOLS_MESSAGE_COMPUTESDF_H +#define SDF_TOOLS_MESSAGE_COMPUTESDF_H + +#include + + +#include +#include + + +namespace sdf_tools +{ + +struct ComputeSDF +{ + +typedef ComputeSDFRequest Request; +typedef ComputeSDFResponse Response; +Request request; +Response response; + +typedef Request RequestType; +typedef Response ResponseType; + +}; // struct ComputeSDF +} // namespace sdf_tools + + +namespace ros +{ +namespace service_traits +{ + + +template<> +struct MD5Sum< ::sdf_tools::ComputeSDF > { + static const char* value() + { + return "567be5b04fd66c34e03a51193aff2d4a"; + } + + static const char* value(const ::sdf_tools::ComputeSDF&) { return value(); } +}; + +template<> +struct DataType< ::sdf_tools::ComputeSDF > { + static const char* value() + { + return "sdf_tools/ComputeSDF"; + } + + static const char* value(const ::sdf_tools::ComputeSDF&) { return value(); } +}; + + +// service_traits::MD5Sum< ::sdf_tools::ComputeSDFRequest> should match +// service_traits::MD5Sum< ::sdf_tools::ComputeSDF > +template<> +struct MD5Sum< ::sdf_tools::ComputeSDFRequest> +{ + static const char* value() + { + return MD5Sum< ::sdf_tools::ComputeSDF >::value(); + } + static const char* value(const ::sdf_tools::ComputeSDFRequest&) + { + return value(); + } +}; + +// service_traits::DataType< ::sdf_tools::ComputeSDFRequest> should match +// service_traits::DataType< ::sdf_tools::ComputeSDF > +template<> +struct DataType< ::sdf_tools::ComputeSDFRequest> +{ + static const char* value() + { + return DataType< ::sdf_tools::ComputeSDF >::value(); + } + static const char* value(const ::sdf_tools::ComputeSDFRequest&) + { + return value(); + } +}; + +// service_traits::MD5Sum< ::sdf_tools::ComputeSDFResponse> should match +// service_traits::MD5Sum< ::sdf_tools::ComputeSDF > +template<> +struct MD5Sum< ::sdf_tools::ComputeSDFResponse> +{ + static const char* value() + { + return MD5Sum< ::sdf_tools::ComputeSDF >::value(); + } + static const char* value(const ::sdf_tools::ComputeSDFResponse&) + { + return value(); + } +}; + +// service_traits::DataType< ::sdf_tools::ComputeSDFResponse> should match +// service_traits::DataType< ::sdf_tools::ComputeSDF > +template<> +struct DataType< ::sdf_tools::ComputeSDFResponse> +{ + static const char* value() + { + return DataType< ::sdf_tools::ComputeSDF >::value(); + } + static const char* value(const ::sdf_tools::ComputeSDFResponse&) + { + return value(); + } +}; + +} // namespace service_traits +} // namespace ros + +#endif // SDF_TOOLS_MESSAGE_COMPUTESDF_H diff --git a/flightlib/third_party/sdf_tools/include/sdf_tools/ComputeSDFRequest.h b/flightlib/third_party/sdf_tools/include/sdf_tools/ComputeSDFRequest.h new file mode 100644 index 0000000..e061d34 --- /dev/null +++ b/flightlib/third_party/sdf_tools/include/sdf_tools/ComputeSDFRequest.h @@ -0,0 +1,186 @@ +// Generated by gencpp from file sdf_tools/ComputeSDFRequest.msg +// DO NOT EDIT! + + +#ifndef SDF_TOOLS_MESSAGE_COMPUTESDFREQUEST_H +#define SDF_TOOLS_MESSAGE_COMPUTESDFREQUEST_H + + +#include +#include +#include + +#include +#include +#include +#include + + +namespace sdf_tools +{ +template +struct ComputeSDFRequest_ +{ + typedef ComputeSDFRequest_ Type; + + ComputeSDFRequest_() + : request_new(false) { + } + ComputeSDFRequest_(const ContainerAllocator& _alloc) + : request_new(false) { + (void)_alloc; + } + + + + typedef uint8_t _request_new_type; + _request_new_type request_new; + + + + + typedef boost::shared_ptr< ::sdf_tools::ComputeSDFRequest_ > Ptr; + typedef boost::shared_ptr< ::sdf_tools::ComputeSDFRequest_ const> ConstPtr; + +}; // struct ComputeSDFRequest_ + +typedef ::sdf_tools::ComputeSDFRequest_ > ComputeSDFRequest; + +typedef boost::shared_ptr< ::sdf_tools::ComputeSDFRequest > ComputeSDFRequestPtr; +typedef boost::shared_ptr< ::sdf_tools::ComputeSDFRequest const> ComputeSDFRequestConstPtr; + +// constants requiring out of line definition + + + +template +std::ostream& operator<<(std::ostream& s, const ::sdf_tools::ComputeSDFRequest_ & v) +{ +ros::message_operations::Printer< ::sdf_tools::ComputeSDFRequest_ >::stream(s, "", v); +return s; +} + +} // namespace sdf_tools + +namespace ros +{ +namespace message_traits +{ + + + +// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False} +// {'std_msgs': ['/opt/ros/indigo/share/std_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/indigo/share/geometry_msgs/cmake/../msg'], 'sdf_tools': ['/home/zby/workspaces/temp_ws/src/sdf_tools/msg']} + +// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types'] + + + + +template +struct IsFixedSize< ::sdf_tools::ComputeSDFRequest_ > + : TrueType + { }; + +template +struct IsFixedSize< ::sdf_tools::ComputeSDFRequest_ const> + : TrueType + { }; + +template +struct IsMessage< ::sdf_tools::ComputeSDFRequest_ > + : TrueType + { }; + +template +struct IsMessage< ::sdf_tools::ComputeSDFRequest_ const> + : TrueType + { }; + +template +struct HasHeader< ::sdf_tools::ComputeSDFRequest_ > + : FalseType + { }; + +template +struct HasHeader< ::sdf_tools::ComputeSDFRequest_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::sdf_tools::ComputeSDFRequest_ > +{ + static const char* value() + { + return "70082b15c0185876dcce41c4eb98be14"; + } + + static const char* value(const ::sdf_tools::ComputeSDFRequest_&) { return value(); } + static const uint64_t static_value1 = 0x70082b15c0185876ULL; + static const uint64_t static_value2 = 0xdcce41c4eb98be14ULL; +}; + +template +struct DataType< ::sdf_tools::ComputeSDFRequest_ > +{ + static const char* value() + { + return "sdf_tools/ComputeSDFRequest"; + } + + static const char* value(const ::sdf_tools::ComputeSDFRequest_&) { return value(); } +}; + +template +struct Definition< ::sdf_tools::ComputeSDFRequest_ > +{ + static const char* value() + { + return "bool request_new\n\ +"; + } + + static const char* value(const ::sdf_tools::ComputeSDFRequest_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::sdf_tools::ComputeSDFRequest_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.request_new); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct ComputeSDFRequest_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::sdf_tools::ComputeSDFRequest_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::sdf_tools::ComputeSDFRequest_& v) + { + s << indent << "request_new: "; + Printer::stream(s, indent + " ", v.request_new); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // SDF_TOOLS_MESSAGE_COMPUTESDFREQUEST_H diff --git a/flightlib/third_party/sdf_tools/include/sdf_tools/ComputeSDFResponse.h b/flightlib/third_party/sdf_tools/include/sdf_tools/ComputeSDFResponse.h new file mode 100644 index 0000000..41dd25f --- /dev/null +++ b/flightlib/third_party/sdf_tools/include/sdf_tools/ComputeSDFResponse.h @@ -0,0 +1,255 @@ +// Generated by gencpp from file sdf_tools/ComputeSDFResponse.msg +// DO NOT EDIT! + + +#ifndef SDF_TOOLS_MESSAGE_COMPUTESDFRESPONSE_H +#define SDF_TOOLS_MESSAGE_COMPUTESDFRESPONSE_H + + +#include +#include +#include + +#include +#include +#include +#include + +#include + +namespace sdf_tools +{ +template +struct ComputeSDFResponse_ +{ + typedef ComputeSDFResponse_ Type; + + ComputeSDFResponse_() + : is_valid(false) + , sdf() { + } + ComputeSDFResponse_(const ContainerAllocator& _alloc) + : is_valid(false) + , sdf(_alloc) { + (void)_alloc; + } + + + + typedef uint8_t _is_valid_type; + _is_valid_type is_valid; + + typedef ::sdf_tools::SDF_ _sdf_type; + _sdf_type sdf; + + + + + typedef boost::shared_ptr< ::sdf_tools::ComputeSDFResponse_ > Ptr; + typedef boost::shared_ptr< ::sdf_tools::ComputeSDFResponse_ const> ConstPtr; + +}; // struct ComputeSDFResponse_ + +typedef ::sdf_tools::ComputeSDFResponse_ > ComputeSDFResponse; + +typedef boost::shared_ptr< ::sdf_tools::ComputeSDFResponse > ComputeSDFResponsePtr; +typedef boost::shared_ptr< ::sdf_tools::ComputeSDFResponse const> ComputeSDFResponseConstPtr; + +// constants requiring out of line definition + + + +template +std::ostream& operator<<(std::ostream& s, const ::sdf_tools::ComputeSDFResponse_ & v) +{ +ros::message_operations::Printer< ::sdf_tools::ComputeSDFResponse_ >::stream(s, "", v); +return s; +} + +} // namespace sdf_tools + +namespace ros +{ +namespace message_traits +{ + + + +// BOOLTRAITS {'IsFixedSize': False, 'IsMessage': True, 'HasHeader': False} +// {'std_msgs': ['/opt/ros/indigo/share/std_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/indigo/share/geometry_msgs/cmake/../msg'], 'sdf_tools': ['/home/zby/workspaces/temp_ws/src/sdf_tools/msg']} + +// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types'] + + + + +template +struct IsFixedSize< ::sdf_tools::ComputeSDFResponse_ > + : FalseType + { }; + +template +struct IsFixedSize< ::sdf_tools::ComputeSDFResponse_ const> + : FalseType + { }; + +template +struct IsMessage< ::sdf_tools::ComputeSDFResponse_ > + : TrueType + { }; + +template +struct IsMessage< ::sdf_tools::ComputeSDFResponse_ const> + : TrueType + { }; + +template +struct HasHeader< ::sdf_tools::ComputeSDFResponse_ > + : FalseType + { }; + +template +struct HasHeader< ::sdf_tools::ComputeSDFResponse_ const> + : FalseType + { }; + + +template +struct MD5Sum< ::sdf_tools::ComputeSDFResponse_ > +{ + static const char* value() + { + return "fbf70ecbf2634799341a7255b0c416e3"; + } + + static const char* value(const ::sdf_tools::ComputeSDFResponse_&) { return value(); } + static const uint64_t static_value1 = 0xfbf70ecbf2634799ULL; + static const uint64_t static_value2 = 0x341a7255b0c416e3ULL; +}; + +template +struct DataType< ::sdf_tools::ComputeSDFResponse_ > +{ + static const char* value() + { + return "sdf_tools/ComputeSDFResponse"; + } + + static const char* value(const ::sdf_tools::ComputeSDFResponse_&) { return value(); } +}; + +template +struct Definition< ::sdf_tools::ComputeSDFResponse_ > +{ + static const char* value() + { + return "bool is_valid\n\ +sdf_tools/SDF sdf\n\ +\n\ +\n\ +================================================================================\n\ +MSG: sdf_tools/SDF\n\ +std_msgs/Header header\n\ +geometry_msgs/Transform origin_transform\n\ +geometry_msgs/Vector3 dimensions\n\ +float64 sdf_cell_size\n\ +float32 OOB_value\n\ +bool initialized\n\ +bool locked\n\ +uint8[] data\n\ +\n\ +================================================================================\n\ +MSG: std_msgs/Header\n\ +# Standard metadata for higher-level stamped data types.\n\ +# This is generally used to communicate timestamped data \n\ +# in a particular coordinate frame.\n\ +# \n\ +# sequence ID: consecutively increasing ID \n\ +uint32 seq\n\ +#Two-integer timestamp that is expressed as:\n\ +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\ +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\ +# time-handling sugar is provided by the client library\n\ +time stamp\n\ +#Frame this data is associated with\n\ +# 0: no frame\n\ +# 1: global frame\n\ +string frame_id\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Transform\n\ +# This represents the transform between two coordinate frames in free space.\n\ +\n\ +Vector3 translation\n\ +Quaternion rotation\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Vector3\n\ +# This represents a vector in free space. \n\ +# It is only meant to represent a direction. Therefore, it does not\n\ +# make sense to apply a translation to it (e.g., when applying a \n\ +# generic rigid transformation to a Vector3, tf2 will only apply the\n\ +# rotation). If you want your data to be translatable too, use the\n\ +# geometry_msgs/Point message instead.\n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +================================================================================\n\ +MSG: geometry_msgs/Quaternion\n\ +# This represents an orientation in free space in quaternion form.\n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +float64 w\n\ +"; + } + + static const char* value(const ::sdf_tools::ComputeSDFResponse_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::sdf_tools::ComputeSDFResponse_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.is_valid); + stream.next(m.sdf); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct ComputeSDFResponse_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::sdf_tools::ComputeSDFResponse_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::sdf_tools::ComputeSDFResponse_& v) + { + s << indent << "is_valid: "; + Printer::stream(s, indent + " ", v.is_valid); + s << indent << "sdf: "; + s << std::endl; + Printer< ::sdf_tools::SDF_ >::stream(s, indent + " ", v.sdf); + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // SDF_TOOLS_MESSAGE_COMPUTESDFRESPONSE_H diff --git a/flightlib/third_party/sdf_tools/include/sdf_tools/SDF.h b/flightlib/third_party/sdf_tools/include/sdf_tools/SDF.h new file mode 100644 index 0000000..a535067 --- /dev/null +++ b/flightlib/third_party/sdf_tools/include/sdf_tools/SDF.h @@ -0,0 +1,305 @@ +// Generated by gencpp from file sdf_tools/SDF.msg +// DO NOT EDIT! + + +#ifndef SDF_TOOLS_MESSAGE_SDF_H +#define SDF_TOOLS_MESSAGE_SDF_H + + +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include + +namespace sdf_tools +{ +template +struct SDF_ +{ + typedef SDF_ Type; + + SDF_() + : header() + , origin_transform() + , dimensions() + , sdf_cell_size(0.0) + , OOB_value(0.0) + , initialized(false) + , locked(false) + , data() { + } + SDF_(const ContainerAllocator& _alloc) + : header(_alloc) + , origin_transform(_alloc) + , dimensions(_alloc) + , sdf_cell_size(0.0) + , OOB_value(0.0) + , initialized(false) + , locked(false) + , data(_alloc) { + (void)_alloc; + } + + + + typedef ::std_msgs::Header_ _header_type; + _header_type header; + + typedef ::geometry_msgs::Transform_ _origin_transform_type; + _origin_transform_type origin_transform; + + typedef ::geometry_msgs::Vector3_ _dimensions_type; + _dimensions_type dimensions; + + typedef double _sdf_cell_size_type; + _sdf_cell_size_type sdf_cell_size; + + typedef float _OOB_value_type; + _OOB_value_type OOB_value; + + typedef uint8_t _initialized_type; + _initialized_type initialized; + + typedef uint8_t _locked_type; + _locked_type locked; + + typedef std::vector::other > _data_type; + _data_type data; + + + + + typedef boost::shared_ptr< ::sdf_tools::SDF_ > Ptr; + typedef boost::shared_ptr< ::sdf_tools::SDF_ const> ConstPtr; + +}; // struct SDF_ + +typedef ::sdf_tools::SDF_ > SDF; + +typedef boost::shared_ptr< ::sdf_tools::SDF > SDFPtr; +typedef boost::shared_ptr< ::sdf_tools::SDF const> SDFConstPtr; + +// constants requiring out of line definition + + + +template +std::ostream& operator<<(std::ostream& s, const ::sdf_tools::SDF_ & v) +{ +ros::message_operations::Printer< ::sdf_tools::SDF_ >::stream(s, "", v); +return s; +} + +} // namespace sdf_tools + +namespace ros +{ +namespace message_traits +{ + + + +// BOOLTRAITS {'IsFixedSize': False, 'IsMessage': True, 'HasHeader': True} +// {'std_msgs': ['/opt/ros/indigo/share/std_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/indigo/share/geometry_msgs/cmake/../msg'], 'sdf_tools': ['/home/zby/workspaces/temp_ws/src/sdf_tools/msg']} + +// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types'] + + + + +template +struct IsFixedSize< ::sdf_tools::SDF_ > + : FalseType + { }; + +template +struct IsFixedSize< ::sdf_tools::SDF_ const> + : FalseType + { }; + +template +struct IsMessage< ::sdf_tools::SDF_ > + : TrueType + { }; + +template +struct IsMessage< ::sdf_tools::SDF_ const> + : TrueType + { }; + +template +struct HasHeader< ::sdf_tools::SDF_ > + : TrueType + { }; + +template +struct HasHeader< ::sdf_tools::SDF_ const> + : TrueType + { }; + + +template +struct MD5Sum< ::sdf_tools::SDF_ > +{ + static const char* value() + { + return "a7c1a3fc5ebce39f4d97049e22031ffc"; + } + + static const char* value(const ::sdf_tools::SDF_&) { return value(); } + static const uint64_t static_value1 = 0xa7c1a3fc5ebce39fULL; + static const uint64_t static_value2 = 0x4d97049e22031ffcULL; +}; + +template +struct DataType< ::sdf_tools::SDF_ > +{ + static const char* value() + { + return "sdf_tools/SDF"; + } + + static const char* value(const ::sdf_tools::SDF_&) { return value(); } +}; + +template +struct Definition< ::sdf_tools::SDF_ > +{ + static const char* value() + { + return "std_msgs/Header header\n\ +geometry_msgs/Transform origin_transform\n\ +geometry_msgs/Vector3 dimensions\n\ +float64 sdf_cell_size\n\ +float32 OOB_value\n\ +bool initialized\n\ +bool locked\n\ +uint8[] data\n\ +\n\ +================================================================================\n\ +MSG: std_msgs/Header\n\ +# Standard metadata for higher-level stamped data types.\n\ +# This is generally used to communicate timestamped data \n\ +# in a particular coordinate frame.\n\ +# \n\ +# sequence ID: consecutively increasing ID \n\ +uint32 seq\n\ +#Two-integer timestamp that is expressed as:\n\ +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\ +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\ +# time-handling sugar is provided by the client library\n\ +time stamp\n\ +#Frame this data is associated with\n\ +# 0: no frame\n\ +# 1: global frame\n\ +string frame_id\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Transform\n\ +# This represents the transform between two coordinate frames in free space.\n\ +\n\ +Vector3 translation\n\ +Quaternion rotation\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Vector3\n\ +# This represents a vector in free space. \n\ +# It is only meant to represent a direction. Therefore, it does not\n\ +# make sense to apply a translation to it (e.g., when applying a \n\ +# generic rigid transformation to a Vector3, tf2 will only apply the\n\ +# rotation). If you want your data to be translatable too, use the\n\ +# geometry_msgs/Point message instead.\n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +================================================================================\n\ +MSG: geometry_msgs/Quaternion\n\ +# This represents an orientation in free space in quaternion form.\n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +float64 w\n\ +"; + } + + static const char* value(const ::sdf_tools::SDF_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::sdf_tools::SDF_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.origin_transform); + stream.next(m.dimensions); + stream.next(m.sdf_cell_size); + stream.next(m.OOB_value); + stream.next(m.initialized); + stream.next(m.locked); + stream.next(m.data); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct SDF_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::sdf_tools::SDF_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::sdf_tools::SDF_& v) + { + s << indent << "header: "; + s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "origin_transform: "; + s << std::endl; + Printer< ::geometry_msgs::Transform_ >::stream(s, indent + " ", v.origin_transform); + s << indent << "dimensions: "; + s << std::endl; + Printer< ::geometry_msgs::Vector3_ >::stream(s, indent + " ", v.dimensions); + s << indent << "sdf_cell_size: "; + Printer::stream(s, indent + " ", v.sdf_cell_size); + s << indent << "OOB_value: "; + Printer::stream(s, indent + " ", v.OOB_value); + s << indent << "initialized: "; + Printer::stream(s, indent + " ", v.initialized); + s << indent << "locked: "; + Printer::stream(s, indent + " ", v.locked); + s << indent << "data[]" << std::endl; + for (size_t i = 0; i < v.data.size(); ++i) + { + s << indent << " data[" << i << "]: "; + Printer::stream(s, indent + " ", v.data[i]); + } + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // SDF_TOOLS_MESSAGE_SDF_H diff --git a/flightlib/third_party/sdf_tools/include/sdf_tools/TaggedObjectCollisionMap.h b/flightlib/third_party/sdf_tools/include/sdf_tools/TaggedObjectCollisionMap.h new file mode 100644 index 0000000..27aac54 --- /dev/null +++ b/flightlib/third_party/sdf_tools/include/sdf_tools/TaggedObjectCollisionMap.h @@ -0,0 +1,327 @@ +// Generated by gencpp from file sdf_tools/TaggedObjectCollisionMap.msg +// DO NOT EDIT! + + +#ifndef SDF_TOOLS_MESSAGE_TAGGEDOBJECTCOLLISIONMAP_H +#define SDF_TOOLS_MESSAGE_TAGGEDOBJECTCOLLISIONMAP_H + + +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include + +namespace sdf_tools +{ +template +struct TaggedObjectCollisionMap_ +{ + typedef TaggedObjectCollisionMap_ Type; + + TaggedObjectCollisionMap_() + : header() + , origin_transform() + , dimensions() + , cell_size(0.0) + , number_of_components(0) + , components_valid(false) + , convex_segments_valid(false) + , initialized(false) + , OOB_value() + , data() { + } + TaggedObjectCollisionMap_(const ContainerAllocator& _alloc) + : header(_alloc) + , origin_transform(_alloc) + , dimensions(_alloc) + , cell_size(0.0) + , number_of_components(0) + , components_valid(false) + , convex_segments_valid(false) + , initialized(false) + , OOB_value(_alloc) + , data(_alloc) { + (void)_alloc; + } + + + + typedef ::std_msgs::Header_ _header_type; + _header_type header; + + typedef ::geometry_msgs::Transform_ _origin_transform_type; + _origin_transform_type origin_transform; + + typedef ::geometry_msgs::Vector3_ _dimensions_type; + _dimensions_type dimensions; + + typedef double _cell_size_type; + _cell_size_type cell_size; + + typedef uint32_t _number_of_components_type; + _number_of_components_type number_of_components; + + typedef uint8_t _components_valid_type; + _components_valid_type components_valid; + + typedef uint8_t _convex_segments_valid_type; + _convex_segments_valid_type convex_segments_valid; + + typedef uint8_t _initialized_type; + _initialized_type initialized; + + typedef std::vector::other > _OOB_value_type; + _OOB_value_type OOB_value; + + typedef std::vector::other > _data_type; + _data_type data; + + + + + typedef boost::shared_ptr< ::sdf_tools::TaggedObjectCollisionMap_ > Ptr; + typedef boost::shared_ptr< ::sdf_tools::TaggedObjectCollisionMap_ const> ConstPtr; + +}; // struct TaggedObjectCollisionMap_ + +typedef ::sdf_tools::TaggedObjectCollisionMap_ > TaggedObjectCollisionMap; + +typedef boost::shared_ptr< ::sdf_tools::TaggedObjectCollisionMap > TaggedObjectCollisionMapPtr; +typedef boost::shared_ptr< ::sdf_tools::TaggedObjectCollisionMap const> TaggedObjectCollisionMapConstPtr; + +// constants requiring out of line definition + + + +template +std::ostream& operator<<(std::ostream& s, const ::sdf_tools::TaggedObjectCollisionMap_ & v) +{ +ros::message_operations::Printer< ::sdf_tools::TaggedObjectCollisionMap_ >::stream(s, "", v); +return s; +} + +} // namespace sdf_tools + +namespace ros +{ +namespace message_traits +{ + + + +// BOOLTRAITS {'IsFixedSize': False, 'IsMessage': True, 'HasHeader': True} +// {'std_msgs': ['/opt/ros/indigo/share/std_msgs/cmake/../msg'], 'geometry_msgs': ['/opt/ros/indigo/share/geometry_msgs/cmake/../msg'], 'sdf_tools': ['/home/zby/workspaces/temp_ws/src/sdf_tools/msg']} + +// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types'] + + + + +template +struct IsFixedSize< ::sdf_tools::TaggedObjectCollisionMap_ > + : FalseType + { }; + +template +struct IsFixedSize< ::sdf_tools::TaggedObjectCollisionMap_ const> + : FalseType + { }; + +template +struct IsMessage< ::sdf_tools::TaggedObjectCollisionMap_ > + : TrueType + { }; + +template +struct IsMessage< ::sdf_tools::TaggedObjectCollisionMap_ const> + : TrueType + { }; + +template +struct HasHeader< ::sdf_tools::TaggedObjectCollisionMap_ > + : TrueType + { }; + +template +struct HasHeader< ::sdf_tools::TaggedObjectCollisionMap_ const> + : TrueType + { }; + + +template +struct MD5Sum< ::sdf_tools::TaggedObjectCollisionMap_ > +{ + static const char* value() + { + return "320371317f699b0048968a467deb0a13"; + } + + static const char* value(const ::sdf_tools::TaggedObjectCollisionMap_&) { return value(); } + static const uint64_t static_value1 = 0x320371317f699b00ULL; + static const uint64_t static_value2 = 0x48968a467deb0a13ULL; +}; + +template +struct DataType< ::sdf_tools::TaggedObjectCollisionMap_ > +{ + static const char* value() + { + return "sdf_tools/TaggedObjectCollisionMap"; + } + + static const char* value(const ::sdf_tools::TaggedObjectCollisionMap_&) { return value(); } +}; + +template +struct Definition< ::sdf_tools::TaggedObjectCollisionMap_ > +{ + static const char* value() + { + return "std_msgs/Header header\n\ +geometry_msgs/Transform origin_transform\n\ +geometry_msgs/Vector3 dimensions\n\ +float64 cell_size\n\ +uint32 number_of_components\n\ +bool components_valid\n\ +bool convex_segments_valid\n\ +bool initialized\n\ +uint8[] OOB_value\n\ +uint8[] data\n\ +\n\ +================================================================================\n\ +MSG: std_msgs/Header\n\ +# Standard metadata for higher-level stamped data types.\n\ +# This is generally used to communicate timestamped data \n\ +# in a particular coordinate frame.\n\ +# \n\ +# sequence ID: consecutively increasing ID \n\ +uint32 seq\n\ +#Two-integer timestamp that is expressed as:\n\ +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\ +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\ +# time-handling sugar is provided by the client library\n\ +time stamp\n\ +#Frame this data is associated with\n\ +# 0: no frame\n\ +# 1: global frame\n\ +string frame_id\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Transform\n\ +# This represents the transform between two coordinate frames in free space.\n\ +\n\ +Vector3 translation\n\ +Quaternion rotation\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Vector3\n\ +# This represents a vector in free space. \n\ +# It is only meant to represent a direction. Therefore, it does not\n\ +# make sense to apply a translation to it (e.g., when applying a \n\ +# generic rigid transformation to a Vector3, tf2 will only apply the\n\ +# rotation). If you want your data to be translatable too, use the\n\ +# geometry_msgs/Point message instead.\n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +================================================================================\n\ +MSG: geometry_msgs/Quaternion\n\ +# This represents an orientation in free space in quaternion form.\n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +float64 w\n\ +"; + } + + static const char* value(const ::sdf_tools::TaggedObjectCollisionMap_&) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + + template struct Serializer< ::sdf_tools::TaggedObjectCollisionMap_ > + { + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.origin_transform); + stream.next(m.dimensions); + stream.next(m.cell_size); + stream.next(m.number_of_components); + stream.next(m.components_valid); + stream.next(m.convex_segments_valid); + stream.next(m.initialized); + stream.next(m.OOB_value); + stream.next(m.data); + } + + ROS_DECLARE_ALLINONE_SERIALIZER + }; // struct TaggedObjectCollisionMap_ + +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::sdf_tools::TaggedObjectCollisionMap_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::sdf_tools::TaggedObjectCollisionMap_& v) + { + s << indent << "header: "; + s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "origin_transform: "; + s << std::endl; + Printer< ::geometry_msgs::Transform_ >::stream(s, indent + " ", v.origin_transform); + s << indent << "dimensions: "; + s << std::endl; + Printer< ::geometry_msgs::Vector3_ >::stream(s, indent + " ", v.dimensions); + s << indent << "cell_size: "; + Printer::stream(s, indent + " ", v.cell_size); + s << indent << "number_of_components: "; + Printer::stream(s, indent + " ", v.number_of_components); + s << indent << "components_valid: "; + Printer::stream(s, indent + " ", v.components_valid); + s << indent << "convex_segments_valid: "; + Printer::stream(s, indent + " ", v.convex_segments_valid); + s << indent << "initialized: "; + Printer::stream(s, indent + " ", v.initialized); + s << indent << "OOB_value[]" << std::endl; + for (size_t i = 0; i < v.OOB_value.size(); ++i) + { + s << indent << " OOB_value[" << i << "]: "; + Printer::stream(s, indent + " ", v.OOB_value[i]); + } + s << indent << "data[]" << std::endl; + for (size_t i = 0; i < v.data.size(); ++i) + { + s << indent << " data[" << i << "]: "; + Printer::stream(s, indent + " ", v.data[i]); + } + } +}; + +} // namespace message_operations +} // namespace ros + +#endif // SDF_TOOLS_MESSAGE_TAGGEDOBJECTCOLLISIONMAP_H diff --git a/flightlib/third_party/sdf_tools/include/sdf_tools/collision_map.hpp b/flightlib/third_party/sdf_tools/include/sdf_tools/collision_map.hpp new file mode 100644 index 0000000..5a30dfc --- /dev/null +++ b/flightlib/third_party/sdf_tools/include/sdf_tools/collision_map.hpp @@ -0,0 +1,168 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef COLLISION_MAP_HPP +#define COLLISION_MAP_HPP + +#define ENABLE_UNORDERED_MAP_SIZE_HINTS + +namespace sdf_tools +{ + struct COLLISION_CELL + { + float occupancy; + uint32_t component; + + COLLISION_CELL(const float in_occupancy = 0.0, const uint32_t in_component = 0); + }; + + std::vector CollisionCellToBinary(const COLLISION_CELL& value); + + COLLISION_CELL CollisionCellFromBinary(const std::vector& binary); + + class CollisionMapGrid + { + protected: + + static std_msgs::ColorRGBA GenerateComponentColor(const uint32_t component, const float alpha=1.0f); + + bool IsSurfaceIndex(const int64_t x_index, const int64_t y_index, const int64_t z_index) const; + + typedef struct + { + uint32_t location[3]; + uint32_t closest_point[3]; + double distance_square; + int32_t update_direction; + } bucket_cell; + + typedef VoxelGrid::VoxelGrid DistanceField; + + DistanceField BuildDistanceField(const std::vector& points) const; + + std::vector>>> MakeNeighborhoods() const; + + int GetDirectionNumber(const int dx, const int dy, const int dz) const; + + double ComputeDistanceSquared(const int32_t x1, const int32_t y1, const int32_t z1, const int32_t x2, const int32_t y2, const int32_t z2) const; + + VoxelGrid::VoxelGrid collision_field_; + uint32_t number_of_components_; + std::string frame_; + bool initialized_; + bool components_valid_; + + std::vector PackBinaryRepresentation(std::vector& raw); + + std::vector UnpackBinaryRepresentation(std::vector& packed); + + int64_t MarkConnectedComponent(int64_t x_index, int64_t y_index, int64_t z_index, uint32_t connected_component); + + public: + + CollisionMapGrid(const std::string& frame, const double resolution, const double x_size, const double y_size, const double z_size, const COLLISION_CELL& default_value, const COLLISION_CELL& OOB_value); + + CollisionMapGrid(const Eigen::Isometry3d& origin_transform, const std::string& frame, const double resolution, const double x_size, double y_size, const double z_size, const COLLISION_CELL& default_value, const COLLISION_CELL& OOB_value); + + CollisionMapGrid(const std::string& frame, const double resolution, const double x_size, const double y_size, const double z_size, const COLLISION_CELL& OOB_default_value); + + CollisionMapGrid(const Eigen::Isometry3d& origin_transform, const std::string& frame, const double resolution, const double x_size, double y_size, const double z_size, const COLLISION_CELL& OOB_default_value); + + CollisionMapGrid(); + + bool IsInitialized() const; + + bool AreComponentsValid() const; + + std::pair Get3d(const Eigen::Vector3d& location) const; + + std::pair Get4d(const Eigen::Vector4d& location) const; + + std::pair Get(const double x, const double y, const double z) const; + + std::pair Get(const VoxelGrid::GRID_INDEX& index) const; + + std::pair Get(const int64_t x_index, const int64_t y_index, const int64_t z_index) const; + + bool Set(const double x, const double y, const double z, COLLISION_CELL value); + + bool Set3d(const Eigen::Vector3d& location, COLLISION_CELL value); + + bool Set4d(const Eigen::Vector4d& location, COLLISION_CELL value); + + bool Set(const int64_t x_index, const int64_t y_index, const int64_t z_index, COLLISION_CELL value); + + bool Set(const VoxelGrid::GRID_INDEX& index, COLLISION_CELL value); + + double GetXSize() const; + + double GetYSize() const; + + double GetZSize() const; + + double GetResolution() const; + + COLLISION_CELL GetDefaultValue() const; + + COLLISION_CELL GetOOBValue() const; + + int64_t GetNumXCells() const; + + int64_t GetNumYCells() const; + + int64_t GetNumZCells() const; + + const Eigen::Isometry3d& GetOriginTransform() const; + + const Eigen::Isometry3d& GetInverseOriginTransform() const; + + std::string GetFrame() const; + + std::pair GetNumConnectedComponents() const; + + std::vector LocationToGridIndex3d(const Eigen::Vector3d& location) const; + + std::vector LocationToGridIndex4d(const Eigen::Vector4d& location) const; + + std::vector LocationToGridIndex(double x, double y, double z) const; + + std::vector GridIndexToLocation(int64_t x_index, int64_t y_index, int64_t z_index) const; + + bool SaveToFile(const std::string& filepath); + + bool LoadFromFile(const std::string &filepath); + + sdf_tools::CollisionMap GetMessageRepresentation(); + + bool LoadFromMessageRepresentation(sdf_tools::CollisionMap& message); + + uint32_t UpdateConnectedComponents(); + + std::map> ComputeComponentTopology(bool ignore_empty_components, bool recompute_connected_components, bool verbose); + + std::map> ExtractComponentSurfaces(const bool ignore_empty_components) const; + + std::pair ComputeHolesInSurface(const uint32_t component, const std::unordered_map& surface, const bool verbose) const; + + int32_t ComputeConnectivityOfSurfaceVertices(const std::unordered_map& surface_vertex_connectivity) const; + + std::pair> ExtractSignedDistanceField(const float oob_value) const; + + visualization_msgs::Marker ExportForDisplay(const std_msgs::ColorRGBA& collision_color, const std_msgs::ColorRGBA& free_color, const std_msgs::ColorRGBA& unknown_color) const; + + void DisplayPCL(pcl::PointCloud &occ_cloud); + void DisplayLocalPCL(pcl::PointCloud &occ_cloud, Eigen::Vector3d pose); + + visualization_msgs::Marker ExportConnectedComponentsForDisplay(bool color_unknown_components) const; + }; +} + +#endif // COLLISION_MAP_HPP diff --git a/flightlib/third_party/sdf_tools/include/sdf_tools/dynamic_spatial_hashed_collision_map.hpp b/flightlib/third_party/sdf_tools/include/sdf_tools/dynamic_spatial_hashed_collision_map.hpp new file mode 100644 index 0000000..0ab2fd6 --- /dev/null +++ b/flightlib/third_party/sdf_tools/include/sdf_tools/dynamic_spatial_hashed_collision_map.hpp @@ -0,0 +1,55 @@ +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef DYNAMIC_SPATIAL_HASHED_COLLISION_MAP_HPP +#define DYNAMIC_SPATIAL_HASHED_COLLISION_MAP_HPP + +namespace sdf_tools +{ + class DynamicSpatialHashedCollisionMapGrid + { + protected: + + VoxelGrid::DynamicSpatialHashedVoxelGrid collision_field_; + uint32_t number_of_components_; + std::string frame_; + bool initialized_; + bool components_valid_; + + public: + + DynamicSpatialHashedCollisionMapGrid(std::string frame, double resolution, int64_t chunk_x_size, int64_t chunk_y_size, int64_t chunk_z_size, COLLISION_CELL OOB_value); + + DynamicSpatialHashedCollisionMapGrid(Eigen::Isometry3d origin_transform, std::string frame, double resolution, int64_t chunk_x_size, int64_t chunk_y_size, int64_t chunk_z_size, COLLISION_CELL OOB_value); + + DynamicSpatialHashedCollisionMapGrid(); + + bool IsInitialized() const; + + bool AreComponentsValid() const; + + std::pair Get(const double x, const double y, const double z) const; + + std::pair Get(const Eigen::Vector3d& location) const; + + VoxelGrid::SET_STATUS SetCell(const double x, const double y, const double z, COLLISION_CELL value); + + VoxelGrid::SET_STATUS SetCell(const Eigen::Vector3d& location, COLLISION_CELL value); + + VoxelGrid::SET_STATUS SetChunk(const double x, const double y, const double z, COLLISION_CELL value); + + VoxelGrid::SET_STATUS SetChunk(const Eigen::Vector3d& location, COLLISION_CELL value); + + Eigen::Isometry3d GetOriginTransform() const; + + std::vector ExportForDisplay(const std_msgs::ColorRGBA& collision_color, const std_msgs::ColorRGBA& free_color, const std_msgs::ColorRGBA& unknown_color) const; + }; +} + +#endif // DYNAMIC_SPATIAL_HASHED_COLLISION_MAP_HPP diff --git a/flightlib/third_party/sdf_tools/include/sdf_tools/sdf.hpp b/flightlib/third_party/sdf_tools/include/sdf_tools/sdf.hpp new file mode 100644 index 0000000..5e2b959 --- /dev/null +++ b/flightlib/third_party/sdf_tools/include/sdf_tools/sdf.hpp @@ -0,0 +1,224 @@ +#ifndef SDF_HPP +#define SDF_HPP + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sdf_tools +{ + std::vector FloatToBinary(float value); + + float FloatFromBinary(std::vector& binary); + + class SignedDistanceField + { + protected: + + VoxelGrid::VoxelGrid distance_field_; + std::string frame_; + bool initialized_; + bool locked_; + + std::vector GetInternalBinaryRepresentation(const std::vector &field_data); + + std::vector UnpackFieldFromBinaryRepresentation(const std::vector& binary); + + /* + * You *MUST* provide valid indices to this function, hence why it is protected (there are safe wrappers available - use them!) + */ + void FollowGradientsToLocalMaximaUnsafe(VoxelGrid::VoxelGrid& watershed_map, const int64_t x_index, const int64_t y_index, const int64_t z_index) const; + + public: + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + SignedDistanceField(std::string frame, double resolution, double x_size, double y_size, double z_size, float OOB_value); + + SignedDistanceField(Eigen::Isometry3d origin_transform, std::string frame, double resolution, double x_size, double y_size, double z_size, float OOB_value); + + SignedDistanceField(); + + bool IsInitialized() const; + + bool IsLocked() const; + + void Lock(); + + void Unlock(); + + float Get(const double x, const double y, const double z) const; + + float Get3d(const Eigen::Vector3d& location) const; + + float Get4d(const Eigen::Vector4d& location) const; + + float Get(const int64_t x_index, const int64_t y_index, const int64_t z_index) const; + + std::pair GetSafe(const double x, const double y, const double z) const; + + std::pair GetSafe3d(const Eigen::Vector3d& location) const; + + std::pair GetSafe4d(const Eigen::Vector4d& location) const; + + std::pair GetSafe(const int64_t x_index, const int64_t y_index, const int64_t z_index) const; + + /* + * Setter functions MUST be used carefully - If you arbitrarily change SDF values, it is not a proper SDF any more! + * + * Use of these functions can be prevented by calling SignedDistanceField::Lock() on the SDF, at which point these functions + * will fail with a warning printed to std_err. + */ + bool Set(const double x, const double y, const double z, float value); + + bool Set3d(const Eigen::Vector3d& location, float value); + + bool Set4d(const Eigen::Vector4d& location, float value); + + bool Set(const int64_t x_index, const int64_t y_index, const int64_t z_index, const float value); + + bool Set(const VoxelGrid::GRID_INDEX& index, const float value); + + bool CheckInBounds3d(const Eigen::Vector3d& location) const; + + bool CheckInBounds4d(const Eigen::Vector4d& location) const; + + bool CheckInBounds(const double x, const double y, const double z) const; + + bool CheckInBounds(const VoxelGrid::GRID_INDEX& index) const; + + bool CheckInBounds(const int64_t x_index, const int64_t y_index, const int64_t z_index) const; + + double GetXSize() const; + + double GetYSize() const; + + double GetZSize() const; + + double GetResolution() const; + + float GetOOBValue() const; + + int64_t GetNumXCells() const; + + int64_t GetNumYCells() const; + + int64_t GetNumZCells() const; + + protected: + + std::pair GetPrimaryComponentsVector(const Eigen::Vector3d& raw_vector) const; + + double ComputeAxisMatch(const double axis_value, const double check_value) const; + + Eigen::Vector3d GetBestMatchSurfaceVector(const Eigen::Vector3d& possible_surfaces_vector, const Eigen::Vector3d& center_to_location_vector) const; + + /** + * @brief GetPrimaryEntrySurfaceVector Estimates the real distance of the provided point, comparing it with the cell center location and gradient vector + * @param boundary_direction_vector + * @param center_to_location_vector + * @return vector from center of voxel to primary entry surface, and magnitude of that vector + */ + std::pair GetPrimaryEntrySurfaceVector(const Eigen::Vector3d& boundary_direction_vector, const Eigen::Vector3d& center_to_location_vector) const; + + double EstimateDistanceInternal(const double x, const double y, const double z, const int64_t x_idx, const int64_t y_idx, const int64_t z_idx) const; + + public: + + std::pair EstimateDistance(const double x, const double y, const double z) const; + + std::pair EstimateDistance3d(const Eigen::Vector3d& location) const; + + std::pair EstimateDistance4d(const Eigen::Vector4d& location) const; + + // Estimate the distance between the given point and the outer boundary of the SDF + std::pair DistanceToBoundary(const double x, const double y, const double z) const; + + std::pair DistanceToBoundary3d(const Eigen::Vector3d& location) const; + + std::pair DistanceToBoundary4d(const Eigen::Vector4d& location) const; + + std::vector GetGradient(const double x, const double y, const double z, const bool enable_edge_gradients = false) const; + + std::vector GetGradient3d(const Eigen::Vector3d& location, const bool enable_edge_gradients = false) const; + + std::vector GetGradient4d(const Eigen::Vector4d& location, const bool enable_edge_gradients = false) const; + + std::vector GetGradient(const VoxelGrid::GRID_INDEX& index, const bool enable_edge_gradients = false) const; + + std::vector GetGradient(const int64_t x_index, const int64_t y_index, const int64_t z_index, const bool enable_edge_gradients = false) const; + + Eigen::Vector3d ProjectOutOfCollision(const double x, const double y, const double z, const double stepsize_multiplier = 1.0 / 8.0) const; + + Eigen::Vector3d ProjectOutOfCollisionToMinimumDistance(const double x, const double y, const double z, const double minimum_distance, const double stepsize_multiplier = 1.0 / 8.0) const; + + Eigen::Vector3d ProjectOutOfCollision3d(const Eigen::Vector3d& location, const double stepsize_multiplier = 1.0 / 8.0) const; + + Eigen::Vector3d ProjectOutOfCollisionToMinimumDistance3d(const Eigen::Vector3d& location, const double minimum_distance, const double stepsize_multiplier = 1.0 / 8.0) const; + + Eigen::Vector4d ProjectOutOfCollision4d(const Eigen::Vector4d& location, const double stepsize_multiplier = 1.0 / 8.0) const; + + Eigen::Vector4d ProjectOutOfCollisionToMinimumDistance4d(const Eigen::Vector4d& location, const double minimum_distance, const double stepsize_multiplier = 1.0 / 8.0) const; + + Eigen::Vector3d ProjectIntoValidVolume(const double x, const double y, const double z) const; + + Eigen::Vector3d ProjectIntoValidVolumeToMinimumDistance(const double x, const double y, const double z, const double minimum_distance) const; + + Eigen::Vector3d ProjectIntoValidVolume3d(const Eigen::Vector3d& location) const; + + Eigen::Vector3d ProjectIntoValidVolumeToMinimumDistance3d(const Eigen::Vector3d& location, const double minimum_distance) const; + + Eigen::Vector4d ProjectIntoValidVolume4d(const Eigen::Vector4d& location) const; + + Eigen::Vector4d ProjectIntoValidVolumeToMinimumDistance4d(const Eigen::Vector4d& location, const double minimum_distance) const; + + const Eigen::Isometry3d& GetOriginTransform() const; + + const Eigen::Isometry3d& GetInverseOriginTransform() const; + + std::string GetFrame() const; + + std::vector LocationToGridIndex3d(const Eigen::Vector3d& location) const; + + std::vector LocationToGridIndex4d(const Eigen::Vector4d& location) const; + + std::vector LocationToGridIndex(const double x, const double y, const double z) const; + + std::vector GridIndexToLocation(const VoxelGrid::GRID_INDEX& index) const; + + std::vector GridIndexToLocation(const int64_t x_index, const int64_t y_index, const int64_t z_index) const; + + bool SaveToFile(const std::string& filepath); + + bool LoadFromFile(const std::string& filepath); + + sdf_tools::SDF GetMessageRepresentation(); + + bool LoadFromMessageRepresentation(const sdf_tools::SDF& message); + + visualization_msgs::Marker ExportForDisplay(const float alpha = 0.01f, float vis_level = FLT_MAX) const; + + visualization_msgs::Marker ExportForDisplayCollisionOnly(const float alpha = 0.01f) const; + + void DisplayPCL(pcl::PointCloud &sdf_cloud, float vis_level = 0.0); + + visualization_msgs::Marker ExportForDebug(const float alpha = 0.5f) const; + + /* + * The following function can be *VERY EXPENSIVE* to compute, since it performs gradient ascent across the SDF + */ + VoxelGrid::VoxelGrid ComputeLocalMaximaMap() const; + + bool GradientIsEffectiveFlat(const Eigen::Vector3d& gradient) const; + + VoxelGrid::GRID_INDEX GetNextFromGradient(const VoxelGrid::GRID_INDEX& index, const Eigen::Vector3d& gradient) const; + }; +} + +#endif // SDF_HPP diff --git a/flightlib/third_party/sdf_tools/include/sdf_tools/sdf_builder.hpp b/flightlib/third_party/sdf_tools/include/sdf_tools/sdf_builder.hpp new file mode 100644 index 0000000..7ecb9ad --- /dev/null +++ b/flightlib/third_party/sdf_tools/include/sdf_tools/sdf_builder.hpp @@ -0,0 +1,95 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "sdf_tools/sdf.hpp" +#include "sdf_tools/SDF.h" + +#ifndef SDF_BUILDER_HPP +#define SDF_BUILDER_HPP + +namespace sdf_tools +{ + static const uint8_t USE_CACHED = 0x00; + static const uint8_t USE_ONLY_OCTOMAP = 0x01; + static const uint8_t USE_ONLY_COLLISION_OBJECTS = 0x02; + static const uint8_t USE_FULL_PLANNING_SCENE = 0x03; + + typedef struct + { + uint32_t location[3]; + uint32_t closest_point[3]; + double distance_square; + int32_t update_direction; + } bucket_cell; + + typedef VoxelGrid::VoxelGrid DistanceField; + + double ComputeDistanceSquared(int32_t x1, int32_t y1, int32_t z1, int32_t x2, int32_t y2, int32_t z2); + + class SDF_Builder + { + protected: + + bool initialized_; + bool has_cached_sdf_; + bool has_cached_collmap_; + bool has_planning_scene_; + Eigen::Isometry3d origin_transform_; + std::string frame_; + double x_size_; + double y_size_; + double z_size_; + double resolution_; + float OOB_value_; + SignedDistanceField cached_sdf_; + VoxelGrid::VoxelGrid cached_collmap_; + std::shared_ptr planning_scene_ptr_; + ros::NodeHandle nh_; + ros::ServiceClient planning_scene_client_; + + SignedDistanceField UpdateSDFFromPlanningScene(); + + VoxelGrid::VoxelGrid UpdateCollisionMapFromPlanningScene(); + + bool BuildInternalPlanningScene(); + + DistanceField BuildDistanceField(std::vector& points); + + std::vector>>> MakeNeighborhoods(); + + static int GetDirectionNumber(int dx, int dy, int dz); + + std::string GenerateSDFComputeBotURDFString(); + + std::string GenerateSDFComputeBotSRDFString(); + + public: + + SDF_Builder(ros::NodeHandle& nh, Eigen::Isometry3d origin_transform, std::string frame, double x_size, double y_size, double z_size, double resolution, float OOB_value, std::string planning_scene_service); + + SDF_Builder(ros::NodeHandle& nh, std::string frame, double x_size, double y_size, double z_size, double resolution, float OOB_value, std::string planning_scene_service); + + SDF_Builder(); + + void UpdatePlanningSceneFromMessage(moveit_msgs::PlanningScene& planning_scene); + + SignedDistanceField UpdateSDF(uint8_t update_mode); + + SignedDistanceField GetCachedSDF(); + + VoxelGrid::VoxelGrid UpdateCollisionMap(uint8_t update_mode); + + VoxelGrid::VoxelGrid GetCachedCollisionMap(); + + }; + + +} + +#endif // SDF_BUILDER_HPP diff --git a/flightlib/third_party/sdf_tools/include/sdf_tools/tagged_object_collision_map.hpp b/flightlib/third_party/sdf_tools/include/sdf_tools/tagged_object_collision_map.hpp new file mode 100644 index 0000000..dc81921 --- /dev/null +++ b/flightlib/third_party/sdf_tools/include/sdf_tools/tagged_object_collision_map.hpp @@ -0,0 +1,270 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#ifndef TAGGED_OBJECT_COLLISION_MAP_HPP +#define TAGGED_OBJECT_COLLISION_MAP_HPP + +#define ENABLE_UNORDERED_MAP_SIZE_HINTS + +namespace sdf_tools +{ + struct TAGGED_OBJECT_COLLISION_CELL + { + float occupancy; + uint32_t component; + uint32_t object_id; + uint32_t convex_segment; + + TAGGED_OBJECT_COLLISION_CELL(); + + TAGGED_OBJECT_COLLISION_CELL(const float in_occupancy, const uint32_t in_object_id); + + TAGGED_OBJECT_COLLISION_CELL(const float in_occupancy, const uint32_t in_object_id, const uint32_t in_component, const uint32_t in_convex_segment); + + bool SharesConvexSegment(const TAGGED_OBJECT_COLLISION_CELL& other) const; + + std::vector GetListOfConvexSegments() const; + + bool IsPartOfConvexSegment(const uint32_t segment) const; + + void AddToConvexSegment(const uint32_t segment); + + void RemoveFromConvexSegment(const uint32_t segment); + }; + + std::vector TaggedObjectCollisionCellToBinary(const TAGGED_OBJECT_COLLISION_CELL& value); + + TAGGED_OBJECT_COLLISION_CELL TaggedObjectCollisionCellFromBinary(const std::vector& binary); + + class TaggedObjectCollisionMapGrid + { + protected: + + static std_msgs::ColorRGBA GenerateComponentColor(const uint32_t component, const float alpha=1.0f); + + bool IsSurfaceIndex(const int64_t x_index, const int64_t y_index, const int64_t z_index) const; + + struct bucket_cell + { + uint32_t location[3]; + uint32_t closest_point[3]; + double distance_square; + int32_t update_direction; + }; + + typedef VoxelGrid::VoxelGrid DistanceField; + + DistanceField BuildDistanceField(const std::vector& points) const; + + std::vector>>> MakeNeighborhoods() const; + + int GetDirectionNumber(const int dx, const int dy, const int dz) const; + + double ComputeDistanceSquared(const int32_t x1, const int32_t y1, const int32_t z1, const int32_t x2, const int32_t y2, const int32_t z2) const; + + VoxelGrid::VoxelGrid collision_field_; + uint32_t number_of_components_; + std::string frame_; + bool initialized_; + bool components_valid_; + bool convex_segments_valid_; + + std::vector PackBinaryRepresentation(const std::vector& raw) const; + + std::vector UnpackBinaryRepresentation(const std::vector& packed) const; + + int64_t MarkConnectedComponent(const int64_t x_index, const int64_t y_index, const int64_t z_index, const uint32_t connected_component); + + std::vector CheckIfConvex(const VoxelGrid::GRID_INDEX& candidate_index, std::unordered_map& explored_indices, const VoxelGrid::VoxelGrid>& region_grid, const uint32_t current_convex_region) const; + + public: + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + TaggedObjectCollisionMapGrid(const std::string& frame, const double resolution, const double x_size, const double y_size, const double z_size, const TAGGED_OBJECT_COLLISION_CELL& default_value, const TAGGED_OBJECT_COLLISION_CELL& OOB_value); + + TaggedObjectCollisionMapGrid(const Eigen::Isometry3d& origin_transform, const std::string& frame, const double resolution, const double x_size, const double y_size, const double z_size, const TAGGED_OBJECT_COLLISION_CELL& default_value, const TAGGED_OBJECT_COLLISION_CELL& OOB_value); + + TaggedObjectCollisionMapGrid(const std::string& frame, const double resolution, const double x_size, const double y_size, const double z_size, const TAGGED_OBJECT_COLLISION_CELL& OOB_value); + + TaggedObjectCollisionMapGrid(const Eigen::Isometry3d& origin_transform, const std::string& frame, const double resolution, const double x_size, const double y_size, const double z_size, const TAGGED_OBJECT_COLLISION_CELL& OOB_value); + + TaggedObjectCollisionMapGrid(); + + bool IsInitialized() const; + + bool AreComponentsValid() const; + + bool AreConvexSegmentsValid() const; + + std::pair CheckIfCandidateCorner3d(const Eigen::Vector3d& location) const; + + std::pair CheckIfCandidateCorner4d(const Eigen::Vector4d& location) const; + + std::pair CheckIfCandidateCorner(const double x, const double y, const double z) const; + + std::pair CheckIfCandidateCorner(const VoxelGrid::GRID_INDEX& index) const; + + std::pair CheckIfCandidateCorner(const int64_t x_index, const int64_t y_index, const int64_t z_index) const; + + std::pair GetImmutable3d(const Eigen::Vector3d& location) const; + + std::pair GetImmutable4d(const Eigen::Vector4d& location) const; + + std::pair GetImmutable(const double x, const double y, const double z) const; + + std::pair GetImmutable(const VoxelGrid::GRID_INDEX& index) const; + + std::pair GetImmutable(const int64_t x_index, const int64_t y_index, const int64_t z_index) const; + + std::pair GetMutable3d(const Eigen::Vector3d& location); + + std::pair GetMutable4d(const Eigen::Vector4d& location); + + std::pair GetMutable(const double x, const double y, const double z); + + std::pair GetMutable(const VoxelGrid::GRID_INDEX& index); + + std::pair GetMutable(const int64_t x_index, const int64_t y_index, const int64_t z_index); + + bool Set(const double x, const double y, const double z, const TAGGED_OBJECT_COLLISION_CELL& value); + + bool Set3d(const Eigen::Vector3d& location, const TAGGED_OBJECT_COLLISION_CELL& value); + + bool Set4d(const Eigen::Vector4d& location, const TAGGED_OBJECT_COLLISION_CELL& value); + + bool Set(const int64_t x_index, const int64_t y_index, const int64_t z_index, const TAGGED_OBJECT_COLLISION_CELL& value); + + bool Set(const VoxelGrid::GRID_INDEX& index, const TAGGED_OBJECT_COLLISION_CELL& value); + + bool Set(const double x, const double y, const double z, TAGGED_OBJECT_COLLISION_CELL&& value); + + bool Set3d(const Eigen::Vector3d& location, TAGGED_OBJECT_COLLISION_CELL&& value); + + bool Set4d(const Eigen::Vector4d& location, TAGGED_OBJECT_COLLISION_CELL&& value); + + bool Set(const int64_t x_index, const int64_t y_index, const int64_t z_index, TAGGED_OBJECT_COLLISION_CELL&& value); + + bool Set(const VoxelGrid::GRID_INDEX& index, TAGGED_OBJECT_COLLISION_CELL&& value); + + double GetXSize() const; + + double GetYSize() const; + + double GetZSize() const; + + double GetResolution() const; + + TAGGED_OBJECT_COLLISION_CELL GetDefaultValue() const; + + TAGGED_OBJECT_COLLISION_CELL GetOOBValue() const; + + int64_t GetNumXCells() const; + + int64_t GetNumYCells() const; + + int64_t GetNumZCells() const; + + const Eigen::Isometry3d& GetOriginTransform() const; + + const Eigen::Isometry3d& GetInverseOriginTransform() const; + + std::string GetFrame() const; + + std::pair GetNumConnectedComponents() const; + + std::vector LocationToGridIndex3d(const Eigen::Vector3d& location) const; + + std::vector LocationToGridIndex4d(const Eigen::Vector4d& location) const; + + std::vector LocationToGridIndex(const double x, const double y, const double z) const; + + std::vector GridIndexToLocation(const int64_t x_index, const int64_t y_index, const int64_t z_index) const; + + bool SaveToFile(const std::string& filepath) const; + + bool LoadFromFile(const std::string &filepath); + + sdf_tools::TaggedObjectCollisionMap GetMessageRepresentation() const; + + bool LoadFromMessageRepresentation(const sdf_tools::TaggedObjectCollisionMap& message); + + TaggedObjectCollisionMapGrid Resample(const double new_resolution) const; + + uint32_t UpdateConnectedComponents(); + + std::map> ComputeComponentTopology(const bool ignore_empty_components, const bool recompute_connected_components, const bool verbose); + + std::map> ExtractComponentSurfaces(const bool ignore_empty_components) const; + + /* Extracts the active indices from a surface map as a vector, which is useful in contexts where a 1-dimensional index into the surface is needed + */ + std::vector ExtractStaticSurface(const std::unordered_map& raw_surface) const; + + std::unordered_map ConvertToDynamicSurface(const std::vector& static_surface) const; + + std::unordered_map BuildSurfaceIndexMap(const std::vector& static_surface) const; + + std::pair ComputeHolesInSurface(const uint32_t component, const std::unordered_map& surface, const bool verbose) const; + + int32_t ComputeConnectivityOfSurfaceVertices(const std::unordered_map& surface_vertex_connectivity) const; + + std::pair> ExtractSignedDistanceField(const float oob_value, const std::vector& objects_to_use) const; + + VoxelGrid::VoxelGrid> ComputeConvexRegions(const double max_check_radius) const; + + void GrowConvexRegion(const VoxelGrid::GRID_INDEX& start_index, VoxelGrid::VoxelGrid>& region_grid, const double max_check_radius, const uint32_t current_convex_region) const; + + EigenHelpers::VectorVector3d GenerateRayPrimitiveVectors(const uint32_t number_of_rays, const double cone_angle) const; + + std::pair, std::vector> CastSingleRay(const std::unordered_map& surface_index_map, const VoxelGrid::GRID_INDEX& current_surface_index, const Eigen::Vector3d& ray_unit_vector) const; + + std::pair, std::vector> PerformRayCasting(const sdf_tools::SignedDistanceField& sdf, const std::unordered_map& surface_index_map, const VoxelGrid::GRID_INDEX& current_surface_index, const EigenHelpers::VectorVector3d& ray_primitive_vectors) const; + + //std::pair, Eigen::SparseMatrix>> ComputeSparseLineOfSight(const std::vector& static_surface, const uint32_t number_of_rays, const double cone_angle) const + Eigen::MatrixXd ComputeSparseLineOfSight(const std::vector& static_surface, const uint32_t number_of_rays, const double cone_angle) const; + + std::pair ExtractKLargestEigenvaluesAndEigenvectors(const Eigen::EigenSolver::EigenvalueType& raw_eigenvalues, const Eigen::EigenSolver::EigenvectorsType& raw_eigenvectors, const uint32_t num_values) const; + + std::vector PerformKMeansSpectralClustering(const Eigen::EigenSolver::EigenvalueType& raw_eigenvalues, const Eigen::EigenSolver::EigenvectorsType& raw_eigenvectors, const uint32_t num_clusters) const; + + double ComputeConvexityMetric(const Eigen::MatrixXd& los_matrix, const std::vector& cluster_labels) const; + + std::vector> ClusterSurfaceFromLOSMatrix(const Eigen::MatrixXd& los_matrix, const uint32_t max_num_clusters) const; + + std::vector> ComputeWeaklyConvexSurfaceSegments(const std::unordered_map& surface, const uint32_t max_num_clusters) const; + + std::map UpdateConvexSegments(); + + std::map MakeObjectSDFs(const std::vector& object_ids) const; + + std::map MakeObjectSDFs() const; + + visualization_msgs::Marker ExportForDisplay(const float alpha, const std::vector& objects_to_draw=std::vector()) const; + + visualization_msgs::Marker ExportForDisplay(const std::map& object_color_map=std::map()) const; + + visualization_msgs::Marker ExportContourOnlyForDisplay(const float alpha, const std::vector& objects_to_draw=std::vector()) const; + + visualization_msgs::Marker ExportContourOnlyForDisplay(const std::map& object_color_map=std::map()) const; + + visualization_msgs::Marker ExportForDisplayOccupancyOnly(const std_msgs::ColorRGBA& collision_color, const std_msgs::ColorRGBA& free_color, const std_msgs::ColorRGBA& unknown_color) const; + + visualization_msgs::Marker ExportConnectedComponentsForDisplay(bool color_unknown_components) const; + + visualization_msgs::Marker ExportConvexSegmentForDisplay(const uint32_t object_id, const uint32_t convex_segment) const; + + visualization_msgs::Marker ExportSurfaceForDisplay(const std::unordered_map& surface, const std_msgs::ColorRGBA& surface_color) const; + }; +} + +#endif // TAGGED_OBJECT_COLLISION_MAP_HPP diff --git a/flightlib/third_party/sdf_tools/msg/CollisionMap.msg b/flightlib/third_party/sdf_tools/msg/CollisionMap.msg new file mode 100644 index 0000000..93bb5ec --- /dev/null +++ b/flightlib/third_party/sdf_tools/msg/CollisionMap.msg @@ -0,0 +1,10 @@ +std_msgs/Header header +geometry_msgs/Transform origin_transform +geometry_msgs/Vector3 dimensions +float64 cell_size +float32 OOB_occupancy_value +uint32 OOB_component_value +uint32 number_of_components +bool components_valid +bool initialized +uint8[] data diff --git a/flightlib/third_party/sdf_tools/msg/SDF.msg b/flightlib/third_party/sdf_tools/msg/SDF.msg new file mode 100644 index 0000000..84812d8 --- /dev/null +++ b/flightlib/third_party/sdf_tools/msg/SDF.msg @@ -0,0 +1,8 @@ +std_msgs/Header header +geometry_msgs/Transform origin_transform +geometry_msgs/Vector3 dimensions +float64 sdf_cell_size +float32 OOB_value +bool initialized +bool locked +uint8[] data diff --git a/flightlib/third_party/sdf_tools/msg/TaggedObjectCollisionMap.msg b/flightlib/third_party/sdf_tools/msg/TaggedObjectCollisionMap.msg new file mode 100644 index 0000000..3653b98 --- /dev/null +++ b/flightlib/third_party/sdf_tools/msg/TaggedObjectCollisionMap.msg @@ -0,0 +1,10 @@ +std_msgs/Header header +geometry_msgs/Transform origin_transform +geometry_msgs/Vector3 dimensions +float64 cell_size +uint32 number_of_components +bool components_valid +bool convex_segments_valid +bool initialized +uint8[] OOB_value +uint8[] data diff --git a/flightlib/third_party/sdf_tools/package.xml b/flightlib/third_party/sdf_tools/package.xml new file mode 100644 index 0000000..b363e59 --- /dev/null +++ b/flightlib/third_party/sdf_tools/package.xml @@ -0,0 +1,46 @@ + + + sdf_tools + 0.0.1 + Builds 2D signed distance fields from images, 3D signed distance fields from MoveIt PlanningScene/Octomap, provides a lightweight signed distance field library, message types for signed distance fields, and tools to compress signed distance fields for transport and storage. + Calder Phillips-Grafflin + BSD + + catkin + + image_transport + roscpp + rospy + sensor_msgs + std_msgs + moveit_msgs + visualization_msgs + cv_bridge + moveit_core + moveit_ros_planning + arc_utilities + message_generation + + image_transport + roscpp + rospy + sensor_msgs + std_msgs + moveit_msgs + visualization_msgs + cv_bridge + moveit_core + moveit_ros_planning + arc_utilities + message_runtime + + + + + + + + + + + diff --git a/flightlib/third_party/sdf_tools/src/image_2d_sdf_node.cpp b/flightlib/third_party/sdf_tools/src/image_2d_sdf_node.cpp new file mode 100644 index 0000000..24c44bb --- /dev/null +++ b/flightlib/third_party/sdf_tools/src/image_2d_sdf_node.cpp @@ -0,0 +1,327 @@ +#include +#include +#include +#include +#include +#include +#include + +#define snap(x) ((x)>=0?(int)((x)+0.5):(int)((x)-0.5)) + +typedef struct sdf_cell { + double dx; + double dy; +} sdf_cell_t; + +class ImageSDF +{ +protected: + + ros::NodeHandle nh_; + image_transport::ImageTransport it_; + image_transport::Subscriber binary_sub_; + image_transport::Publisher sdf_preview_pub_; + image_transport::Publisher sdf_raw_pub_; + std::vector< std::vector > distance_field_; + double max_distance_; + double min_distance_; + +public: + + ImageSDF(ros::NodeHandle &n, std::string binary_base_topic, std::string sdf_preview_topic, std::string sdf_raw_topic) : nh_(n), it_(n) + { + max_distance_ = 0.0; + min_distance_ = 0.0; + binary_sub_ = it_.subscribe(binary_base_topic, 1, &ImageSDF::camera_cb, this); + sdf_preview_pub_ = it_.advertise(sdf_preview_topic, 1, true); + sdf_raw_pub_ = it_.advertise(sdf_raw_topic, 1, true); + std::string transport_in = binary_sub_.getTransport(); + ROS_INFO("Subscribed using %s for transport", transport_in.c_str()); + } + + void loop() + { + while (ros::ok()) + { + ros::spinOnce(); + } + } + + void update_sdf(cv::Mat& image) + { + ROS_DEBUG("Making intermediate containers for SDF"); + std::vector< std::vector > empty_cells; + std::vector< std::vector > filled_cells; + // Resize the fields + int width = image.cols; + int height = image.rows; + empty_cells.resize(height); + filled_cells.resize(height); + distance_field_.resize(height); + for (int i = 0; i < height; i++) + { + empty_cells[i].resize(width); + filled_cells[i].resize(width); + distance_field_[i].resize(width); + } + ROS_DEBUG("Marking filled/empty pixels for SDF"); + // Go through the image and add filled/empty pixels to the corresponding fields + sdf_cell_t empty_cell; + empty_cell.dx = INFINITY; + empty_cell.dy = INFINITY; + sdf_cell_t filled_cell; + filled_cell.dx = 0.0; + filled_cell.dy = 0.0; + for (int i = 0; i < height; i++) + { + for (int j = 0; j < width; j++) + { + uint8_t pixel = image.at(i,j); + if (pixel != 0) + { + filled_cells[i][j] = filled_cell; + empty_cells[i][j] = empty_cell; + } + else + { + filled_cells[i][j] = empty_cell; + empty_cells[i][j] = filled_cell; + } + } + } + ROS_DEBUG("Running 8SSEDT on intermediate containers"); + // Run the 8SSEDT algorithm to compute the partial SDFs + update_partial_sdf(filled_cells); + update_partial_sdf(empty_cells); + ROS_DEBUG("Computing the final SDF"); + // Combine the partial fields to form the SDF + max_distance_ = 0.0; + min_distance_ = 0.0; + for (int i = 0; i < height; i++) + { + for (int j = 0; j < width; j++) + { + double filled_distance = sqrt(pow(filled_cells[i][j].dx, 2) + pow(filled_cells[i][j].dy, 2)); + double empty_distance = sqrt(pow(empty_cells[i][j].dx, 2) + pow(empty_cells[i][j].dy, 2)); + double new_distance = filled_distance - empty_distance; + distance_field_[i][j] = new_distance; + if (new_distance > max_distance_) + { + max_distance_ = new_distance; + } + if (new_distance < min_distance_) + { + min_distance_ = new_distance; + } + } + } + } + + bool update_partial_sdf(std::vector< std::vector >& partial_field) + { + if (partial_field.size() > 0) + { + // Pass 1.1.0 + for (size_t y = 0; y < partial_field[0].size(); y++) + { + // Pass 1.1.1 + for (size_t x = 0; x < partial_field.size(); x++) + { + // Get value from grid + sdf_cell_t cell = get(partial_field, x, y); + // Do work + compare(partial_field, cell, x, y, -1, 0); + compare(partial_field, cell, x, y, 0, -1); + compare(partial_field, cell, x, y, -1, -1); + compare(partial_field, cell, x, y, 1, -1); + // Store back into grid + put(partial_field, cell, x, y); + } + // Pass 1.1.2 + for (int x = (partial_field.size() - 1); x >= 0; x--) + { + // Get value from grid + sdf_cell_t cell = get(partial_field, x, y); + // Do work + compare(partial_field, cell, x, y, 1, 0); + // Store back into grid + put(partial_field, cell, x, y); + } + } + // Pass 1.2.0 + for (int y = (partial_field[0].size() - 1); y >= 0; y--) + { + // Pass 1.1.1 + for (int x = (partial_field.size() - 1); x >= 0; x--) + { + // Get value from grid + sdf_cell_t cell = get(partial_field, x, y); + // Do work + compare(partial_field, cell, x, y, 1, 0); + compare(partial_field, cell, x, y, 0, 1); + compare(partial_field, cell, x, y, -1, 1); + compare(partial_field, cell, x, y, 1, 1); + // Store back into grid + put(partial_field, cell, x, y); + } + // Pass 1.1.2 + for (size_t x = 0; x < partial_field.size(); x++) + { + // Get value from grid + sdf_cell_t cell = get(partial_field, x, y); + // Do work + compare(partial_field, cell, x, y, -1, 0); + // Store back into grid + put(partial_field, cell, x, y); + } + } + return true; + } + else + { + return false; + } + } + + inline sdf_cell_t get(std::vector< std::vector >& partial_field, size_t x, size_t y) + { + if (x < partial_field.size()) + { + if (y < partial_field[x].size()) + { + return partial_field[x][y]; + } + } + sdf_cell_t empty; + empty.dx = INFINITY; + empty.dy = INFINITY; + return empty; + } + + inline void put(std::vector< std::vector >& partial_field, sdf_cell_t& cell, size_t x, size_t y) + { + if (x < partial_field.size()) + { + if (y < partial_field[x].size()) + { + partial_field[x][y] = cell; + } + } + } + + inline double distance_squared(sdf_cell_t& cell) + { + return ((cell.dx * cell.dx) + (cell.dy * cell.dy)); + } + + inline void compare(std::vector< std::vector >& partial_field, sdf_cell_t& cell, int x, int y, int x_offset, int y_offset) + { + sdf_cell_t other = get(partial_field, x + x_offset, y + y_offset); + other.dx += x_offset; + other.dy += y_offset; + if (distance_squared(other) < distance_squared(cell)) + { + cell = other; + } + } + + void camera_cb(const sensor_msgs::ImageConstPtr& image) + { + ROS_DEBUG("Got new image to resize and SDF"); + // Convert to OpenCV + cv_bridge::CvImagePtr cv_ptr; + try + { + cv_ptr = cv_bridge::toCvCopy(image); + } + catch (cv_bridge::Exception& e) + { + ROS_ERROR("cv_bridge exception: %s", e.what()); + return; + } + // Make destination + cv::Mat binary; //(cv::Size(resized_width_, resized_height_), CV_8UC1); + binary = cv_ptr->image; + // Compute the SDF for the image + ROS_DEBUG("Attempting to compute SDF of image..."); + update_sdf(binary); + ROS_DEBUG("...SDF compute finished"); + // Publish the raw SDF + cv::Mat raw_sdf_image(cv::Size(binary.cols, binary.rows), CV_32FC2); + for (int i = 0; i < binary.rows; i++) + { + for (int j = 0; j < binary.cols; j++) + { + double current_distance = distance_field_[i][j]; + if (current_distance >= 0.0) + { + raw_sdf_image.at(i,j)[0] = fabs(current_distance); + raw_sdf_image.at(i,j)[1] = 0.0; + } + else + { + raw_sdf_image.at(i,j)[0] = 0.0; + raw_sdf_image.at(i,j)[1] = fabs(current_distance); + } + } + } + // Convert back to ROS + sensor_msgs::Image sdf_raw_image; + cv_bridge::CvImage sdf_raw_converted(image->header, sensor_msgs::image_encodings::TYPE_32FC2, raw_sdf_image); + sdf_raw_converted.toImageMsg(sdf_raw_image); + // Republish + sdf_raw_pub_.publish(sdf_raw_image); + // Convert SDF to false-color image + cv::Mat false_color_sdf(cv::Size(binary.cols, binary.rows), CV_8UC3); + for (int i = 0; i < binary.rows; i++) + { + for (int j = 0; j < binary.cols; j++) + { + double current_distance = distance_field_[i][j]; + uint8_t blue_channel = 0x00; + uint8_t red_channel = 0x00; + uint8_t green_channel = 0x00; + if (current_distance > 0.0) + { + red_channel = (uint8_t)(64.0 + (64.0 * fabs(current_distance / max_distance_))); + } + else if (current_distance == 0.0 || current_distance == -0.0) + { + green_channel = 0xff; + } + else + { + blue_channel = (uint8_t)(64.0 + (64.0 * fabs(current_distance / min_distance_))); + } + false_color_sdf.at(i, j)[0] = blue_channel; + false_color_sdf.at(i, j)[1] = green_channel; + false_color_sdf.at(i, j)[2] = red_channel; + } + } + // Convert back to ROS + sensor_msgs::Image sdf_preview_image; + cv_bridge::CvImage sdf_preview_converted(image->header, sensor_msgs::image_encodings::BGR8, false_color_sdf); + sdf_preview_converted.toImageMsg(sdf_preview_image); + // Republish + sdf_preview_pub_.publish(sdf_preview_image); + ROS_DEBUG("Resize + SDF finished"); + } +}; + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "image_sdf"); + ROS_INFO("Starting SDF from image generator..."); + ros::NodeHandle nh; + ros::NodeHandle nhp("~"); + std::string binary_base_topic; + std::string sdf_preview_topic; + std::string sdf_raw_topic; + nhp.param(std::string("binary_base_topic"), binary_base_topic, std::string("camera/rgb/binary")); + nhp.param(std::string("sdf_preview_topic"), sdf_preview_topic, std::string("camera/rgb/sdf")); + nhp.param(std::string("sdf_raw_topic"), sdf_raw_topic, std::string("camera/rgb/sdf_raw")); + ImageSDF processor(nh, binary_base_topic, sdf_preview_topic, sdf_raw_topic); + ROS_INFO("...startup complete"); + processor.loop(); + return 0; +} diff --git a/flightlib/third_party/sdf_tools/src/sdf_generation_node.cpp b/flightlib/third_party/sdf_tools/src/sdf_generation_node.cpp new file mode 100644 index 0000000..c986575 --- /dev/null +++ b/flightlib/third_party/sdf_tools/src/sdf_generation_node.cpp @@ -0,0 +1,107 @@ +#include +#include "sdf_tools/SDF.h" +#include "sdf_tools/sdf_builder.hpp" +#include +#include + +visualization_msgs::Marker ExportCollisionMapForDisplay(VoxelGrid::VoxelGrid& collision_map, std::string frame, float alpha) +{ + // Assemble a visualization_markers::Marker representation of the SDF to display in RViz + visualization_msgs::Marker display_rep; + // Populate the header + display_rep.header.frame_id = frame; + // Populate the options + display_rep.ns = "collision_map_display"; + display_rep.id = 1; + display_rep.type = visualization_msgs::Marker::CUBE_LIST; + display_rep.action = visualization_msgs::Marker::ADD; + display_rep.lifetime = ros::Duration(0.0); + display_rep.frame_locked = false; + const Eigen::Isometry3d base_transform = Eigen::Isometry3d::Identity(); + display_rep.pose = EigenHelpersConversions::EigenIsometry3dToGeometryPose(base_transform); + display_rep.scale.x = collision_map.GetCellSizes()[0]; + display_rep.scale.y = collision_map.GetCellSizes()[1]; + display_rep.scale.z = collision_map.GetCellSizes()[2]; + // Add all cells in collision + for (int64_t x_index = 0; x_index < collision_map.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < collision_map.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < collision_map.GetNumZCells(); z_index++) + { + // Check if the current cell is in collision + uint8_t status = collision_map.GetImmutable(x_index, y_index, z_index).first; + if (status == 1) + { + // Convert cell indices into a real-world location + std::vector location = collision_map.GridIndexToLocation(x_index, y_index, z_index); + geometry_msgs::Point new_point; + new_point.x = location[0]; + new_point.y = location[1]; + new_point.z = location[2]; + display_rep.points.push_back(new_point); + // Color it + std_msgs::ColorRGBA new_color; + new_color.a = alpha; + new_color.b = 0.0; + new_color.g = 0.0; + new_color.r = 1.0; + display_rep.colors.push_back(new_color); + } + else + { + assert(status == 0); + } + } + } + } + return display_rep; +} + +int main(int argc, char** argv) +{ + //test_voxel_grid(); + ros::init(argc, argv, "planning_scene_SDF_generator"); + ROS_INFO("Starting SDF from planning scene generator..."); + ros::NodeHandle nh; + ros::NodeHandle nhp("~"); + std::string frame; + double resolution; + double x_size; + double y_size; + double z_size; + nhp.param(std::string("sdf_origin_frame"), frame, std::string("base")); + nhp.param(std::string("resolution"), resolution, 0.05); + nhp.param(std::string("x_size"), x_size, 1.0); + nhp.param(std::string("y_size"), y_size, 2.0); + nhp.param(std::string("z_size"), z_size, 1.0); + Eigen::Translation3d origin_translation(0.1, -1.0, -0.3); + Eigen::Quaterniond origin_rotation; + origin_rotation.setIdentity(); + Eigen::Isometry3d origin_transform = origin_translation * origin_rotation; + sdf_tools::SDF_Builder sdf_builder(nh, origin_transform, frame, x_size, y_size, z_size, resolution, INFINITY, "get_planning_scene"); + ROS_INFO("...startup complete"); + //////////////////// + ///// Display! ///// + //////////////////// + ros::Publisher viz_pub = nh.advertise("sdf_markers", 1, true); + ros::Rate spin_rate(10); + while (ros::ok()) + { + /* Collision map visualization message publish */ + std::cout << "Generating a new Collision Map..." << std::endl; + VoxelGrid::VoxelGrid coll_map = sdf_builder.UpdateCollisionMap(sdf_tools::USE_FULL_PLANNING_SCENE); + std::cout << "...Collision Map with " << (coll_map.GetNumXCells() * coll_map.GetNumYCells() * coll_map.GetNumZCells()) << " cells generated - sending to RVIZ" << std::endl; + viz_pub.publish(ExportCollisionMapForDisplay(coll_map, "base", 1.0)); + /* SDF visualization message publish */ + clock_t st, et; + st = std::clock(); + sdf_tools::SignedDistanceField sdf = sdf_builder.UpdateSDF(sdf_tools::USE_CACHED); + et = std::clock(); + std::cout << "SDF with " << (sdf.GetNumXCells() * sdf.GetNumYCells() * sdf.GetNumZCells()) << " cells generated - took " << (((float)(et - st)) / CLOCKS_PER_SEC) << " seconds to compute" << std::endl; + viz_pub.publish(sdf.ExportForDisplay(0.1)); + ros::spinOnce(); + spin_rate.sleep(); + } + return 0; +} diff --git a/flightlib/third_party/sdf_tools/src/sdf_tools/collision_map.cpp b/flightlib/third_party/sdf_tools/src/sdf_tools/collision_map.cpp new file mode 100644 index 0000000..b67a614 --- /dev/null +++ b/flightlib/third_party/sdf_tools/src/sdf_tools/collision_map.cpp @@ -0,0 +1,1420 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sdf_tools +{ + COLLISION_CELL::COLLISION_CELL(const float in_occupancy, const uint32_t in_component) : occupancy(in_occupancy), component(in_component) {} + + std::vector CollisionCellToBinary(const COLLISION_CELL &value) + { + std::vector binary(sizeof(COLLISION_CELL)); + memcpy(&binary.front(), &value, sizeof(COLLISION_CELL)); + return binary; + } + + COLLISION_CELL CollisionCellFromBinary(const std::vector &binary) + { + if (binary.size() != sizeof(COLLISION_CELL)) + { + std::cerr << "Binary value is not " << sizeof(COLLISION_CELL) << " bytes" << std::endl; + return COLLISION_CELL(NAN, 0u); + } + else + { + COLLISION_CELL loaded; + memcpy(&loaded, &binary.front(), sizeof(COLLISION_CELL)); + return loaded; + } + } + + std_msgs::ColorRGBA CollisionMapGrid::GenerateComponentColor(const uint32_t component, const float alpha) + { + return arc_helpers::GenerateUniqueColor(component, alpha); + } + + bool CollisionMapGrid::IsSurfaceIndex(const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + // First, we make sure that indices are within bounds + // Out of bounds indices are NOT surface cells + if (x_index < 0 || y_index < 0 || z_index < 0 || x_index >= GetNumXCells() || y_index >= GetNumYCells() || z_index >= GetNumZCells()) + { + return false; + } + // Edge indices are automatically surface cells + if (x_index == 0 || y_index == 0 || z_index == 0 || x_index == (GetNumXCells() - 1) || y_index == (GetNumYCells() - 1) || z_index == (GetNumZCells())) + { + return true; + } + // If the cell is inside the grid, we check the neighbors + // Note that we must check all 26 neighbors + uint32_t our_component = collision_field_.GetImmutable(x_index, y_index, z_index).first.component; + // Check neighbor 1 + if (our_component != collision_field_.GetImmutable(x_index, y_index, z_index - 1).first.component) + { + return true; + } + // Check neighbor 2 + else if (our_component != collision_field_.GetImmutable(x_index, y_index, z_index + 1).first.component) + { + return true; + } + // Check neighbor 3 + else if (our_component != collision_field_.GetImmutable(x_index, y_index - 1, z_index).first.component) + { + return true; + } + // Check neighbor 4 + else if (our_component != collision_field_.GetImmutable(x_index, y_index + 1, z_index).first.component) + { + return true; + } + // Check neighbor 5 + else if (our_component != collision_field_.GetImmutable(x_index - 1, y_index, z_index).first.component) + { + return true; + } + // Check neighbor 6 + else if (our_component != collision_field_.GetImmutable(x_index + 1, y_index, z_index).first.component) + { + return true; + } + // If none of the faces are exposed, it's not a surface voxel + return false; + } + + CollisionMapGrid::DistanceField CollisionMapGrid::BuildDistanceField(const std::vector &points) const + { + // Make the DistanceField container + bucket_cell default_cell; + default_cell.distance_square = INFINITY; + DistanceField distance_field(collision_field_.GetOriginTransform(), GetResolution(), collision_field_.GetXSize(), collision_field_.GetYSize(), collision_field_.GetZSize(), default_cell); + // Compute maximum distance square + long max_distance_square = (distance_field.GetNumXCells() * distance_field.GetNumXCells()) + (distance_field.GetNumYCells() * distance_field.GetNumYCells()) + (distance_field.GetNumZCells() * distance_field.GetNumZCells()); + // Make bucket queue + std::vector> bucket_queue(max_distance_square + 1); + bucket_queue[0].reserve(points.size()); + // Set initial update direction + int initial_update_direction = GetDirectionNumber(0, 0, 0); + // Mark all points with distance zero and add to the bucket queue + for (size_t index = 0; index < points.size(); index++) + { + const VoxelGrid::GRID_INDEX ¤t_index = points[index]; + std::pair query = distance_field.GetMutable(current_index); + if (query.second) + { + query.first.location[0] = current_index.x; + query.first.location[1] = current_index.y; + query.first.location[2] = current_index.z; + query.first.closest_point[0] = current_index.x; + query.first.closest_point[1] = current_index.y; + query.first.closest_point[2] = current_index.z; + query.first.distance_square = 0.0; + query.first.update_direction = initial_update_direction; + bucket_queue[0].push_back(query.first); + } + // If the point is outside the bounds of the SDF, skip + else + { + continue; + } + } + // Process the bucket queue + std::vector>>> neighborhoods = MakeNeighborhoods(); + for (size_t bq_idx = 0; bq_idx < bucket_queue.size(); bq_idx++) + { + std::vector::iterator queue_itr = bucket_queue[bq_idx].begin(); + while (queue_itr != bucket_queue[bq_idx].end()) + { + // Get the current location + bucket_cell &cur_cell = *queue_itr; + double x = cur_cell.location[0]; + double y = cur_cell.location[1]; + double z = cur_cell.location[2]; + // Pick the update direction + int D = bq_idx; + if (D > 1) + { + D = 1; + } + // Make sure the update direction is valid + if (cur_cell.update_direction < 0 || cur_cell.update_direction > 26) + { + ++queue_itr; + continue; + } + // Get the current neighborhood list + std::vector> &neighborhood = neighborhoods[D][cur_cell.update_direction]; + // Update the distance from the neighboring cells + for (size_t nh_idx = 0; nh_idx < neighborhood.size(); nh_idx++) + { + // Get the direction to check + int dx = neighborhood[nh_idx][0]; + int dy = neighborhood[nh_idx][1]; + int dz = neighborhood[nh_idx][2]; + int nx = x + dx; + int ny = y + dy; + int nz = z + dz; + std::pair neighbor_query = distance_field.GetMutable((int64_t)nx, (int64_t)ny, (int64_t)nz); + if (!neighbor_query.second) + { + // "Neighbor" is outside the bounds of the SDF + continue; + } + // Update the neighbor's distance based on the current + int new_distance_square = ComputeDistanceSquared(nx, ny, nz, cur_cell.closest_point[0], cur_cell.closest_point[1], cur_cell.closest_point[2]); + if (new_distance_square > max_distance_square) + { + // Skip these cases + continue; + } + if (new_distance_square < neighbor_query.first.distance_square) + { + // If the distance is better, time to update the neighbor + neighbor_query.first.distance_square = new_distance_square; + neighbor_query.first.closest_point[0] = cur_cell.closest_point[0]; + neighbor_query.first.closest_point[1] = cur_cell.closest_point[1]; + neighbor_query.first.closest_point[2] = cur_cell.closest_point[2]; + neighbor_query.first.location[0] = nx; + neighbor_query.first.location[1] = ny; + neighbor_query.first.location[2] = nz; + neighbor_query.first.update_direction = GetDirectionNumber(dx, dy, dz); + // Add the neighbor into the bucket queue + bucket_queue[new_distance_square].push_back(neighbor_query.first); + } + } + // Increment the queue iterator + ++queue_itr; + } + // Clear the current queue now that we're done with it + bucket_queue[bq_idx].clear(); + } + return distance_field; + } + + std::vector>>> CollisionMapGrid::MakeNeighborhoods() const + { + std::vector>>> neighborhoods; + neighborhoods.resize(2); + for (size_t n = 0; n < neighborhoods.size(); n++) + { + neighborhoods[n].resize(27); + // Loop through the source directions + for (int dx = -1; dx <= 1; dx++) + { + for (int dy = -1; dy <= 1; dy++) + { + for (int dz = -1; dz <= 1; dz++) + { + int direction_number = GetDirectionNumber(dx, dy, dz); + // Loop through the target directions + for (int tdx = -1; tdx <= 1; tdx++) + { + for (int tdy = -1; tdy <= 1; tdy++) + { + for (int tdz = -1; tdz <= 1; tdz++) + { + if (tdx == 0 && tdy == 0 && tdz == 0) + { + continue; + } + if (n >= 1) + { + if ((abs(tdx) + abs(tdy) + abs(tdz)) != 1) + { + continue; + } + if ((dx * tdx) < 0 || (dy * tdy) < 0 || (dz * tdz) < 0) + { + continue; + } + } + std::vector new_point; + new_point.resize(3); + new_point[0] = tdx; + new_point[1] = tdy; + new_point[2] = tdz; + neighborhoods[n][direction_number].push_back(new_point); + } + } + } + } + } + } + } + return neighborhoods; + } + + int CollisionMapGrid::GetDirectionNumber(const int dx, const int dy, const int dz) const + { + return ((dx + 1) * 9) + ((dy + 1) * 3) + (dz + 1); + } + + double CollisionMapGrid::ComputeDistanceSquared(const int32_t x1, const int32_t y1, const int32_t z1, const int32_t x2, const int32_t y2, const int32_t z2) const + { + int32_t dx = x1 - x2; + int32_t dy = y1 - y2; + int32_t dz = z1 - z2; + return double((dx * dx) + (dy * dy) + (dz * dz)); + } + + int64_t CollisionMapGrid::MarkConnectedComponent(int64_t x_index, int64_t y_index, int64_t z_index, uint32_t connected_component) + { + // Make the working queue + std::list working_queue; + // Make a hash table to store queued indices (so we don't repeat work) + // Let's provide an hint at the size of hashmap we'll need, since this will reduce the need to resize & rehash + // We're going to assume that connected components, in general, will take ~1/16 of the grid in size + // which means, with 2 cells/hash bucket, we'll initialize to grid size/32 +#ifdef ENABLE_UNORDERED_MAP_SIZE_HINTS + size_t queued_hashtable_size_hint = collision_field_.GetRawData().size() / 32; + std::unordered_map queued_hashtable(queued_hashtable_size_hint); +#else + std::unordered_map queued_hashtable; +#endif + // Add the starting index + VoxelGrid::GRID_INDEX start_index(x_index, y_index, z_index); + // Enqueue it + working_queue.push_back(start_index); + queued_hashtable[start_index] = 1; + // Work + int64_t marked_cells = 0; + while (working_queue.size() > 0) + { + // Get an item off the queue to work with + VoxelGrid::GRID_INDEX current_index = working_queue.front(); + working_queue.pop_front(); + // Get the current value + COLLISION_CELL current_value = collision_field_.GetImmutable(current_index.x, current_index.y, current_index.z).first; + // Mark the connected component + current_value.component = connected_component; + // Update the grid + collision_field_.SetValue(current_index.x, current_index.y, current_index.z, current_value); + // Go through the possible neighbors and enqueue as needed + // Since there are only six cases (voxels must share a face to be considered connected), we handle each explicitly + // Case 1 + std::pair xm1_neighbor = collision_field_.GetImmutable(current_index.x - 1, current_index.y, current_index.z); + if (xm1_neighbor.second && (current_value.occupancy == xm1_neighbor.first.occupancy)) + { + VoxelGrid::GRID_INDEX neighbor_index(current_index.x - 1, current_index.y, current_index.z); + if (queued_hashtable[neighbor_index] <= 0) + { + queued_hashtable[neighbor_index] = 1; + working_queue.push_back(neighbor_index); + } + } + // Case 2 + std::pair ym1_neighbor = collision_field_.GetImmutable(current_index.x, current_index.y - 1, current_index.z); + if (ym1_neighbor.second && (current_value.occupancy == ym1_neighbor.first.occupancy)) + { + VoxelGrid::GRID_INDEX neighbor_index(current_index.x, current_index.y - 1, current_index.z); + if (queued_hashtable[neighbor_index] <= 0) + { + queued_hashtable[neighbor_index] = 1; + working_queue.push_back(neighbor_index); + } + } + // Case 3 + std::pair zm1_neighbor = collision_field_.GetImmutable(current_index.x, current_index.y, current_index.z - 1); + if (zm1_neighbor.second && (current_value.occupancy == zm1_neighbor.first.occupancy)) + { + VoxelGrid::GRID_INDEX neighbor_index(current_index.x, current_index.y, current_index.z - 1); + if (queued_hashtable[neighbor_index] <= 0) + { + queued_hashtable[neighbor_index] = 1; + working_queue.push_back(neighbor_index); + } + } + // Case 4 + std::pair xp1_neighbor = collision_field_.GetImmutable(current_index.x + 1, current_index.y, current_index.z); + if (xp1_neighbor.second && (current_value.occupancy == xp1_neighbor.first.occupancy)) + { + VoxelGrid::GRID_INDEX neighbor_index(current_index.x + 1, current_index.y, current_index.z); + if (queued_hashtable[neighbor_index] <= 0) + { + queued_hashtable[neighbor_index] = 1; + working_queue.push_back(neighbor_index); + } + } + // Case 5 + std::pair yp1_neighbor = collision_field_.GetImmutable(current_index.x, current_index.y + 1, current_index.z); + if (yp1_neighbor.second && (current_value.occupancy == yp1_neighbor.first.occupancy)) + { + VoxelGrid::GRID_INDEX neighbor_index(current_index.x, current_index.y + 1, current_index.z); + if (queued_hashtable[neighbor_index] <= 0) + { + queued_hashtable[neighbor_index] = 1; + working_queue.push_back(neighbor_index); + } + } + // Case 6 + std::pair zp1_neighbor = collision_field_.GetImmutable(current_index.x, current_index.y, current_index.z + 1); + if (zp1_neighbor.second && (current_value.occupancy == zp1_neighbor.first.occupancy)) + { + VoxelGrid::GRID_INDEX neighbor_index(current_index.x, current_index.y, current_index.z + 1); + if (queued_hashtable[neighbor_index] <= 0) + { + queued_hashtable[neighbor_index] = 1; + working_queue.push_back(neighbor_index); + } + } + } + return marked_cells; + } + + CollisionMapGrid::CollisionMapGrid(const std::string &frame, const double resolution, const double x_size, const double y_size, const double z_size, const COLLISION_CELL &default_value, const COLLISION_CELL &OOB_value) : initialized_(true) + { + frame_ = frame; + VoxelGrid::VoxelGrid new_field(resolution, x_size, y_size, z_size, default_value, OOB_value); + collision_field_ = new_field; + number_of_components_ = 0; + components_valid_ = false; + } + + CollisionMapGrid::CollisionMapGrid(const Eigen::Isometry3d &origin_transform, const std::string &frame, const double resolution, const double x_size, double y_size, const double z_size, const COLLISION_CELL &default_value, const COLLISION_CELL &OOB_value) : initialized_(true) + { + frame_ = frame; + VoxelGrid::VoxelGrid new_field(origin_transform, resolution, x_size, y_size, z_size, default_value, OOB_value); + collision_field_ = new_field; + number_of_components_ = 0; + components_valid_ = false; + } + + CollisionMapGrid::CollisionMapGrid(const std::string &frame, const double resolution, const double x_size, const double y_size, const double z_size, const COLLISION_CELL &OOB_default_value) : initialized_(true) + { + frame_ = frame; + VoxelGrid::VoxelGrid new_field(resolution, x_size, y_size, z_size, OOB_default_value); + collision_field_ = new_field; + number_of_components_ = 0; + components_valid_ = false; + } + + CollisionMapGrid::CollisionMapGrid(const Eigen::Isometry3d &origin_transform, const std::string &frame, const double resolution, const double x_size, double y_size, const double z_size, const COLLISION_CELL &OOB_default_value) : initialized_(true) + { + frame_ = frame; + VoxelGrid::VoxelGrid new_field(origin_transform, resolution, x_size, y_size, z_size, OOB_default_value); + collision_field_ = new_field; + number_of_components_ = 0; + components_valid_ = false; + } + + CollisionMapGrid::CollisionMapGrid() : number_of_components_(0), initialized_(false), components_valid_(false) {} + + bool CollisionMapGrid::IsInitialized() const + { + return initialized_; + } + + bool CollisionMapGrid::AreComponentsValid() const + { + return components_valid_; + } + + std::pair CollisionMapGrid::Get3d(const Eigen::Vector3d &location) const + { + return collision_field_.GetImmutable3d(location); + } + + std::pair CollisionMapGrid::Get4d(const Eigen::Vector4d &location) const + { + return collision_field_.GetImmutable4d(location); + } + + std::pair CollisionMapGrid::Get(const double x, const double y, const double z) const + { + return collision_field_.GetImmutable(x, y, z); + } + + std::pair CollisionMapGrid::Get(const VoxelGrid::GRID_INDEX &index) const + { + return collision_field_.GetImmutable(index); + } + + std::pair CollisionMapGrid::Get(const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + return collision_field_.GetImmutable(x_index, y_index, z_index); + } + + bool CollisionMapGrid::Set(const double x, const double y, const double z, COLLISION_CELL value) + { + components_valid_ = false; + return collision_field_.SetValue(x, y, z, value); + } + + bool CollisionMapGrid::Set3d(const Eigen::Vector3d &location, COLLISION_CELL value) + { + components_valid_ = false; + return collision_field_.SetValue3d(location, value); + } + + bool CollisionMapGrid::Set4d(const Eigen::Vector4d &location, COLLISION_CELL value) + { + components_valid_ = false; + return collision_field_.SetValue4d(location, value); + } + + bool CollisionMapGrid::Set(const int64_t x_index, const int64_t y_index, const int64_t z_index, COLLISION_CELL value) + { + components_valid_ = false; + return collision_field_.SetValue(x_index, y_index, z_index, value); + } + + bool CollisionMapGrid::Set(const VoxelGrid::GRID_INDEX &index, COLLISION_CELL value) + { + components_valid_ = false; + return collision_field_.SetValue(index, value); + } + + double CollisionMapGrid::GetXSize() const + { + return collision_field_.GetXSize(); + } + + double CollisionMapGrid::GetYSize() const + { + return collision_field_.GetYSize(); + } + + double CollisionMapGrid::GetZSize() const + { + return collision_field_.GetZSize(); + } + + double CollisionMapGrid::GetResolution() const + { + return collision_field_.GetCellSizes()[0]; + } + + COLLISION_CELL CollisionMapGrid::GetDefaultValue() const + { + return collision_field_.GetDefaultValue(); + } + + COLLISION_CELL CollisionMapGrid::GetOOBValue() const + { + return collision_field_.GetOOBValue(); + } + + int64_t CollisionMapGrid::GetNumXCells() const + { + return collision_field_.GetNumXCells(); + } + + int64_t CollisionMapGrid::GetNumYCells() const + { + return collision_field_.GetNumYCells(); + } + + int64_t CollisionMapGrid::GetNumZCells() const + { + return collision_field_.GetNumZCells(); + } + + const Eigen::Isometry3d &CollisionMapGrid::GetOriginTransform() const + { + return collision_field_.GetOriginTransform(); + } + + const Eigen::Isometry3d &CollisionMapGrid::GetInverseOriginTransform() const + { + return collision_field_.GetInverseOriginTransform(); + } + + std::string CollisionMapGrid::GetFrame() const + { + return frame_; + } + + std::pair CollisionMapGrid::GetNumConnectedComponents() const + { + return std::pair(number_of_components_, components_valid_); + } + + std::vector CollisionMapGrid::LocationToGridIndex3d(const Eigen::Vector3d &location) const + { + return collision_field_.LocationToGridIndex3d(location); + } + + std::vector CollisionMapGrid::LocationToGridIndex4d(const Eigen::Vector4d &location) const + { + return collision_field_.LocationToGridIndex4d(location); + } + + std::vector CollisionMapGrid::LocationToGridIndex(double x, double y, double z) const + { + return collision_field_.LocationToGridIndex(x, y, z); + } + + std::vector CollisionMapGrid::GridIndexToLocation(int64_t x_index, int64_t y_index, int64_t z_index) const + { + return collision_field_.GridIndexToLocation(x_index, y_index, z_index); + } + + bool CollisionMapGrid::SaveToFile(const std::string &filepath) + { + // Convert to message representation + sdf_tools::CollisionMap message_rep = GetMessageRepresentation(); + // Save message to file + try + { + std::ofstream output_file(filepath.c_str(), std::ios::out | std::ios::binary); + uint32_t serialized_size = ros::serialization::serializationLength(message_rep); + std::unique_ptr ser_buffer(new uint8_t[serialized_size]); + ros::serialization::OStream ser_stream(ser_buffer.get(), serialized_size); + ros::serialization::serialize(ser_stream, message_rep); + output_file.write((char *)ser_buffer.get(), serialized_size); + output_file.close(); + return true; + } + catch (...) + { + return false; + } + } + + bool CollisionMapGrid::LoadFromFile(const std::string &filepath) + { + try + { + // Load message from file + std::ifstream input_file(filepath.c_str(), std::ios::in | std::ios::binary); + input_file.seekg(0, std::ios::end); + std::streampos end = input_file.tellg(); + input_file.seekg(0, std::ios::beg); + std::streampos begin = input_file.tellg(); + uint32_t serialized_size = end - begin; + std::unique_ptr deser_buffer(new uint8_t[serialized_size]); + input_file.read((char *)deser_buffer.get(), serialized_size); + ros::serialization::IStream deser_stream(deser_buffer.get(), serialized_size); + sdf_tools::CollisionMap new_message; + ros::serialization::deserialize(deser_stream, new_message); + // Load state from the message + bool success = LoadFromMessageRepresentation(new_message); + return success; + } + catch (...) + { + return false; + } + } + + sdf_tools::CollisionMap CollisionMapGrid::GetMessageRepresentation() + { + sdf_tools::CollisionMap message_rep; + // Populate message + message_rep.header.frame_id = frame_; + const Eigen::Isometry3d &origin_transform = collision_field_.GetOriginTransform(); + message_rep.origin_transform.translation.x = origin_transform.translation().x(); + message_rep.origin_transform.translation.y = origin_transform.translation().y(); + message_rep.origin_transform.translation.z = origin_transform.translation().z(); + const Eigen::Quaterniond origin_transform_rotation(origin_transform.rotation()); + message_rep.origin_transform.rotation.x = origin_transform_rotation.x(); + message_rep.origin_transform.rotation.y = origin_transform_rotation.y(); + message_rep.origin_transform.rotation.z = origin_transform_rotation.z(); + message_rep.origin_transform.rotation.w = origin_transform_rotation.w(); + message_rep.dimensions.x = GetXSize(); + message_rep.dimensions.y = GetYSize(); + message_rep.dimensions.z = GetZSize(); + message_rep.cell_size = GetResolution(); + message_rep.OOB_occupancy_value = collision_field_.GetDefaultValue().occupancy; + message_rep.OOB_component_value = collision_field_.GetDefaultValue().component; + message_rep.number_of_components = number_of_components_; + message_rep.components_valid = components_valid_; + message_rep.initialized = initialized_; + std::vector raw_data = collision_field_.GetRawData(); + std::vector binary_data = PackBinaryRepresentation(raw_data); + message_rep.data = ZlibHelpers::CompressBytes(binary_data); + return message_rep; + } + + bool CollisionMapGrid::LoadFromMessageRepresentation(sdf_tools::CollisionMap &message) + { + // Make a new voxel grid inside + Eigen::Translation3d origin_translation(message.origin_transform.translation.x, message.origin_transform.translation.y, message.origin_transform.translation.z); + Eigen::Quaterniond origin_rotation(message.origin_transform.rotation.w, message.origin_transform.rotation.x, message.origin_transform.rotation.y, message.origin_transform.rotation.z); + Eigen::Isometry3d origin_transform = origin_translation * origin_rotation; + COLLISION_CELL OOB_value; + OOB_value.occupancy = message.OOB_occupancy_value; + OOB_value.component = message.OOB_component_value; + VoxelGrid::VoxelGrid new_field(origin_transform, message.cell_size, message.dimensions.x, message.dimensions.y, message.dimensions.z, OOB_value); + // Unpack the binary data + std::vector binary_representation = ZlibHelpers::DecompressBytes(message.data); + std::vector unpacked = UnpackBinaryRepresentation(binary_representation); + if (unpacked.empty()) + { + std::cerr << "Unpack returned an empty CollisionMapGrid" << std::endl; + return false; + } + bool success = new_field.SetRawData(unpacked); + if (!success) + { + std::cerr << "Unable to set internal representation of the CollisionMapGrid" << std::endl; + return false; + } + // Set it + collision_field_ = new_field; + frame_ = message.header.frame_id; + number_of_components_ = message.number_of_components; + components_valid_ = message.components_valid; + initialized_ = message.initialized; + return true; + } + + std::vector CollisionMapGrid::PackBinaryRepresentation(std::vector &raw) + { + std::vector packed(raw.size() * 8); + for (size_t field_idx = 0, binary_index = 0; field_idx < raw.size(); field_idx++, binary_index += 8) + { + COLLISION_CELL raw_cell = raw[field_idx]; + std::vector packed_cell = CollisionCellToBinary(raw_cell); + packed[binary_index] = packed_cell[0]; + packed[binary_index + 1] = packed_cell[1]; + packed[binary_index + 2] = packed_cell[2]; + packed[binary_index + 3] = packed_cell[3]; + packed[binary_index + 4] = packed_cell[4]; + packed[binary_index + 5] = packed_cell[5]; + packed[binary_index + 6] = packed_cell[6]; + packed[binary_index + 7] = packed_cell[7]; + } + return packed; + } + + std::vector CollisionMapGrid::UnpackBinaryRepresentation(std::vector &packed) + { + if ((packed.size() % 8) != 0) + { + std::cerr << "Invalid binary representation - length is not a multiple of 8" << std::endl; + return std::vector(); + } + uint64_t data_size = packed.size() / 8; + std::vector unpacked(data_size); + for (size_t field_idx = 0, binary_index = 0; field_idx < unpacked.size(); field_idx++, binary_index += 8) + { + std::vector binary_block{packed[binary_index], packed[binary_index + 1], packed[binary_index + 2], packed[binary_index + 3], packed[binary_index + 4], packed[binary_index + 5], packed[binary_index + 6], packed[binary_index + 7]}; + unpacked[field_idx] = CollisionCellFromBinary(binary_block); + } + return unpacked; + } + + uint32_t CollisionMapGrid::UpdateConnectedComponents() + { + // If the connected components are already valid, skip computing them again + if (components_valid_) + { + return number_of_components_; + } + components_valid_ = false; + // Reset components first + for (int64_t x_index = 0; x_index < collision_field_.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < collision_field_.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < collision_field_.GetNumZCells(); z_index++) + { + COLLISION_CELL current = collision_field_.GetImmutable(x_index, y_index, z_index).first; + current.component = 0; + collision_field_.SetValue(x_index, y_index, z_index, current); + } + } + } + // Mark the components + int64_t total_cells = collision_field_.GetNumXCells() * collision_field_.GetNumYCells() * collision_field_.GetNumZCells(); + int64_t marked_cells = 0; + uint32_t connected_components = 0; + // Sweep through the grid + for (int64_t x_index = 0; x_index < collision_field_.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < collision_field_.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < collision_field_.GetNumZCells(); z_index++) + { + // Check if the cell has already been marked, if so, ignore + if (collision_field_.GetImmutable(x_index, y_index, z_index).first.component > 0) + { + continue; + } + // Start marking a new connected component + connected_components++; + int64_t cells_marked = MarkConnectedComponent(x_index, y_index, z_index, connected_components); + marked_cells += cells_marked; + // Short-circuit if we've marked everything + if (marked_cells == total_cells) + { + number_of_components_ = connected_components; + components_valid_ = true; + return connected_components; + } + } + } + } + number_of_components_ = connected_components; + components_valid_ = true; + return connected_components; + } + + std::map> CollisionMapGrid::ComputeComponentTopology(bool ignore_empty_components, bool recompute_connected_components, bool verbose) + { + // Recompute the connected components if need be + if (recompute_connected_components) + { + UpdateConnectedComponents(); + } + // Extract the surfaces of each connected component + std::map> component_surfaces = ExtractComponentSurfaces(ignore_empty_components); + // Compute the number of holes in each surface + std::map> component_holes; + std::map>::iterator component_surfaces_itr; + for (component_surfaces_itr = component_surfaces.begin(); component_surfaces_itr != component_surfaces.end(); ++component_surfaces_itr) + { + uint32_t component_number = component_surfaces_itr->first; + std::unordered_map &component_surface = component_surfaces_itr->second; + std::pair number_of_holes_and_voids = ComputeHolesInSurface(component_number, component_surface, verbose); + component_holes[component_number] = number_of_holes_and_voids; + } + return component_holes; + } + + std::map> CollisionMapGrid::ExtractComponentSurfaces(const bool ignore_empty_components) const + { + std::map> component_surfaces; + // Loop through the grid and extract surface cells for each component + for (int64_t x_index = 0; x_index < collision_field_.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < collision_field_.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < collision_field_.GetNumZCells(); z_index++) + { + COLLISION_CELL current_cell = collision_field_.GetImmutable(x_index, y_index, z_index).first; + if (ignore_empty_components) + { + if (current_cell.occupancy > 0.5) + { + VoxelGrid::GRID_INDEX current_index(x_index, y_index, z_index); + if (IsSurfaceIndex(x_index, y_index, z_index)) + { + component_surfaces[current_cell.component][current_index] = 1; + } + } + } + else + { + VoxelGrid::GRID_INDEX current_index(x_index, y_index, z_index); + if (IsSurfaceIndex(x_index, y_index, z_index)) + { + component_surfaces[current_cell.component][current_index] = 1; + } + } + } + } + } + return component_surfaces; + } + + std::pair CollisionMapGrid::ComputeHolesInSurface(const uint32_t component, const std::unordered_map &surface, const bool verbose) const + { + // We have a list of all voxels with an exposed surface face + // We loop through this list of voxels, and convert each voxel + // into 8 vertices (the corners), which we individually check: + // + // First - we check to see if the vertex has already been + // evaluated + // + // Second - we check if the vertex is actually on the surface + // (make sure at least one of the three adjacent vertices is + // exposed) + // + // Third - insert into hashtable of surface vertices + // + // Once we have completed this process, we loop back through + // the hashtable of surface vertices and compute the number + // of distance-1 neighboring surface vertices (we do this by + // checking each of the six potential neighbor vertices) and + // keep a running count of all vertices with 3, 5, and 6 + // neighbors. + // + // Once we have evaluated all the neighbors of all surface + // vertices, we count the number of holes in the grid using + // the formula from Chen and Rong, "Linear Time Recognition + // Algorithms for Topological Invariants in 3D": + // + // #holes = 1 + (M5 + 2 * M6 - M3) / 8 + // + // where M5 is the number of vertices with 5 neighbors, + // M6 is the number of vertices with 6 neighbors, and + // M3 is the number of vertices with 3 neighbors + // + // Storage for surface vertices + // Compute a hint for initial surface vertex hashmap size + // expected # of surface vertices + // surface cells * 8 +#ifdef ENABLE_UNORDERED_MAP_SIZE_HINTS + size_t surface_vertices_size_hint = surface.size() * 8; + std::unordered_map surface_vertices(surface_vertices_size_hint); +#else + std::unordered_map surface_vertices; +#endif + // Loop through all the surface voxels and extract surface vertices + std::unordered_map::const_iterator surface_itr; + for (surface_itr = surface.begin(); surface_itr != surface.end(); ++surface_itr) + { + const VoxelGrid::GRID_INDEX ¤t_index = surface_itr->first; + // First, grab all six neighbors from the grid + std::pair xyzm1 = collision_field_.GetImmutable(current_index.x, current_index.y, current_index.z - 1); + std::pair xyzp1 = collision_field_.GetImmutable(current_index.x, current_index.y, current_index.z + 1); + std::pair xym1z = collision_field_.GetImmutable(current_index.x, current_index.y - 1, current_index.z); + std::pair xyp1z = collision_field_.GetImmutable(current_index.x, current_index.y + 1, current_index.z); + std::pair xm1yz = collision_field_.GetImmutable(current_index.x - 1, current_index.y, current_index.z); + std::pair xp1yz = collision_field_.GetImmutable(current_index.x + 1, current_index.y, current_index.z); + // Generate all 8 vertices for the current voxel, check if an adjacent vertex is on the surface, and insert it if so + // First, check the (-,-,-) vertex + if (component != xyzm1.first.component || component != xym1z.first.component || component != xm1yz.first.component) + { + VoxelGrid::GRID_INDEX vertex1(current_index.x, current_index.y, current_index.z); + surface_vertices[vertex1] = 1; + } + // Second, check the (-,-,+) vertex + if (component != xyzp1.first.component || component != xym1z.first.component || component != xm1yz.first.component) + { + VoxelGrid::GRID_INDEX vertex2(current_index.x, current_index.y, current_index.z + 1); + surface_vertices[vertex2] = 1; + } + // Third, check the (-,+,-) vertex + if (component != xyzm1.first.component || component != xyp1z.first.component || component != xm1yz.first.component) + { + VoxelGrid::GRID_INDEX vertex3(current_index.x, current_index.y + 1, current_index.z); + surface_vertices[vertex3] = 1; + } + // Fourth, check the (-,+,+) vertex + if (component != xyzp1.first.component || component != xyp1z.first.component || component != xm1yz.first.component) + { + VoxelGrid::GRID_INDEX vertex4(current_index.x, current_index.y + 1, current_index.z + 1); + surface_vertices[vertex4] = 1; + } + // Fifth, check the (+,-,-) vertex + if (component != xyzm1.first.component || component != xym1z.first.component || component != xp1yz.first.component) + { + VoxelGrid::GRID_INDEX vertex5(current_index.x + 1, current_index.y, current_index.z); + surface_vertices[vertex5] = 1; + } + // Sixth, check the (+,-,+) vertex + if (component != xyzp1.first.component || component != xym1z.first.component || component != xp1yz.first.component) + { + VoxelGrid::GRID_INDEX vertex6(current_index.x + 1, current_index.y, current_index.z + 1); + surface_vertices[vertex6] = 1; + } + // Seventh, check the (+,+,-) vertex + if (component != xyzm1.first.component || component != xyp1z.first.component || component != xp1yz.first.component) + { + VoxelGrid::GRID_INDEX vertex7(current_index.x + 1, current_index.y + 1, current_index.z); + surface_vertices[vertex7] = 1; + } + // Eighth, check the (+,+,+) vertex + if (component != xyzp1.first.component || component != xyp1z.first.component || component != xp1yz.first.component) + { + VoxelGrid::GRID_INDEX vertex8(current_index.x + 1, current_index.y + 1, current_index.z + 1); + surface_vertices[vertex8] = 1; + } + } + if (verbose) + { + std::cerr << "Surface with " << surface.size() << " voxels has " << surface_vertices.size() << " surface vertices" << std::endl; + } + // Iterate through the surface vertices and count the neighbors of each vertex + int32_t M3 = 0; + int32_t M5 = 0; + int32_t M6 = 0; + // Store the connectivity of each vertex + // Compute a hint for initial vertex connectivity hashmap size + // real # of surface vertices + // surface vertices + size_t vertex_connectivity_size_hint = surface_vertices.size(); + std::unordered_map vertex_connectivity(vertex_connectivity_size_hint); + std::unordered_map::iterator surface_vertices_itr; + for (surface_vertices_itr = surface_vertices.begin(); surface_vertices_itr != surface_vertices.end(); ++surface_vertices_itr) + { + VoxelGrid::GRID_INDEX key = surface_vertices_itr->first; + VoxelGrid::GRID_INDEX value = key; + // Insert into the connectivity map + vertex_connectivity[key] = 0b00000000; + // Check the six edges from the current vertex and count the number of exposed edges + // (an edge is exposed if the at least one of the four surrounding voxels is not part + // of the current component) + int32_t edge_count = 0; + // First, get the 8 voxels that surround the current vertex + std::pair xm1ym1zm1 = collision_field_.GetImmutable(value.x - 1, value.y - 1, value.z - 1); + std::pair xm1ym1zp1 = collision_field_.GetImmutable(value.x - 1, value.y - 1, value.z + 0); + std::pair xm1yp1zm1 = collision_field_.GetImmutable(value.x - 1, value.y + 0, value.z - 1); + std::pair xm1yp1zp1 = collision_field_.GetImmutable(value.x - 1, value.y + 0, value.z + 0); + std::pair xp1ym1zm1 = collision_field_.GetImmutable(value.x + 0, value.y - 1, value.z - 1); + std::pair xp1ym1zp1 = collision_field_.GetImmutable(value.x + 0, value.y - 1, value.z + 0); + std::pair xp1yp1zm1 = collision_field_.GetImmutable(value.x + 0, value.y + 0, value.z - 1); + std::pair xp1yp1zp1 = collision_field_.GetImmutable(value.x + 0, value.y + 0, value.z + 0); + // Check the "z- down" edge + if (component != xm1ym1zm1.first.component || component != xm1yp1zm1.first.component || component != xp1ym1zm1.first.component || component != xp1yp1zm1.first.component) + { + if (!(component != xm1ym1zm1.first.component && component != xm1yp1zm1.first.component && component != xp1ym1zm1.first.component && component != xp1yp1zm1.first.component)) + { + edge_count++; + vertex_connectivity[key] |= 0b00000001; + } + } + // Check the "z+ up" edge + if (component != xm1ym1zp1.first.component || component != xm1yp1zp1.first.component || component != xp1ym1zp1.first.component || component != xp1yp1zp1.first.component) + { + if (!(component != xm1ym1zp1.first.component && component != xm1yp1zp1.first.component && component != xp1ym1zp1.first.component && component != xp1yp1zp1.first.component)) + { + edge_count++; + vertex_connectivity[key] |= 0b00000010; + } + } + // Check the "y- right" edge + if (component != xm1ym1zm1.first.component || component != xm1ym1zp1.first.component || component != xp1ym1zm1.first.component || component != xp1ym1zp1.first.component) + { + if (!(component != xm1ym1zm1.first.component && component != xm1ym1zp1.first.component && component != xp1ym1zm1.first.component && component != xp1ym1zp1.first.component)) + { + edge_count++; + vertex_connectivity[key] |= 0b00000100; + } + } + // Check the "y+ left" edge + if (component != xm1yp1zm1.first.component || component != xm1yp1zp1.first.component || component != xp1yp1zm1.first.component || component != xp1yp1zp1.first.component) + { + if (!(component != xm1yp1zm1.first.component && component != xm1yp1zp1.first.component && component != xp1yp1zm1.first.component && component != xp1yp1zp1.first.component)) + { + edge_count++; + vertex_connectivity[key] |= 0b00001000; + } + } + // Check the "x- back" edge + if (component != xm1ym1zm1.first.component || component != xm1ym1zp1.first.component || component != xm1yp1zm1.first.component || component != xm1yp1zp1.first.component) + { + if (!(component != xm1ym1zm1.first.component && component != xm1ym1zp1.first.component && component != xm1yp1zm1.first.component && component != xm1yp1zp1.first.component)) + { + edge_count++; + vertex_connectivity[key] |= 0b00010000; + } + } + // Check the "x+ front" edge + if (component != xp1ym1zm1.first.component || component != xp1ym1zp1.first.component || component != xp1yp1zm1.first.component || component != xp1yp1zp1.first.component) + { + if (!(component != xp1ym1zm1.first.component && component != xp1ym1zp1.first.component && component != xp1yp1zm1.first.component && component != xp1yp1zp1.first.component)) + { + edge_count++; + vertex_connectivity[key] |= 0b00100000; + } + } + // Increment M counts + if (edge_count == 3) + { + M3++; + } + else if (edge_count == 5) + { + M5++; + } + else if (edge_count == 6) + { + M6++; + } + } + // Check to see if the set of vertices is connected. If not, our object contains void(s) + int32_t number_of_surfaces = ComputeConnectivityOfSurfaceVertices(vertex_connectivity); + int32_t number_of_voids = number_of_surfaces - 1; + // Compute the number of holes in the surface + int32_t raw_number_of_holes = 1 + ((M5 + (2 * M6) - M3) / 8); + int32_t number_of_holes = raw_number_of_holes + number_of_voids; + if (verbose) + { + std::cout << "Processing surface with M3 = " << M3 << " M5 = " << M5 << " M6 = " << M6 << " holes = " << number_of_holes << " surfaces = " << number_of_surfaces << " voids = " << number_of_voids << std::endl; + } + return std::pair(number_of_holes, number_of_voids); + } + + int32_t CollisionMapGrid::ComputeConnectivityOfSurfaceVertices(const std::unordered_map &surface_vertex_connectivity) const + { + int32_t connected_components = 0; + int64_t processed_vertices = 0; + // Compute a hint for initial vertex components hashmap size + // real # of surface vertices + // surface vertices + size_t vertex_components_size_hint = surface_vertex_connectivity.size(); + std::unordered_map vertex_components(vertex_components_size_hint); + // Iterate through the vertices + std::unordered_map::const_iterator surface_vertices_itr; + for (surface_vertices_itr = surface_vertex_connectivity.begin(); surface_vertices_itr != surface_vertex_connectivity.end(); ++surface_vertices_itr) + { + VoxelGrid::GRID_INDEX key = surface_vertices_itr->first; + VoxelGrid::GRID_INDEX location = key; + // const uint8_t& connectivity = surface_vertices_itr->second.second; + // First, check if the vertex has already been marked + if (vertex_components[key] > 0) + { + continue; + } + else + { + // If not, we start marking a new connected component + connected_components++; + // Make the working queue + std::list working_queue; + // Make a hash table to store queued indices (so we don't repeat work) + // Compute a hint for initial queued hashtable hashmap size + // If we assume that most object surfaces are, in fact, intact, then the first (and only) + // queued_hashtable will need to store an entry for every vertex on the surface. + // real # of surface vertices + // surface vertices + size_t queued_hashtable_size_hint = surface_vertex_connectivity.size(); + std::unordered_map queued_hashtable(queued_hashtable_size_hint); + // Add the current point + working_queue.push_back(location); + queued_hashtable[key] = 1; + // Keep track of the number of vertices we've processed + int64_t component_processed_vertices = 0; + // Loop from the queue + while (working_queue.size() > 0) + { + // Get the top of thw working queue + VoxelGrid::GRID_INDEX current_vertex = working_queue.front(); + working_queue.pop_front(); + component_processed_vertices++; + vertex_components[current_vertex] = connected_components; + // Check the six possibly-connected vertices and add them to the queue if they are connected + // Get the connectivity of our index + uint8_t connectivity = surface_vertex_connectivity.at(current_vertex); + // Go through the neighbors + if ((connectivity & 0b00000001) > 0) + { + // Try to add the vertex + VoxelGrid::GRID_INDEX connected_vertex(current_vertex.x, current_vertex.y, current_vertex.z - 1); + // We only add if we haven't already processed it + if (queued_hashtable[connected_vertex] <= 0) + { + queued_hashtable[connected_vertex] = 1; + working_queue.push_back(connected_vertex); + } + } + if ((connectivity & 0b00000010) > 0) + { + // Try to add the vertex + VoxelGrid::GRID_INDEX connected_vertex(current_vertex.x, current_vertex.y, current_vertex.z + 1); + // We only add if we haven't already processed it + if (queued_hashtable[connected_vertex] <= 0) + { + queued_hashtable[connected_vertex] = 1; + working_queue.push_back(connected_vertex); + } + } + if ((connectivity & 0b00000100) > 0) + { + // Try to add the vertex + VoxelGrid::GRID_INDEX connected_vertex(current_vertex.x, current_vertex.y - 1, current_vertex.z); + // We only add if we haven't already processed it + if (queued_hashtable[connected_vertex] <= 0) + { + queued_hashtable[connected_vertex] = 1; + working_queue.push_back(connected_vertex); + } + } + if ((connectivity & 0b00001000) > 0) + { + // Try to add the vertex + VoxelGrid::GRID_INDEX connected_vertex(current_vertex.x, current_vertex.y + 1, current_vertex.z); + // We only add if we haven't already processed it + if (queued_hashtable[connected_vertex] <= 0) + { + queued_hashtable[connected_vertex] = 1; + working_queue.push_back(connected_vertex); + } + } + if ((connectivity & 0b00010000) > 0) + { + // Try to add the vertex + VoxelGrid::GRID_INDEX connected_vertex(current_vertex.x - 1, current_vertex.y, current_vertex.z); + // We only add if we haven't already processed it + if (queued_hashtable[connected_vertex] <= 0) + { + queued_hashtable[connected_vertex] = 1; + working_queue.push_back(connected_vertex); + } + } + if ((connectivity & 0b00100000) > 0) + { + // Try to add the vertex + VoxelGrid::GRID_INDEX connected_vertex(current_vertex.x + 1, current_vertex.y, current_vertex.z); + // We only add if we haven't already processed it + if (queued_hashtable[connected_vertex] <= 0) + { + queued_hashtable[connected_vertex] = 1; + working_queue.push_back(connected_vertex); + } + } + } + processed_vertices += component_processed_vertices; + if (processed_vertices == (int64_t)surface_vertex_connectivity.size()) + { + break; + } + } + } + return connected_components; + } + + std::pair> CollisionMapGrid::ExtractSignedDistanceField(const float oob_value) const + + { + // Make the SDF + SignedDistanceField new_sdf(collision_field_.GetOriginTransform(), frame_, GetResolution(), collision_field_.GetXSize(), collision_field_.GetYSize(), collision_field_.GetZSize(), oob_value); + std::vector filled; + std::vector free; + for (int64_t x_index = 0; x_index < new_sdf.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < new_sdf.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < new_sdf.GetNumZCells(); z_index++) + { + VoxelGrid::GRID_INDEX current_index(x_index, y_index, z_index); + COLLISION_CELL stored = Get(x_index, y_index, z_index).first; + if (stored.occupancy > 0.5) + { + // Mark as filled + filled.push_back(current_index); + } + else + { + // Mark as free space + free.push_back(current_index); + } + } + } + } + // Make two distance fields (one for distance to filled voxels, one for distance to free voxels + DistanceField filled_distance_field = BuildDistanceField(filled); + DistanceField free_distance_field = BuildDistanceField(free); + // Generate the SDF + double max_distance = -INFINITY; + double min_distance = INFINITY; + for (int64_t x_index = 0; x_index < filled_distance_field.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < filled_distance_field.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < filled_distance_field.GetNumZCells(); z_index++) + { + double distance1 = sqrt(filled_distance_field.GetImmutable(x_index, y_index, z_index).first.distance_square) * new_sdf.GetResolution(); + double distance2 = sqrt(free_distance_field.GetImmutable(x_index, y_index, z_index).first.distance_square) * new_sdf.GetResolution(); + double distance = distance1 - distance2; // distance to filled voxels - distance to free voxels + // 障碍内部distance = - distance to free voxels, 障碍外部distance = distance to filled voxels + if (distance > max_distance) + { + max_distance = distance; + } + if (distance < min_distance) + { + min_distance = distance; + } + new_sdf.Set(x_index, y_index, z_index, distance); + } + } + } + std::pair extrema(max_distance, min_distance); + return std::pair>(new_sdf, extrema); + } + + visualization_msgs::Marker CollisionMapGrid::ExportForDisplay(const std_msgs::ColorRGBA &collision_color, const std_msgs::ColorRGBA &free_color, const std_msgs::ColorRGBA &unknown_color) const + { + // Assemble a visualization_markers::Marker representation of the SDF to display in RViz + visualization_msgs::Marker display_rep; + // Populate the header + display_rep.header.frame_id = frame_; + // Populate the options + display_rep.ns = "collision_map_display"; + display_rep.id = 1; + display_rep.type = visualization_msgs::Marker::CUBE_LIST; + display_rep.action = visualization_msgs::Marker::ADD; + display_rep.lifetime = ros::Duration(0.0); + display_rep.frame_locked = false; + const Eigen::Isometry3d base_transform = Eigen::Isometry3d::Identity(); + display_rep.pose = EigenHelpersConversions::EigenIsometry3dToGeometryPose(base_transform); + display_rep.scale.x = GetResolution(); + display_rep.scale.y = GetResolution(); + display_rep.scale.z = GetResolution(); + // Add all the cells of the SDF to the message + int colli_num = 0; + int free_num = 0; + for (int64_t x_index = 0; x_index < collision_field_.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < collision_field_.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < collision_field_.GetNumZCells(); z_index++) + { + // Convert grid indices into a real-world location + std::vector location = collision_field_.GridIndexToLocation(x_index, y_index, z_index); + geometry_msgs::Point new_point; + new_point.x = location[0]; + new_point.y = location[1]; + new_point.z = location[2]; + if (collision_field_.GetImmutable(x_index, y_index, z_index).first.occupancy > 0.5) + { + colli_num++; + if (collision_color.a > 0.0) + { + display_rep.points.push_back(new_point); + display_rep.colors.push_back(collision_color); + } + } + else if (collision_field_.GetImmutable(x_index, y_index, z_index).first.occupancy < 0.5) + { + free_num++; + if (free_color.a > 0.0) + { + display_rep.points.push_back(new_point); + display_rep.colors.push_back(free_color); + } + } + else + { + if (unknown_color.a > 0.0) + { + display_rep.points.push_back(new_point); + display_rep.colors.push_back(unknown_color); + } + } + } + } + } + std::cout<<"colli num:"< &occ_cloud) + { + // Add all the cells of the SDF to the message + occ_cloud.points.clear(); + for (int64_t x_index = 0; x_index < collision_field_.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < collision_field_.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < collision_field_.GetNumZCells(); z_index++) + { + // Convert grid indices into a real-world location + std::vector location = collision_field_.GridIndexToLocation(x_index, y_index, z_index); + pcl::PointXYZ new_point; + new_point.x = location[0]; + new_point.y = location[1]; + new_point.z = location[2]; + if (collision_field_.GetImmutable(x_index, y_index, z_index).first.occupancy > 0.5) + { + occ_cloud.points.push_back(new_point); + } + } + } + } + } + + void CollisionMapGrid::DisplayLocalPCL(pcl::PointCloud &occ_cloud, Eigen::Vector3d pose) + { + // Add all the cells of the SDF to the message + occ_cloud.points.clear(); + for (int64_t x_index = 0; x_index < collision_field_.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < collision_field_.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < collision_field_.GetNumZCells(); z_index++) + { + // Convert grid indices into a real-world location + std::vector location = collision_field_.GridIndexToLocation(x_index, y_index, z_index); + pcl::PointXYZ new_point; + new_point.x = location[0]; + new_point.y = location[1]; + new_point.z = location[2]; + + if (new_point.x < pose(0) - 1 || new_point.x > pose(0) + 10 || + new_point.y < pose(1) - 8 || new_point.y > pose(1) + 8 || + new_point.z < pose(2) - 5 || new_point.z > pose(2) + 2) + { + continue; + } + + if (collision_field_.GetImmutable(x_index, y_index, z_index).first.occupancy > 0.5) + { + occ_cloud.points.push_back(new_point); + } + } + } + } + } + + visualization_msgs::Marker CollisionMapGrid::ExportConnectedComponentsForDisplay(bool color_unknown_components) const + { + // Assemble a visualization_markers::Marker representation of the SDF to display in RViz + visualization_msgs::Marker display_rep; + // Populate the header + display_rep.header.frame_id = frame_; + // Populate the options + display_rep.ns = "connected_components_display"; + display_rep.id = 1; + display_rep.type = visualization_msgs::Marker::CUBE_LIST; + display_rep.action = visualization_msgs::Marker::ADD; + display_rep.lifetime = ros::Duration(0.0); + display_rep.frame_locked = false; + const Eigen::Isometry3d base_transform = Eigen::Isometry3d::Identity(); + display_rep.pose = EigenHelpersConversions::EigenIsometry3dToGeometryPose(base_transform); + display_rep.scale.x = GetResolution(); + display_rep.scale.y = GetResolution(); + display_rep.scale.z = GetResolution(); + // Add all the cells of the SDF to the message + for (int64_t x_index = 0; x_index < collision_field_.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < collision_field_.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < collision_field_.GetNumZCells(); z_index++) + { + // Convert grid indices into a real-world location + std::vector location = collision_field_.GridIndexToLocation(x_index, y_index, z_index); + geometry_msgs::Point new_point; + new_point.x = location[0]; + new_point.y = location[1]; + new_point.z = location[2]; + display_rep.points.push_back(new_point); + COLLISION_CELL current_cell = collision_field_.GetImmutable(x_index, y_index, z_index).first; + if (current_cell.occupancy != 0.5) + { + std_msgs::ColorRGBA color = GenerateComponentColor(current_cell.component); + display_rep.colors.push_back(color); + } + else + { + if (color_unknown_components) + { + std_msgs::ColorRGBA color = GenerateComponentColor(current_cell.component); + display_rep.colors.push_back(color); + } + else + { + std_msgs::ColorRGBA color; + color.a = 1.0; + color.r = 0.5; + color.g = 0.5; + color.b = 0.5; + display_rep.colors.push_back(color); + } + } + } + } + } + return display_rep; + } + +} diff --git a/flightlib/third_party/sdf_tools/src/sdf_tools/dynamic_spatial_hashed_collision_map.cpp b/flightlib/third_party/sdf_tools/src/sdf_tools/dynamic_spatial_hashed_collision_map.cpp new file mode 100644 index 0000000..fa9ea1c --- /dev/null +++ b/flightlib/third_party/sdf_tools/src/sdf_tools/dynamic_spatial_hashed_collision_map.cpp @@ -0,0 +1,200 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sdf_tools +{ + DynamicSpatialHashedCollisionMapGrid::DynamicSpatialHashedCollisionMapGrid(std::string frame, double resolution, int64_t chunk_x_size, int64_t chunk_y_size, int64_t chunk_z_size, COLLISION_CELL OOB_value) + { + frame_ = frame; + VoxelGrid::DynamicSpatialHashedVoxelGrid new_field(resolution, chunk_x_size, chunk_y_size, chunk_z_size, OOB_value); + collision_field_ = new_field; + number_of_components_ = 0; + components_valid_ = false; + } + + DynamicSpatialHashedCollisionMapGrid::DynamicSpatialHashedCollisionMapGrid(Eigen::Isometry3d origin_transform, std::string frame, double resolution, int64_t chunk_x_size, int64_t chunk_y_size, int64_t chunk_z_size, COLLISION_CELL OOB_value) + { + frame_ = frame; + VoxelGrid::DynamicSpatialHashedVoxelGrid new_field(origin_transform, resolution, chunk_x_size, chunk_y_size, chunk_z_size, OOB_value); + collision_field_ = new_field; + number_of_components_ = 0; + components_valid_ = false; + } + + DynamicSpatialHashedCollisionMapGrid::DynamicSpatialHashedCollisionMapGrid() : number_of_components_(0), initialized_(false), components_valid_(false) {} + + bool DynamicSpatialHashedCollisionMapGrid::IsInitialized() const + { + return initialized_; + } + + bool DynamicSpatialHashedCollisionMapGrid::AreComponentsValid() const + { + return components_valid_; + } + + std::pair DynamicSpatialHashedCollisionMapGrid::Get(const double x, const double y, const double z) const + { + return collision_field_.GetImmutable(x, y, z); + } + + std::pair DynamicSpatialHashedCollisionMapGrid::Get(const Eigen::Vector3d& location) const + { + return collision_field_.GetImmutable(location); + } + + VoxelGrid::SET_STATUS DynamicSpatialHashedCollisionMapGrid::SetCell(const double x, const double y, const double z, COLLISION_CELL value) + { + return collision_field_.SetCellValue(x, y, z, value); + } + + VoxelGrid::SET_STATUS DynamicSpatialHashedCollisionMapGrid::SetCell(const Eigen::Vector3d& location, COLLISION_CELL value) + { + return collision_field_.SetCellValue(location, value); + } + + VoxelGrid::SET_STATUS DynamicSpatialHashedCollisionMapGrid::SetChunk(const double x, const double y, const double z, COLLISION_CELL value) + { + return collision_field_.SetChunkValue(x, y, z, value); + } + + VoxelGrid::SET_STATUS DynamicSpatialHashedCollisionMapGrid::SetChunk(const Eigen::Vector3d& location, COLLISION_CELL value) + { + return collision_field_.SetChunkValue(location, value); + } + + Eigen::Isometry3d DynamicSpatialHashedCollisionMapGrid::GetOriginTransform() const + { + return collision_field_.GetOriginTransform(); + } + + std::vector DynamicSpatialHashedCollisionMapGrid::ExportForDisplay(const std_msgs::ColorRGBA& collision_color, const std_msgs::ColorRGBA& free_color, const std_msgs::ColorRGBA& unknown_color) const + { + // Assemble a visualization_markers::Marker representation of the SDF to display in RViz + // We make one marker for the individual cells, and another for the chunks, but we return 0, 1, or 2 + // markers depending on if any chenks or cells can be drawn. + // First, the chunks + visualization_msgs::Marker chunks_display_rep; + // Populate the header + chunks_display_rep.header.frame_id = frame_; + // Populate the options + chunks_display_rep.ns = "dynamic_spatial_hashed_collision_map_chunks_display"; + chunks_display_rep.id = 1; + chunks_display_rep.type = visualization_msgs::Marker::CUBE_LIST; + chunks_display_rep.action = visualization_msgs::Marker::ADD; + chunks_display_rep.lifetime = ros::Duration(0.0); + chunks_display_rep.frame_locked = false; + const Eigen::Isometry3d base_transform = Eigen::Isometry3d::Identity(); + chunks_display_rep.pose = EigenHelpersConversions::EigenIsometry3dToGeometryPose(base_transform); + std::vector chunk_sizes = collision_field_.GetChunkSizes(); + chunks_display_rep.scale.x = chunk_sizes[0]; + chunks_display_rep.scale.y = chunk_sizes[1]; + chunks_display_rep.scale.z = chunk_sizes[2]; + // Second, the cells + visualization_msgs::Marker cells_display_rep; + // Populate the header + cells_display_rep.header.frame_id = frame_; + // Populate the options + cells_display_rep.ns = "dynamic_spatial_hashed_collision_map_cells_display"; + cells_display_rep.id = 1; + cells_display_rep.type = visualization_msgs::Marker::CUBE_LIST; + cells_display_rep.action = visualization_msgs::Marker::ADD; + cells_display_rep.lifetime = ros::Duration(0.0); + cells_display_rep.frame_locked = false; + cells_display_rep.pose = EigenHelpersConversions::EigenIsometry3dToGeometryPose(base_transform); + std::vector cell_sizes = collision_field_.GetCellSizes(); + cells_display_rep.scale.x = cell_sizes[0]; + cells_display_rep.scale.y = cell_sizes[1]; + cells_display_rep.scale.z = cell_sizes[2]; + // Now, go through the chunks and add everything to the message + const Eigen::Isometry3d& grid_transform = GetOriginTransform(); + const std::unordered_map>& raw_chunks = collision_field_.GetInternalChunks(); + std::unordered_map>::const_iterator raw_chunks_itr; + for (raw_chunks_itr = raw_chunks.begin(); raw_chunks_itr != raw_chunks.end(); ++raw_chunks_itr) + { + const VoxelGrid::DynamicSpatialHashedVoxelGridChunk& current_chunk = raw_chunks_itr->second; + if (current_chunk.IsChunkInitialized()) + { + const COLLISION_CELL& current_cell = current_chunk.GetChunkImmutable(); + std::vector cell_location_in_grid = current_chunk.GetIndexLocationInGrid(0, 0, 0); + Eigen::Vector3d grid_location(cell_location_in_grid[0], cell_location_in_grid[1], cell_location_in_grid[2]); + Eigen::Vector3d location = grid_transform * grid_location; + geometry_msgs::Point new_point; + new_point.x = location.x(); + new_point.y = location.y(); + new_point.z = location.z(); + chunks_display_rep.points.push_back(new_point); + if (current_cell.occupancy > 0.5) + { + chunks_display_rep.colors.push_back(collision_color); + } + else if (current_cell.occupancy < 0.5) + { + chunks_display_rep.colors.push_back(free_color); + } + else + { + chunks_display_rep.colors.push_back(unknown_color); + } + } + else if (current_chunk.IsCellInitialized()) + { + for (int64_t x_index = 0; x_index < current_chunk.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < current_chunk.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < current_chunk.GetNumZCells(); z_index++) + { + const COLLISION_CELL& current_cell = current_chunk.GetImmutableByIndex(x_index, y_index, z_index).first; + std::vector cell_location_in_grid = current_chunk.GetIndexLocationInGrid(x_index, y_index, z_index); + Eigen::Vector3d grid_location(cell_location_in_grid[0], cell_location_in_grid[1], cell_location_in_grid[2]); + Eigen::Vector3d location = grid_transform * grid_location; + geometry_msgs::Point new_point; + new_point.x = location.x(); + new_point.y = location.y(); + new_point.z = location.z(); + cells_display_rep.points.push_back(new_point); + if (current_cell.occupancy > 0.5) + { + cells_display_rep.colors.push_back(collision_color); + } + else if (current_cell.occupancy < 0.5) + { + cells_display_rep.colors.push_back(free_color); + } + else + { + cells_display_rep.colors.push_back(unknown_color); + } + } + } + } + } + } + // Assemble the data to return + std::vector display_markers; + if (chunks_display_rep.points.size() > 0) + { + display_markers.push_back(chunks_display_rep); + } + if (cells_display_rep.points.size() > 0) + { + display_markers.push_back(cells_display_rep); + } + return display_markers; + } +} diff --git a/flightlib/third_party/sdf_tools/src/sdf_tools/sdf.cpp b/flightlib/third_party/sdf_tools/src/sdf_tools/sdf.cpp new file mode 100644 index 0000000..1a2fb78 --- /dev/null +++ b/flightlib/third_party/sdf_tools/src/sdf_tools/sdf.cpp @@ -0,0 +1,1330 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sdf_tools +{ + std::vector FloatToBinary(float value) + { + uint32_t binary_value = 0; + memcpy(&binary_value, &value, sizeof(uint32_t)); + std::vector binary(4); + // Copy byte 1, least-significant byte + binary[3] = binary_value & 0x000000ff; + // Copy byte 2 + binary_value = binary_value >> 8; + binary[2] = binary_value & 0x000000ff; + // Copy byte 3 + binary_value = binary_value >> 8; + binary[1] = binary_value & 0x000000ff; + // Copy byte 4, most-significant byte + binary_value = binary_value >> 8; + binary[0] = binary_value & 0x000000ff; + return binary; + } + + float FloatFromBinary(std::vector& binary) + { + if (binary.size() != 4) + { + std::cerr << "Binary value is not 4 bytes" << std::endl; + return NAN; + } + else + { + uint32_t binary_value = 0; + // Copy in byte 4, most-significant byte + binary_value = binary_value | binary[0]; + binary_value = binary_value << 8; + // Copy in byte 3 + binary_value = binary_value | binary[1]; + binary_value = binary_value << 8; + // Copy in byte 2 + binary_value = binary_value | binary[2]; + binary_value = binary_value << 8; + // Copy in byte 1, least-significant byte + binary_value = binary_value | binary[3]; + // Convert binary to float and store + float field_value = 0.0; + memcpy(&field_value, &binary_value, sizeof(float)); + return field_value; + } + } + + + + std::vector SignedDistanceField::GetInternalBinaryRepresentation(const std::vector& field_data) + { + std::vector raw_binary_data(field_data.size() * 4); + for (size_t field_index = 0, binary_index = 0; field_index < field_data.size(); field_index++, binary_index+=4) + { + // Convert the float at the current index into 4 bytes and store them + float field_value = field_data[field_index]; + std::vector binary_value = FloatToBinary(field_value); + raw_binary_data[binary_index] = binary_value[0]; + raw_binary_data[binary_index + 1] = binary_value[1]; + raw_binary_data[binary_index + 2] = binary_value[2]; + raw_binary_data[binary_index + 3] = binary_value[3]; + } + return raw_binary_data; + } + + std::vector SignedDistanceField::UnpackFieldFromBinaryRepresentation(const std::vector& binary) + { + if ((binary.size() % 4) != 0) + { + std::cerr << "Invalid binary representation - length is not a multiple of 4" << std::endl; + return std::vector(); + } + uint64_t data_size = binary.size() / 4; + std::vector field_data(data_size); + for (size_t field_index = 0, binary_index = 0; field_index < field_data.size(); field_index++, binary_index+=4) + { + std::vector binary_block{binary[binary_index], binary[binary_index + 1], binary[binary_index + 2], binary[binary_index + 3]}; + field_data[field_index] = FloatFromBinary(binary_block); + } + return field_data; + } + + void SignedDistanceField::FollowGradientsToLocalMaximaUnsafe(VoxelGrid::VoxelGrid& watershed_map, const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + // First, check if we've already found the local maxima for the current cell + const Eigen::Vector3d& stored = watershed_map.GetImmutable(x_index, y_index, z_index).first; + if (stored.x() != -INFINITY && stored.y() != -INFINITY && stored.z() != -INFINITY) + { + // We've already found it for this cell, so we can skip it + return; + } + // Second, check if it's inside an obstacle + float stored_distance = Get(x_index, y_index, z_index); + if (stored_distance <= 0.0) + { + // It's inside an object, so we can skip it + return; + } + else + { + // Find the local maxima + std::vector raw_gradient = GetGradient(x_index, y_index, z_index, true); + Eigen::Vector3d current_gradient(raw_gradient[0], raw_gradient[1], raw_gradient[2]); + if (GradientIsEffectiveFlat(current_gradient)) + { + std::vector location = GridIndexToLocation(x_index, y_index, z_index); + Eigen::Vector3d local_maxima(location[0], location[1], location[2]); + watershed_map.SetValue(x_index, y_index, z_index, local_maxima); + } + else + { + // Follow the gradient, one cell at a time, until we reach a local maxima + std::unordered_map path; + VoxelGrid::GRID_INDEX current_index(x_index, y_index, z_index); + path[current_index] = 1; + Eigen::Vector3d local_maxima(-INFINITY, -INFINITY, -INFINITY); + while (true) + { + if (path.size() == 10000) + { + std::cerr << "Warning, gradient path is long (i.e >= 10000 steps)" << std::endl; + } + current_index = GetNextFromGradient(current_index, current_gradient); + if (path[current_index] != 0) + { + //std::cerr << "LMAX found by cycle detect" << std::endl; + // If we've already been here, then we are done + std::vector location = GridIndexToLocation(current_index); + local_maxima = Eigen::Vector3d(location[0], location[1], location[2]); + break; + } + // Check if we've been pushed past the edge + if (current_index.x < 0 || current_index.y < 0 || current_index.z < 0 || current_index.x >= watershed_map.GetNumXCells() || current_index.y >= watershed_map.GetNumYCells() || current_index.z >= watershed_map.GetNumZCells()) + { + // We have the "off the grid" local maxima + local_maxima = Eigen::Vector3d(INFINITY, INFINITY, INFINITY); + break; + } + path[current_index] = 1; + // Check if the new index has already been checked + const Eigen::Vector3d& new_stored = watershed_map.GetImmutable(current_index).first; + if (new_stored.x() != -INFINITY && new_stored.y() != -INFINITY && new_stored.z() != -INFINITY) + { + // We have the local maxima + local_maxima = new_stored; + break; + } + else + { + raw_gradient = GetGradient(current_index, true); + current_gradient = Eigen::Vector3d(raw_gradient[0], raw_gradient[1], raw_gradient[2]); + if (GradientIsEffectiveFlat(current_gradient)) + { + //std::cerr << "LMAX found by flat detect" << std::endl; + // We have the local maxima + std::vector location = GridIndexToLocation(current_index); + local_maxima = Eigen::Vector3d(location[0], location[1], location[2]); + break; + } + } + } + // Now, go back and mark the entire explored path with the local maxima + std::unordered_map::const_iterator path_itr; + for (path_itr = path.begin(); path_itr != path.end(); ++path_itr) + { + const VoxelGrid::GRID_INDEX& index = path_itr->first; + watershed_map.SetValue(index, local_maxima); + } + } + } + } + + SignedDistanceField::SignedDistanceField(std::string frame, double resolution, double x_size, double y_size, double z_size, float OOB_value) + : initialized_(true), locked_(false) + { + frame_ = frame; + VoxelGrid::VoxelGrid new_field(resolution, x_size, y_size, z_size, OOB_value); + distance_field_ = new_field; + } + + SignedDistanceField::SignedDistanceField(Eigen::Isometry3d origin_transform, std::string frame, double resolution, double x_size, double y_size, double z_size, float OOB_value) + : initialized_(true), locked_(false) + { + frame_ = frame; + VoxelGrid::VoxelGrid new_field(origin_transform, resolution, x_size, y_size, z_size, OOB_value); + distance_field_ = new_field; + } + + SignedDistanceField::SignedDistanceField() + : initialized_(false), locked_(false) {} + + bool SignedDistanceField::IsInitialized() const + { + return initialized_; + } + + bool SignedDistanceField::IsLocked() const + { + return locked_; + } + + void SignedDistanceField::Lock() + { + locked_ = true; + } + + void SignedDistanceField::Unlock() + { + locked_ = false; + } + + float SignedDistanceField::Get(const double x, const double y, const double z) const + { + return distance_field_.GetImmutable(x, y, z).first; + } + + float SignedDistanceField::Get3d(const Eigen::Vector3d& location) const + { + return distance_field_.GetImmutable3d(location).first; + } + + float SignedDistanceField::Get4d(const Eigen::Vector4d& location) const + { + return distance_field_.GetImmutable4d(location).first; + } + + float SignedDistanceField::Get(const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + return distance_field_.GetImmutable(x_index, y_index, z_index).first; + } + + std::pair SignedDistanceField::GetSafe(const double x, const double y, const double z) const + { + return distance_field_.GetImmutable(x, y, z); + } + + std::pair SignedDistanceField::GetSafe3d(const Eigen::Vector3d& location) const + { + return distance_field_.GetImmutable3d(location); + } + + std::pair SignedDistanceField::GetSafe4d(const Eigen::Vector4d& location) const + { + return distance_field_.GetImmutable4d(location); + } + + std::pair SignedDistanceField::GetSafe(const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + return distance_field_.GetImmutable(x_index, y_index, z_index); + } + + /* + * Setter functions MUST be used carefully - If you arbitrarily change SDF values, it is not a proper SDF any more! + * + * Use of these functions can be prevented by calling SignedDistanceField::Lock() on the SDF, at which point these functions + * will fail with a warning printed to std_err. + */ + bool SignedDistanceField::Set(const double x, const double y, const double z, float value) + { + if (!locked_) + { + return distance_field_.SetValue(x, y, z, value); + } + else + { + std::cerr << "Attempt to set value in locked SDF" << std::endl; + return false; + } + } + + bool SignedDistanceField::Set3d(const Eigen::Vector3d& location, float value) + { + if (!locked_) + { + return distance_field_.SetValue3d(location, value); + } + else + { + std::cerr << "Attempt to set value in locked SDF" << std::endl; + return false; + } + } + + bool SignedDistanceField::Set4d(const Eigen::Vector4d& location, float value) + { + if (!locked_) + { + return distance_field_.SetValue4d(location, value); + } + else + { + std::cerr << "Attempt to set value in locked SDF" << std::endl; + return false; + } + } + + bool SignedDistanceField::Set(const int64_t x_index, const int64_t y_index, const int64_t z_index, const float value) + { + if (!locked_) + { + return distance_field_.SetValue(x_index, y_index, z_index, value); + } + else + { + std::cerr << "Attempt to set value in locked SDF" << std::endl; + return false; + } + } + + bool SignedDistanceField::Set(const VoxelGrid::GRID_INDEX& index, const float value) + { + if (!locked_) + { + return distance_field_.SetValue(index, value); + } + else + { + std::cerr << "Attempt to set value in locked SDF" << std::endl; + return false; + } + } + + bool SignedDistanceField::CheckInBounds3d(const Eigen::Vector3d& location) const + { + return distance_field_.GetImmutable3d(location).second; + } + + bool SignedDistanceField::CheckInBounds4d(const Eigen::Vector4d& location) const + { + return distance_field_.GetImmutable4d(location).second; + } + + bool SignedDistanceField::CheckInBounds(const double x, const double y, const double z) const + { + return distance_field_.GetImmutable(x, y, z).second; + } + + bool SignedDistanceField::CheckInBounds(const VoxelGrid::GRID_INDEX& index) const + { + return distance_field_.GetImmutable(index.x, index.y, index.z).second; + } + + bool SignedDistanceField::CheckInBounds(const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + return distance_field_.GetImmutable(x_index, y_index, z_index).second; + } + + double SignedDistanceField::GetXSize() const + { + return distance_field_.GetXSize(); + } + + double SignedDistanceField::GetYSize() const + { + return distance_field_.GetYSize(); + } + + double SignedDistanceField::GetZSize() const + { + return distance_field_.GetZSize(); + } + + double SignedDistanceField::GetResolution() const + { + return distance_field_.GetCellSizes()[0]; + } + + float SignedDistanceField::GetOOBValue() const + { + return distance_field_.GetDefaultValue(); + } + + int64_t SignedDistanceField::GetNumXCells() const + { + return distance_field_.GetNumXCells(); + } + + int64_t SignedDistanceField::GetNumYCells() const + { + return distance_field_.GetNumYCells(); + } + + int64_t SignedDistanceField::GetNumZCells() const + { + return distance_field_.GetNumZCells(); + } + + std::pair SignedDistanceField::GetPrimaryComponentsVector(const Eigen::Vector3d& raw_vector) const + { + if (std::abs(raw_vector.x()) > std::abs(raw_vector.y()) && std::abs(raw_vector.x()) > std::abs(raw_vector.z())) + { + if (raw_vector.x() >= 0.0) + { + return std::make_pair(Eigen::Vector3d(GetResolution() * 0.5, 0.0, 0.0), GetResolution() * 0.5); + } + else + { + return std::make_pair(Eigen::Vector3d(GetResolution() * -0.5, 0.0, 0.0), GetResolution() * 0.5); + } + } + else if (std::abs(raw_vector.y()) > std::abs(raw_vector.x()) && std::abs(raw_vector.y()) > std::abs(raw_vector.z())) + { + if (raw_vector.y() >= 0.0) + { + return std::make_pair(Eigen::Vector3d(0.0, GetResolution() * 0.5, 0.0), GetResolution() * 0.5); + } + else + { + return std::make_pair(Eigen::Vector3d(0.0, GetResolution() * -0.5, 0.0), GetResolution() * 0.5); + } + } + else if (std::abs(raw_vector.z()) > std::abs(raw_vector.x()) && std::abs(raw_vector.z()) > std::abs(raw_vector.y())) + { + if (raw_vector.z() >= 0.0) + { + return std::make_pair(Eigen::Vector3d(0.0, 0.0, GetResolution() * 0.5), GetResolution() * 0.5); + } + else + { + return std::make_pair(Eigen::Vector3d(0.0, 0.0, GetResolution() * -0.5), GetResolution() * 0.5); + } + } + else if (std::abs(raw_vector.x()) == std::abs(raw_vector.y())) + { + const Eigen::Vector3d temp_vector(raw_vector.x(), raw_vector.y(), 0.0); + return std::make_pair((temp_vector / (temp_vector.norm())) * std::sqrt((GetResolution() * GetResolution() * 0.25) * 2.0), std::sqrt((GetResolution() * GetResolution() * 0.25) * 2.0)); + } + else if (std::abs(raw_vector.y()) == std::abs(raw_vector.z())) + { + const Eigen::Vector3d temp_vector(0.0, raw_vector.y(), raw_vector.x()); + return std::make_pair((temp_vector / (temp_vector.norm())) * std::sqrt((GetResolution() * GetResolution() * 0.25) * 2.0), std::sqrt((GetResolution() * GetResolution() * 0.25) * 2.0)); + } + else if (std::abs(raw_vector.x()) == std::abs(raw_vector.z())) + { + const Eigen::Vector3d temp_vector(raw_vector.x(), 0.0, raw_vector.z()); + return std::make_pair((temp_vector / (temp_vector.norm())) * std::sqrt((GetResolution() * GetResolution() * 0.25) * 2.0), std::sqrt((GetResolution() * GetResolution() * 0.25) * 2.0)); + } + else + { + return std::make_pair((raw_vector / (raw_vector.norm())) * std::sqrt((GetResolution() * GetResolution() * 0.25) * 3.0), std::sqrt((GetResolution() * GetResolution() * 0.25) * 3.0)); + } + } + + double SignedDistanceField::ComputeAxisMatch(const double axis_value, const double check_value) const + { + if ((axis_value >= 0.0) == (check_value >= 0.0)) + { + return std::abs(check_value - axis_value); + } + else + { + return -std::abs(check_value - axis_value); + } + } + + Eigen::Vector3d SignedDistanceField::GetBestMatchSurfaceVector(const Eigen::Vector3d& possible_surfaces_vector, const Eigen::Vector3d& center_to_location_vector) const + { + const Eigen::Vector3d location_rejected_on_possible = EigenHelpers::VectorRejection(possible_surfaces_vector, center_to_location_vector); + // Find the axis with the best-match components + const double x_axis_match = ComputeAxisMatch(possible_surfaces_vector.x(), location_rejected_on_possible.x()); + const double y_axis_match = ComputeAxisMatch(possible_surfaces_vector.y(), location_rejected_on_possible.y()); + const double z_axis_match = ComputeAxisMatch(possible_surfaces_vector.z(), location_rejected_on_possible.z()); + // Cases where one is better + if ((x_axis_match > y_axis_match) && (x_axis_match > z_axis_match)) + { + return Eigen::Vector3d(possible_surfaces_vector.x(), 0.0, 0.0); + } + else if ((y_axis_match > x_axis_match) && (y_axis_match > z_axis_match)) + { + return Eigen::Vector3d(0.0, possible_surfaces_vector.y(), 0.0); + } + else if ((z_axis_match > x_axis_match) && (z_axis_match > y_axis_match)) + { + return Eigen::Vector3d(0.0, 0.0, possible_surfaces_vector.z()); + } + // Cases where two are equally good + else if ((x_axis_match < y_axis_match) && (x_axis_match < z_axis_match)) + { + return Eigen::Vector3d(0.0, possible_surfaces_vector.y(), possible_surfaces_vector.z()); + } + else if ((y_axis_match < x_axis_match) && (y_axis_match < z_axis_match)) + { + return Eigen::Vector3d(possible_surfaces_vector.x(), 0.0, possible_surfaces_vector.z()); + } + else if ((z_axis_match < x_axis_match) && (z_axis_match < y_axis_match)) + { + return Eigen::Vector3d(possible_surfaces_vector.x(), possible_surfaces_vector.y(), 0.0); + } + // When all are equally good + else + { + std::cerr << "Possible surfaces vector " << possible_surfaces_vector << " simple match failed: " << x_axis_match << ", " << y_axis_match << ", " << z_axis_match << " (x, y, z)" << std::endl; + return possible_surfaces_vector; + } + } + + /** + * @brief GetPrimaryEntrySurfaceVector Estimates the real distance of the provided point, comparing it with the cell center location and gradient vector + * @param boundary_direction_vector + * @param center_to_location_vector + * @return vector from center of voxel to primary entry surface, and magnitude of that vector + */ + std::pair SignedDistanceField::GetPrimaryEntrySurfaceVector(const Eigen::Vector3d& boundary_direction_vector, const Eigen::Vector3d& center_to_location_vector) const + { + if (boundary_direction_vector.squaredNorm() > std::numeric_limits::epsilon()) + { + const std::pair primary_components_vector_query = GetPrimaryComponentsVector(boundary_direction_vector); + // If the cell is on a surface + if (primary_components_vector_query.second == (GetResolution() * 0.5)) + { + return primary_components_vector_query; + } + // If the cell is on an edge or surface + else + { + // Pick the best-match of the two/three exposed surfaces + return std::make_pair(GetBestMatchSurfaceVector(primary_components_vector_query.first, center_to_location_vector), GetResolution() * 0.5); + } + } + else + { + return GetPrimaryComponentsVector(center_to_location_vector); + } + } + + double SignedDistanceField::EstimateDistanceInternal(const double x, const double y, const double z, const int64_t x_idx, const int64_t y_idx, const int64_t z_idx) const + { + const std::vector cell_center = GridIndexToLocation(x_idx, y_idx, z_idx); + const Eigen::Vector3d cell_center_to_location_vector(x - cell_center[0], y - cell_center[1], z - cell_center[2]); + const double nominal_sdf_distance = (double)distance_field_.GetImmutable(x_idx, y_idx, z_idx).first; + + // Determine vector from "entry surface" to center of voxel + // TODO: Needs special handling if there's no gradient to work with + const std::vector raw_gradient = GetGradient(x_idx, y_idx, z_idx, true); + const Eigen::Vector3d gradient = EigenHelpers::StdVectorDoubleToEigenVector3d(raw_gradient); + const Eigen::Vector3d direction_to_boundary = (nominal_sdf_distance >= 0.0) ? -gradient : gradient; + const std::pair entry_surface_information = GetPrimaryEntrySurfaceVector(direction_to_boundary, cell_center_to_location_vector); + const Eigen::Vector3d& entry_surface_vector = entry_surface_information.first; + const double minimum_distance_magnitude = entry_surface_information.second; + + // Adjust for calculating distance to boundary of voxels instead of center of voxels + const double center_adjusted_nominal_distance = (nominal_sdf_distance >= 0.0) ? nominal_sdf_distance - (GetResolution() * 0.5) : nominal_sdf_distance + (GetResolution() * 0.5); + const double minimum_adjusted_distance = arc_helpers::SpreadValue(center_adjusted_nominal_distance, -minimum_distance_magnitude, 0.0, minimum_distance_magnitude); + + // Account for target location being not at the exact center of the voxel + const double raw_distance_adjustment = EigenHelpers::VectorProjection(entry_surface_vector, cell_center_to_location_vector).norm(); + const double real_distance_adjustment = (minimum_adjusted_distance >= 0.0) ? -raw_distance_adjustment: raw_distance_adjustment; + const double final_adjusted_distance = minimum_adjusted_distance + real_distance_adjustment; + + // Perform minimum distance thresholding and error checking + // TODO: do we need to address this magic number somehow? + if (std::abs(final_adjusted_distance) < GetResolution() * 0.001) + { + return 0.0; + } + if ((minimum_adjusted_distance >= 0.0) == (final_adjusted_distance >= 0.0)) + { + return final_adjusted_distance; + } + else + { + std::cerr << "Center adjusted nominal distance " << minimum_adjusted_distance << " final adjusted_distance " << final_adjusted_distance << std::endl; + assert(false && "Mismatched minimum and final adjusted distance signs"); + return 0.0; + } + } + + std::pair SignedDistanceField::EstimateDistance(const double x, const double y, const double z) const + { + return EstimateDistance4d(Eigen::Vector4d(x, y, z, 1.0)); + } + + std::pair SignedDistanceField::EstimateDistance3d(const Eigen::Vector3d& location) const + { + const std::vector indices = LocationToGridIndex3d(location); + if (indices.size() == 3) + { + return std::make_pair(EstimateDistanceInternal(location.x(), location.y(), location.z(), indices[0], indices[1], indices[2]), true); + } + else + { + return std::make_pair((double)distance_field_.GetOOBValue(), false); + } + } + + std::pair SignedDistanceField::EstimateDistance4d(const Eigen::Vector4d& location) const + { + const std::vector indices = LocationToGridIndex4d(location); + if (indices.size() == 3) + { + return std::make_pair(EstimateDistanceInternal(location(0), location(1), location(2), indices[0], indices[1], indices[2]), true); + } + else + { + return std::make_pair((double)distance_field_.GetOOBValue(), false); + } + } + + std::pair SignedDistanceField::DistanceToBoundary(const double x, const double y, const double z) const + { + return DistanceToBoundary4d(Eigen::Vector4d(x, y, z, 1.0)); + } + + std::pair SignedDistanceField::DistanceToBoundary3d(const Eigen::Vector3d& location) const + { + return DistanceToBoundary4d(Eigen::Vector4d(location.x(), location.y(), location.z(), 1.0)); + } + + std::pair SignedDistanceField::DistanceToBoundary4d(const Eigen::Vector4d& location) const + { + const auto inverse_origin_transform = distance_field_.GetInverseOriginTransform(); + const auto point_in_grid_frame = inverse_origin_transform * location; + const auto x_size = distance_field_.GetXSize(); + const auto y_size = distance_field_.GetYSize(); + const auto z_size = distance_field_.GetZSize(); + const auto displacements = Eigen::Array3d( + std::min(point_in_grid_frame(0), x_size - point_in_grid_frame(0)), + std::min(point_in_grid_frame(1), y_size - point_in_grid_frame(1)), + std::min(point_in_grid_frame(2), z_size - point_in_grid_frame(2))); + const bool point_inside = (displacements >= 0.0).all(); + const Eigen::Array3d distances = displacements.abs(); + Eigen::Array3d::Index min_index; + distances.minCoeff(&min_index); + return {displacements(min_index), point_inside}; + } + + std::vector SignedDistanceField::GetGradient(const double x, const double y, const double z, const bool enable_edge_gradients) const + { + return GetGradient4d(Eigen::Vector4d(x, y, z, 1.0), enable_edge_gradients); + } + + std::vector SignedDistanceField::GetGradient3d(const Eigen::Vector3d& location, const bool enable_edge_gradients) const + { + const std::vector indices = LocationToGridIndex3d(location); + if (indices.size() == 3) + { + return GetGradient(indices[0], indices[1], indices[2], enable_edge_gradients); + } + else + { + return std::vector(); + } + } + + std::vector SignedDistanceField::GetGradient4d(const Eigen::Vector4d& location, const bool enable_edge_gradients) const + { + const std::vector indices = LocationToGridIndex4d(location); + if (indices.size() == 3) + { + return GetGradient(indices[0], indices[1], indices[2], enable_edge_gradients); + } + else + { + return std::vector(); + } + } + + std::vector SignedDistanceField::GetGradient(const VoxelGrid::GRID_INDEX& index, const bool enable_edge_gradients) const + { + return GetGradient(index.x, index.y, index.z, enable_edge_gradients); + } + + std::vector SignedDistanceField::GetGradient(const int64_t x_index, const int64_t y_index, const int64_t z_index, const bool enable_edge_gradients) const + { + // Make sure the index is inside bounds + if ((x_index >= 0) && (y_index >= 0) && (z_index >= 0) && (x_index < GetNumXCells()) && (y_index < GetNumYCells()) && (z_index < GetNumZCells())) + { + // Make sure the index we're trying to query is one cell in from the edge + if ((x_index > 0) && (y_index > 0) && (z_index > 0) && (x_index < (GetNumXCells() - 1)) && (y_index < (GetNumYCells() - 1)) && (z_index < (GetNumZCells() - 1))) + { + double inv_twice_resolution = 1.0 / (2.0 * GetResolution()); + double gx = (Get(x_index + 1, y_index, z_index) - Get(x_index - 1, y_index, z_index)) * inv_twice_resolution; + double gy = (Get(x_index, y_index + 1, z_index) - Get(x_index, y_index - 1, z_index)) * inv_twice_resolution; + double gz = (Get(x_index, y_index, z_index + 1) - Get(x_index, y_index, z_index - 1)) * inv_twice_resolution; + return std::vector{gx, gy, gz}; + } + // If we're on the edge, handle it specially + else if (enable_edge_gradients) + { + // Get the "best" indices we can use + int64_t low_x_index = std::max((int64_t)0, x_index - 1); + int64_t high_x_index = std::min(GetNumXCells() - 1, x_index + 1); + int64_t low_y_index = std::max((int64_t)0, y_index - 1); + int64_t high_y_index = std::min(GetNumYCells() - 1, y_index + 1); + int64_t low_z_index = std::max((int64_t)0, z_index - 1); + int64_t high_z_index = std::min(GetNumZCells() - 1, z_index + 1); + // Compute the axis increments + double x_increment = (high_x_index - low_x_index) * GetResolution(); + double y_increment = (high_y_index - low_y_index) * GetResolution(); + double z_increment = (high_z_index - low_z_index) * GetResolution(); + // Compute the gradients for each axis - by default these are zero + double gx = 0.0; + double gy = 0.0; + double gz = 0.0; + // Only if the increments are non-zero do we compute the gradient of an axis + if (x_increment > 0.0) + { + double inv_x_increment = 1.0 / x_increment; + double high_x_value = Get(high_x_index, y_index, z_index); + double low_x_value = Get(low_x_index, y_index, z_index); + // Compute the gradient + gx = (high_x_value - low_x_value) * inv_x_increment; + } + if (y_increment > 0.0) + { + double inv_y_increment = 1.0 / y_increment; + double high_y_value = Get(x_index, high_y_index, z_index); + double low_y_value = Get(x_index, low_y_index, z_index); + // Compute the gradient + gy = (high_y_value - low_y_value) * inv_y_increment; + } + if (z_increment > 0.0) + { + double inv_z_increment = 1.0 / z_increment; + double high_z_value = Get(x_index, y_index, high_z_index); + double low_z_value = Get(x_index, y_index, low_z_index); + // Compute the gradient + gz = (high_z_value - low_z_value) * inv_z_increment; + } + // Assemble and return the computed gradient + return std::vector{gx, gy, gz}; + } + // Edge gradients disabled, return no gradient + else + { + return std::vector(); + } + } + // If we're out of bounds, return no gradient + else + { + return std::vector(); + } + } + + Eigen::Vector3d SignedDistanceField::ProjectOutOfCollision(const double x, const double y, const double z, const double stepsize_multiplier) const + { + const Eigen::Vector4d result = ProjectOutOfCollision4d(Eigen::Vector4d(x, y, z, 1.0), stepsize_multiplier); + return result.head<3>(); + } + + Eigen::Vector3d SignedDistanceField::ProjectOutOfCollisionToMinimumDistance(const double x, const double y, const double z, const double minimum_distance, const double stepsize_multiplier) const + { + const Eigen::Vector4d result = ProjectOutOfCollisionToMinimumDistance4d(Eigen::Vector4d(x, y, z, 1.0), minimum_distance, stepsize_multiplier); + return result.head<3>(); + } + + Eigen::Vector3d SignedDistanceField::ProjectOutOfCollision3d(const Eigen::Vector3d& location, const double stepsize_multiplier) const + { + return ProjectOutOfCollision(location.x(), location.y(), location.z(), stepsize_multiplier); + } + + Eigen::Vector3d SignedDistanceField::ProjectOutOfCollisionToMinimumDistance3d(const Eigen::Vector3d& location, const double minimum_distance, const double stepsize_multiplier) const + { + return ProjectOutOfCollisionToMinimumDistance(location.x(), location.y(), location.z(), minimum_distance, stepsize_multiplier); + } + + Eigen::Vector4d SignedDistanceField::ProjectOutOfCollision4d(const Eigen::Vector4d& location, const double stepsize_multiplier) const + { + return ProjectOutOfCollisionToMinimumDistance4d(location, 0.0, stepsize_multiplier); + } + + Eigen::Vector4d SignedDistanceField::ProjectOutOfCollisionToMinimumDistance4d(const Eigen::Vector4d& location, const double minimum_distance, const double stepsize_multiplier) const + { + // To avoid potential problems with alignment, we need to pass location by reference, so we make a local copy + // here that we can change. https://eigen.tuxfamily.org/dox/group__TopicPassingByValue.html + Eigen::Vector4d mutable_location = location; + + // Verify that the input location is in bounds + const auto distance_check = EstimateDistance4d(location); + if (!distance_check.second) + { + std::cerr << "starting location out of bounds: " << location.transpose() << std::endl; + std::cerr << std::endl << std::endl; + } + + // If we are in bounds, start the projection process, otherwise return the location unchanged + if (distance_check.second) + { + // TODO: make this additional margin configurable + // Add a small collision margin to account for rounding and similar + const double minimum_distance_with_margin = minimum_distance + GetResolution() * stepsize_multiplier * 1e-3; + const double max_stepsize = GetResolution() * stepsize_multiplier; + const bool enable_edge_gradients = true; + + double sdf_dist = EstimateDistance4d(mutable_location).first; + while (sdf_dist <= minimum_distance) + { + const std::vector gradient = GetGradient4d(mutable_location, enable_edge_gradients); + assert(gradient.size() == 3); + const Eigen::Vector4d grad_eigen(gradient[0], gradient[1], gradient[2], 0.0); + assert(grad_eigen.norm() > GetResolution() * 0.25); // Sanity check + // Don't step any farther than is needed + const double step_distance = std::min(max_stepsize, minimum_distance_with_margin - sdf_dist); + const Eigen::Vector4d next_location = mutable_location + grad_eigen.normalized() * step_distance; + + // Ensure that we are still operating in the valid range of the SDF + const auto distance_check = EstimateDistance4d(next_location); + if (!distance_check.second) + { + std::cerr << "starting location: " << location.transpose() << std::endl + << "current location: " << mutable_location.transpose() << std::endl + << "Current gradient: " << grad_eigen.transpose() << std::endl + << "Out of bounds loc: " << next_location.transpose() << std::endl; + std::cerr << std::endl << std::endl; + } + mutable_location = next_location; + sdf_dist = distance_check.first; + } + } + return mutable_location; + } + + Eigen::Vector3d SignedDistanceField::ProjectIntoValidVolume(const double x, const double y, const double z) const + { + const Eigen::Vector4d result = ProjectIntoValidVolume4d(Eigen::Vector4d(x, y, z, 1.0)); + return result.head<3>(); + } + + Eigen::Vector3d SignedDistanceField::ProjectIntoValidVolumeToMinimumDistance(const double x, const double y, const double z, const double minimum_distance) const + { + const Eigen::Vector4d result = ProjectIntoValidVolumeToMinimumDistance4d(Eigen::Vector4d(x, y, z, 1.0), minimum_distance); + return result.head<3>(); + } + + Eigen::Vector3d SignedDistanceField::ProjectIntoValidVolume3d(const Eigen::Vector3d& location) const + { + return ProjectIntoValidVolume(location.x(), location.y(), location.z()); + } + + Eigen::Vector3d SignedDistanceField::ProjectIntoValidVolumeToMinimumDistance3d(const Eigen::Vector3d& location, const double minimum_distance) const + { + return ProjectIntoValidVolumeToMinimumDistance(location.x(), location.y(), location.z(), minimum_distance); + } + + Eigen::Vector4d SignedDistanceField::ProjectIntoValidVolume4d(const Eigen::Vector4d& location) const + { + return ProjectIntoValidVolumeToMinimumDistance4d(location, 0.0); + } + + Eigen::Vector4d SignedDistanceField::ProjectIntoValidVolumeToMinimumDistance4d(const Eigen::Vector4d& location, const double minimum_distance) const + { + const auto inverse_origin_transform = distance_field_.GetInverseOriginTransform(); + const auto point_in_grid_frame = inverse_origin_transform * location; + const auto x_size = distance_field_.GetXSize(); + const auto y_size = distance_field_.GetYSize(); + const auto z_size = distance_field_.GetZSize(); + // TODO: make this additional margin configurable + const double minimum_distance_with_margin = minimum_distance + GetResolution() * 1e-4; + const double x = arc_helpers::ClampValue(point_in_grid_frame(0), minimum_distance_with_margin, x_size - minimum_distance_with_margin); + const double y = arc_helpers::ClampValue(point_in_grid_frame(1), minimum_distance_with_margin, y_size - minimum_distance_with_margin); + const double z = arc_helpers::ClampValue(point_in_grid_frame(2), minimum_distance_with_margin, z_size - minimum_distance_with_margin); + // To avoid numerical problems, only return a modified location if we actually had to change something + bool change_made = false; + change_made |= (x != point_in_grid_frame(0)); + change_made |= (y != point_in_grid_frame(1)); + change_made |= (z != point_in_grid_frame(2)); + if (change_made) + { + return GetOriginTransform() * Eigen::Vector4d(x, y, z, 1.0); + } + else + { + return location; + } + } + + const Eigen::Isometry3d& SignedDistanceField::GetOriginTransform() const + { + return distance_field_.GetOriginTransform(); + } + + const Eigen::Isometry3d& SignedDistanceField::GetInverseOriginTransform() const + { + return distance_field_.GetInverseOriginTransform(); + } + + std::string SignedDistanceField::GetFrame() const + { + return frame_; + } + + std::vector SignedDistanceField::LocationToGridIndex3d(const Eigen::Vector3d& location) const + { + return distance_field_.LocationToGridIndex3d(location); + } + + std::vector SignedDistanceField::LocationToGridIndex4d(const Eigen::Vector4d& location) const + { + return distance_field_.LocationToGridIndex4d(location); + } + + std::vector SignedDistanceField::LocationToGridIndex(const double x, const double y, const double z) const + { + return distance_field_.LocationToGridIndex(x, y, z); + } + + std::vector SignedDistanceField::GridIndexToLocation(const VoxelGrid::GRID_INDEX& index) const + { + return distance_field_.GridIndexToLocation(index); + } + + std::vector SignedDistanceField::GridIndexToLocation(const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + return distance_field_.GridIndexToLocation(x_index, y_index, z_index); + } + + bool SignedDistanceField::SaveToFile(const std::string& filepath) + { + // Convert to message representation + sdf_tools::SDF message_rep = GetMessageRepresentation(); + // Save message to file + try + { + std::ofstream output_file(filepath.c_str(), std::ios::out|std::ios::binary); + uint32_t serialized_size = ros::serialization::serializationLength(message_rep); + std::unique_ptr ser_buffer(new uint8_t[serialized_size]); + ros::serialization::OStream ser_stream(ser_buffer.get(), serialized_size); + ros::serialization::serialize(ser_stream, message_rep); + output_file.write((char*)ser_buffer.get(), serialized_size); + output_file.close(); + return true; + } + catch (...) + { + return false; + } + } + + bool SignedDistanceField::LoadFromFile(const std::string &filepath) + { + try + { + // Load message from file + std::ifstream input_file(filepath.c_str(), std::ios::in|std::ios::binary); + input_file.seekg(0, std::ios::end); + std::streampos end = input_file.tellg(); + input_file.seekg(0, std::ios::beg); + std::streampos begin = input_file.tellg(); + uint32_t serialized_size = end - begin; + std::unique_ptr deser_buffer(new uint8_t[serialized_size]); + input_file.read((char*) deser_buffer.get(), serialized_size); + ros::serialization::IStream deser_stream(deser_buffer.get(), serialized_size); + sdf_tools::SDF new_message; + ros::serialization::deserialize(deser_stream, new_message); + // Load state from the message + bool success = LoadFromMessageRepresentation(new_message); + return success; + } + catch (...) + { + return false; + } + } + + sdf_tools::SDF SignedDistanceField::GetMessageRepresentation() + { + sdf_tools::SDF message_rep; + // Populate message + message_rep.header.frame_id = frame_; + const Eigen::Isometry3d& origin_transform = distance_field_.GetOriginTransform(); + message_rep.origin_transform.translation.x = origin_transform.translation().x(); + message_rep.origin_transform.translation.y = origin_transform.translation().y(); + message_rep.origin_transform.translation.z = origin_transform.translation().z(); + const Eigen::Quaterniond origin_transform_rotation(origin_transform.rotation()); + message_rep.origin_transform.rotation.x = origin_transform_rotation.x(); + message_rep.origin_transform.rotation.y = origin_transform_rotation.y(); + message_rep.origin_transform.rotation.z = origin_transform_rotation.z(); + message_rep.origin_transform.rotation.w = origin_transform_rotation.w(); + message_rep.dimensions.x = distance_field_.GetXSize(); + message_rep.dimensions.y = distance_field_.GetYSize(); + message_rep.dimensions.z = distance_field_.GetZSize(); + message_rep.sdf_cell_size = GetResolution(); + message_rep.OOB_value = distance_field_.GetDefaultValue(); + message_rep.initialized = initialized_; + message_rep.locked = locked_; + const std::vector& raw_data = distance_field_.GetRawData(); + std::vector binary_data = GetInternalBinaryRepresentation(raw_data); + message_rep.data = ZlibHelpers::CompressBytes(binary_data); + return message_rep; + } + + bool SignedDistanceField::LoadFromMessageRepresentation(const SDF& message) + { + // Make a new voxel grid inside + Eigen::Translation3d origin_translation(message.origin_transform.translation.x, message.origin_transform.translation.y, message.origin_transform.translation.z); + Eigen::Quaterniond origin_rotation(message.origin_transform.rotation.w, message.origin_transform.rotation.x, message.origin_transform.rotation.y, message.origin_transform.rotation.z); + Eigen::Isometry3d origin_transform = origin_translation * origin_rotation; + VoxelGrid::VoxelGrid new_field(origin_transform, message.sdf_cell_size, message.dimensions.x, message.dimensions.y, message.dimensions.z, message.OOB_value); + // Unpack the binary data + std::vector binary_data = ZlibHelpers::DecompressBytes(message.data); + std::vector unpacked = UnpackFieldFromBinaryRepresentation(binary_data); + if (unpacked.empty()) + { + std::cerr << "Unpack returned an empty SDF" << std::endl; + return false; + } + bool success = new_field.SetRawData(unpacked); + if (!success) + { + std::cerr << "Unable to set internal representation of the SDF" << std::endl; + return false; + } + // Set it + distance_field_ = new_field; + frame_ = message.header.frame_id; + initialized_ = message.initialized; + locked_ = message.locked; + return true; + } + + visualization_msgs::Marker SignedDistanceField::ExportForDisplay(const float alpha, float vis_level) const + { + // Assemble a visualization_markers::Marker representation of the SDF to display in RViz + visualization_msgs::Marker display_rep; + // Populate the header + display_rep.header.frame_id = frame_; + // Populate the options + display_rep.ns = "sdf_display"; + display_rep.id = 1; + display_rep.type = visualization_msgs::Marker::CUBE_LIST; + display_rep.action = visualization_msgs::Marker::ADD; + display_rep.lifetime = ros::Duration(0.0); + display_rep.frame_locked = false; + const Eigen::Isometry3d base_transform = Eigen::Isometry3d::Identity(); + display_rep.pose = EigenHelpersConversions::EigenIsometry3dToGeometryPose(base_transform); + display_rep.scale.x = GetResolution(); + display_rep.scale.y = GetResolution(); + display_rep.scale.z = GetResolution(); + // Add all the cells of the SDF to the message + double min_distance = 0.0; + double max_distance = 0.0; + for (int64_t x_index = 0; x_index < distance_field_.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < distance_field_.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < distance_field_.GetNumZCells(); z_index++) + { + std::vector location = distance_field_.GridIndexToLocation(x_index, y_index, z_index); + if (vis_level != FLT_MAX && (location[2] > vis_level || location[2] < vis_level-0.2) ) + continue; + // Update minimum/maximum distance variables + float distance = Get(x_index, y_index, z_index); + if (distance < min_distance) + { + min_distance = distance; + } + if (distance > max_distance) + { + max_distance = distance; + } + // Convert SDF indices into a real-world location + // std::vector location = distance_field_.GridIndexToLocation(x_index, y_index, z_index); + geometry_msgs::Point new_point; + new_point.x = location[0]; + new_point.y = location[1]; + new_point.z = location[2]; + display_rep.points.push_back(new_point); + } + } + } + // Add colors for all the cells of the SDF to the message + for (int64_t x_index = 0; x_index < distance_field_.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < distance_field_.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < distance_field_.GetNumZCells(); z_index++) + { + std::vector location = distance_field_.GridIndexToLocation(x_index, y_index, z_index); + if (vis_level != FLT_MAX && (location[2] > vis_level || location[2] < vis_level-0.2) ) + continue; + + // Update minimum/maximum distance variables + float distance = Get(x_index, y_index, z_index); + std_msgs::ColorRGBA new_color; + new_color.a = alpha; + if (distance > 0.0) + { + new_color.b = 0.0; + new_color.g = (std::fabs(distance / max_distance) * 0.8) + 0.2; + new_color.r = 0.0; + } + else if (distance < 0.0) + { + new_color.b = 0.0; + new_color.g = 0.0; + new_color.r = (std::fabs(distance / min_distance) * 0.8) + 0.2; + } + else + { + new_color.b = 1.0; + new_color.g = 0.0; + new_color.r = 0.0; + } + display_rep.colors.push_back(new_color); + } + } + } + return display_rep; + } + + void SignedDistanceField::DisplayPCL(pcl::PointCloud &sdf_cloud, float vis_level) + { + sdf_cloud.points.clear(); + // Add all the cells of the SDF to the message + double min_distance = 0.0; + double max_distance = 0.0; + for (int64_t x_index = 0; x_index < distance_field_.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < distance_field_.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < distance_field_.GetNumZCells(); z_index++) + { + std::vector location = distance_field_.GridIndexToLocation(x_index, y_index, z_index); + if (vis_level != FLT_MAX && (location[2] > vis_level || location[2] < vis_level-0.2) ) + continue; + // Update minimum/maximum distance variables + float distance = Get(x_index, y_index, z_index); + if (distance < min_distance) + { + min_distance = distance; + } + if (distance > max_distance) + { + max_distance = distance; + } + } + } + } + // Add colors for all the cells of the SDF to the message + for (int64_t x_index = 0; x_index < distance_field_.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < distance_field_.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < distance_field_.GetNumZCells(); z_index++) + { + std::vector location = distance_field_.GridIndexToLocation(x_index, y_index, z_index); + if (vis_level != FLT_MAX && (location[2] > vis_level || location[2] < vis_level-0.2) ) + continue; + float distance = Get(x_index, y_index, z_index); + + pcl::PointXYZI new_point; + new_point.x = location[0]; + new_point.y = location[1]; + new_point.z = location[2]; + new_point.intensity = distance / (max_distance - min_distance); + sdf_cloud.points.push_back(new_point); + } + } + } + } + + visualization_msgs::Marker SignedDistanceField::ExportForDisplayCollisionOnly(const float alpha) const + { + // Assemble a visualization_markers::Marker representation of the SDF to display in RViz + visualization_msgs::Marker display_rep; + // Populate the header + display_rep.header.frame_id = frame_; + // Populate the options + display_rep.ns = "sdf_display"; + display_rep.id = 1; + display_rep.type = visualization_msgs::Marker::CUBE_LIST; + display_rep.action = visualization_msgs::Marker::ADD; + display_rep.lifetime = ros::Duration(0.0); + display_rep.frame_locked = false; + const Eigen::Isometry3d base_transform = Eigen::Isometry3d::Identity(); + display_rep.pose = EigenHelpersConversions::EigenIsometry3dToGeometryPose(base_transform); + display_rep.scale.x = GetResolution(); + display_rep.scale.y = GetResolution(); + display_rep.scale.z = GetResolution(); + // Add all the cells of the SDF to the message + for (int64_t x_index = 0; x_index < distance_field_.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < distance_field_.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < distance_field_.GetNumZCells(); z_index++) + { + // Update minimum/maximum distance variables + float distance = Get(x_index, y_index, z_index); + if (distance <= 0.0) + { + // Convert SDF indices into a real-world location + std::vector location = distance_field_.GridIndexToLocation(x_index, y_index, z_index); + geometry_msgs::Point new_point; + new_point.x = location[0]; + new_point.y = location[1]; + new_point.z = location[2]; + display_rep.points.push_back(new_point); + // Color it + std_msgs::ColorRGBA new_color; + new_color.a = alpha; + new_color.b = 0.0; + new_color.g = 0.0; + new_color.r = 1.0; + display_rep.colors.push_back(new_color); + } + } + } + } + return display_rep; + } + + visualization_msgs::Marker SignedDistanceField::ExportForDebug(const float alpha) const + { + // Assemble a visualization_markers::Marker representation of the SDF to display in RViz + visualization_msgs::Marker display_rep; + // Populate the header + display_rep.header.frame_id = frame_; + // Populate the options + display_rep.ns = "sdf_display"; + display_rep.id = 1; + display_rep.type = visualization_msgs::Marker::CUBE_LIST; + display_rep.action = visualization_msgs::Marker::ADD; + display_rep.lifetime = ros::Duration(0.0); + display_rep.frame_locked = false; + const Eigen::Isometry3d base_transform = Eigen::Isometry3d::Identity(); + display_rep.pose = EigenHelpersConversions::EigenIsometry3dToGeometryPose(base_transform); + display_rep.scale.x = GetResolution(); + display_rep.scale.y = GetResolution(); + display_rep.scale.z = GetResolution(); + // Add all the cells of the SDF to the message + for (int64_t x_index = 0; x_index < distance_field_.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < distance_field_.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < distance_field_.GetNumZCells(); z_index++) + { + // Convert SDF indices into a real-world location + std::vector location = distance_field_.GridIndexToLocation(x_index, y_index, z_index); + geometry_msgs::Point new_point; + new_point.x = location[0]; + new_point.y = location[1]; + new_point.z = location[2]; + display_rep.points.push_back(new_point); + // Color it + std_msgs::ColorRGBA new_color; + new_color.a = alpha; + new_color.b = 0.0; + new_color.g = 1.0; + new_color.r = 1.0; + display_rep.colors.push_back(new_color); + } + } + } + return display_rep; + } + + VoxelGrid::VoxelGrid SignedDistanceField::ComputeLocalMaximaMap() const + { + VoxelGrid::VoxelGrid watershed_map(GetOriginTransform(), GetResolution(), GetXSize(), GetYSize(), GetZSize(), Eigen::Vector3d(-INFINITY, -INFINITY, -INFINITY)); + for (int64_t x_idx = 0; x_idx < watershed_map.GetNumXCells(); x_idx++) + { + for (int64_t y_idx = 0; y_idx < watershed_map.GetNumYCells(); y_idx++) + { + for (int64_t z_idx = 0; z_idx < watershed_map.GetNumZCells(); z_idx++) + { + // We use an "unsafe" function here because we know all the indices we provide it will be safe + FollowGradientsToLocalMaximaUnsafe(watershed_map, x_idx, y_idx, z_idx); + } + } + } + return watershed_map; + } + + bool SignedDistanceField::GradientIsEffectiveFlat(const Eigen::Vector3d& gradient) const + { + // A gradient is at a local maxima if the absolute value of all components (x,y,z) are less than 1/2 SDF resolution + double half_resolution = GetResolution() * 0.5; + if (std::fabs(gradient.x()) <= half_resolution && std::fabs(gradient.y()) <= half_resolution && std::fabs(gradient.z()) <= half_resolution) + { + return true; + } + else + { + return false; + } + } + + VoxelGrid::GRID_INDEX SignedDistanceField::GetNextFromGradient(const VoxelGrid::GRID_INDEX& index, const Eigen::Vector3d& gradient) const + { + // Given the gradient, pick the "best fit" of the 26 neighboring points + VoxelGrid::GRID_INDEX next_index = index; + double half_resolution = GetResolution() * 0.5; + if (gradient.x() > half_resolution) + { + next_index.x++; + } + else if (gradient.x() < -half_resolution) + { + next_index.x--; + } + if (gradient.y() > half_resolution) + { + next_index.y++; + } + else if (gradient.y() < -half_resolution) + { + next_index.y--; + } + if (gradient.z() > half_resolution) + { + next_index.z++; + } + else if (gradient.z() < -half_resolution) + { + next_index.z--; + } + return next_index; + } + + +} diff --git a/flightlib/third_party/sdf_tools/src/sdf_tools/sdf_builder.cpp b/flightlib/third_party/sdf_tools/src/sdf_tools/sdf_builder.cpp new file mode 100644 index 0000000..d585497 --- /dev/null +++ b/flightlib/third_party/sdf_tools/src/sdf_tools/sdf_builder.cpp @@ -0,0 +1,584 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "sdf_tools/sdf.hpp" +#include "sdf_tools/sdf_builder.hpp" +#include "sdf_tools/SDF.h" + +namespace sdf_tools +{ + double ComputeDistanceSquared(int32_t x1, int32_t y1, int32_t z1, int32_t x2, int32_t y2, int32_t z2) + { + int32_t dx = x1 - x2; + int32_t dy = y1 - y2; + int32_t dz = z1 - z2; + return double((dx * dx) + (dy * dy) + (dz * dz)); + } + + SDF_Builder::SDF_Builder(ros::NodeHandle& nh, Eigen::Isometry3d origin_transform, std::string frame, double x_size, double y_size, double z_size, double resolution, float OOB_value, std::string planning_scene_service) : nh_(nh) + { + origin_transform_ = origin_transform; + frame_ = frame; + x_size_ = x_size; + y_size_ = y_size; + z_size_ = z_size; + resolution_ = resolution; + OOB_value_ = OOB_value; + if (!BuildInternalPlanningScene()) + { + throw std::invalid_argument("Unable to construct internal planning scene"); + } + initialized_ = true; + has_cached_sdf_ = false; + has_cached_collmap_ = false; + has_planning_scene_ = false; + planning_scene_client_ = nh.serviceClient(planning_scene_service); + } + + SDF_Builder::SDF_Builder(ros::NodeHandle& nh, std::string frame, double x_size, double y_size, double z_size, double resolution, float OOB_value, std::string planning_scene_service) : nh_(nh) + { + Eigen::Translation3d origin_translation(-x_size * 0.5, -y_size * 0.5, -z_size * 0.5); + Eigen::Quaterniond origin_rotation; + origin_rotation.setIdentity(); + origin_transform_ = origin_translation * origin_rotation; + frame_ = frame; + x_size_ = x_size; + y_size_ = y_size; + z_size_ = z_size; + resolution_ = resolution; + OOB_value_ = OOB_value; + if (!BuildInternalPlanningScene()) + { + throw std::invalid_argument("Unable to construct internal planning scene"); + } + initialized_ = true; + has_cached_sdf_ = false; + has_cached_collmap_ = false; + has_planning_scene_ = false; + planning_scene_client_ = nh.serviceClient(planning_scene_service); + } + + SDF_Builder::SDF_Builder() + { + initialized_ = false; + has_cached_sdf_ = false; + has_cached_collmap_ = false; + has_planning_scene_ = false; + } + + bool SDF_Builder::BuildInternalPlanningScene() + { + /* Builds a planning scene from XML string urdf and srdf descriptions */ + // Make the URDF model + boost::shared_ptr urdf_model(new urdf::Model()); + urdf_model->initString(GenerateSDFComputeBotURDFString()); + // Make the SRDF model + boost::shared_ptr srdf_model(new srdf::Model()); + srdf_model->initString(*urdf_model, GenerateSDFComputeBotSRDFString()); + // Make the planning scene + planning_scene_ptr_.reset(); + planning_scene_ptr_ = std::shared_ptr(new planning_scene::PlanningScene(urdf_model, srdf_model)); + return true; + } + + std::string SDF_Builder::GenerateSDFComputeBotURDFString() + { + // Figure out the minimum+maximum X,Y,Z values (for safety, we pad them out to make sure) + double min_x_limit = origin_transform_.translation().x() - fabs(2 * x_size_); + double max_x_limit = origin_transform_.translation().x() + fabs(2 * x_size_); + double min_y_limit = origin_transform_.translation().y() - fabs(2 * y_size_); + double max_y_limit = origin_transform_.translation().y() + fabs(2 * y_size_); + double min_z_limit = origin_transform_.translation().z() - fabs(2 * z_size_); + double max_z_limit = origin_transform_.translation().z() + fabs(2 * z_size_); + // Make the limits into strings + std::ostringstream mnxls_strm; + mnxls_strm << min_x_limit; + std::string min_x_limit_str = mnxls_strm.str(); + std::ostringstream mxxls_strm; + mxxls_strm << max_x_limit; + std::string max_x_limit_str = mxxls_strm.str(); + std::ostringstream mnyls_strm; + mnyls_strm << min_y_limit; + std::string min_y_limit_str = mnyls_strm.str(); + std::ostringstream mxyls_strm; + mxyls_strm << max_y_limit; + std::string max_y_limit_str = mxyls_strm.str(); + std::ostringstream mnzls_strm; + mnzls_strm << min_z_limit; + std::string min_z_limit_str = mnzls_strm.str(); + std::ostringstream mxzls_strm; + mxzls_strm << max_z_limit; + std::string max_z_limit_str = mxzls_strm.str(); + // Figure out the cell resolution + std::ostringstream crs_strm; + crs_strm << resolution_; + std::string cell_resolution_str = crs_strm.str(); + // Make the URDF xml string + std::string urdf_string; + urdf_string = "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"; + return urdf_string; + } + + std::string SDF_Builder::GenerateSDFComputeBotSRDFString() + { + std::string srdf_string; + srdf_string = "\n\n\n\n\n\n\n\n\n\n\n\n\n"; + return srdf_string; + } + + SignedDistanceField SDF_Builder::UpdateSDF(uint8_t update_mode) + { + if (!initialized_) + { + throw std::invalid_argument("SDF Builder has not been initialized"); + } + if (update_mode == USE_CACHED) + { + if (has_planning_scene_) + { + // Build the SDF + return UpdateSDFFromPlanningScene(); + } + else + { + ROS_ERROR("No planning scene available"); + throw std::invalid_argument("No planning scene available"); + } + } + else + { + if (update_mode == USE_ONLY_COLLISION_OBJECTS) + { + // Update the planning scene + moveit_msgs::GetPlanningSceneRequest ps_req; + ps_req.components.components = moveit_msgs::PlanningSceneComponents::WORLD_OBJECT_NAMES | moveit_msgs::PlanningSceneComponents::WORLD_OBJECT_GEOMETRY; + moveit_msgs::GetPlanningSceneResponse ps_res; + planning_scene_client_.call(ps_req, ps_res); + moveit_msgs::PlanningScene& planning_scene_state = ps_res.scene; + planning_scene_ptr_->usePlanningSceneMsg(planning_scene_state); + has_planning_scene_ = true; + // Build the SDF + return UpdateSDFFromPlanningScene(); + } + else if (update_mode == USE_ONLY_OCTOMAP) + { + // Update the planning scene + moveit_msgs::GetPlanningSceneRequest ps_req; + ps_req.components.components = moveit_msgs::PlanningSceneComponents::OCTOMAP; + moveit_msgs::GetPlanningSceneResponse ps_res; + planning_scene_client_.call(ps_req, ps_res); + moveit_msgs::PlanningScene& planning_scene_state = ps_res.scene; + planning_scene_ptr_->usePlanningSceneMsg(planning_scene_state); + has_planning_scene_ = true; + // Build the SDF + return UpdateSDFFromPlanningScene(); + } + else if (update_mode == USE_FULL_PLANNING_SCENE) + { + // Update the planning scene + moveit_msgs::GetPlanningSceneRequest ps_req; + ps_req.components.components = moveit_msgs::PlanningSceneComponents::WORLD_OBJECT_NAMES | moveit_msgs::PlanningSceneComponents::WORLD_OBJECT_GEOMETRY | moveit_msgs::PlanningSceneComponents::OCTOMAP; + moveit_msgs::GetPlanningSceneResponse ps_res; + planning_scene_client_.call(ps_req, ps_res); + moveit_msgs::PlanningScene& planning_scene_state = ps_res.scene; + planning_scene_ptr_->usePlanningSceneMsg(planning_scene_state); + has_planning_scene_ = true; + // Build the SDF + return UpdateSDFFromPlanningScene(); + } + else + { + ROS_ERROR("Invalid update mode (mode not recognized)"); + throw std::invalid_argument("Invalid update mode (mode not recognized)"); + } + } + } + + SignedDistanceField SDF_Builder::GetCachedSDF() + { + if (has_cached_sdf_) + { + return cached_sdf_; + } + else + { + ROS_ERROR("No cached SDF available"); + throw std::invalid_argument("No cached SDF available"); + } + } + + VoxelGrid::VoxelGrid SDF_Builder::UpdateCollisionMap(uint8_t update_mode) + { + if (!initialized_) + { + throw std::invalid_argument("SDF Builder has not been initialized"); + } + if (update_mode == USE_CACHED) + { + if (has_planning_scene_) + { + // Build the collision map + return UpdateCollisionMapFromPlanningScene(); + } + else + { + ROS_ERROR("No planning scene available"); + throw std::invalid_argument("No planning scene available"); + } + } + else + { + if (update_mode == USE_ONLY_COLLISION_OBJECTS) + { + // Update the planning scene + moveit_msgs::GetPlanningSceneRequest ps_req; + ps_req.components.components = moveit_msgs::PlanningSceneComponents::WORLD_OBJECT_NAMES | moveit_msgs::PlanningSceneComponents::WORLD_OBJECT_GEOMETRY; + moveit_msgs::GetPlanningSceneResponse ps_res; + planning_scene_client_.call(ps_req, ps_res); + moveit_msgs::PlanningScene& planning_scene_state = ps_res.scene; + planning_scene_ptr_->usePlanningSceneMsg(planning_scene_state); + has_planning_scene_ = true; + // Build the collision map + return UpdateCollisionMapFromPlanningScene(); + } + else if (update_mode == USE_ONLY_OCTOMAP) + { + // Update the planning scene + moveit_msgs::GetPlanningSceneRequest ps_req; + ps_req.components.components = moveit_msgs::PlanningSceneComponents::OCTOMAP; + moveit_msgs::GetPlanningSceneResponse ps_res; + planning_scene_client_.call(ps_req, ps_res); + moveit_msgs::PlanningScene& planning_scene_state = ps_res.scene; + planning_scene_ptr_->usePlanningSceneMsg(planning_scene_state); + has_planning_scene_ = true; + // Build the collision map + return UpdateCollisionMapFromPlanningScene(); + } + else if (update_mode == USE_FULL_PLANNING_SCENE) + { + // Update the planning scene + moveit_msgs::GetPlanningSceneRequest ps_req; + ps_req.components.components = moveit_msgs::PlanningSceneComponents::WORLD_OBJECT_NAMES | moveit_msgs::PlanningSceneComponents::WORLD_OBJECT_GEOMETRY | moveit_msgs::PlanningSceneComponents::OCTOMAP; + moveit_msgs::GetPlanningSceneResponse ps_res; + planning_scene_client_.call(ps_req, ps_res); + moveit_msgs::PlanningScene& planning_scene_state = ps_res.scene; + planning_scene_ptr_->usePlanningSceneMsg(planning_scene_state); + has_planning_scene_ = true; + // Build the collision map + return UpdateCollisionMapFromPlanningScene(); + } + else + { + ROS_ERROR("Invalid update mode (mode not recognized)"); + throw std::invalid_argument("Invalid update mode (mode not recognized)"); + } + } + } + + VoxelGrid::VoxelGrid SDF_Builder::GetCachedCollisionMap() + { + if (has_cached_collmap_) + { + return cached_collmap_; + } + else + { + ROS_ERROR("No cached Collision Map available"); + throw std::invalid_argument("No cached Collision Map available"); + } + } + + VoxelGrid::VoxelGrid SDF_Builder::UpdateCollisionMapFromPlanningScene() + { + // Make a collision field for debugging + VoxelGrid::VoxelGrid collision_field(origin_transform_, resolution_, x_size_, y_size_, z_size_, 0); + // Loop through the planning scene to populate the voxel grids + std::string x_joint("virtual_x"); + std::string y_joint("virtual_y"); + std::string z_joint("virtual_z"); + collision_detection::CollisionRequest col_req; + collision_detection::CollisionResult col_res; + robot_state::RobotState& sdf_compute_bot_state = planning_scene_ptr_->getCurrentStateNonConst(); + for (int64_t x_index = 0; x_index < collision_field.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < collision_field.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < collision_field.GetNumZCells(); z_index++) + { + // Convert SDF indices into a real-world location + std::vector location = collision_field.GridIndexToLocation(x_index, y_index, z_index); + double x = location[0]; + double y = location[1]; + double z = location[2]; + // Set them + sdf_compute_bot_state.setJointPositions(x_joint, &x); + sdf_compute_bot_state.setJointPositions(y_joint, &y); + sdf_compute_bot_state.setJointPositions(z_joint, &z); + col_res.clear(); + planning_scene_ptr_->checkCollision(col_req, col_res); + if (col_res.collision) + { + // Mark as filled + //std::cout << "Collision" << std::endl; + uint8_t status = 1; + collision_field.SetValue(x_index, y_index, z_index, status); + } + else + { + // Mark as free space + //std::cout << "No collision" << std::endl; + uint8_t status = 0; + collision_field.SetValue(x_index, y_index, z_index, status); + } + } + } + } + // Export the collision map + cached_collmap_ = collision_field; + has_cached_collmap_ = true; + return collision_field; + } + + SignedDistanceField SDF_Builder::UpdateSDFFromPlanningScene() + { + // Make the SDF + SignedDistanceField new_sdf(origin_transform_, frame_, resolution_, x_size_, y_size_, z_size_, OOB_value_); + // Loop through the planning scene to populate the voxel grids + std::vector filled; + std::vector free; + std::string x_joint("virtual_x"); + std::string y_joint("virtual_y"); + std::string z_joint("virtual_z"); + collision_detection::CollisionRequest col_req; + collision_detection::CollisionResult col_res; + robot_state::RobotState& sdf_compute_bot_state = planning_scene_ptr_->getCurrentStateNonConst(); + for (uint32_t x_index = 0; x_index < new_sdf.GetNumXCells(); x_index++) + { + for (uint32_t y_index = 0; y_index < new_sdf.GetNumYCells(); y_index++) + { + for (uint32_t z_index = 0; z_index < new_sdf.GetNumZCells(); z_index++) + { + // Convert SDF indices into a real-world location + std::vector location = new_sdf.GridIndexToLocation(x_index, y_index, z_index); + double x = location[0]; + double y = location[1]; + double z = location[2]; + sdf_compute_bot_state.setJointPositions(x_joint, &x); + sdf_compute_bot_state.setJointPositions(y_joint, &y); + sdf_compute_bot_state.setJointPositions(z_joint, &z); + col_res.clear(); + planning_scene_ptr_->checkCollision(col_req, col_res); + if (col_res.collision) + { + // Mark as filled + filled.push_back(Eigen::Vector3i(x_index, y_index, z_index)); + } + else + { + // Mark as free space + free.push_back(Eigen::Vector3i(x_index, y_index, z_index)); + } + } + } + } + // Make two distance fields (one for distance to filled voxels, one for distance to free voxels + DistanceField filled_distance_field = BuildDistanceField(filled); + DistanceField free_distance_field = BuildDistanceField(free); + // Generate the SDF + for (int64_t x_index = 0; x_index < filled_distance_field.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < filled_distance_field.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < filled_distance_field.GetNumZCells(); z_index++) + { + double distance1 = sqrt(filled_distance_field.GetImmutable(x_index, y_index, z_index).first.distance_square) * resolution_; + double distance2 = sqrt(free_distance_field.GetImmutable(x_index, y_index, z_index).first.distance_square) * resolution_; + new_sdf.Set(x_index, y_index, z_index, (distance1 - distance2)); + } + } + } + // Export the SDF + cached_sdf_ = new_sdf; + has_cached_sdf_ = true; + return new_sdf; + } + + std::vector>>> SDF_Builder::MakeNeighborhoods() + { + std::vector>>> neighborhoods; + neighborhoods.resize(2); + for (size_t n = 0; n < neighborhoods.size(); n++) + { + neighborhoods[n].resize(27); + // Loop through the source directions + for (int dx = -1; dx <= 1; dx++) + { + for (int dy = -1; dy <= 1; dy++) + { + for (int dz = -1; dz <= 1; dz++) + { + int direction_number = GetDirectionNumber(dx, dy, dz); + // Loop through the target directions + for (int tdx = -1; tdx <= 1; tdx++) + { + for (int tdy = -1; tdy <= 1; tdy++) + { + for (int tdz = -1; tdz <= 1; tdz++) + { + if (tdx == 0 && tdy == 0 && tdz == 0) + { + continue; + } + if (n >= 1) + { + if ((abs(tdx) + abs(tdy) + abs(tdz)) != 1) + { + continue; + } + if ((dx * tdx) < 0 || (dy * tdy) < 0 || (dz * tdz) < 0) + { + continue; + } + } + std::vector new_point; + new_point.resize(3); + new_point[0] = tdx; + new_point[1] = tdy; + new_point[2] = tdz; + neighborhoods[n][direction_number].push_back(new_point); + } + } + } + } + } + } + } + return neighborhoods; + } + + int SDF_Builder::GetDirectionNumber(int dx, int dy, int dz) + { + return ((dx + 1) * 9) + ((dy + 1) * 3) + (dz + 1); + } + + DistanceField SDF_Builder::BuildDistanceField(std::vector& points) + { + // Make the DistanceField container + bucket_cell default_cell; + default_cell.distance_square = INFINITY; + DistanceField distance_field(origin_transform_, resolution_, x_size_, y_size_, z_size_, default_cell); + // Compute maximum distance square + long max_distance_square = (distance_field.GetNumXCells() * distance_field.GetNumXCells()) + (distance_field.GetNumYCells() * distance_field.GetNumYCells()) + (distance_field.GetNumZCells() * distance_field.GetNumZCells()); + // Make bucket queue + std::vector> bucket_queue(max_distance_square + 1); + bucket_queue[0].reserve(points.size()); + // Set initial update direction + int initial_update_direction = GetDirectionNumber(0, 0, 0); + // Mark all points with distance zero and add to the bucket queue + for (size_t index = 0; index < points.size(); index++) + { + std::pair query = distance_field.GetMutable((int64_t)points[index].x(), (int64_t)points[index].y(), (int64_t)points[index].z()); + if (query.second) + { + query.first.location[0] = points[index].x(); + query.first.location[1] = points[index].y(); + query.first.location[2] = points[index].z(); + query.first.closest_point[0] = points[index].x(); + query.first.closest_point[1] = points[index].y(); + query.first.closest_point[2] = points[index].z(); + query.first.distance_square = 0.0; + query.first.update_direction = initial_update_direction; + bucket_queue[0].push_back(query.first); + } + // If the point is outside the bounds of the SDF, skip + else + { + continue; + } + } + // Process the bucket queue + std::vector>>> neighborhoods = MakeNeighborhoods(); + for (size_t bq_idx = 0; bq_idx < bucket_queue.size(); bq_idx++) + { + std::vector::iterator queue_itr = bucket_queue[bq_idx].begin(); + while (queue_itr != bucket_queue[bq_idx].end()) + { + // Get the current location + bucket_cell& cur_cell = *queue_itr; + double x = cur_cell.location[0]; + double y = cur_cell.location[1]; + double z = cur_cell.location[2]; + // Pick the update direction + int D = bq_idx; + if (D > 1) + { + D = 1; + } + // Make sure the update direction is valid + if (cur_cell.update_direction < 0 || cur_cell.update_direction > 26) + { + ++queue_itr; + continue; + } + // Get the current neighborhood list + std::vector>& neighborhood = neighborhoods[D][cur_cell.update_direction]; + // Update the distance from the neighboring cells + for (size_t nh_idx = 0; nh_idx < neighborhood.size(); nh_idx++) + { + // Get the direction to check + int dx = neighborhood[nh_idx][0]; + int dy = neighborhood[nh_idx][1]; + int dz = neighborhood[nh_idx][2]; + int nx = x + dx; + int ny = y + dy; + int nz = z + dz; + std::pair neighbor_query = distance_field.GetMutable((int64_t)nx, (int64_t)ny, (int64_t)nz); + if (!neighbor_query.second) + { + // "Neighbor" is outside the bounds of the SDF + continue; + } + // Update the neighbor's distance based on the current + int new_distance_square = ComputeDistanceSquared(nx, ny, nz, cur_cell.closest_point[0], cur_cell.closest_point[1], cur_cell.closest_point[2]); + if (new_distance_square > max_distance_square) + { + // Skip these cases + continue; + } + if (new_distance_square < neighbor_query.first.distance_square) + { + // If the distance is better, time to update the neighbor + neighbor_query.first.distance_square = new_distance_square; + neighbor_query.first.closest_point[0] = cur_cell.closest_point[0]; + neighbor_query.first.closest_point[1] = cur_cell.closest_point[1]; + neighbor_query.first.closest_point[2] = cur_cell.closest_point[2]; + neighbor_query.first.location[0] = nx; + neighbor_query.first.location[1] = ny; + neighbor_query.first.location[2] = nz; + neighbor_query.first.update_direction = GetDirectionNumber(dx, dy, dz); + // Add the neighbor into the bucket queue + bucket_queue[new_distance_square].push_back(neighbor_query.first); + } + } + // Increment the queue iterator + ++queue_itr; + } + // Clear the current queue now that we're done with it + bucket_queue[bq_idx].clear(); + } + return distance_field; + } + + void SDF_Builder::UpdatePlanningSceneFromMessage(moveit_msgs::PlanningScene& planning_scene) + { + planning_scene_ptr_->usePlanningSceneMsg(planning_scene); + has_planning_scene_ = true; + } +} diff --git a/flightlib/third_party/sdf_tools/src/sdf_tools/tagged_object_collision_map.cpp b/flightlib/third_party/sdf_tools/src/sdf_tools/tagged_object_collision_map.cpp new file mode 100644 index 0000000..c522f96 --- /dev/null +++ b/flightlib/third_party/sdf_tools/src/sdf_tools/tagged_object_collision_map.cpp @@ -0,0 +1,2605 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace sdf_tools +{ + TAGGED_OBJECT_COLLISION_CELL::TAGGED_OBJECT_COLLISION_CELL() : occupancy(0.0), component(0u), object_id(0u), convex_segment(0u) {} + + TAGGED_OBJECT_COLLISION_CELL::TAGGED_OBJECT_COLLISION_CELL(const float in_occupancy, const uint32_t in_object_id) : occupancy(in_occupancy), component(0u), object_id(in_object_id), convex_segment(0u) {} + + TAGGED_OBJECT_COLLISION_CELL::TAGGED_OBJECT_COLLISION_CELL(const float in_occupancy, const uint32_t in_object_id, const uint32_t in_component, const uint32_t in_convex_segment) : occupancy(in_occupancy), component(in_component), object_id(in_object_id), convex_segment(in_convex_segment) {} + + bool TAGGED_OBJECT_COLLISION_CELL::SharesConvexSegment(const TAGGED_OBJECT_COLLISION_CELL& other) const + { + if ((convex_segment & other.convex_segment) > 0) + { + return true; + } + else + { + return false; + } + } + + std::vector TAGGED_OBJECT_COLLISION_CELL::GetListOfConvexSegments() const + { + uint32_t temp_convex_segment = convex_segment; + std::vector convex_segments; + for (uint32_t segment = 1; segment <= 32; segment++) + { + if ((temp_convex_segment & 0x00000001) == 1) + { + convex_segments.push_back(segment); + } + temp_convex_segment = temp_convex_segment >> 1; + } + return convex_segments; + } + + bool TAGGED_OBJECT_COLLISION_CELL::IsPartOfConvexSegment(const uint32_t segment) const + { + assert(segment >= 1); + assert(segment <= 32); + const uint32_t mask = arc_helpers::SetBit(0u, segment - 1, true); + if ((mask & convex_segment) > 0) + { + return true; + } + else + { + return false; + } + } + + void TAGGED_OBJECT_COLLISION_CELL::AddToConvexSegment(const uint32_t segment) + { + assert(segment >= 1); + assert(segment <= 32); + convex_segment = arc_helpers::SetBit(convex_segment, segment - 1, true); + } + + void TAGGED_OBJECT_COLLISION_CELL::RemoveFromConvexSegment(const uint32_t segment) + { + assert(segment >= 1); + assert(segment <= 32); + convex_segment = arc_helpers::SetBit(convex_segment, segment - 1, false); + } + + + std::vector TaggedObjectCollisionCellToBinary(const TAGGED_OBJECT_COLLISION_CELL& value) + { + std::vector binary(sizeof(TAGGED_OBJECT_COLLISION_CELL)); + memcpy(&binary.front(), &value, sizeof(TAGGED_OBJECT_COLLISION_CELL)); + return binary; + } + + TAGGED_OBJECT_COLLISION_CELL TaggedObjectCollisionCellFromBinary(const std::vector& binary) + { + if (binary.size() != sizeof(TAGGED_OBJECT_COLLISION_CELL)) + { + std::cerr << "Binary value is not " << sizeof(TAGGED_OBJECT_COLLISION_CELL) << " bytes" << std::endl; + return TAGGED_OBJECT_COLLISION_CELL(); + } + else + { + TAGGED_OBJECT_COLLISION_CELL loaded; + memcpy(&loaded, &binary.front(), sizeof(TAGGED_OBJECT_COLLISION_CELL)); + return loaded; + } + } + + + std_msgs::ColorRGBA TaggedObjectCollisionMapGrid::GenerateComponentColor(const uint32_t component, const float alpha) + { + return arc_helpers::GenerateUniqueColor(component, alpha); + } + + bool TaggedObjectCollisionMapGrid::IsSurfaceIndex(const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + // First, we make sure that indices are within bounds + // Out of bounds indices are NOT surface cells + if (x_index < 0 || y_index < 0 || z_index < 0 || x_index >= GetNumXCells() || y_index >= GetNumYCells() || z_index >= GetNumZCells()) + { + return false; + } + // Edge indices are automatically surface cells + if (x_index == 0 || y_index == 0 || z_index == 0 || x_index == (GetNumXCells() - 1) || y_index == (GetNumYCells() - 1) || z_index == (GetNumZCells())) + { + return true; + } + // If the cell is inside the grid, we check the neighbors + // Note that we must check all 26 neighbors + uint32_t our_component = GetImmutable(x_index, y_index, z_index).first.component; + // Check neighbor 1 + if (our_component != GetImmutable(x_index, y_index, z_index - 1).first.component) + { + return true; + } + // Check neighbor 2 + else if (our_component != GetImmutable(x_index, y_index, z_index + 1).first.component) + { + return true; + } + // Check neighbor 3 + else if (our_component != GetImmutable(x_index, y_index - 1, z_index).first.component) + { + return true; + } + // Check neighbor 4 + else if (our_component != GetImmutable(x_index, y_index + 1, z_index).first.component) + { + return true; + } + // Check neighbor 5 + else if (our_component != GetImmutable(x_index - 1, y_index, z_index).first.component) + { + return true; + } + // Check neighbor 6 + else if (our_component != GetImmutable(x_index + 1, y_index, z_index).first.component) + { + return true; + } + // If none of the faces are exposed, it's not a surface voxel + return false; + } + + TaggedObjectCollisionMapGrid::DistanceField TaggedObjectCollisionMapGrid::BuildDistanceField(const std::vector& points) const + { + // Make the DistanceField container + bucket_cell default_cell; + default_cell.distance_square = INFINITY; + DistanceField distance_field(GetOriginTransform(), GetResolution(), GetXSize(), GetYSize(), GetZSize(), default_cell); + // Compute maximum distance square + long max_distance_square = (distance_field.GetNumXCells() * distance_field.GetNumXCells()) + (distance_field.GetNumYCells() * distance_field.GetNumYCells()) + (distance_field.GetNumZCells() * distance_field.GetNumZCells()); + // Make bucket queue + std::vector> bucket_queue(max_distance_square + 1); + bucket_queue[0].reserve(points.size()); + // Set initial update direction + int initial_update_direction = GetDirectionNumber(0, 0, 0); + // Mark all points with distance zero and add to the bucket queue + for (size_t index = 0; index < points.size(); index++) + { + const VoxelGrid::GRID_INDEX& current_index = points[index]; + std::pair query = distance_field.GetMutable(current_index); + if (query.second) + { + query.first.location[0] = current_index.x; + query.first.location[1] = current_index.y; + query.first.location[2] = current_index.z; + query.first.closest_point[0] = current_index.x; + query.first.closest_point[1] = current_index.y; + query.first.closest_point[2] = current_index.z; + query.first.distance_square = 0.0; + query.first.update_direction = initial_update_direction; + bucket_queue[0].push_back(query.first); + } + // If the point is outside the bounds of the SDF, skip + else + { + continue; + } + } + // Process the bucket queue + std::vector>>> neighborhoods = MakeNeighborhoods(); + for (size_t bq_idx = 0; bq_idx < bucket_queue.size(); bq_idx++) + { + std::vector::iterator queue_itr = bucket_queue[bq_idx].begin(); + while (queue_itr != bucket_queue[bq_idx].end()) + { + // Get the current location + bucket_cell& cur_cell = *queue_itr; + double x = cur_cell.location[0]; + double y = cur_cell.location[1]; + double z = cur_cell.location[2]; + // Pick the update direction + int D = bq_idx; + if (D > 1) + { + D = 1; + } + // Make sure the update direction is valid + if (cur_cell.update_direction < 0 || cur_cell.update_direction > 26) + { + ++queue_itr; + continue; + } + // Get the current neighborhood list + std::vector>& neighborhood = neighborhoods[D][cur_cell.update_direction]; + // Update the distance from the neighboring cells + for (size_t nh_idx = 0; nh_idx < neighborhood.size(); nh_idx++) + { + // Get the direction to check + int dx = neighborhood[nh_idx][0]; + int dy = neighborhood[nh_idx][1]; + int dz = neighborhood[nh_idx][2]; + int nx = x + dx; + int ny = y + dy; + int nz = z + dz; + std::pair neighbor_query = distance_field.GetMutable((int64_t)nx, (int64_t)ny, (int64_t)nz); + if (!neighbor_query.second) + { + // "Neighbor" is outside the bounds of the SDF + continue; + } + // Update the neighbor's distance based on the current + int new_distance_square = ComputeDistanceSquared(nx, ny, nz, cur_cell.closest_point[0], cur_cell.closest_point[1], cur_cell.closest_point[2]); + if (new_distance_square > max_distance_square) + { + // Skip these cases + continue; + } + if (new_distance_square < neighbor_query.first.distance_square) + { + // If the distance is better, time to update the neighbor + neighbor_query.first.distance_square = new_distance_square; + neighbor_query.first.closest_point[0] = cur_cell.closest_point[0]; + neighbor_query.first.closest_point[1] = cur_cell.closest_point[1]; + neighbor_query.first.closest_point[2] = cur_cell.closest_point[2]; + neighbor_query.first.location[0] = nx; + neighbor_query.first.location[1] = ny; + neighbor_query.first.location[2] = nz; + neighbor_query.first.update_direction = GetDirectionNumber(dx, dy, dz); + // Add the neighbor into the bucket queue + bucket_queue[new_distance_square].push_back(neighbor_query.first); + } + } + // Increment the queue iterator + ++queue_itr; + } + // Clear the current queue now that we're done with it + bucket_queue[bq_idx].clear(); + } + return distance_field; + } + + std::vector>>> TaggedObjectCollisionMapGrid::MakeNeighborhoods() const + { + std::vector>>> neighborhoods; + neighborhoods.resize(2); + for (size_t n = 0; n < neighborhoods.size(); n++) + { + neighborhoods[n].resize(27); + // Loop through the source directions + for (int dx = -1; dx <= 1; dx++) + { + for (int dy = -1; dy <= 1; dy++) + { + for (int dz = -1; dz <= 1; dz++) + { + int direction_number = GetDirectionNumber(dx, dy, dz); + // Loop through the target directions + for (int tdx = -1; tdx <= 1; tdx++) + { + for (int tdy = -1; tdy <= 1; tdy++) + { + for (int tdz = -1; tdz <= 1; tdz++) + { + if (tdx == 0 && tdy == 0 && tdz == 0) + { + continue; + } + if (n >= 1) + { + if ((abs(tdx) + abs(tdy) + abs(tdz)) != 1) + { + continue; + } + if ((dx * tdx) < 0 || (dy * tdy) < 0 || (dz * tdz) < 0) + { + continue; + } + } + std::vector new_point; + new_point.resize(3); + new_point[0] = tdx; + new_point[1] = tdy; + new_point[2] = tdz; + neighborhoods[n][direction_number].push_back(new_point); + } + } + } + } + } + } + } + return neighborhoods; + } + + int TaggedObjectCollisionMapGrid::GetDirectionNumber(const int dx, const int dy, const int dz) const + { + return ((dx + 1) * 9) + ((dy + 1) * 3) + (dz + 1); + } + + double TaggedObjectCollisionMapGrid::ComputeDistanceSquared(const int32_t x1, const int32_t y1, const int32_t z1, const int32_t x2, const int32_t y2, const int32_t z2) const + { + int32_t dx = x1 - x2; + int32_t dy = y1 - y2; + int32_t dz = z1 - z2; + return double((dx * dx) + (dy * dy) + (dz * dz)); + } + + std::vector TaggedObjectCollisionMapGrid::PackBinaryRepresentation(const std::vector& raw) const + { + std::vector packed(raw.size() * sizeof(TAGGED_OBJECT_COLLISION_CELL)); + for (size_t field_idx = 0, binary_index = 0; field_idx < raw.size(); field_idx++, binary_index+=sizeof(TAGGED_OBJECT_COLLISION_CELL)) + { + const TAGGED_OBJECT_COLLISION_CELL& raw_cell = raw[field_idx]; + std::vector packed_cell = TaggedObjectCollisionCellToBinary(raw_cell); + memcpy(&packed[binary_index], &packed_cell.front(), sizeof(TAGGED_OBJECT_COLLISION_CELL)); + } + return packed; + } + + std::vector TaggedObjectCollisionMapGrid::UnpackBinaryRepresentation(const std::vector& packed) const + { + if ((packed.size() % sizeof(TAGGED_OBJECT_COLLISION_CELL)) != 0) + { + std::cerr << "Invalid binary representation - length is not a multiple of " << sizeof(TAGGED_OBJECT_COLLISION_CELL) << std::endl; + return std::vector(); + } + uint64_t data_size = packed.size() / sizeof(TAGGED_OBJECT_COLLISION_CELL); + std::vector unpacked(data_size); + for (size_t field_idx = 0, binary_index = 0; field_idx < unpacked.size(); field_idx++, binary_index+=sizeof(TAGGED_OBJECT_COLLISION_CELL)) + { + std::vector binary_block(sizeof(TAGGED_OBJECT_COLLISION_CELL)); + memcpy(&binary_block.front(), &packed[binary_index], sizeof(TAGGED_OBJECT_COLLISION_CELL)); + unpacked[field_idx] = TaggedObjectCollisionCellFromBinary(binary_block); + } + return unpacked; + } + + int64_t TaggedObjectCollisionMapGrid::MarkConnectedComponent(const int64_t x_index, const int64_t y_index, const int64_t z_index, const uint32_t connected_component) + { + // Make the working queue + std::list working_queue; + // Make a hash table to store queued indices (so we don't repeat work) + // Let's provide an hint at the size of hashmap we'll need, since this will reduce the need to resize & rehash + // We're going to assume that connected components, in general, will take ~1/16 of the grid in size + // which means, with 2 cells/hash bucket, we'll initialize to grid size/32 + #ifdef ENABLE_UNORDERED_MAP_SIZE_HINTS + size_t queued_hashtable_size_hint = collision_field_.GetRawData().size() / 32; + std::unordered_map queued_hashtable(queued_hashtable_size_hint); + #else + std::unordered_map queued_hashtable; + #endif + // Add the starting index + VoxelGrid::GRID_INDEX start_index(x_index, y_index, z_index); + // Enqueue it + working_queue.push_back(start_index); + queued_hashtable[start_index] = 1; + // Work + int64_t marked_cells = 0; + while (working_queue.size() > 0) + { + // Get an item off the queue to work with + VoxelGrid::GRID_INDEX current_index = working_queue.front(); + working_queue.pop_front(); + // Get the current value + TAGGED_OBJECT_COLLISION_CELL& current_value = GetMutable(current_index.x, current_index.y, current_index.z).first; + // Mark the connected component + current_value.component = connected_component; + // // Update the grid + // Set(current_index.x, current_index.y, current_index.z, current_value); + // Go through the possible neighbors and enqueue as needed + // Since there are only six cases (voxels must share a face to be considered connected), we handle each explicitly + // Case 1 + std::pair xm1_neighbor = GetImmutable(current_index.x - 1, current_index.y, current_index.z); + if (xm1_neighbor.second && (current_value.occupancy == xm1_neighbor.first.occupancy)) + { + VoxelGrid::GRID_INDEX neighbor_index(current_index.x - 1, current_index.y, current_index.z); + if (queued_hashtable[neighbor_index] <= 0) + { + queued_hashtable[neighbor_index] = 1; + working_queue.push_back(neighbor_index); + } + } + // Case 2 + std::pair ym1_neighbor = GetImmutable(current_index.x, current_index.y - 1, current_index.z); + if (ym1_neighbor.second && (current_value.occupancy == ym1_neighbor.first.occupancy)) + { + VoxelGrid::GRID_INDEX neighbor_index(current_index.x, current_index.y - 1, current_index.z); + if (queued_hashtable[neighbor_index] <= 0) + { + queued_hashtable[neighbor_index] = 1; + working_queue.push_back(neighbor_index); + } + } + // Case 3 + std::pair zm1_neighbor = GetImmutable(current_index.x, current_index.y, current_index.z - 1); + if (zm1_neighbor.second && (current_value.occupancy == zm1_neighbor.first.occupancy)) + { + VoxelGrid::GRID_INDEX neighbor_index(current_index.x, current_index.y, current_index.z - 1); + if (queued_hashtable[neighbor_index] <= 0) + { + queued_hashtable[neighbor_index] = 1; + working_queue.push_back(neighbor_index); + } + } + // Case 4 + std::pair xp1_neighbor = GetImmutable(current_index.x + 1, current_index.y, current_index.z); + if (xp1_neighbor.second && (current_value.occupancy == xp1_neighbor.first.occupancy)) + { + VoxelGrid::GRID_INDEX neighbor_index(current_index.x + 1, current_index.y, current_index.z); + if (queued_hashtable[neighbor_index] <= 0) + { + queued_hashtable[neighbor_index] = 1; + working_queue.push_back(neighbor_index); + } + } + // Case 5 + std::pair yp1_neighbor = GetImmutable(current_index.x, current_index.y + 1, current_index.z); + if (yp1_neighbor.second && (current_value.occupancy == yp1_neighbor.first.occupancy)) + { + VoxelGrid::GRID_INDEX neighbor_index(current_index.x, current_index.y + 1, current_index.z); + if (queued_hashtable[neighbor_index] <= 0) + { + queued_hashtable[neighbor_index] = 1; + working_queue.push_back(neighbor_index); + } + } + // Case 6 + std::pair zp1_neighbor = GetImmutable(current_index.x, current_index.y, current_index.z + 1); + if (zp1_neighbor.second && (current_value.occupancy == zp1_neighbor.first.occupancy)) + { + VoxelGrid::GRID_INDEX neighbor_index(current_index.x, current_index.y, current_index.z + 1); + if (queued_hashtable[neighbor_index] <= 0) + { + queued_hashtable[neighbor_index] = 1; + working_queue.push_back(neighbor_index); + } + } + } + return marked_cells; + } + + std::vector TaggedObjectCollisionMapGrid::CheckIfConvex(const VoxelGrid::GRID_INDEX& candidate_index, std::unordered_map& explored_indices, const VoxelGrid::VoxelGrid>& region_grid, const uint32_t current_convex_region) const + { + std::vector convex_indices; + for (auto indices_itr = explored_indices.begin(); indices_itr != explored_indices.end(); ++indices_itr) + { + const VoxelGrid::GRID_INDEX& other_index = indices_itr->first; + const int8_t& other_status = indices_itr->second; + // We only care about indices that are already part of the convex set + if (other_status == 1) + { + // Walk from first index to second index. If any intervening cells are filled, return false + const Eigen::Vector3d start_location = EigenHelpers::StdVectorDoubleToEigenVector3d(GridIndexToLocation(other_index.x, other_index.y, other_index.z)); + const Eigen::Vector3d end_location = EigenHelpers::StdVectorDoubleToEigenVector3d(GridIndexToLocation(candidate_index.x, candidate_index.y, candidate_index.z)); + double distance = (end_location - start_location).norm(); + uint32_t num_steps = (uint32_t)ceil(distance / (GetResolution() * 0.5)); + for (uint32_t step_num = 0; step_num <= num_steps; step_num++) + { + const double ratio = (double)step_num / (double)num_steps; + const Eigen::Vector3d interpolated_location = EigenHelpers::Interpolate(start_location, end_location, ratio); + std::vector raw_interpolated_index = region_grid.LocationToGridIndex3d(interpolated_location); + assert(raw_interpolated_index.size() == 3); + VoxelGrid::GRID_INDEX interpolated_index(raw_interpolated_index[0], raw_interpolated_index[1], raw_interpolated_index[2]); + // Grab the cell at that location + const TAGGED_OBJECT_COLLISION_CELL& intermediate_cell = GetImmutable(interpolated_index).first; + // Check for collision + if (intermediate_cell.occupancy >= 0.5) + { + return convex_indices; + } + // Check if we've already explored it + if (explored_indices[interpolated_index] == 1) + { + // Great + ; + } + else if (explored_indices[interpolated_index] == -1) + { + // We've already skipped it deliberately + return convex_indices; + } + else + { + if (interpolated_index == candidate_index) + { + // Great + ; + } + else + { + // We have no idea, let's see if it is convex with our already-explored indices + // Temporarily, we mark ourselves as successful + explored_indices[candidate_index] = 1; + // Call ourselves with the intermediate location + std::vector intermediate_convex_indices = CheckIfConvex(interpolated_index, explored_indices, region_grid, current_convex_region); + // Unmark ourselves since we don't really know + explored_indices[candidate_index] = 0; + // Save the intermediate index for addition + convex_indices.insert(convex_indices.end(), intermediate_convex_indices.begin(), intermediate_convex_indices.end()); + // Check if the intermediate index is convex + auto is_convex = std::find(convex_indices.begin(), convex_indices.end(), interpolated_index); + if (is_convex == convex_indices.end()) + { + // If not, we're done + return convex_indices; + } + } + } + } + } + } + // If all indices were reachable, we are part of the convex set + convex_indices.push_back(candidate_index); + explored_indices[candidate_index] = 1; + return convex_indices; + } + + TaggedObjectCollisionMapGrid::TaggedObjectCollisionMapGrid(const std::string& frame, const double resolution, const double x_size, const double y_size, const double z_size, const TAGGED_OBJECT_COLLISION_CELL& default_value, const TAGGED_OBJECT_COLLISION_CELL& OOB_value) : initialized_(true) + { + frame_ = frame; + VoxelGrid::VoxelGrid new_field(resolution, x_size, y_size, z_size, default_value, OOB_value); + collision_field_ = new_field; + number_of_components_ = 0; + components_valid_ = false; + convex_segments_valid_ = false; + } + + TaggedObjectCollisionMapGrid::TaggedObjectCollisionMapGrid(const Eigen::Isometry3d& origin_transform, const std::string& frame, const double resolution, const double x_size, const double y_size, const double z_size, const TAGGED_OBJECT_COLLISION_CELL& default_value, const TAGGED_OBJECT_COLLISION_CELL& OOB_value) : initialized_(true) + { + frame_ = frame; + VoxelGrid::VoxelGrid new_field(origin_transform, resolution, x_size, y_size, z_size, default_value, OOB_value); + collision_field_ = new_field; + number_of_components_ = 0; + components_valid_ = false; + convex_segments_valid_ = false; + } + + TaggedObjectCollisionMapGrid::TaggedObjectCollisionMapGrid(const std::string& frame, const double resolution, const double x_size, const double y_size, const double z_size, const TAGGED_OBJECT_COLLISION_CELL& OOB_value) : initialized_(true) + { + frame_ = frame; + VoxelGrid::VoxelGrid new_field(resolution, x_size, y_size, z_size, OOB_value); + collision_field_ = new_field; + number_of_components_ = 0; + components_valid_ = false; + convex_segments_valid_ = false; + } + + TaggedObjectCollisionMapGrid::TaggedObjectCollisionMapGrid(const Eigen::Isometry3d& origin_transform, const std::string& frame, const double resolution, const double x_size, const double y_size, const double z_size, const TAGGED_OBJECT_COLLISION_CELL& OOB_value) : initialized_(true) + { + frame_ = frame; + VoxelGrid::VoxelGrid new_field(origin_transform, resolution, x_size, y_size, z_size, OOB_value); + collision_field_ = new_field; + number_of_components_ = 0; + components_valid_ = false; + convex_segments_valid_ = false; + } + + TaggedObjectCollisionMapGrid::TaggedObjectCollisionMapGrid() : number_of_components_(0), initialized_(false), components_valid_(false), convex_segments_valid_(false) {} + + bool TaggedObjectCollisionMapGrid::IsInitialized() const + { + return initialized_; + } + + bool TaggedObjectCollisionMapGrid::AreComponentsValid() const + { + return components_valid_; + } + + bool TaggedObjectCollisionMapGrid::AreConvexSegmentsValid() const + { + return convex_segments_valid_; + } + + std::pair TaggedObjectCollisionMapGrid::CheckIfCandidateCorner3d(const Eigen::Vector3d& location) const + { + const std::vector indices = collision_field_.LocationToGridIndex3d(location); + if (indices.size() == 3) + { + return CheckIfCandidateCorner(indices[0], indices[1], indices[2]); + } + else + { + return std::pair(false, false); + } + } + + std::pair TaggedObjectCollisionMapGrid::CheckIfCandidateCorner4d(const Eigen::Vector4d& location) const + { + const std::vector indices = collision_field_.LocationToGridIndex4d(location); + if (indices.size() == 3) + { + return CheckIfCandidateCorner(indices[0], indices[1], indices[2]); + } + else + { + return std::pair(false, false); + } + } + + std::pair TaggedObjectCollisionMapGrid::CheckIfCandidateCorner(const double x, const double y, const double z) const + { + const Eigen::Vector4d location(x, y, z, 1.0); + return CheckIfCandidateCorner4d(location); + } + + std::pair TaggedObjectCollisionMapGrid::CheckIfCandidateCorner(const VoxelGrid::GRID_INDEX& index) const + { + return CheckIfCandidateCorner(index.x, index.y, index.z); + } + + std::pair TaggedObjectCollisionMapGrid::CheckIfCandidateCorner(const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + assert(components_valid_); + assert(convex_segments_valid_); + const std::pair current_cell = GetImmutable(x_index, y_index, z_index); + if (current_cell.second) + { + // Grab the six neighbors ONLY if they belong to a different component + uint32_t different_neighbors = 0u; + const std::pair xm1yz_cell = GetImmutable(x_index - 1, y_index, z_index); + if (xm1yz_cell.second && (xm1yz_cell.first.component != current_cell.first.component)) + { + different_neighbors++; + } + const std::pair xp1yz_cell = GetImmutable(x_index + 1, y_index, z_index); + if (xp1yz_cell.second && (xp1yz_cell.first.component != current_cell.first.component)) + { + different_neighbors++; + } + const std::pair xym1z_cell = GetImmutable(x_index, y_index - 1, z_index); + if (xym1z_cell.second && (xym1z_cell.first.component != current_cell.first.component)) + { + different_neighbors++; + } + const std::pair xyp1z_cell = GetImmutable(x_index, y_index + 1, z_index); + if (xyp1z_cell.second && (xyp1z_cell.first.component != current_cell.first.component)) + { + different_neighbors++; + } + const std::pair xyzm1_cell = GetImmutable(x_index, y_index, z_index - 1); + if (xyzm1_cell.second && (xyzm1_cell.first.component != current_cell.first.component)) + { + different_neighbors++; + } + const std::pair xyzp1_cell = GetImmutable(x_index, y_index, z_index + 1); + if (xyzp1_cell.second && (xyzp1_cell.first.component != current_cell.first.component)) + { + different_neighbors++; + } + // We now have between zero and six neighbors to work with + if (different_neighbors <= 1u) + { + // If there is one or fewer neighbors to work with, we are clearly not a corner + return std::pair(false, true); + } + else + { + // If there are 2 or more neighbors to work with, we are a candidate corner + return std::pair(true, true); + } + } + else + { + // Not in the grid + return std::pair(false, false); + } + } + + std::pair TaggedObjectCollisionMapGrid::GetImmutable3d(const Eigen::Vector3d& location) const + { + return collision_field_.GetImmutable3d(location); + } + + std::pair TaggedObjectCollisionMapGrid::GetImmutable4d(const Eigen::Vector4d& location) const + { + return collision_field_.GetImmutable4d(location); + } + + std::pair TaggedObjectCollisionMapGrid::GetImmutable(const double x, const double y, const double z) const + { + return collision_field_.GetImmutable(x, y, z); + } + + std::pair TaggedObjectCollisionMapGrid::GetImmutable(const VoxelGrid::GRID_INDEX& index) const + { + return collision_field_.GetImmutable(index); + } + + std::pair TaggedObjectCollisionMapGrid::GetImmutable(const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + return collision_field_.GetImmutable(x_index, y_index, z_index); + } + + std::pair TaggedObjectCollisionMapGrid::GetMutable3d(const Eigen::Vector3d& location) + { + return collision_field_.GetMutable3d(location); + } + + std::pair TaggedObjectCollisionMapGrid::GetMutable4d(const Eigen::Vector4d& location) + { + return collision_field_.GetMutable4d(location); + } + + std::pair TaggedObjectCollisionMapGrid::GetMutable(const double x, const double y, const double z) + { + return collision_field_.GetMutable(x, y, z); + } + + std::pair TaggedObjectCollisionMapGrid::GetMutable(const VoxelGrid::GRID_INDEX& index) + { + return collision_field_.GetMutable(index); + } + + std::pair TaggedObjectCollisionMapGrid::GetMutable(const int64_t x_index, const int64_t y_index, const int64_t z_index) + { + return collision_field_.GetMutable(x_index, y_index, z_index); + } + + bool TaggedObjectCollisionMapGrid::Set(const double x, const double y, const double z, const TAGGED_OBJECT_COLLISION_CELL& value) + { + components_valid_ = false; + convex_segments_valid_ = false; + return collision_field_.SetValue(x, y, z, value); + } + + bool TaggedObjectCollisionMapGrid::Set3d(const Eigen::Vector3d& location, const TAGGED_OBJECT_COLLISION_CELL& value) + { + components_valid_ = false; + convex_segments_valid_ = false; + return collision_field_.SetValue3d(location, value); + } + + bool TaggedObjectCollisionMapGrid::Set4d(const Eigen::Vector4d& location, const TAGGED_OBJECT_COLLISION_CELL& value) + { + components_valid_ = false; + convex_segments_valid_ = false; + return collision_field_.SetValue4d(location, value); + } + + bool TaggedObjectCollisionMapGrid::Set(const int64_t x_index, const int64_t y_index, const int64_t z_index, const TAGGED_OBJECT_COLLISION_CELL& value) + { + components_valid_ = false; + convex_segments_valid_ = false; + return collision_field_.SetValue(x_index, y_index, z_index, value); + } + + bool TaggedObjectCollisionMapGrid::Set(const VoxelGrid::GRID_INDEX& index, const TAGGED_OBJECT_COLLISION_CELL& value) + { + components_valid_ = false; + convex_segments_valid_ = false; + return collision_field_.SetValue(index, value); + } + + bool TaggedObjectCollisionMapGrid::Set(const double x, const double y, const double z, TAGGED_OBJECT_COLLISION_CELL&& value) + { + components_valid_ = false; + convex_segments_valid_ = false; + return collision_field_.SetValue(x, y, z, value); + } + + bool TaggedObjectCollisionMapGrid::Set3d(const Eigen::Vector3d& location, TAGGED_OBJECT_COLLISION_CELL&& value) + { + components_valid_ = false; + convex_segments_valid_ = false; + return collision_field_.SetValue3d(location, value); + } + + bool TaggedObjectCollisionMapGrid::Set4d(const Eigen::Vector4d& location, TAGGED_OBJECT_COLLISION_CELL&& value) + { + components_valid_ = false; + convex_segments_valid_ = false; + return collision_field_.SetValue4d(location, value); + } + + bool TaggedObjectCollisionMapGrid::Set(const int64_t x_index, const int64_t y_index, const int64_t z_index, TAGGED_OBJECT_COLLISION_CELL&& value) + { + components_valid_ = false; + convex_segments_valid_ = false; + return collision_field_.SetValue(x_index, y_index, z_index, value); + } + + bool TaggedObjectCollisionMapGrid::Set(const VoxelGrid::GRID_INDEX& index, TAGGED_OBJECT_COLLISION_CELL&& value) + { + components_valid_ = false; + convex_segments_valid_ = false; + return collision_field_.SetValue(index, value); + } + + double TaggedObjectCollisionMapGrid::GetXSize() const + { + return collision_field_.GetXSize(); + } + + double TaggedObjectCollisionMapGrid::GetYSize() const + { + return collision_field_.GetYSize(); + } + + double TaggedObjectCollisionMapGrid::GetZSize() const + { + return collision_field_.GetZSize(); + } + + double TaggedObjectCollisionMapGrid::GetResolution() const + { + return collision_field_.GetCellSizes()[0]; + } + + TAGGED_OBJECT_COLLISION_CELL TaggedObjectCollisionMapGrid::GetDefaultValue() const + { + return collision_field_.GetDefaultValue(); + } + + TAGGED_OBJECT_COLLISION_CELL TaggedObjectCollisionMapGrid::GetOOBValue() const + { + return collision_field_.GetOOBValue(); + } + + int64_t TaggedObjectCollisionMapGrid::GetNumXCells() const + { + return collision_field_.GetNumXCells(); + } + + int64_t TaggedObjectCollisionMapGrid::GetNumYCells() const + { + return collision_field_.GetNumYCells(); + } + + int64_t TaggedObjectCollisionMapGrid::GetNumZCells() const + { + return collision_field_.GetNumZCells(); + } + + const Eigen::Isometry3d& TaggedObjectCollisionMapGrid::GetOriginTransform() const + { + return collision_field_.GetOriginTransform(); + } + + const Eigen::Isometry3d& TaggedObjectCollisionMapGrid::GetInverseOriginTransform() const + { + return collision_field_.GetInverseOriginTransform(); + } + + std::string TaggedObjectCollisionMapGrid::GetFrame() const + { + return frame_; + } + + std::pair TaggedObjectCollisionMapGrid::GetNumConnectedComponents() const + { + return std::pair(number_of_components_, components_valid_); + } + + std::vector TaggedObjectCollisionMapGrid::LocationToGridIndex3d(const Eigen::Vector3d& location) const + { + return collision_field_.LocationToGridIndex3d(location); + } + + std::vector TaggedObjectCollisionMapGrid::LocationToGridIndex4d(const Eigen::Vector4d& location) const + { + return collision_field_.LocationToGridIndex4d(location); + } + + std::vector TaggedObjectCollisionMapGrid::LocationToGridIndex(const double x, const double y, const double z) const + { + return collision_field_.LocationToGridIndex(x, y, z); + } + + std::vector TaggedObjectCollisionMapGrid::GridIndexToLocation(const int64_t x_index, const int64_t y_index, const int64_t z_index) const + { + return collision_field_.GridIndexToLocation(x_index, y_index, z_index); + } + + bool TaggedObjectCollisionMapGrid::SaveToFile(const std::string &filepath) const + { + // Convert to message representation + sdf_tools::TaggedObjectCollisionMap message_rep = GetMessageRepresentation(); + // Save message to file + try + { + std::ofstream output_file(filepath.c_str(), std::ios::out|std::ios::binary); + uint32_t serialized_size = ros::serialization::serializationLength(message_rep); + std::unique_ptr ser_buffer(new uint8_t[serialized_size]); + ros::serialization::OStream ser_stream(ser_buffer.get(), serialized_size); + ros::serialization::serialize(ser_stream, message_rep); + output_file.write((char*)ser_buffer.get(), serialized_size); + output_file.close(); + return true; + } + catch (...) + { + return false; + } + } + + bool TaggedObjectCollisionMapGrid::LoadFromFile(const std::string& filepath) + { + try + { + // Load message from file + std::ifstream input_file(filepath.c_str(), std::ios::in|std::ios::binary); + input_file.seekg(0, std::ios::end); + std::streampos end = input_file.tellg(); + input_file.seekg(0, std::ios::beg); + std::streampos begin = input_file.tellg(); + uint32_t serialized_size = end - begin; + std::unique_ptr deser_buffer(new uint8_t[serialized_size]); + input_file.read((char*) deser_buffer.get(), serialized_size); + ros::serialization::IStream deser_stream(deser_buffer.get(), serialized_size); + sdf_tools::TaggedObjectCollisionMap new_message; + ros::serialization::deserialize(deser_stream, new_message); + // Load state from the message + bool success = LoadFromMessageRepresentation(new_message); + return success; + } + catch (...) + { + return false; + } + } + + sdf_tools::TaggedObjectCollisionMap TaggedObjectCollisionMapGrid::GetMessageRepresentation() const + { + sdf_tools::TaggedObjectCollisionMap message_rep; + // Populate message + message_rep.header.frame_id = frame_; + Eigen::Isometry3d origin_transform = GetOriginTransform(); + message_rep.origin_transform.translation.x = origin_transform.translation().x(); + message_rep.origin_transform.translation.y = origin_transform.translation().y(); + message_rep.origin_transform.translation.z = origin_transform.translation().z(); + Eigen::Quaterniond origin_transform_rotation(origin_transform.rotation()); + message_rep.origin_transform.rotation.x = origin_transform_rotation.x(); + message_rep.origin_transform.rotation.y = origin_transform_rotation.y(); + message_rep.origin_transform.rotation.z = origin_transform_rotation.z(); + message_rep.origin_transform.rotation.w = origin_transform_rotation.w(); + message_rep.dimensions.x = GetXSize(); + message_rep.dimensions.y = GetYSize(); + message_rep.dimensions.z = GetZSize(); + message_rep.cell_size = GetResolution(); + message_rep.OOB_value = TaggedObjectCollisionCellToBinary(GetOOBValue()); + message_rep.number_of_components = number_of_components_; + message_rep.components_valid = components_valid_; + message_rep.convex_segments_valid = convex_segments_valid_; + message_rep.initialized = initialized_; + const std::vector& raw_data = collision_field_.GetRawData(); + std::vector binary_data = PackBinaryRepresentation(raw_data); + message_rep.data = ZlibHelpers::CompressBytes(binary_data); + return message_rep; + } + + bool TaggedObjectCollisionMapGrid::LoadFromMessageRepresentation(const sdf_tools::TaggedObjectCollisionMap& message) + { + // Make a new voxel grid inside + Eigen::Translation3d origin_translation(message.origin_transform.translation.x, message.origin_transform.translation.y, message.origin_transform.translation.z); + Eigen::Quaterniond origin_rotation(message.origin_transform.rotation.w, message.origin_transform.rotation.x, message.origin_transform.rotation.y, message.origin_transform.rotation.z); + Eigen::Isometry3d origin_transform = origin_translation * origin_rotation; + TAGGED_OBJECT_COLLISION_CELL OOB_value = TaggedObjectCollisionCellFromBinary(message.OOB_value); + VoxelGrid::VoxelGrid new_field(origin_transform, message.cell_size, message.dimensions.x, message.dimensions.y, message.dimensions.z, OOB_value); + // Unpack the binary data + std::vector binary_representation = ZlibHelpers::DecompressBytes(message.data); + std::vector unpacked = UnpackBinaryRepresentation(binary_representation); + if (unpacked.empty()) + { + std::cerr << "Unpack returned an empty TaggedObjectCollisionMapGrid" << std::endl; + return false; + } + bool success = new_field.SetRawData(unpacked); + if (!success) + { + std::cerr << "Unable to set internal representation of the TaggedObjectCollisionMapGrid" << std::endl; + return false; + } + // Set it + collision_field_ = new_field; + frame_ = message.header.frame_id; + number_of_components_ = message.number_of_components; + components_valid_ = message.components_valid; + convex_segments_valid_ = message.convex_segments_valid; + initialized_ = message.initialized; + return true; + } + + TaggedObjectCollisionMapGrid TaggedObjectCollisionMapGrid::Resample(const double new_resolution) const + { + TaggedObjectCollisionMapGrid resampled(GetOriginTransform(), GetFrame(), new_resolution, GetXSize(), GetYSize(), GetZSize(), GetOOBValue()); + for (int64_t x_index = 0; x_index < GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < GetNumZCells(); z_index++) + { + const TAGGED_OBJECT_COLLISION_CELL& current_cell = GetImmutable(x_index, y_index, z_index).first; + const std::vector raw_current_cell_location = GridIndexToLocation(x_index, y_index, z_index); + assert(raw_current_cell_location.size() == 3); + const Eigen::Vector4d current_cell_location(raw_current_cell_location[0], raw_current_cell_location[1], raw_current_cell_location[2], 1.0); + resampled.Set4d(current_cell_location, current_cell); + } + } + } + return resampled; + } + + uint32_t TaggedObjectCollisionMapGrid::UpdateConnectedComponents() + { + // If the connected components are already valid, skip computing them again + if (components_valid_) + { + return number_of_components_; + } + components_valid_ = false; + // Reset components first + for (int64_t x_index = 0; x_index < GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < GetNumZCells(); z_index++) + { + GetMutable(x_index, y_index, z_index).first.component = 0; + } + } + } + // Mark the components + int64_t total_cells = GetNumXCells() * GetNumYCells() * GetNumZCells(); + int64_t marked_cells = 0; + uint32_t connected_components = 0; + // Sweep through the grid + for (int64_t x_index = 0; x_index < GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < GetNumZCells(); z_index++) + { + // Check if the cell has already been marked, if so, ignore + if (GetImmutable(x_index, y_index, z_index).first.component > 0) + { + continue; + } + // Start marking a new connected component + connected_components++; + int64_t cells_marked = MarkConnectedComponent(x_index, y_index, z_index, connected_components); + marked_cells += cells_marked; + // Short-circuit if we've marked everything + if (marked_cells == total_cells) + { + number_of_components_ = connected_components; + components_valid_ = true; + return connected_components; + } + } + } + } + number_of_components_ = connected_components; + components_valid_ = true; + return connected_components; + } + + std::map> TaggedObjectCollisionMapGrid::ComputeComponentTopology(const bool ignore_empty_components, const bool recompute_connected_components, const bool verbose) + { + // Recompute the connected components if need be + if (recompute_connected_components) + { + UpdateConnectedComponents(); + } + // Extract the surfaces of each connected component + std::map> component_surfaces = ExtractComponentSurfaces(ignore_empty_components); + // Compute the number of holes in each surface + std::map> component_holes; + std::map>::iterator component_surfaces_itr; + for (component_surfaces_itr = component_surfaces.begin(); component_surfaces_itr != component_surfaces.end(); ++component_surfaces_itr) + { + uint32_t component_number = component_surfaces_itr->first; + std::unordered_map& component_surface = component_surfaces_itr->second; + std::pair number_of_holes_and_voids = ComputeHolesInSurface(component_number, component_surface, verbose); + component_holes[component_number] = number_of_holes_and_voids; + } + return component_holes; + } + + std::map> TaggedObjectCollisionMapGrid::ExtractComponentSurfaces(const bool ignore_empty_components) const + { + std::map> component_surfaces; + // Loop through the grid and extract surface cells for each component + for (int64_t x_index = 0; x_index < GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < GetNumZCells(); z_index++) + { + const TAGGED_OBJECT_COLLISION_CELL& current_cell = GetImmutable(x_index, y_index, z_index).first; + if (ignore_empty_components) + { + if (current_cell.occupancy > 0.5) + { + VoxelGrid::GRID_INDEX current_index(x_index, y_index, z_index); + if (IsSurfaceIndex(x_index, y_index, z_index)) + { + component_surfaces[current_cell.component][current_index] = 1; + } + } + } + else + { + VoxelGrid::GRID_INDEX current_index(x_index, y_index, z_index); + if (IsSurfaceIndex(x_index, y_index, z_index)) + { + component_surfaces[current_cell.component][current_index] = 1; + } + } + } + } + } + return component_surfaces; + } + + /* Extracts the active indices from a surface map as a vector, which is useful in contexts where a 1-dimensional index into the surface is needed + */ + std::vector TaggedObjectCollisionMapGrid::ExtractStaticSurface(const std::unordered_map& raw_surface) const + { + std::vector static_surface; + // This may be larger than the actual surface we'll extrac + static_surface.reserve(raw_surface.size()); + for (auto itr = raw_surface.begin(); itr != raw_surface.end(); ++itr) + { + const VoxelGrid::GRID_INDEX& index = itr->first; + const uint8_t value = itr->second; + if (value == 1) + { + static_surface.push_back(index); + } + } + // Try to reclaim the unnecessary vector capacity + static_surface.shrink_to_fit(); + return static_surface; + } + + std::unordered_map TaggedObjectCollisionMapGrid::ConvertToDynamicSurface(const std::vector& static_surface) const + { + std::unordered_map dynamic_surface(static_surface.size()); + for (size_t idx = 0; idx < static_surface.size(); idx++) + { + const VoxelGrid::GRID_INDEX& grid_index = static_surface[idx]; + dynamic_surface[grid_index] = 1u; + } + return dynamic_surface; + } + + std::unordered_map TaggedObjectCollisionMapGrid::BuildSurfaceIndexMap(const std::vector& static_surface) const + { + std::unordered_map dynamic_surface(static_surface.size()); + for (size_t idx = 0; idx < static_surface.size(); idx++) + { + const VoxelGrid::GRID_INDEX& current_index = static_surface[idx]; + dynamic_surface[current_index] = idx; + } + return dynamic_surface; + } + + std::pair TaggedObjectCollisionMapGrid::ComputeHolesInSurface(const uint32_t component, const std::unordered_map& surface, const bool verbose) const + { + // We have a list of all voxels with an exposed surface face + // We loop through this list of voxels, and convert each voxel + // into 8 vertices (the corners), which we individually check: + // + // First - we check to see if the vertex has already been + // evaluated + // + // Second - we check if the vertex is actually on the surface + // (make sure at least one of the three adjacent vertices is + // exposed) + // + // Third - insert into hashtable of surface vertices + // + // Once we have completed this process, we loop back through + // the hashtable of surface vertices and compute the number + // of distance-1 neighboring surface vertices (we do this by + // checking each of the six potential neighbor vertices) and + // keep a running count of all vertices with 3, 5, and 6 + // neighbors. + // + // Once we have evaluated all the neighbors of all surface + // vertices, we count the number of holes in the grid using + // the formula from Chen and Rong, "Linear Time Recognition + // Algorithms for Topological Invariants in 3D": + // + // #holes = 1 + (M5 + 2 * M6 - M3) / 8 + // + // where M5 is the number of vertices with 5 neighbors, + // M6 is the number of vertices with 6 neighbors, and + // M3 is the number of vertices with 3 neighbors + // + // Storage for surface vertices + // Compute a hint for initial surface vertex hashmap size + // expected # of surface vertices + // surface cells * 8 + #ifdef ENABLE_UNORDERED_MAP_SIZE_HINTS + size_t surface_vertices_size_hint = surface.size() * 8; + std::unordered_map surface_vertices(surface_vertices_size_hint); + #else + std::unordered_map surface_vertices; + #endif + // Loop through all the surface voxels and extract surface vertices + std::unordered_map::const_iterator surface_itr; + for (surface_itr = surface.begin(); surface_itr != surface.end(); ++surface_itr) + { + const VoxelGrid::GRID_INDEX& current_index = surface_itr->first; + // First, grab all six neighbors from the grid + std::pair xyzm1 = GetImmutable(current_index.x, current_index.y, current_index.z - 1); + std::pair xyzp1 = GetImmutable(current_index.x, current_index.y, current_index.z + 1); + std::pair xym1z = GetImmutable(current_index.x, current_index.y - 1, current_index.z); + std::pair xyp1z = GetImmutable(current_index.x, current_index.y + 1, current_index.z); + std::pair xm1yz = GetImmutable(current_index.x - 1, current_index.y, current_index.z); + std::pair xp1yz = GetImmutable(current_index.x + 1, current_index.y, current_index.z); + // Generate all 8 vertices for the current voxel, check if an adjacent vertex is on the surface, and insert it if so + // First, check the (-,-,-) vertex + if (component != xyzm1.first.component || component != xym1z.first.component || component != xm1yz.first.component) + { + VoxelGrid::GRID_INDEX vertex1(current_index.x, current_index.y, current_index.z); + surface_vertices[vertex1] = 1; + } + // Second, check the (-,-,+) vertex + if (component != xyzp1.first.component || component != xym1z.first.component || component != xm1yz.first.component) + { + VoxelGrid::GRID_INDEX vertex2(current_index.x, current_index.y, current_index.z + 1); + surface_vertices[vertex2] = 1; + } + // Third, check the (-,+,-) vertex + if (component != xyzm1.first.component || component != xyp1z.first.component || component != xm1yz.first.component) + { + VoxelGrid::GRID_INDEX vertex3(current_index.x, current_index.y + 1, current_index.z); + surface_vertices[vertex3] = 1; + } + // Fourth, check the (-,+,+) vertex + if (component != xyzp1.first.component || component != xyp1z.first.component || component != xm1yz.first.component) + { + VoxelGrid::GRID_INDEX vertex4(current_index.x, current_index.y + 1, current_index.z + 1); + surface_vertices[vertex4] = 1; + } + // Fifth, check the (+,-,-) vertex + if (component != xyzm1.first.component || component != xym1z.first.component || component != xp1yz.first.component) + { + VoxelGrid::GRID_INDEX vertex5(current_index.x + 1, current_index.y, current_index.z); + surface_vertices[vertex5] = 1; + } + // Sixth, check the (+,-,+) vertex + if (component != xyzp1.first.component || component != xym1z.first.component || component != xp1yz.first.component) + { + VoxelGrid::GRID_INDEX vertex6(current_index.x + 1, current_index.y, current_index.z + 1); + surface_vertices[vertex6] = 1; + } + // Seventh, check the (+,+,-) vertex + if (component != xyzm1.first.component || component != xyp1z.first.component || component != xp1yz.first.component) + { + VoxelGrid::GRID_INDEX vertex7(current_index.x + 1, current_index.y + 1, current_index.z); + surface_vertices[vertex7] = 1; + } + // Eighth, check the (+,+,+) vertex + if (component != xyzp1.first.component || component != xyp1z.first.component || component != xp1yz.first.component) + { + VoxelGrid::GRID_INDEX vertex8(current_index.x + 1, current_index.y + 1, current_index.z + 1); + surface_vertices[vertex8] = 1; + } + } + if (verbose) + { + std::cerr << "Surface with " << surface.size() << " voxels has " << surface_vertices.size() << " surface vertices" << std::endl; + } + // Iterate through the surface vertices and count the neighbors of each vertex + int32_t M3 = 0; + int32_t M5 = 0; + int32_t M6 = 0; + // Store the connectivity of each vertex + // Compute a hint for initial vertex connectivity hashmap size + // real # of surface vertices + // surface vertices + size_t vertex_connectivity_size_hint = surface_vertices.size(); + std::unordered_map vertex_connectivity(vertex_connectivity_size_hint); + std::unordered_map::iterator surface_vertices_itr; + for (surface_vertices_itr = surface_vertices.begin(); surface_vertices_itr != surface_vertices.end(); ++surface_vertices_itr) + { + VoxelGrid::GRID_INDEX key = surface_vertices_itr->first; + VoxelGrid::GRID_INDEX value = key; + // Insert into the connectivity map + vertex_connectivity[key] = 0b00000000; + // Check the six edges from the current vertex and count the number of exposed edges + // (an edge is exposed if the at least one of the four surrounding voxels is not part + // of the current component) + int32_t edge_count = 0; + // First, get the 8 voxels that surround the current vertex + std::pair xm1ym1zm1 = GetImmutable(value.x - 1, value.y - 1, value.z - 1); + std::pair xm1ym1zp1 = GetImmutable(value.x - 1, value.y - 1, value.z + 0); + std::pair xm1yp1zm1 = GetImmutable(value.x - 1, value.y + 0, value.z - 1); + std::pair xm1yp1zp1 = GetImmutable(value.x - 1, value.y + 0, value.z + 0); + std::pair xp1ym1zm1 = GetImmutable(value.x + 0, value.y - 1, value.z - 1); + std::pair xp1ym1zp1 = GetImmutable(value.x + 0, value.y - 1, value.z + 0); + std::pair xp1yp1zm1 = GetImmutable(value.x + 0, value.y + 0, value.z - 1); + std::pair xp1yp1zp1 = GetImmutable(value.x + 0, value.y + 0, value.z + 0); + // Check the "z- down" edge + if (component != xm1ym1zm1.first.component || component != xm1yp1zm1.first.component || component != xp1ym1zm1.first.component || component != xp1yp1zm1.first.component) + { + if (!(component != xm1ym1zm1.first.component && component != xm1yp1zm1.first.component && component != xp1ym1zm1.first.component && component != xp1yp1zm1.first.component)) + { + edge_count++; + vertex_connectivity[key] |= 0b00000001; + } + } + // Check the "z+ up" edge + if (component != xm1ym1zp1.first.component || component != xm1yp1zp1.first.component || component != xp1ym1zp1.first.component || component != xp1yp1zp1.first.component) + { + if (!(component != xm1ym1zp1.first.component && component != xm1yp1zp1.first.component && component != xp1ym1zp1.first.component && component != xp1yp1zp1.first.component)) + { + edge_count++; + vertex_connectivity[key] |= 0b00000010; + } + } + // Check the "y- right" edge + if (component != xm1ym1zm1.first.component || component != xm1ym1zp1.first.component || component != xp1ym1zm1.first.component || component != xp1ym1zp1.first.component) + { + if (!(component != xm1ym1zm1.first.component && component != xm1ym1zp1.first.component && component != xp1ym1zm1.first.component && component != xp1ym1zp1.first.component)) + { + edge_count++; + vertex_connectivity[key] |= 0b00000100; + } + } + // Check the "y+ left" edge + if (component != xm1yp1zm1.first.component || component != xm1yp1zp1.first.component || component != xp1yp1zm1.first.component || component != xp1yp1zp1.first.component) + { + if (!(component != xm1yp1zm1.first.component && component != xm1yp1zp1.first.component && component != xp1yp1zm1.first.component && component != xp1yp1zp1.first.component)) + { + edge_count++; + vertex_connectivity[key] |= 0b00001000; + } + } + // Check the "x- back" edge + if (component != xm1ym1zm1.first.component || component != xm1ym1zp1.first.component || component != xm1yp1zm1.first.component || component != xm1yp1zp1.first.component) + { + if (!(component != xm1ym1zm1.first.component && component != xm1ym1zp1.first.component && component != xm1yp1zm1.first.component && component != xm1yp1zp1.first.component)) + { + edge_count++; + vertex_connectivity[key] |= 0b00010000; + } + } + // Check the "x+ front" edge + if (component != xp1ym1zm1.first.component || component != xp1ym1zp1.first.component || component != xp1yp1zm1.first.component || component != xp1yp1zp1.first.component) + { + if (!(component != xp1ym1zm1.first.component && component != xp1ym1zp1.first.component && component != xp1yp1zm1.first.component && component != xp1yp1zp1.first.component)) + { + edge_count++; + vertex_connectivity[key] |= 0b00100000; + } + } + // Increment M counts + if (edge_count == 3) + { + M3++; + } + else if (edge_count == 5) + { + M5++; + } + else if (edge_count == 6) + { + M6++; + } + } + // Check to see if the set of vertices is connected. If not, our object contains void(s) + int32_t number_of_surfaces = ComputeConnectivityOfSurfaceVertices(vertex_connectivity); + int32_t number_of_voids = number_of_surfaces - 1; + // Compute the number of holes in the surface + int32_t raw_number_of_holes = 1 + ((M5 + (2 * M6) - M3) / 8); + int32_t number_of_holes = raw_number_of_holes + number_of_voids; + if (verbose) + { + std::cout << "Processing surface with M3 = " << M3 << " M5 = " << M5 << " M6 = " << M6 << " holes = " << number_of_holes << " surfaces = " << number_of_surfaces << " voids = " << number_of_voids << std::endl; + } + return std::pair(number_of_holes, number_of_voids); + } + + int32_t TaggedObjectCollisionMapGrid::ComputeConnectivityOfSurfaceVertices(const std::unordered_map& surface_vertex_connectivity) const + { + int32_t connected_components = 0; + int64_t processed_vertices = 0; + // Compute a hint for initial vertex components hashmap size + // real # of surface vertices + // surface vertices + size_t vertex_components_size_hint = surface_vertex_connectivity.size(); + std::unordered_map vertex_components(vertex_components_size_hint); + // Iterate through the vertices + std::unordered_map::const_iterator surface_vertices_itr; + for (surface_vertices_itr = surface_vertex_connectivity.begin(); surface_vertices_itr != surface_vertex_connectivity.end(); ++surface_vertices_itr) + { + VoxelGrid::GRID_INDEX key = surface_vertices_itr->first; + VoxelGrid::GRID_INDEX location = key; + //const uint8_t& connectivity = surface_vertices_itr->second.second; + // First, check if the vertex has already been marked + if (vertex_components[key] > 0) + { + continue; + } + else + { + // If not, we start marking a new connected component + connected_components++; + // Make the working queue + std::list working_queue; + // Make a hash table to store queued indices (so we don't repeat work) + // Compute a hint for initial queued hashtable hashmap size + // If we assume that most object surfaces are, in fact, intact, then the first (and only) + // queued_hashtable will need to store an entry for every vertex on the surface. + // real # of surface vertices + // surface vertices + size_t queued_hashtable_size_hint = surface_vertex_connectivity.size(); + std::unordered_map queued_hashtable(queued_hashtable_size_hint); + // Add the current point + working_queue.push_back(location); + queued_hashtable[key] = 1; + // Keep track of the number of vertices we've processed + int64_t component_processed_vertices = 0; + // Loop from the queue + while (working_queue.size() > 0) + { + // Get the top of the working queue + VoxelGrid::GRID_INDEX current_vertex = working_queue.front(); + working_queue.pop_front(); + component_processed_vertices++; + vertex_components[current_vertex] = connected_components; + // Check the six possibly-connected vertices and add them to the queue if they are connected + // Get the connectivity of our index + uint8_t connectivity = surface_vertex_connectivity.at(current_vertex); + // Go through the neighbors + if ((connectivity & 0b00000001) > 0) + { + // Try to add the vertex + VoxelGrid::GRID_INDEX connected_vertex(current_vertex.x, current_vertex.y, current_vertex.z - 1); + // We only add if we haven't already processed it + if (queued_hashtable[connected_vertex] <= 0) + { + queued_hashtable[connected_vertex] = 1; + working_queue.push_back(connected_vertex); + } + } + if ((connectivity & 0b00000010) > 0) + { + // Try to add the vertex + VoxelGrid::GRID_INDEX connected_vertex(current_vertex.x, current_vertex.y, current_vertex.z + 1); + // We only add if we haven't already processed it + if (queued_hashtable[connected_vertex] <= 0) + { + queued_hashtable[connected_vertex] = 1; + working_queue.push_back(connected_vertex); + } + } + if ((connectivity & 0b00000100) > 0) + { + // Try to add the vertex + VoxelGrid::GRID_INDEX connected_vertex(current_vertex.x, current_vertex.y - 1, current_vertex.z); + // We only add if we haven't already processed it + if (queued_hashtable[connected_vertex] <= 0) + { + queued_hashtable[connected_vertex] = 1; + working_queue.push_back(connected_vertex); + } + } + if ((connectivity & 0b00001000) > 0) + { + // Try to add the vertex + VoxelGrid::GRID_INDEX connected_vertex(current_vertex.x, current_vertex.y + 1, current_vertex.z); + // We only add if we haven't already processed it + if (queued_hashtable[connected_vertex] <= 0) + { + queued_hashtable[connected_vertex] = 1; + working_queue.push_back(connected_vertex); + } + } + if ((connectivity & 0b00010000) > 0) + { + // Try to add the vertex + VoxelGrid::GRID_INDEX connected_vertex(current_vertex.x - 1, current_vertex.y, current_vertex.z); + // We only add if we haven't already processed it + if (queued_hashtable[connected_vertex] <= 0) + { + queued_hashtable[connected_vertex] = 1; + working_queue.push_back(connected_vertex); + } + } + if ((connectivity & 0b00100000) > 0) + { + // Try to add the vertex + VoxelGrid::GRID_INDEX connected_vertex(current_vertex.x + 1, current_vertex.y, current_vertex.z); + // We only add if we haven't already processed it + if (queued_hashtable[connected_vertex] <= 0) + { + queued_hashtable[connected_vertex] = 1; + working_queue.push_back(connected_vertex); + } + } + } + processed_vertices += component_processed_vertices; + if (processed_vertices == (int64_t)surface_vertex_connectivity.size()) + { + break; + } + } + } + return connected_components; + } + + std::pair> TaggedObjectCollisionMapGrid::ExtractSignedDistanceField(const float oob_value, const std::vector& objects_to_use) const + { + // To make this faster, we put the objects to use into a map + std::map object_use_map; + for (size_t idx = 0; idx < objects_to_use.size(); idx++) + { + object_use_map[objects_to_use[idx]] = 1; + } + // Make the SDF + SignedDistanceField new_sdf(GetOriginTransform(), frame_, GetResolution(), GetXSize(), GetYSize(), GetZSize(), oob_value); + std::vector filled; + std::vector free; + for (int64_t x_index = 0; x_index < new_sdf.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < new_sdf.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < new_sdf.GetNumZCells(); z_index++) + { + VoxelGrid::GRID_INDEX current_index(x_index, y_index, z_index); + const TAGGED_OBJECT_COLLISION_CELL& stored = GetImmutable(x_index, y_index, z_index).first; + // If it matches an object to use OR there are no objects supplied + if ((object_use_map[stored.object_id] == 1) || (objects_to_use.size() == 0)) + { + if (stored.occupancy > 0.5) + { + // Mark as filled + filled.push_back(current_index); + } + else + { + // Mark as free space + free.push_back(current_index); + } + } + else + { + // Mark as free space + free.push_back(current_index); + } + } + } + } + // Make two distance fields (one for distance to filled voxels, one for distance to free voxels + DistanceField filled_distance_field = BuildDistanceField(filled); + DistanceField free_distance_field = BuildDistanceField(free); + // Generate the SDF + double max_distance = -INFINITY; + double min_distance = INFINITY; + for (int64_t x_index = 0; x_index < filled_distance_field.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < filled_distance_field.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < filled_distance_field.GetNumZCells(); z_index++) + { + double distance1 = sqrt(filled_distance_field.GetImmutable(x_index, y_index, z_index).first.distance_square) * new_sdf.GetResolution(); + double distance2 = sqrt(free_distance_field.GetImmutable(x_index, y_index, z_index).first.distance_square) * new_sdf.GetResolution(); + double distance = distance1 - distance2; + if (distance > max_distance) + { + max_distance = distance; + } + if (distance < min_distance) + { + min_distance = distance; + } + new_sdf.Set(x_index, y_index, z_index, distance); + } + } + } + std::pair extrema(max_distance, min_distance); + return std::pair>(new_sdf, extrema); + } + + VoxelGrid::VoxelGrid> TaggedObjectCollisionMapGrid::ComputeConvexRegions(const double max_check_radius) const + { + VoxelGrid::VoxelGrid> convex_region_grid(GetOriginTransform(), GetResolution(), GetXSize(), GetYSize(), GetZSize(), std::vector()); + uint32_t current_convex_region = 0; + for (int64_t x_index = 0; x_index < GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < GetNumZCells(); z_index++) + { + // Check if cell is empty + if (GetImmutable(x_index, y_index, z_index).first.occupancy < 0.5) + { + // Check if we've already marked it once + const std::vector& current_cell_regions = convex_region_grid.GetImmutable(x_index, y_index, z_index).first; + if (current_cell_regions.empty()) + { + current_convex_region++; + std::cout << "Marking convex region " << current_convex_region << std::endl; + GrowConvexRegion(VoxelGrid::GRID_INDEX(x_index, y_index, z_index), convex_region_grid, max_check_radius, current_convex_region); + } + } + } + } + } + std::cout << "Marked " << current_convex_region << " convex regions" << std::endl; + return convex_region_grid; + } + + void TaggedObjectCollisionMapGrid::GrowConvexRegion(const VoxelGrid::GRID_INDEX& start_index, VoxelGrid::VoxelGrid>& region_grid, const double max_check_radius, const uint32_t current_convex_region) const + { + // Mark the region of the start index + region_grid.GetMutable(start_index).first.push_back(current_convex_region); + std::cout << "Added " << PrettyPrint::PrettyPrint(start_index) << " to region " << current_convex_region << std::endl; + const Eigen::Vector3d start_location = EigenHelpers::StdVectorDoubleToEigenVector3d(GridIndexToLocation(start_index.x, start_index.y, start_index.z)); + std::list working_queue; + std::unordered_map queued_hashtable; + working_queue.push_back(start_index); + queued_hashtable[start_index] = 1; + while (working_queue.size() > 0) + { + // Get the top of the working queue + VoxelGrid::GRID_INDEX current_index = working_queue.front(); + // Remove from the queue + working_queue.pop_front(); + // See if we can add the neighbors + std::vector potential_neighbors(6); + potential_neighbors[0] = VoxelGrid::GRID_INDEX(current_index.x - 1, current_index.y, current_index.z); + potential_neighbors[1] = VoxelGrid::GRID_INDEX(current_index.x + 1, current_index.y, current_index.z); + potential_neighbors[2] = VoxelGrid::GRID_INDEX(current_index.x, current_index.y - 1, current_index.z); + potential_neighbors[3] = VoxelGrid::GRID_INDEX(current_index.x, current_index.y + 1, current_index.z); + potential_neighbors[4] = VoxelGrid::GRID_INDEX(current_index.x, current_index.y, current_index.z - 1); + potential_neighbors[5] = VoxelGrid::GRID_INDEX(current_index.x, current_index.y, current_index.z + 1); + for (size_t idx = 0; idx < potential_neighbors.size(); idx++) + { + const VoxelGrid::GRID_INDEX& candidate_neighbor = potential_neighbors[idx]; + // Make sure the candidate neighbor is in range + if ((candidate_neighbor.x >= 0) && (candidate_neighbor.y >= 0) && (candidate_neighbor.z >= 0) && (candidate_neighbor.x < GetNumXCells()) && (candidate_neighbor.y < GetNumYCells()) && (candidate_neighbor.z < GetNumZCells())) + { + // Make sure it's within the check radius + const Eigen::Vector3d current_location = EigenHelpers::StdVectorDoubleToEigenVector3d(GridIndexToLocation(candidate_neighbor.x, candidate_neighbor.y, candidate_neighbor.z)); + double distance = (current_location - start_location).norm(); + if (distance <= max_check_radius) + { + // Make sure the candidate neighbor is empty + if (GetImmutable(candidate_neighbor).first.occupancy < 0.5) + { + // Make sure we haven't already checked + if (queued_hashtable[candidate_neighbor] == 0) + { + // Now, let's check if the current index forms a convex set with the indices marked already + std::vector convex_indices = CheckIfConvex(candidate_neighbor, queued_hashtable, region_grid, current_convex_region); + // Set this to false. If it really is convex, this will get changed in the next loop + queued_hashtable[candidate_neighbor] = -1; + // Add the new convex indices + for (size_t cdx = 0; cdx < convex_indices.size(); cdx++) + { + const VoxelGrid::GRID_INDEX& convex_index = convex_indices[cdx]; + // Add to the queue + working_queue.push_back(convex_index); + queued_hashtable[convex_index] = 1; + // Mark it + region_grid.GetMutable(convex_index).first.push_back(current_convex_region); + std::cout << "Added " << PrettyPrint::PrettyPrint(convex_index) << " to region " << current_convex_region << std::endl; + } + } + } + } + } + } + } + } + + EigenHelpers::VectorVector3d TaggedObjectCollisionMapGrid::GenerateRayPrimitiveVectors(const uint32_t number_of_rays, const double cone_angle) const + { + (void)(number_of_rays); + (void)(cone_angle); + // Uniformly between [0.0, 2PI) + std::vector phis = {0.0, M_PI_4, M_PI_2, M_PI_4 * 3.0, M_PI, M_PI_4 * 5.0, M_PI_2 * 3.0, M_PI_4 * 7.0}; + // Uniformly between [cos(cone angle), 1.0] + std::vector zs = {0.55, 0.65, 0.75, 0.85, 0.95}; + // Sample the rays inside the cone + EigenHelpers::VectorVector3d ray_primitive_vectors; + for (size_t phidx = 0; phidx < phis.size(); phidx++) + { + for (size_t zdx = 0; zdx < zs.size(); zdx++) + { + const double phi = phis[phidx]; + const double z = zs[zdx]; + // Compute the vector + const double x = sqrt(1.0 - (z * z)) * cos(phi); + const double y = sqrt(1.0 - (z * z)) * sin(phi); + Eigen::Vector3d raw_cone_vector(x, y, z); + ray_primitive_vectors.push_back(raw_cone_vector / raw_cone_vector.norm()); + } + } + ray_primitive_vectors.push_back(Eigen::Vector3d::UnitZ()); + return ray_primitive_vectors; + } + + std::pair, std::vector> TaggedObjectCollisionMapGrid::CastSingleRay(const std::unordered_map& surface_index_map, const VoxelGrid::GRID_INDEX& current_surface_index, const Eigen::Vector3d& ray_unit_vector) const + { + std::map line_of_sight_indices; + std::map non_line_of_sight_indices; + Eigen::Vector3d current_location = EigenHelpers::StdVectorDoubleToEigenVector3d(GridIndexToLocation(current_surface_index.x, current_surface_index.y, current_surface_index.z)); + const double ray_step_size = GetResolution() * 0.5; + const Eigen::Vector3d ray_step_vector = ray_unit_vector * ray_step_size; + bool in_grid = true; + bool collided = false; + // Step along the ray vector until we run off the side of the grid + while (in_grid) + { + // Grab the index corresponding to our location + std::vector raw_current_index = LocationToGridIndex(current_location.x(), current_location.y(), current_location.z()); + if (raw_current_index.size() == 3) + { + VoxelGrid::GRID_INDEX current_index(raw_current_index[0], raw_current_index[1], raw_current_index[2]); + //std::cout << "CVGX " << PrettyPrint::PrettyPrint(current_index) << std::endl; + // Are we in the surface? + auto found_itr = surface_index_map.find(current_index); + if (found_itr != surface_index_map.end()) + { + //std::cout << "+++++ On surface +++++" << std::endl; + const VoxelGrid::GRID_INDEX& found_index = found_itr->first; + const size_t found_surface_index = found_itr->second; + // If we are not the current surface index + if (!(found_index == current_surface_index)) + { + if ((line_of_sight_indices[found_surface_index] == 1) || (collided == false)) + { + line_of_sight_indices[found_surface_index] = 1u; + collided = true; + } + else + { + non_line_of_sight_indices[found_surface_index] = 1u; + } + } + } + // Either way, we take a step + current_location += ray_step_vector; + } + // We're not in the grid any more + else + { + in_grid = false; + } + } + //std::cout << "LOS [map] " << PrettyPrint::PrettyPrint(line_of_sight_indices) << std::endl; + //std::cout << "NLOS [map] " << PrettyPrint::PrettyPrint(non_line_of_sight_indices) << std::endl; + // Get the vectors of indices + std::vector line_of_sight_indices_vector; + line_of_sight_indices_vector.reserve(line_of_sight_indices.size()); + for (auto itr = line_of_sight_indices.begin(); itr != line_of_sight_indices.end(); ++itr) + { + if (itr->second == 1u) + { + line_of_sight_indices_vector.push_back(itr->first); + } + } + std::vector non_line_of_sight_indices_vector; + non_line_of_sight_indices_vector.reserve(non_line_of_sight_indices.size()); + for (auto itr = non_line_of_sight_indices.begin(); itr != non_line_of_sight_indices.end(); ++itr) + { + if (itr->second == 1u) + { + non_line_of_sight_indices_vector.push_back(itr->first); + } + } + // Shrink to fit as needed + line_of_sight_indices_vector.shrink_to_fit(); + non_line_of_sight_indices_vector.shrink_to_fit(); + //std::cout << "LOS [vec] " << PrettyPrint::PrettyPrint(line_of_sight_indices_vector) << std::endl; + //std::cout << "NLOS [vec] " << PrettyPrint::PrettyPrint(non_line_of_sight_indices_vector) << std::endl; + return std::pair, std::vector>(line_of_sight_indices_vector, non_line_of_sight_indices_vector); + } + + std::pair, std::vector> TaggedObjectCollisionMapGrid::PerformRayCasting(const sdf_tools::SignedDistanceField& sdf, const std::unordered_map& surface_index_map, const VoxelGrid::GRID_INDEX& current_surface_index, const EigenHelpers::VectorVector3d& ray_primitive_vectors) const + { + std::vector line_of_sight_indices; + std::vector non_line_of_sight_indices; + // Are we inside an object? + bool inside_object = false; + const float occupancy = GetImmutable(current_surface_index).first.occupancy; + if (occupancy < 0.5f) + { + inside_object = false; + } + else if (occupancy > 0.5f) + { + inside_object = true; + } + else + { + // LOL NOPE + assert(occupancy != 0.5f); + } + // Get the current gradient + std::vector raw_gradient = sdf.GetGradient(current_surface_index.x, current_surface_index.y, current_surface_index.z, true); + Eigen::Vector3d raw_gradient_vector = EigenHelpers::StdVectorDoubleToEigenVector3d(raw_gradient); + // Turn the gradient into an inverse surface normal vector (i.e. points inwards) + assert(raw_gradient_vector.norm() > 0.0); + // In free space, the vector already points in the correct direction + Eigen::Vector3d surface_normal = raw_gradient_vector / raw_gradient_vector.norm(); + // If we're inside an object, flip the vector + if (inside_object) + { + surface_normal = surface_normal * -1.0; + } + // Compute the pointing rotation using the cross product + Eigen::Vector3d base_normalized_vector = Eigen::Vector3d::UnitZ(); + Eigen::Vector3d cross_product = base_normalized_vector.cross(surface_normal); + double dot_product = base_normalized_vector.dot(surface_normal); + double angle = acos(dot_product); + // Make the rotation + Eigen::AngleAxisd surface_normal_rotation(angle, cross_product); + Eigen::Matrix3d surface_normal_rotation_matrix(surface_normal_rotation); + // Safety check + Eigen::Vector3d check_vector = surface_normal_rotation_matrix * base_normalized_vector; + check_vector = check_vector / check_vector.norm(); + //std::cout << "Surface normal " << PrettyPrint::PrettyPrint(surface_normal) << std::endl; + //std::cout << "Check vector " << PrettyPrint::PrettyPrint(check_vector) << std::endl; + //assert(EigenHelpers::CloseEnough(check_vector, surface_normal, 0.01)); + // Perform raycasting for each ray + for (size_t idx = 0; idx < ray_primitive_vectors.size(); idx++) + { + // Get the real ray unit vector + const Eigen::Vector3d& ray_primitive_vector = ray_primitive_vectors[idx]; + const Eigen::Vector3d ray_unit_vector = surface_normal_rotation_matrix * ray_primitive_vector; + //std::cout << "Ray vector " << PrettyPrint::PrettyPrint(ray_unit_vector) << std::endl; + // Cast the single ray + std::pair, std::vector> single_raycast_results = CastSingleRay(surface_index_map, current_surface_index, ray_unit_vector); + //std::cout << "Raycasting results - " << PrettyPrint::PrettyPrint(single_raycast_results) << std::endl; + // Store the results + line_of_sight_indices.insert(line_of_sight_indices.end(), single_raycast_results.first.begin(), single_raycast_results.first.end()); + non_line_of_sight_indices.insert(non_line_of_sight_indices.end(), single_raycast_results.second.begin(), single_raycast_results.second.end()); + } + return std::pair, std::vector>(line_of_sight_indices, non_line_of_sight_indices); + } + + //std::pair, Eigen::SparseMatrix>> TaggedObjectCollisionMapGrid::ComputeSparseLineOfSight(const std::vector& static_surface, const uint32_t number_of_rays, const double cone_angle) const + Eigen::MatrixXd TaggedObjectCollisionMapGrid::ComputeSparseLineOfSight(const std::vector& static_surface, const uint32_t number_of_rays, const double cone_angle) const + { + // Make our signed distance field + sdf_tools::SignedDistanceField sdf = ExtractSignedDistanceField(INFINITY, std::vector()).first; + // Make a dynamic surface map + std::unordered_map dynamic_surface_map = BuildSurfaceIndexMap(static_surface); + // Make the ray primitive vectors + EigenHelpers::VectorVector3d ray_primitive_vectors = GenerateRayPrimitiveVectors(number_of_rays, cone_angle); + // Make containers +// std::vector> line_of_sight; +// std::vector> line_of_sight_not; + Eigen::MatrixXd line_of_sight_matrix = Eigen::MatrixXd::Zero(static_surface.size(), static_surface.size()); + // Go through the surface + for (size_t idx = 0; idx < static_surface.size(); idx++) + { + const VoxelGrid::GRID_INDEX& current_surface_index = static_surface[idx]; + // Perform raycasting + // Returns a vector of line-of-sight surface indices, and a vector of non-line-of-sight surface indices + const std::pair, std::vector> raycast_results = PerformRayCasting(sdf, dynamic_surface_map, current_surface_index, ray_primitive_vectors); + // Update the matrices + for (size_t sdx = 0; sdx < raycast_results.first.size(); sdx++) + { + const size_t surface_index = raycast_results.first[sdx]; +// line_of_sight.push_back(Eigen::Triplet(idx, surface_index, 1.0)); +// line_of_sight.push_back(Eigen::Triplet(surface_index, idx, 1.0)); + line_of_sight_matrix(idx, surface_index) = 1.0; + line_of_sight_matrix(surface_index, idx) = 1.0; + } + for (size_t sdx = 0; sdx < raycast_results.second.size(); sdx++) + { + const size_t surface_index = raycast_results.second[sdx]; +// line_of_sight_not.push_back(Eigen::Triplet(idx, surface_index, 1.0)); +// line_of_sight_not.push_back(Eigen::Triplet(surface_index, idx, 1.0)); + line_of_sight_matrix(idx, surface_index) = 0.0; + line_of_sight_matrix(surface_index, idx) = 0.0; + } + // Add ourselves to the line of sight +// line_of_sight.push_back(Eigen::Triplet(idx, idx, 1.0)); + line_of_sight_matrix(idx, idx) = 1.0; + } +// // Put together the sparse matrices +// Eigen::SparseMatrix line_of_sight_sparse; +// line_of_sight_sparse.setFromTriplets(line_of_sight.begin(), line_of_sight.end()); +// Eigen::SparseMatrix line_of_sight_not_sparse; +// line_of_sight_not_sparse.setFromTriplets(line_of_sight_not.begin(), line_of_sight_not.end()); + // Return them all + //return std::pair, Eigen::SparseMatrix>>(line_of_sight_matrix, std::pair, Eigen::SparseMatrix>(line_of_sight_sparse, line_of_sight_not_sparse)); + return line_of_sight_matrix; + } + + std::pair TaggedObjectCollisionMapGrid::ExtractKLargestEigenvaluesAndEigenvectors(const Eigen::EigenSolver::EigenvalueType& raw_eigenvalues, const Eigen::EigenSolver::EigenvectorsType& raw_eigenvectors, const uint32_t num_values) const + { + assert((int64_t)num_values <= raw_eigenvalues.size()); + // Collect the eigenvalue + index pairs + std::vector> eigenvalue_index_pairs(raw_eigenvalues.size()); + for (size_t idx = 0; idx < eigenvalue_index_pairs.size(); idx++) + { + const double current_eigenvalue = raw_eigenvalues((long)idx).real(); + eigenvalue_index_pairs[idx].first = current_eigenvalue; + eigenvalue_index_pairs[idx].second = idx; + } + // Sort the eigenvalue/index pairs by eigenvalue + std::function&, const std::pair&)> compare_fn = [] (const std::pair& p1, const std::pair& p2) { if (p1.first < p2.first) { return true; } else { return false; } }; + // Sorts them in ascending order + std::sort(eigenvalue_index_pairs.begin(), eigenvalue_index_pairs.end(), compare_fn); + // Now, we extract the last num_values eigenvalues and eigenvectors and put them into a vector + matrix + // Each column of this matrix is an eigenvector, so the # of rows corresponds to the number of datapoints, and the # of columns is the number of clusters + Eigen::VectorXd k_largest_eigenvalues = Eigen::VectorXd::Zero(num_values); + Eigen::MatrixXd k_largest_eigenvectors = Eigen::MatrixXd::Zero(raw_eigenvalues.rows(), num_values); + for (uint32_t num_value = 0; num_value < num_values; num_value++) + { + // Get the index of the ascending-sorted vector + const int64_t eigenvalue_index = (eigenvalue_index_pairs.size() - 1) - num_value; + // Get the index corresponding to the num_valueth-largest eigenvalue + const double current_eigenvalue = eigenvalue_index_pairs[eigenvalue_index].first; + k_largest_eigenvalues(num_value) = current_eigenvalue; + const size_t eigenvector_index = eigenvalue_index_pairs[eigenvalue_index].second; + // Grab the corresponding eigenvector + const Eigen::VectorXcd current_eigenvector = raw_eigenvectors.col((int64_t)eigenvector_index); + // Copy it over into the real world + Eigen::VectorXd real_current_eigenvector = Eigen::VectorXd::Zero(current_eigenvector.size()); + for (int64_t vdx = 0; vdx < real_current_eigenvector.size(); vdx++) + { + real_current_eigenvector(vdx) = current_eigenvector(vdx).real(); + } + // Set it in the matrix + k_largest_eigenvectors.col(num_value) = real_current_eigenvector; + } + // Return + return std::pair(k_largest_eigenvalues, k_largest_eigenvectors); + } + + std::vector TaggedObjectCollisionMapGrid::PerformKMeansSpectralClustering(const Eigen::EigenSolver::EigenvalueType& raw_eigenvalues, const Eigen::EigenSolver::EigenvectorsType& raw_eigenvectors, const uint32_t num_clusters) const + { + assert(num_clusters > 0); + // Grab the num_clusters largest eigenvalues & corresponding eigenvectors + // Each column of this matrix is an eigenvector, so the # of rows corresponds to the number of datapoints, and the # of columns is the number of clusters + Eigen::MatrixXd k_largest_eigenvectors = ExtractKLargestEigenvaluesAndEigenvectors(raw_eigenvalues, raw_eigenvectors, num_clusters).second; + // Convert them into datapoints for kmeans clustering + std::vector clustering_data(k_largest_eigenvectors.rows()); + for (size_t datapoint_index = 0; datapoint_index < clustering_data.size(); datapoint_index++) + { + Eigen::VectorXd datapoint = Eigen::VectorXd::Zero(num_clusters); + for (int64_t datavalue_index = 0; datavalue_index < (int64_t)num_clusters; datavalue_index++) + { + const double raw_value = k_largest_eigenvectors(datapoint_index, datavalue_index); + datapoint(datavalue_index) = raw_value; + } + clustering_data[datapoint_index] = datapoint; + } + std::function distance_fn = [] (const Eigen::VectorXd& v1, const Eigen::VectorXd& v2) { return EigenHelpers::Distance(v1, v2); }; + std::function&)> average_fn = [] (const std::vector& data) { return EigenHelpers::AverageEigenVectorXd(data); }; + std::vector cluster_labels = simple_kmeans_clustering::SimpleKMeansClustering::Cluster(clustering_data, distance_fn, average_fn, num_clusters, true); + return cluster_labels; + } + + double TaggedObjectCollisionMapGrid::ComputeConvexityMetric(const Eigen::MatrixXd& los_matrix, const std::vector& cluster_labels) const + { + const double alpha = 1.0; // This was used in the paper + assert(los_matrix.rows() == los_matrix.cols()); + assert(cluster_labels.size() == (size_t)los_matrix.rows()); + const uint32_t num_clusters = *std::max_element(cluster_labels.begin(), cluster_labels.end()) + 1; + double total_convexity_metric = 0.0; + for (uint32_t cluster = 0; cluster < num_clusters; cluster++) + { + double intravisible = 0.0; + double interoccluded = 0.0; + for (size_t idx = 0; idx < cluster_labels.size(); idx++) + { + // We only care about elements in our own cluster + if (cluster_labels[idx] == cluster) + { + // Loop through our row in the LOS matrix + for (size_t other_idx = 0; other_idx < cluster_labels.size(); other_idx++) + { + // If the other element is part of our cluster AND is visible + if ((cluster_labels[other_idx] == cluster) && (los_matrix(idx, other_idx) == 1.0)) + { + intravisible += 1.0; // This double counts, but we need to double count for convexity = 1 in the single cluster case + } + // If the other element is not part of our cluster AND is not visible + else if ((cluster_labels[other_idx] != cluster) && (los_matrix(idx, other_idx) == 0.0)) + { + interoccluded += 1.0; + } + } + } + } + const double cluster_convexity_metric = intravisible + (alpha * interoccluded); + total_convexity_metric += cluster_convexity_metric; + } + total_convexity_metric = total_convexity_metric / (double)(cluster_labels.size() * cluster_labels.size()); + return total_convexity_metric; + } + + std::vector> TaggedObjectCollisionMapGrid::ClusterSurfaceFromLOSMatrix(const Eigen::MatrixXd& los_matrix, const uint32_t max_num_clusters) const + { + assert(los_matrix.rows() == los_matrix.cols()); + assert(max_num_clusters > 0); + // Perform spectral clustering + // Compute degree matrix + Eigen::MatrixXd degree_matrix_diagonals = los_matrix.rowwise().sum(); + Eigen::MatrixXd degree_matrix = Eigen::MatrixXd::Zero(los_matrix.rows(), los_matrix.cols()); + degree_matrix.diagonal() = degree_matrix_diagonals; + // Compute the unnormalized Laplacian + Eigen::MatrixXd unnormalized_laplacian = degree_matrix - los_matrix; + // Compute Eigenvalues & Eigenvectors + Eigen::EigenSolver solver(unnormalized_laplacian); + Eigen::EigenSolver::EigenvalueType eigen_values = solver.eigenvalues(); + Eigen::EigenSolver::EigenvectorsType eigen_vectors = solver.eigenvectors(); + // Perform k-means clustering over a range of # of clusters + double best_convexity = 0.0; + std::vector best_clustering; + for (uint32_t num_clusters = 1; num_clusters <= max_num_clusters; num_clusters++) + { + if (num_clusters > (uint32_t)los_matrix.rows()) + { + std::cerr << "Number of clusters is larger than elements in surface, stopping clustering process" << std::endl; + break; + } + std::vector cluster_labels = PerformKMeansSpectralClustering(eigen_values, eigen_vectors, num_clusters); + double convexity = ComputeConvexityMetric(los_matrix, cluster_labels); + std::cout << "K-means clustering at " << num_clusters << " clusters with convexity " << convexity << std::endl; + if (convexity > best_convexity) + { + best_convexity = convexity; + best_clustering = cluster_labels; + } + } + // Safety check + assert(best_clustering.size() == (size_t)los_matrix.rows()); + // Turn the clustering labels into separate clusters + const uint32_t num_clusters = *std::max_element(best_clustering.begin(), best_clustering.end()) + 1; + std::vector> clustered_surfaces(num_clusters); + for (size_t idx = 0; idx < best_clustering.size(); idx++) + { + const uint32_t cluster_label = best_clustering[idx]; + clustered_surfaces[cluster_label].push_back(idx); + } + return clustered_surfaces; + } + + std::vector> TaggedObjectCollisionMapGrid::ComputeWeaklyConvexSurfaceSegments(const std::unordered_map& surface, const uint32_t max_num_clusters) const + { + std::vector static_surface = ExtractStaticSurface(surface); + Eigen::MatrixXd LOS_matrix = ComputeSparseLineOfSight(static_surface, 30u, (M_PI_2 * 0.5)); // For now, these values are actually ignored + std::cout << "LOS matrix:\n" << LOS_matrix << std::endl; + std::vector> convex_surface_segment_indices = ClusterSurfaceFromLOSMatrix(LOS_matrix, max_num_clusters); + // Convert the 0-n indices into grid indices + std::vector> convex_surface_segments(convex_surface_segment_indices.size()); + for (size_t segment_idx = 0; segment_idx < convex_surface_segment_indices.size(); segment_idx++) + { + const std::vector& current_segment_indices = convex_surface_segment_indices[segment_idx]; + convex_surface_segments[segment_idx].reserve(current_segment_indices.size()); + for (size_t index_idx = 0; index_idx < current_segment_indices.size(); index_idx++) + { + const size_t current_segment_index = current_segment_indices[index_idx]; + const VoxelGrid::GRID_INDEX& current_segment_surface_index = static_surface[current_segment_index]; + convex_surface_segments[segment_idx].push_back(current_segment_surface_index); + } + assert(convex_surface_segments[segment_idx].size() == current_segment_indices.size()); + } + assert(convex_surface_segment_indices.size() == convex_surface_segments.size()); + return convex_surface_segments; + } + + std::map TaggedObjectCollisionMapGrid::UpdateConvexSegments() + { + // Some day, we will do real work here. Until then, this is a dummy that does nothing + convex_segments_valid_ = true; + // Return a map of object_id to # of convex segments in the object + std::map convex_segment_counts; + for (int64_t x_index = 0; x_index < GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < GetNumZCells(); z_index++) + { + const TAGGED_OBJECT_COLLISION_CELL& cell = GetImmutable(x_index, y_index, z_index).first; + const uint32_t cell_object_id = cell.object_id; + const std::vector cell_convex_segments = cell.GetListOfConvexSegments(); + if (cell_convex_segments.size() > 0) + { + const uint32_t max_segment_number = *std::max_element(cell_convex_segments.begin(), cell_convex_segments.end()); + if (max_segment_number > convex_segment_counts[cell_object_id]) + { + convex_segment_counts[cell_object_id] = max_segment_number; + } + } + } + } + } + return convex_segment_counts; + } + + std::map TaggedObjectCollisionMapGrid::MakeObjectSDFs(const std::vector& object_ids) const + { + std::map per_object_sdfs; + for (size_t idx = 0; idx < object_ids.size(); idx++) + { + const uint32_t object_id = object_ids[idx]; + per_object_sdfs[object_id] = ExtractSignedDistanceField(std::numeric_limits::infinity(), std::vector{object_id}).first; + } + return per_object_sdfs; + } + + std::map TaggedObjectCollisionMapGrid::MakeObjectSDFs() const + { + std::map object_id_map; + for (int64_t x_index = 0; x_index < GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < GetNumZCells(); z_index++) + { + const TAGGED_OBJECT_COLLISION_CELL& cell = GetImmutable(x_index, y_index, z_index).first; + const uint32_t cell_object_id = cell.object_id; + if (cell_object_id > 0) + { + object_id_map[cell_object_id] = 1u; + } + } + } + } + return MakeObjectSDFs(arc_helpers::GetKeys(object_id_map)); + } + + visualization_msgs::Marker TaggedObjectCollisionMapGrid::ExportForDisplay(const float alpha, const std::vector& objects_to_draw) const + { + std::map objects_to_draw_map; + for (size_t idx = 0; idx < objects_to_draw.size(); idx++) + { + objects_to_draw_map[objects_to_draw[idx]] = 1u; + } + // Assemble a visualization_markers::Marker representation of the SDF to display in RViz + visualization_msgs::Marker display_rep; + // Populate the header + display_rep.header.frame_id = frame_; + // Populate the options + display_rep.ns = "tagged_object_collision_map_display"; + display_rep.id = 1; + display_rep.type = visualization_msgs::Marker::CUBE_LIST; + display_rep.action = visualization_msgs::Marker::ADD; + display_rep.lifetime = ros::Duration(0.0); + display_rep.frame_locked = false; + const Eigen::Isometry3d base_transform = Eigen::Isometry3d::Identity(); + display_rep.pose = EigenHelpersConversions::EigenIsometry3dToGeometryPose(base_transform); + display_rep.scale.x = GetResolution(); + display_rep.scale.y = GetResolution(); + display_rep.scale.z = GetResolution(); + // Add all the cells of the SDF to the message + for (int64_t x_index = 0; x_index < GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < GetNumZCells(); z_index++) + { + // Convert grid indices into a real-world location + std::vector location = GridIndexToLocation(x_index, y_index, z_index); + geometry_msgs::Point new_point; + new_point.x = location[0]; + new_point.y = location[1]; + new_point.z = location[2]; + const TAGGED_OBJECT_COLLISION_CELL& current_cell = GetImmutable(x_index, y_index, z_index).first; + const auto draw_found_itr = objects_to_draw_map.find(current_cell.object_id); + if (draw_found_itr != objects_to_draw_map.end() || objects_to_draw_map.size() == 0) + { + const std_msgs::ColorRGBA object_color = GenerateComponentColor(current_cell.object_id, alpha); + if (object_color.a > 0.0) + { + display_rep.points.push_back(new_point); + display_rep.colors.push_back(object_color); + } + } + } + } + } + return display_rep; + } + + visualization_msgs::Marker TaggedObjectCollisionMapGrid::ExportForDisplay(const std::map& object_color_map) const + { + // Assemble a visualization_markers::Marker representation of the SDF to display in RViz + visualization_msgs::Marker display_rep; + // Populate the header + display_rep.header.frame_id = frame_; + // Populate the options + display_rep.ns = "tagged_object_collision_map_display"; + display_rep.id = 1; + display_rep.type = visualization_msgs::Marker::CUBE_LIST; + display_rep.action = visualization_msgs::Marker::ADD; + display_rep.lifetime = ros::Duration(0.0); + display_rep.frame_locked = false; + const Eigen::Isometry3d base_transform = Eigen::Isometry3d::Identity(); + display_rep.pose = EigenHelpersConversions::EigenIsometry3dToGeometryPose(base_transform); + display_rep.scale.x = GetResolution(); + display_rep.scale.y = GetResolution(); + display_rep.scale.z = GetResolution(); + // Add all the cells of the SDF to the message + for (int64_t x_index = 0; x_index < GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < GetNumZCells(); z_index++) + { + // Convert grid indices into a real-world location + std::vector location = GridIndexToLocation(x_index, y_index, z_index); + geometry_msgs::Point new_point; + new_point.x = location[0]; + new_point.y = location[1]; + new_point.z = location[2]; + const TAGGED_OBJECT_COLLISION_CELL& current_cell = GetImmutable(x_index, y_index, z_index).first; + // Check if we've been given a color to work with + auto found_itr = object_color_map.find(current_cell.object_id); + std_msgs::ColorRGBA object_color; + if (found_itr != object_color_map.end()) + { + object_color = found_itr->second; + } + else + { + object_color = GenerateComponentColor(current_cell.object_id); + } + if (object_color.a > 0.0) + { + display_rep.points.push_back(new_point); + display_rep.colors.push_back(object_color); + } + } + } + } + return display_rep; + } + + visualization_msgs::Marker TaggedObjectCollisionMapGrid::ExportContourOnlyForDisplay(const float alpha, const std::vector& objects_to_draw) const + { + std::map objects_to_draw_map; + for (size_t idx = 0; idx < objects_to_draw.size(); idx++) + { + objects_to_draw_map[objects_to_draw[idx]] = 1u; + } + // Make SDF + const std::map per_object_sdfs = MakeObjectSDFs(); + // Assemble a visualization_markers::Marker representation of the SDF to display in RViz + visualization_msgs::Marker display_rep; + // Populate the header + display_rep.header.frame_id = frame_; + // Populate the options + display_rep.ns = "tagged_object_collision_map_display"; + display_rep.id = 1; + display_rep.type = visualization_msgs::Marker::CUBE_LIST; + display_rep.action = visualization_msgs::Marker::ADD; + display_rep.lifetime = ros::Duration(0.0); + display_rep.frame_locked = false; + const Eigen::Isometry3d base_transform = Eigen::Isometry3d::Identity(); + display_rep.pose = EigenHelpersConversions::EigenIsometry3dToGeometryPose(base_transform); + display_rep.scale.x = GetResolution(); + display_rep.scale.y = GetResolution(); + display_rep.scale.z = GetResolution(); + // Add all the cells of the SDF to the message + for (int64_t x_index = 0; x_index < GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < GetNumZCells(); z_index++) + { + // Convert grid indices into a real-world location + std::vector location = GridIndexToLocation(x_index, y_index, z_index); + geometry_msgs::Point new_point; + new_point.x = location[0]; + new_point.y = location[1]; + new_point.z = location[2]; + const TAGGED_OBJECT_COLLISION_CELL& current_cell = GetImmutable(x_index, y_index, z_index).first; + // Get the SDF for the current object + auto sdf_found_itr = per_object_sdfs.find(current_cell.object_id); + if (sdf_found_itr != per_object_sdfs.end()) + { + const sdf_tools::SignedDistanceField& object_sdf = sdf_found_itr->second; + const float distance = object_sdf.Get(new_point.x, new_point.y, new_point.z); + // Check if we're on the surface of the object + if (distance < 0.0 && distance > -GetResolution()) + { + const auto draw_found_itr = objects_to_draw_map.find(current_cell.object_id); + if (draw_found_itr != objects_to_draw_map.end() || objects_to_draw_map.size() == 0) + { + const std_msgs::ColorRGBA object_color = GenerateComponentColor(current_cell.object_id, alpha); + if (object_color.a > 0.0) + { + display_rep.points.push_back(new_point); + display_rep.colors.push_back(object_color); + } + } + } + } + } + } + } + return display_rep; + } + + visualization_msgs::Marker TaggedObjectCollisionMapGrid::ExportContourOnlyForDisplay(const std::map& object_color_map) const + { + // Make SDF + const std::map per_object_sdfs = MakeObjectSDFs(); + // Assemble a visualization_markers::Marker representation of the SDF to display in RViz + visualization_msgs::Marker display_rep; + // Populate the header + display_rep.header.frame_id = frame_; + // Populate the options + display_rep.ns = "tagged_object_collision_map_display"; + display_rep.id = 1; + display_rep.type = visualization_msgs::Marker::CUBE_LIST; + display_rep.action = visualization_msgs::Marker::ADD; + display_rep.lifetime = ros::Duration(0.0); + display_rep.frame_locked = false; + const Eigen::Isometry3d base_transform = Eigen::Isometry3d::Identity(); + display_rep.pose = EigenHelpersConversions::EigenIsometry3dToGeometryPose(base_transform); + display_rep.scale.x = GetResolution(); + display_rep.scale.y = GetResolution(); + display_rep.scale.z = GetResolution(); + // Add all the cells of the SDF to the message + for (int64_t x_index = 0; x_index < GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < GetNumZCells(); z_index++) + { + // Convert grid indices into a real-world location + std::vector location = GridIndexToLocation(x_index, y_index, z_index); + geometry_msgs::Point new_point; + new_point.x = location[0]; + new_point.y = location[1]; + new_point.z = location[2]; + const TAGGED_OBJECT_COLLISION_CELL& current_cell = GetImmutable(x_index, y_index, z_index).first; + // Get the SDF for the current object + auto sdf_found_itr = per_object_sdfs.find(current_cell.object_id); + if (sdf_found_itr != per_object_sdfs.end()) + { + const sdf_tools::SignedDistanceField& object_sdf = sdf_found_itr->second; + const float distance = object_sdf.Get(new_point.x, new_point.y, new_point.z); + // Check if we're on the surface of the object + if (distance < 0.0 && distance > -GetResolution()) + { + // Check if we've been given a color to work with + auto found_itr = object_color_map.find(current_cell.object_id); + std_msgs::ColorRGBA object_color; + if (found_itr != object_color_map.end()) + { + object_color = found_itr->second; + } + else + { + object_color = GenerateComponentColor(current_cell.object_id); + } + if (object_color.a > 0.0) + { + display_rep.points.push_back(new_point); + display_rep.colors.push_back(object_color); + } + } + } + } + } + } + return display_rep; + } + + visualization_msgs::Marker TaggedObjectCollisionMapGrid::ExportForDisplayOccupancyOnly(const std_msgs::ColorRGBA& collision_color, const std_msgs::ColorRGBA& free_color, const std_msgs::ColorRGBA& unknown_color) const + { + // Assemble a visualization_markers::Marker representation of the SDF to display in RViz + visualization_msgs::Marker display_rep; + // Populate the header + display_rep.header.frame_id = frame_; + // Populate the options + display_rep.ns = "tagged_object_collision_map_occupancy_display"; + display_rep.id = 1; + display_rep.type = visualization_msgs::Marker::CUBE_LIST; + display_rep.action = visualization_msgs::Marker::ADD; + display_rep.lifetime = ros::Duration(0.0); + display_rep.frame_locked = false; + const Eigen::Isometry3d base_transform = Eigen::Isometry3d::Identity(); + display_rep.pose = EigenHelpersConversions::EigenIsometry3dToGeometryPose(base_transform); + display_rep.scale.x = GetResolution(); + display_rep.scale.y = GetResolution(); + display_rep.scale.z = GetResolution(); + // Add all the cells of the SDF to the message + for (int64_t x_index = 0; x_index < GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < GetNumZCells(); z_index++) + { + // Convert grid indices into a real-world location + std::vector location = GridIndexToLocation(x_index, y_index, z_index); + geometry_msgs::Point new_point; + new_point.x = location[0]; + new_point.y = location[1]; + new_point.z = location[2]; + if (GetImmutable(x_index, y_index, z_index).first.occupancy > 0.5) + { + if (collision_color.a > 0.0) + { + display_rep.points.push_back(new_point); + display_rep.colors.push_back(collision_color); + } + } + else if (GetImmutable(x_index, y_index, z_index).first.occupancy < 0.5) + { + if (free_color.a > 0.0) + { + display_rep.points.push_back(new_point); + display_rep.colors.push_back(free_color); + } + } + else + { + if (unknown_color.a > 0.0) + { + display_rep.points.push_back(new_point); + display_rep.colors.push_back(unknown_color); + } + } + } + } + } + return display_rep; + } + + visualization_msgs::Marker TaggedObjectCollisionMapGrid::ExportConnectedComponentsForDisplay(bool color_unknown_components) const + { + // Assemble a visualization_markers::Marker representation of the SDF to display in RViz + visualization_msgs::Marker display_rep; + // Populate the header + display_rep.header.frame_id = frame_; + // Populate the options + display_rep.ns = "tagged_object_connected_components_display"; + display_rep.id = 1; + display_rep.type = visualization_msgs::Marker::CUBE_LIST; + display_rep.action = visualization_msgs::Marker::ADD; + display_rep.lifetime = ros::Duration(0.0); + display_rep.frame_locked = false; + const Eigen::Isometry3d base_transform = Eigen::Isometry3d::Identity(); + display_rep.pose = EigenHelpersConversions::EigenIsometry3dToGeometryPose(base_transform); + display_rep.scale.x = GetResolution(); + display_rep.scale.y = GetResolution(); + display_rep.scale.z = GetResolution(); + // Add all the cells of the SDF to the message + for (int64_t x_index = 0; x_index < GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < GetNumZCells(); z_index++) + { + // Convert grid indices into a real-world location + std::vector location = GridIndexToLocation(x_index, y_index, z_index); + geometry_msgs::Point new_point; + new_point.x = location[0]; + new_point.y = location[1]; + new_point.z = location[2]; + display_rep.points.push_back(new_point); + const TAGGED_OBJECT_COLLISION_CELL& current_cell = GetImmutable(x_index, y_index, z_index).first; + if (current_cell.occupancy != 0.5) + { + std_msgs::ColorRGBA color = GenerateComponentColor(current_cell.component); + display_rep.colors.push_back(color); + } + else + { + if (color_unknown_components) + { + std_msgs::ColorRGBA color = GenerateComponentColor(current_cell.component); + display_rep.colors.push_back(color); + } + else + { + std_msgs::ColorRGBA color; + color.a = 1.0; + color.r = 0.5; + color.g = 0.5; + color.b = 0.5; + display_rep.colors.push_back(color); + } + } + } + } + } + return display_rep; + } + + visualization_msgs::Marker TaggedObjectCollisionMapGrid::ExportConvexSegmentForDisplay(const uint32_t object_id, const uint32_t convex_segment) const + { + // Assemble a visualization_markers::Marker representation of the SDF to display in RViz + visualization_msgs::Marker display_rep; + // Populate the header + display_rep.header.frame_id = frame_; + // Populate the options + display_rep.ns = "tagged_object_" + std::to_string(object_id) + "_convex_segment_" + std::to_string(convex_segment) + "_display"; + display_rep.id = 1; + display_rep.type = visualization_msgs::Marker::CUBE_LIST; + display_rep.action = visualization_msgs::Marker::ADD; + display_rep.lifetime = ros::Duration(0.0); + display_rep.frame_locked = false; + const Eigen::Isometry3d base_transform = Eigen::Isometry3d::Identity(); + display_rep.pose = EigenHelpersConversions::EigenIsometry3dToGeometryPose(base_transform); + display_rep.scale.x = GetResolution(); + display_rep.scale.y = GetResolution(); + display_rep.scale.z = GetResolution(); + // Add all the cells of the SDF to the message + for (int64_t x_index = 0; x_index < GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < GetNumZCells(); z_index++) + { + const TAGGED_OBJECT_COLLISION_CELL& current_cell = GetImmutable(x_index, y_index, z_index).first; + if ((current_cell.object_id == object_id) && (current_cell.IsPartOfConvexSegment(convex_segment))) + { + // Convert grid indices into a real-world location + std::vector location = GridIndexToLocation(x_index, y_index, z_index); + geometry_msgs::Point new_point; + new_point.x = location[0]; + new_point.y = location[1]; + new_point.z = location[2]; + display_rep.points.push_back(new_point); + // Generate a color + const std_msgs::ColorRGBA color = GenerateComponentColor(convex_segment); + display_rep.colors.push_back(color); + } + } + } + } + return display_rep; + } + + visualization_msgs::Marker TaggedObjectCollisionMapGrid::ExportSurfaceForDisplay(const std::unordered_map& surface, const std_msgs::ColorRGBA& surface_color) const + { + // Assemble a visualization_markers::Marker representation of the SDF to display in RViz + visualization_msgs::Marker display_rep; + // Populate the header + display_rep.header.frame_id = frame_; + // Populate the options + display_rep.ns = "tagged_object_collision_map_surface"; + display_rep.id = 1; + display_rep.type = visualization_msgs::Marker::CUBE_LIST; + display_rep.action = visualization_msgs::Marker::ADD; + display_rep.lifetime = ros::Duration(0.0); + display_rep.frame_locked = false; + const Eigen::Isometry3d base_transform = Eigen::Isometry3d::Identity(); + display_rep.pose = EigenHelpersConversions::EigenIsometry3dToGeometryPose(base_transform); + display_rep.scale.x = GetResolution(); + display_rep.scale.y = GetResolution(); + display_rep.scale.z = GetResolution(); + // Add all the cells of the surface + std::unordered_map::const_iterator surface_itr; + for (surface_itr = surface.begin(); surface_itr != surface.end(); ++surface_itr) + { + VoxelGrid::GRID_INDEX index = surface_itr->first; + int8_t validity = surface_itr->second; + if (validity == 1) + { + // Convert grid indices into a real-world location + std::vector location = GridIndexToLocation(index.x, index.y, index.z); + geometry_msgs::Point new_point; + new_point.x = location[0]; + new_point.y = location[1]; + new_point.z = location[2]; + display_rep.points.push_back(new_point); + display_rep.colors.push_back(surface_color); + } + } + return display_rep; + } +} diff --git a/flightlib/third_party/sdf_tools/src/sdf_tools_tutorial.cpp b/flightlib/third_party/sdf_tools/src/sdf_tools_tutorial.cpp new file mode 100644 index 0000000..cc65e40 --- /dev/null +++ b/flightlib/third_party/sdf_tools/src/sdf_tools_tutorial.cpp @@ -0,0 +1,155 @@ +#include +#include +#include +#include "sdf_tools/collision_map.hpp" +#include "sdf_tools/CollisionMap.h" +#include "sdf_tools/sdf.hpp" +#include "sdf_tools/SDF.h" + +int main(int argc, char** argv) +{ + // Make a ROS node, which we'll use to publish copies of the data in the CollisionMap and SDF + // and Rviz markers that allow us to visualize them. + ros::init(argc, argv, "sdf_tools_tutorial"); + // Get a handle to the current node + ros::NodeHandle nh; + // Make a publisher for visualization messages + ros::Publisher visualization_pub = nh.advertise("sdf_tools_tutorial_visualization", 1, true); + // Make a publisher for serialized CollisionMaps + ros::Publisher collision_map_pub = nh.advertise("collision_map_pub", 1, true); + // Make a publisher for serialized SDFs + ros::Publisher sdf_pub = nh.advertise("sdf_pub", 1, true); + // In preparation, we want to set a couple common paramters + double resolution = 0.25; + double x_size = 10.0; + double y_size = 10.0; + double z_size = 10.0; + // Let's center the grid around the origin + Eigen::Translation3d origin_translation(-5.0, -5.0, -5.0); + Eigen::Quaterniond origin_rotation(1.0, 0.0, 0.0, 0.0); + Eigen::Isometry3d origin_transform = origin_translation * origin_rotation; + std::string frame = "tutorial_frame"; + /////////////////////////////////// + //// Let's make a CollisionMap //// + /////////////////////////////////// + // We pick a reasonable out-of-bounds value + sdf_tools::COLLISION_CELL oob_cell; + oob_cell.occupancy = 0.0; + oob_cell.component = 0; // This should ALWAYS be zero, unless you know exactly what you're doing + // Instead, we could initialize it like this - the component value is automatically set to 0 + sdf_tools::COLLISION_CELL oob_cell_2(0.0); + // First, let's make the container + sdf_tools::CollisionMapGrid collision_map(origin_transform, frame, resolution, x_size, y_size, z_size, oob_cell); + // Let's set some values + // This is how you should iterate through the 3D grid's cells + for (int64_t x_index = 0; x_index < collision_map.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < collision_map.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < collision_map.GetNumZCells(); z_index++) + { + // Let's make the bottom corner (low x, low y, low z) an object + if ((x_index < (collision_map.GetNumXCells() / 2)) && (y_index < (collision_map.GetNumYCells() / 2)) && (z_index < (collision_map.GetNumZCells() / 2))) + { + sdf_tools::COLLISION_CELL obstacle_cell(1.0); // Occupancy values > 0.5 are obstacles + collision_map.Set(x_index, y_index, z_index, obstacle_cell); + } + } + } + } + // We can also set by location + sdf_tools::COLLISION_CELL obstacle_cell(1.0); // Occupancy values > 0.5 are obstacles + collision_map.Set(0.0, 0.0, 0.0, obstacle_cell); + // Let's get some values + // We can query by index + int64_t x_index = 10; + int64_t y_index = 10; + int64_t z_index = 10; + std::pair index_query = collision_map.Get(x_index, y_index, z_index); + std::cout << "Index query result - stored value " << index_query.first.occupancy << " (occupancy) " << index_query.first.component << " (component) was it in the grid? - " << index_query.second << std::endl; + // Or we can query by location + double x_location = 0.0; + double y_location = 0.0; + double z_location = 0.0; + std::pair location_query = collision_map.Get(x_location, y_location, z_location); + std::cout << "Location query result - stored value " << location_query.first.occupancy << " (occupancy) " << location_query.first.component << " (component) was it in the grid? - " << location_query.second << std::endl; + // Let's compute connected components + uint32_t num_connected_components = collision_map.UpdateConnectedComponents(); + std::cout << " There are " << num_connected_components << " connected components in the grid" << std::endl; + // Let's display the results to Rviz + // First, the CollisionMap itself + // We need to provide colors to use + std_msgs::ColorRGBA collision_color; + collision_color.r = 1.0; + collision_color.g = 0.0; + collision_color.b = 0.0; + collision_color.a = 0.5; + std_msgs::ColorRGBA free_color; + free_color.r = 0.0; + free_color.g = 1.0; + free_color.b = 0.0; + free_color.a = 0.5; + std_msgs::ColorRGBA unknown_color; + unknown_color.r = 1.0; + unknown_color.g = 1.0; + unknown_color.b = 0.0; + unknown_color.a = 0.5; + visualization_msgs::Marker collision_map_marker = collision_map.ExportForDisplay(collision_color, free_color, unknown_color); + // To be safe, you'll need to set these yourself. The namespace (ns) value should distinguish between different things being displayed + // while the id value lets you have multiple versions of the same message at once. Always set this to 1 if you only want one copy. + collision_map_marker.ns = "collision_map"; + collision_map_marker.id = 1; + // Send it off for display + visualization_pub.publish(collision_map_marker); + // Now, let's draw the connected components + visualization_msgs::Marker connected_components_marker = collision_map.ExportConnectedComponentsForDisplay(false); // Generally, you don't want a special color for unknown [P(occupancy) = 0.5] components + connected_components_marker.ns = "connected_components"; + connected_components_marker.id = 1; + visualization_pub.publish(connected_components_marker); + // Let's export the CollisionMap - this is how you can transfer it to another ROS node + collision_map_pub.publish(collision_map.GetMessageRepresentation()); + // You can also save it to a file + std::string collision_map_filename = "collision_map.cmg"; + collision_map.SaveToFile(collision_map_filename); + // And load it back in + bool loaded = collision_map.LoadFromFile(collision_map_filename); + if (loaded) + { + std::cout << "Reloaded CollisionMap from file" << std::endl; + } + else + { + std::cerr << "Whoa, something broke!" << std::endl; + } + /////////////////////////// + //// Let's make an SDF //// + /////////////////////////// + // We pick a reasonable out-of-bounds value + float oob_value = INFINITY; + // We start by extracting the SDF from the CollisionMap + std::pair> sdf_with_extrema = collision_map.ExtractSignedDistanceField(oob_value); + sdf_tools::SignedDistanceField& sdf = sdf_with_extrema.first; + std::pair sdf_extrema = sdf_with_extrema.second; + std::cout << "Maximum distance in the SDF: " << sdf_extrema.first << ", minimum distance in the SDF: " << sdf_extrema.second << std::endl; + // We lock the SDF to prevent unintended changes that would invalidate it + sdf.Lock(); + // Let's get some values + std::pair index_sdf_query = sdf.GetSafe(x_index, y_index, z_index); + std::cout << "Index query result - stored distance " << index_sdf_query.first << " was it in the grid? - " << index_sdf_query.second << std::endl; + std::pair location_sdf_query = sdf.GetSafe(x_location, y_location, z_location); + std::cout << "Location query result - stored distance " << location_sdf_query.first << " was it in the grid? - " << location_sdf_query.second << std::endl; + // Let's get some gradients + std::vector index_gradient_query = sdf.GetGradient(x_index, y_index, z_index, true); // Usually, you want to enable 'edge gradients' i.e. gradients for cells on the edge of the grid that don't have 6 neighbors + std::cout << "Index gradient query result - gradient " << PrettyPrint::PrettyPrint(index_gradient_query) << std::endl; + std::vector location_gradient_query = sdf.GetGradient(x_location, y_location, z_location, true); // Usually, you want to enable 'edge gradients' i.e. gradients for cells on the edge of the grid that don't have 6 neighbors + std::cout << "Location gradient query result - gradient " << PrettyPrint::PrettyPrint(location_gradient_query) << std::endl; + // Let's display the results to Rviz + visualization_msgs::Marker sdf_marker = sdf.ExportForDisplay(0.5); // Set the alpha for display + sdf_marker.ns = "sdf"; + sdf_marker.id = 1; + visualization_pub.publish(sdf_marker); + // Let's export the SDF + sdf_pub.publish(sdf.GetMessageRepresentation()); + std::cout << "...done" << std::endl; + return 0; +} diff --git a/flightlib/third_party/sdf_tools/src/test_voxel_grid.cpp b/flightlib/third_party/sdf_tools/src/test_voxel_grid.cpp new file mode 100644 index 0000000..5e4c799 --- /dev/null +++ b/flightlib/third_party/sdf_tools/src/test_voxel_grid.cpp @@ -0,0 +1,345 @@ +#include "arc_utilities/voxel_grid.hpp" +#include "arc_utilities/pretty_print.hpp" +#include "sdf_tools/collision_map.hpp" +#include "arc_utilities/dynamic_spatial_hashed_voxel_grid.hpp" +#include "sdf_tools/dynamic_spatial_hashed_collision_map.hpp" +#include "sdf_tools/sdf.hpp" +#include "ros/ros.h" +#include "visualization_msgs/MarkerArray.h" +#include +#include + +void test_voxel_grid_indices() +{ + VoxelGrid::VoxelGrid test_grid(1.0, 20.0, 20.0, 20.0, 0); + // Load with special values + int check_val = 1; + std::vector check_vals; + for (int64_t x_index = 0; x_index < test_grid.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < test_grid.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < test_grid.GetNumZCells(); z_index++) + { + test_grid.SetValue(x_index, y_index, z_index, check_val); + check_vals.push_back(check_val); + check_val++; + } + } + } + // Check the values + int check_index = 0; + bool pass = true; + for (int64_t x_index = 0; x_index < test_grid.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < test_grid.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < test_grid.GetNumZCells(); z_index++) + { + int ref_val = test_grid.GetImmutable(x_index, y_index, z_index).first; + //std::cout << "Value in grid: " << ref_val << " Value should be: " << check_vals[check_index] << std::endl; + if (ref_val == check_vals[check_index]) + { + //std::cout << "Check pass" << std::endl; + } + else + { + std::cout << "Check fail" << std::endl; + pass = false; + } + check_index++; + } + } + } + if (pass) + { + std::cout << "VG-I - All checks pass" << std::endl; + } + else + { + std::cout << "*** VG-I - Checks failed ***" << std::endl; + } +} + +void test_voxel_grid_locations() +{ + VoxelGrid::VoxelGrid test_grid(1.0, 20.0, 20.0, 20.0, 0); + // Load with special values + int check_val = 1; + std::vector check_vals; + for (double x_pos = -9.5; x_pos <= 9.5; x_pos += 1.0) + { + for (double y_pos = -9.5; y_pos <= 9.5; y_pos += 1.0) + { + for (double z_pos = -9.5; z_pos <= 9.5; z_pos += 1.0) + { + test_grid.SetValue(x_pos, y_pos, z_pos, check_val); + check_vals.push_back(check_val); + check_val++; + } + } + } + // Check the values + int check_index = 0; + bool pass = true; + for (double x_pos = -9.5; x_pos <= 9.5; x_pos += 1.0) + { + for (double y_pos = -9.5; y_pos <= 9.5; y_pos += 1.0) + { + for (double z_pos = -9.5; z_pos <= 9.5; z_pos += 1.0) + { + int ref_val = test_grid.GetImmutable(x_pos, y_pos, z_pos).first; + //std::cout << "Value in grid: " << ref_val << " Value should be: " << check_vals[check_index] << std::endl; + if (ref_val == check_vals[check_index]) + { + //std::cout << "Value check pass" << std::endl; + } + else + { + std::cout << "Value check fail" << std::endl; + pass = false; + } + check_index++; + std::vector query_point = {x_pos, y_pos, z_pos}; + //std::cout << "Query point - " << PrettyPrint::PrettyPrint(query_point) << std::endl; + std::vector query_index = test_grid.LocationToGridIndex(x_pos, y_pos, z_pos); + //std::cout << "Query index - " << PrettyPrint::PrettyPrint(query_index) << std::endl; + std::vector query_location = test_grid.GridIndexToLocation(query_index[0], query_index[1], query_index[2]); + //std::cout << "Query location - " << PrettyPrint::PrettyPrint(query_location) << std::endl; + std::vector found_query_index = test_grid.LocationToGridIndex(query_location[0], query_location[1], query_location[2]); + //std::cout << "Found query index - " << PrettyPrint::PrettyPrint(found_query_index) << std::endl; + if (query_point[0] == query_location[0] && query_point[1] == query_location[1] && query_point[2] == query_location[2]) + { + //std::cout << "Position check pass" << std::endl; + } + else + { + std::cout << "Position check fail" << std::endl; + pass = false; + } + if (query_index[0] == found_query_index[0] && query_index[1] == found_query_index[1] && query_index[2] == found_query_index[2]) + { + //std::cout << "Position index check pass" << std::endl; + } + else + { + std::cout << "Position index check fail" << std::endl; + pass = false; + } + } + } + } + if (pass) + { + std::cout << "VG-L - All checks pass" << std::endl; + } + else + { + std::cout << "*** VG-L - Checks failed ***" << std::endl; + } +} + +void test_voxel_grid_serialization() +{ + VoxelGrid::VoxelGrid test_grid(1.0, 20.0, 20.0, 20.0, 0); + // Load with special values + int check_val = 1; + std::vector check_vals; + for (int64_t x_index = 0; x_index < test_grid.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < test_grid.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < test_grid.GetNumZCells(); z_index++) + { + test_grid.SetValue(x_index, y_index, z_index, check_val); + check_vals.push_back(check_val); + check_val++; + } + } + } + std::vector buffer; + VoxelGrid::VoxelGrid::Serialize(test_grid, buffer, arc_utilities::SerializeFixedSizePOD); + const VoxelGrid::VoxelGrid read_grid = VoxelGrid::VoxelGrid::Deserialize(buffer, 0, arc_utilities::DeserializeFixedSizePOD).first; + // Check the values + int check_index = 0; + bool pass = true; + for (int64_t x_index = 0; x_index < read_grid.GetNumXCells(); x_index++) + { + for (int64_t y_index = 0; y_index < read_grid.GetNumYCells(); y_index++) + { + for (int64_t z_index = 0; z_index < read_grid.GetNumZCells(); z_index++) + { + int ref_val = read_grid.GetImmutable(x_index, y_index, z_index).first; + //std::cout << "Value in grid: " << ref_val << " Value should be: " << check_vals[check_index] << std::endl; + if (ref_val == check_vals[check_index]) + { + //std::cout << "Check pass" << std::endl; + } + else + { + std::cout << "Check fail" << std::endl; + pass = false; + } + check_index++; + } + } + } + if (pass) + { + std::cout << "VG-I de/serialize - All checks pass" << std::endl; + } + else + { + std::cout << "*** VG-I de/serialize - Checks failed ***" << std::endl; + } +} + +void test_dsh_voxel_grid_locations() +{ + VoxelGrid::DynamicSpatialHashedVoxelGrid test_grid(1.0, 4, 4, 4, 0); + // Load with special values + int check_val = 1; + std::vector check_vals; + for (double x_pos = -9.5; x_pos <= 9.5; x_pos += 1.0) + { + for (double y_pos = -9.5; y_pos <= 9.5; y_pos += 1.0) + { + for (double z_pos = -9.5; z_pos <= 9.5; z_pos += 1.0) + { + test_grid.SetCellValue(x_pos, y_pos, z_pos, check_val); + check_vals.push_back(check_val); + check_val++; + } + } + } + // Check the values + int check_index = 0; + bool pass = true; + for (double x_pos = -9.5; x_pos <= 9.5; x_pos += 1.0) + { + for (double y_pos = -9.5; y_pos <= 9.5; y_pos += 1.0) + { + for (double z_pos = -9.5; z_pos <= 9.5; z_pos += 1.0) + { + int ref_val = test_grid.GetImmutable(x_pos, y_pos, z_pos).first; + //std::cout << "Value in grid: " << ref_val << " Value should be: " << check_vals[check_index] << std::endl; + if (ref_val == check_vals[check_index]) + { + //std::cout << "Value check pass" << std::endl; + } + else + { + std::cout << "Value check fail" << std::endl; + pass = false; + } + check_index++; + } + } + } + if (pass) + { + std::cout << "DSHVG - All checks pass" << std::endl; + } + else + { + std::cout << "*** DSHVG - Checks failed ***" << std::endl; + } +} + + +void test_float_binary_conversion(float test_val) +{ + std::cout << "Initial value " << test_val << std::endl; + std::vector binary_value = sdf_tools::FloatToBinary(test_val); + float final_val = sdf_tools::FloatFromBinary(binary_value); + std::cout << "Final value " << final_val << std::endl; +} + +Eigen::Vector3d get_random_location(std::default_random_engine& generator, const double min_x, const double min_y, const double min_z, const double max_x, const double max_y, const double max_z) +{ + std::uniform_real_distribution x_distribution(min_x, max_x); + std::uniform_real_distribution y_distribution(min_y, max_y); + std::uniform_real_distribution z_distribution(min_z, max_z); + double rand_x = x_distribution(generator); + double rand_y = y_distribution(generator); + double rand_z = z_distribution(generator); + return Eigen::Vector3d(rand_x, rand_y, rand_z); +} + +bool get_random_bool(std::default_random_engine& generator) +{ + std::uniform_int_distribution distribution(0,1); + int rand_int = distribution(generator); + if (rand_int) + { + return true; + } + else + { + return false; + } +} + +visualization_msgs::MarkerArray test_dsh_collision_map(std::default_random_engine& generator) +{ + sdf_tools::COLLISION_CELL default_cell(0.0); + sdf_tools::COLLISION_CELL filled_cell(1.0); + sdf_tools::DynamicSpatialHashedCollisionMapGrid test_col_map("test_voxel_grid", 1.0, 5, 5, 5, default_cell); + // Add a bunch of random data + for (int idx = 0; idx < 500; idx++) + { + // Get a random location in +-10m + Eigen::Vector3d random_location = get_random_location(generator, -20.0, -20.0, -20.0, 20.0, 20.0, 20.0); + // Get a random bool to choose between cell/chunk + bool use_cell = get_random_bool(generator); + // Update the col map + if (use_cell) + { + test_col_map.SetCell(random_location, filled_cell); + } + else + { + test_col_map.SetChunk(random_location, filled_cell); + } + } + // Get the Rviz markers + std_msgs::ColorRGBA filled_color; + filled_color.a = 1.0; + filled_color.b = 0.0; + filled_color.g = 0.0; + filled_color.r = 1.0; + std_msgs::ColorRGBA free_color; + free_color.a = 0.1; + free_color.b = 0.0; + free_color.g = 1.0; + free_color.r = 0.0; + std_msgs::ColorRGBA unknown_color; + unknown_color.a = 0.5; + unknown_color.b = 1.0; + unknown_color.g = 0.0; + unknown_color.r = 0.0; + std::vector display_markers = test_col_map.ExportForDisplay(filled_color, free_color, unknown_color); + visualization_msgs::MarkerArray display_rep; + display_rep.markers = display_markers; + return display_rep; +} + + +int main(int argc, char** argv) +{ + // construct a trivial random generator engine from a time-based seed: + unsigned seed = std::chrono::system_clock::now().time_since_epoch().count(); + std::default_random_engine generator(seed); + ros::init(argc, argv, "test_voxel_grid"); + ros::NodeHandle nh; + ros::Publisher display_pub = nh.advertise("display_test_voxel_grid", 1, true); + test_voxel_grid_indices(); + test_voxel_grid_locations(); + test_voxel_grid_serialization(); + test_dsh_voxel_grid_locations(); + test_float_binary_conversion(5280.0); + visualization_msgs::MarkerArray display_rep = test_dsh_collision_map(generator); + display_pub.publish(display_rep); + ros::spin(); + return 0; +} diff --git a/flightlib/third_party/sdf_tools/srv/ComputeSDF.srv b/flightlib/third_party/sdf_tools/srv/ComputeSDF.srv new file mode 100644 index 0000000..c1bab76 --- /dev/null +++ b/flightlib/third_party/sdf_tools/srv/ComputeSDF.srv @@ -0,0 +1,4 @@ +bool request_new +--- +bool is_valid +sdf_tools/SDF sdf diff --git a/flightpolicy/__init__.py b/flightpolicy/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/flightpolicy/envs/__init__.py b/flightpolicy/envs/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/flightpolicy/envs/vec_env_wrapper.py b/flightpolicy/envs/vec_env_wrapper.py new file mode 100644 index 0000000..8455fff --- /dev/null +++ b/flightpolicy/envs/vec_env_wrapper.py @@ -0,0 +1,225 @@ +import os +import gym +import torch +import numpy as np +import cv2 +from ruamel.yaml import YAML +from typing import Any, List, Type +from stable_baselines3.common.vec_env.base_vec_env import VecEnv, VecEnvIndices + + +class FlightEnvVec(VecEnv): + + def __init__(self, impl): + self.wrapper = impl + # params + self.action_dim = self.wrapper.getActDim() + self.observation_dim = self.wrapper.getObsDim() + self.reward_dim = self.wrapper.getRewDim() + self.img_width = self.wrapper.getImgWidth() + self.img_height = self.wrapper.getImgHeight() + cfg = YAML().load(open(os.environ["FLIGHTMARE_PATH"] + "/flightlib/configs/traj_opt.yaml", 'r')) + scale = 32 # The downsampling factor of backbone + self.network_height = scale * cfg["vertical_num"] + self.network_width = scale * cfg["horizon_num"] + self.world_box = np.zeros([6], dtype=np.float32) + self.wrapper.getWorldBox(self.world_box) # xyz_min, xyz_max + self.reward_names = self.wrapper.getRewardNames() + self.pretrained = False + + # observations + self._traj_cost = np.zeros([self.num_envs, 1], dtype=np.float32) # cost of current pred + self._traj_grad = np.zeros([self.num_envs, 9], dtype=np.float32) # gard of current pred x_pva y_pav z_pva + self._observation = np.zeros([self.num_envs, self.observation_dim], dtype=np.float32) + self._rgb_img_obs = np.zeros([self.num_envs, self.img_width * self.img_height * 3], dtype=np.uint8) + self._gray_img_obs = np.zeros([self.num_envs, self.img_width * self.img_height], dtype=np.uint8) + self._depth_img_obs = np.zeros([self.num_envs, self.img_width * self.img_height], dtype=np.float32) + self._reward = np.zeros([self.num_envs, self.reward_dim], dtype=np.float32) + self._done = np.zeros((self.num_envs), dtype=np.bool) + self.device = torch.device("cuda" if torch.cuda.is_available() else "cpu") + + # observation: [p_wb, v_b, a_b, q_wb] (in Body Frame); action: dp_pred; reward: cost + def step(self, action): + if action.ndim <= 1: + action = action.reshape((self.num_envs, -1)) + if action.dtype == np.dtype('int'): + action = action.astype(np.float32) + self.wrapper.step( + action, + self._observation, + self._reward, + self._done, + ) + + return ( + self._observation.copy(), + self._reward.copy(), + self._done.copy(), + ) + + # observation: [p_wb, v_b, a_b, q_wb] (in Body Frame) + def reset(self, random=True): + self._reward = np.zeros([self.num_envs, self.reward_dim], dtype=np.float32) + self.wrapper.reset(self._observation) + return self._observation.copy() + + # (in World Frame) goal_w + def setGoal(self, goal): + if goal.ndim <= 1: + goal = goal.reshape((self.num_envs, -1)) + self.wrapper.setGoal(goal) + + # (in World Frame) pos_wb, vel_w, acc_w, quat_wb + def setState(self, pos, vel, acc, quad): + if pos.ndim <= 1: + pos = pos.reshape((self.num_envs, -1)) + quad = quad.reshape((self.num_envs, -1)) # wxyz + vel = vel.reshape((self.num_envs, -1)) + acc = acc.reshape((self.num_envs, -1)) + state = np.hstack((pos, vel, acc, quad)) + self.wrapper.setState(state) + + # map_id: The ID of the map used in the current training; + # during data collection or DAgger, map_id=-1 indicates that the latest map is used. + def setMapID(self, map_id): + if map_id.ndim <= 1: + map_id = map_id.reshape((self.num_envs, -1)) + self.wrapper.setMapID(map_id) + + def getObs(self): + self.wrapper.getObs(self._observation) + return self._observation.copy() + + # pred_dp: x_pva, y_pva, z_pva (in Body Frame); _traj_grad: x_pva, y_pva, z_pva (in Body Frame) + def getCostAndGradient(self, pred_dp_in, traj_id): + """ + Args: + pred_dp_in: the prediction of dp (x_pva, y_pva, z_pva) + traj_id: the id of the trajectory in lattice + + Returns: the cost and gradient of the prediction dp (x_pva, y_pva, z_pva) + + """ + if not isinstance(pred_dp_in, np.ndarray): + pred_dp = pred_dp_in.detach().cpu().numpy() + else: + pred_dp = pred_dp_in + + if pred_dp.ndim <= 1: + pred_dp = pred_dp.reshape((self.num_envs, -1)) + if traj_id.ndim <= 1: + traj_id = traj_id.reshape((self.num_envs, -1)) + self.wrapper.getCostAndGradient(pred_dp, traj_id, self._traj_cost, self._traj_grad) + return self._traj_cost.copy(), self._traj_grad.copy() + + def getRGBImage(self, rgb=False): + if rgb: + self.wrapper.getRGBImage(self._rgb_img_obs, True) + return self._rgb_img_obs.copy() + else: + self.wrapper.getRGBImage(self._gray_img_obs, False) + gray_img = self._gray_img_obs + gray_img = np.reshape(gray_img, (gray_img.shape[0], self.img_height, self.img_width)) + return gray_img.copy() + + def getDepthImage(self, resize=True): + self.wrapper.getDepthImage(self._depth_img_obs) + # normalize the depth values from 0-20m to 0-1 + depth = 1000 * self._depth_img_obs + depth = np.minimum(depth, 20) + depth = depth / 20.0 + depth[np.isnan(depth)] = 1.0 + depth = np.reshape(depth, (depth.shape[0], self.img_height, self.img_width)) + if resize: + depth_ = np.zeros((depth.shape[0], self.network_height, self.network_width), dtype=np.float32()) + for i in range(depth.shape[0]): + depth_[i] = cv2.resize(depth[i], (self.network_width, self.network_height)) + depth = np.expand_dims(depth_, axis=1) + else: + depth = np.expand_dims(depth, axis=1) + return depth.copy() + + def getStereoImage(self): + # [n_envs, HxW] + self.wrapper.getStereoImage(self._depth_img_obs) + depth = self._depth_img_obs + depth = np.minimum(depth, 20) / 20 + + depth_ = np.zeros((depth.shape[0], self.network_height, self.network_width), dtype=np.float32()) + for i in range(depth.shape[0]): + nan_mask = np.isnan(depth[i]) + interpolated_image = cv2.inpaint(np.uint8(depth * 255), np.uint8(nan_mask), 1, cv2.INPAINT_NS) + interpolated_image = interpolated_image.astype(np.float32) / 255.0 + interpolated_image = np.reshape(interpolated_image, (self.img_height, self.img_width)) + depth_[i] = cv2.resize(interpolated_image, (self.network_width, self.network_height)) + depth_ = np.expand_dims(depth_, axis=1) + + return depth_.copy() + + def getQuadState(self): + self.wrapper.getQuadState(self._quadstate) + return self._quadstate + + def spawnTrees(self): + self.wrapper.spawnTrees() # avg_tree_spacing is defined in .cfg + + def savePointcloud(self, ply_idx): + self.wrapper.savePointcloud(ply_idx) + + def spawnTreesAndSavePointcloud(self, ply_idx=-1, spacing=-1): + self.wrapper.spawnTreesAndSavePointcloud(ply_idx, spacing) + + def seed(self, seed=0): + self.wrapper.setSeed(seed) + + def render(self): + return self.wrapper.render() + + def close(self): + self.wrapper.close() + + def connectUnity(self): + self.wrapper.connectUnity() + + def disconnectUnity(self): + self.wrapper.disconnectUnity() + + def env_method( + self, + method_name: str, + *method_args, + indices: VecEnvIndices = None, + **method_kwargs + ) -> List[Any]: + """Call instance methods of vectorized environments.""" + target_envs = self._get_target_envs(indices) + return [ + getattr(env_i, method_name)(*method_args, **method_kwargs) + for env_i in target_envs + ] + + def env_is_wrapped( + self, wrapper_class: Type[gym.Wrapper], indices: VecEnvIndices = None + ) -> List[bool]: + """Check if worker environments are wrapped with a given wrapper""" + target_envs = self._get_target_envs(indices) + # Import here to avoid a circular import + from stable_baselines3.common import env_util + + return [env_util.is_wrapped(env_i, wrapper_class) for env_i in target_envs] + + @property + def num_envs(self): + return self.wrapper.getNumOfEnvs() + + def step_async(self): + raise RuntimeError("This method is not implemented") + + def step_wait(self): + raise RuntimeError("This method is not implemented") + + def get_attr(self, attr_name, indices=None): + raise RuntimeError("This method is not implemented") + + def set_attr(self, attr_name, value, indices=None): + raise RuntimeError("This method is not implemented") diff --git a/flightpolicy/setup.py b/flightpolicy/setup.py new file mode 100644 index 0000000..0963f04 --- /dev/null +++ b/flightpolicy/setup.py @@ -0,0 +1,19 @@ +import os +import re +import sys +import platform +import subprocess + +from setuptools import setup, Extension, find_packages +from setuptools.command.build_ext import build_ext +from distutils.version import LooseVersion + +setup( + name='flightpolicy', + version='0.0.1', + author='Junjie Lu', + author_email='lqzx1998@tju.edu.cn', + description='A Learning-based Planner for Autonomous Navigation', + long_description='', + packages=['flightpolicy'], +) diff --git a/flightpolicy/yopo/__init__.py b/flightpolicy/yopo/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/flightpolicy/yopo/buffers.py b/flightpolicy/yopo/buffers.py new file mode 100644 index 0000000..bd792b1 --- /dev/null +++ b/flightpolicy/yopo/buffers.py @@ -0,0 +1,246 @@ +""" + The code is from stable_baseline3. +""" +from abc import ABC, abstractmethod +from gym import spaces +from typing import Any, Dict, Generator, List, Optional, Union, NamedTuple +from stable_baselines3.common.vec_env import VecNormalize +import torch as th +import numpy as np +import warnings +from stable_baselines3.common.type_aliases import ( + ReplayBufferSamples, + RolloutBufferSamples, +) + +try: + # Check memory used by replay buffer when possible + import psutil +except ImportError: + psutil = None + + +class BaseBuffer(ABC): + """ + Base class that represent a buffer (rollout or replay) + + :param buffer_size: Max number of element in the buffer + :param observation_dim: Observation space + :param action_space: Action space + :param device: PyTorch device + to which the values will be converted + :param n_envs: Number of parallel environments + """ + + def __init__( + self, + buffer_size: int, + observation_dim: int, + device: Union[th.device, str] = "cpu", + n_envs: int = 1, + ): + super(BaseBuffer, self).__init__() + self.buffer_size = buffer_size + self.observation_dim = observation_dim + + self.pos = 0 + self.full = False + self.device = device + self.n_envs = n_envs + + @staticmethod + def swap_and_flatten(arr: np.ndarray) -> np.ndarray: + """ + Swap and then flatten axes 0 (buffer_size) and 1 (n_envs) + to convert shape from [n_steps, n_envs, ...] (when ... is the shape of the features) + to [n_steps * n_envs, ...] (which maintain the order) + + :param arr: + :return: + """ + shape = arr.shape + if len(shape) < 3: + shape = shape + (1,) + return arr.swapaxes(0, 1).reshape(shape[0] * shape[1], *shape[2:]) + + def size(self) -> int: + """ + :return: The current size of the buffer + """ + if self.full: + return self.buffer_size + return self.pos + + def add(self, *args, **kwargs) -> None: + """ + Add elements to the buffer. + """ + raise NotImplementedError() + + def extend(self, *args, **kwargs) -> None: + """ + Add a new batch of transitions to the buffer + """ + # Do a for loop along the batch axis + for data in zip(*args): + self.add(*data) + + def reset(self) -> None: + """ + Reset the buffer. + """ + self.pos = 0 + self.full = False + + def sample(self, batch_size: int, env: Optional[VecNormalize] = None): + """ + :param batch_size: Number of element to sample + :param env: associated gym VecEnv + to normalize the observations/rewards when sampling + :return: + """ + upper_bound = self.buffer_size if self.full else self.pos + batch_inds = np.random.randint(0, upper_bound, size=batch_size) + return self._get_samples(batch_inds, env=env) + + @abstractmethod + def _get_samples( + self, batch_inds: np.ndarray, env: Optional[VecNormalize] = None + ) -> Union[ReplayBufferSamples, RolloutBufferSamples]: + """ + :param batch_inds: + :param env: + :return: + """ + raise NotImplementedError() + + def to_torch(self, array: np.ndarray, copy: bool = True) -> th.Tensor: + """ + Convert a numpy array to a PyTorch tensor. + Note: it copies the data by default + + :param array: + :param copy: Whether to copy or not the data + (may be useful to avoid changing things be reference) + :return: + """ + if copy: + return th.tensor(array).to(self.device) + return th.as_tensor(array).to(self.device) + + +class ReplayBufferSamples(NamedTuple): + observations: th.Tensor + goals: th.Tensor + depths: th.Tensor + map_id: th.Tensor + + +class ReplayBuffer(BaseBuffer): + """ + self.observations + self.goals + self.depths + self.map_ids + """ + + def __init__( + self, + buffer_size: int, + observation_dim: spaces.Space, + image_WxH: tuple, + device: Union[th.device, str] = "cpu", + n_envs: int = 1, + optimize_memory_usage: bool = False, + handle_timeout_termination: bool = True, + ): + super(ReplayBuffer, self).__init__(buffer_size, observation_dim, device, n_envs=n_envs) + + # Adjust buffer size + self.buffer_size = max(buffer_size // n_envs, 1) + + # Check that the replay buffer can fit into the memory + if psutil is not None: + mem_available = psutil.virtual_memory().available + + self.optimize_memory_usage = optimize_memory_usage + + self.observations = np.zeros((self.buffer_size, self.n_envs) + observation_dim, dtype=np.float32) + self.goals = np.zeros((self.buffer_size, self.n_envs, 3), dtype=np.float32) + self.depths = np.zeros((self.buffer_size, self.n_envs, 1, image_WxH[1], image_WxH[0]), dtype=np.float32) + self.map_ids = np.zeros((self.buffer_size, self.n_envs, 1), dtype=np.float32) + + # Handle timeouts termination properly if needed + # see https://github.com/DLR-RM/stable-baselines3/issues/284 + self.handle_timeout_termination = handle_timeout_termination + self.timeouts = np.zeros((self.buffer_size, self.n_envs), dtype=np.float32) + + if psutil is not None: + total_memory_usage = self.observations.nbytes + self.goals.nbytes + self.depths.nbytes + self.map_ids.nbytes + + if total_memory_usage > mem_available: + # Convert to GB + total_memory_usage /= 1e9 + mem_available /= 1e9 + warnings.warn( + "This system does not have apparently enough memory to store the complete " + f"replay buffer {total_memory_usage:.2f}GB > {mem_available:.2f}GB" + ) + + def add( + self, + obs: np.ndarray, + goal: np.ndarray, + depth: np.ndarray, + map_id: int, + infos: List[Dict[str, Any]], + ) -> None: + + # TODO: 删了obs的格式调整，检查下还能不能正常放 + + # Copy to avoid modification by reference + self.observations[self.pos] = np.array(obs).copy() + self.goals[self.pos] = np.array(goal).copy() + self.depths[self.pos] = np.array(depth).copy() + self.map_ids[self.pos] = np.array(map_id).copy() + + if self.handle_timeout_termination: + self.timeouts[self.pos] = np.array([info.get("TimeLimit.truncated", False) for info in infos]) + + self.pos += 1 + if self.pos == self.buffer_size: + self.full = True + self.pos = 0 + + def sample(self, batch_size: int, env: Optional[VecNormalize] = None) -> ReplayBufferSamples: + """ + Sample elements from the replay buffer. + Custom sampling when using memory efficient variant, + as we should not sample the element with index `self.pos` + See https://github.com/DLR-RM/stable-baselines3/pull/28#issuecomment-637559274 + + :param batch_size: Number of element to sample + :param env: associated gym VecEnv + to normalize the observations/rewards when sampling + :return: + """ + if not self.optimize_memory_usage: + return super().sample(batch_size=batch_size, env=env) + # Do not sample the element with index `self.pos` as the transitions is invalid + # (we use only one array to store `obs` and `next_obs`) + if self.full: + batch_inds = (np.random.randint(1, self.buffer_size, size=batch_size) + self.pos) % self.buffer_size + else: + batch_inds = np.random.randint(0, self.pos, size=batch_size) + return self._get_samples(batch_inds, env=env) + + def _get_samples(self, batch_inds: np.ndarray, env: Optional[VecNormalize] = None) -> ReplayBufferSamples: + env_indices = np.random.randint(0, high=self.n_envs, size=(len(batch_inds),)) + + data = ( + self.observations[batch_inds, env_indices, :], + self.goals[batch_inds, env_indices, :], + self.depths[batch_inds, env_indices, :], + self.map_ids[batch_inds, env_indices, :], + ) + return ReplayBufferSamples(*data) diff --git a/flightpolicy/yopo/dataloader.py b/flightpolicy/yopo/dataloader.py new file mode 100644 index 0000000..68300d4 --- /dev/null +++ b/flightpolicy/yopo/dataloader.py @@ -0,0 +1,106 @@ +import os +import cv2 +import numpy as np +from torch.utils.data import Dataset, DataLoader +from ruamel.yaml import YAML +import time +from scipy.spatial.transform import Rotation as R + + +class YopoDataset(Dataset): + def __init__(self): + super(YopoDataset, self).__init__() + cfg = YAML().load(open(os.environ["FLIGHTMARE_PATH"] + "/flightlib/configs/traj_opt.yaml", 'r')) + scale = 32 # 神经网络下采样倍数 + self.height = scale * cfg["vertical_num"] + self.width = scale * cfg["horizon_num"] + multiple_ = 0.5 * cfg["vel_max"] + # The x-direction follows a log-normal distribution, + # while the yz-direction follows a normal distribution with a mean of 0. + self.v_max = cfg["vel_max"] + v_des = multiple_ * cfg["vx_mean_unit"] + self.vx_lognorm_mean = np.log(self.v_max - v_des) + self.vx_logmorm_sigma = np.log(np.sqrt(v_des)) + self.v_mean = multiple_ * np.array([cfg["vx_mean_unit"], cfg["vy_mean_unit"], cfg["vz_mean_unit"]]) + self.v_var = multiple_ * multiple_ * np.array([cfg["vx_var_unit"], cfg["vy_var_unit"], cfg["vz_var_unit"]]) + self.a_mean = multiple_ * multiple_ * np.array([cfg["ax_mean_unit"], cfg["ay_mean_unit"], cfg["az_mean_unit"]]) + self.a_var = multiple_ * multiple_ * multiple_ * multiple_ * np.array([cfg["ax_var_unit"], cfg["ay_var_unit"], cfg["az_var_unit"]]) + + print("Loading dataset, it may take a while...") + data_cfg = YAML().load(open(os.environ["FLIGHTMARE_PATH"] + "/flightlib/configs/vec_env.yaml", 'r')) + data_dir = os.environ["FLIGHTMARE_PATH"] + data_cfg["env"]["dataset_path"] + + self.img_list = [] + self.map_idx = [] + self.positions = np.empty((0, 3)) + self.quaternions = np.empty((0, 4)) + subfolders = [f.path for f in os.scandir(data_dir) if f.is_dir()] + subfolders.sort(key=lambda x: os.path.basename(x).lower()) + for i in range(len(subfolders)): + img_dir = subfolders[i] + file_names = [filename + for filename in os.listdir(img_dir) + if os.path.splitext(filename)[1] == '.tif'] + file_names.sort(key=lambda x: int(x.split('.')[0].split("_")[1])) # sort by filename + images = [cv2.imread(img_dir + "/" + filename, -1).astype(np.float32) for filename in file_names] + self.img_list.extend(images) + self.map_idx.extend([i] * len(images)) + + label_path = img_dir + "/label.npz" + labels = np.load(label_path) + self.positions = np.vstack((self.positions, labels["positions"])) + self.quaternions = np.vstack((self.quaternions, labels["quaternions"])) + + print("Dataset loaded!") + + def __len__(self): + return len(self.img_list) + + def __getitem__(self, item): + if self.img_list[item].shape[-2] != self.height or self.img_list[item].shape[-1] != self.width: + self.img_list[item] = cv2.resize(self.img_list[item], (self.width, self.height)) # OpenCV and NumPy is Dif + + if len(self.img_list[item].shape) == 2: + self.img_list[item] = np.expand_dims(self.img_list[item], axis=0) + + vel, acc = self._get_random_state() + + # generate random goal in front of the quadrotor. + q_wxyz = self.quaternions[item, :] # q: wxyz + R_WB = R.from_quat([q_wxyz[1], q_wxyz[2], q_wxyz[3], q_wxyz[0]]) + euler_angles = R_WB.as_euler('ZYX', degrees=False) # [yaw(z) pitch(y) roll(x)] + R_wB = R.from_euler('ZYX', [0, euler_angles[1], euler_angles[2]], degrees=False) + goal_w = np.random.randn(3) + np.array([2, 0, 0]) + goal_b = R_wB.inv().apply(goal_w) + + goal_dist = np.linalg.norm(goal_b) + goal_dir = goal_b / goal_dist + random_obs = np.hstack((vel, acc, goal_dir)) + + return (self.img_list[item], self.positions[item, :], self.quaternions[item, :], random_obs, + self.map_idx[item]) # in body frame, vel_acc no-normalization + + def _get_random_state(self): + vel = self.v_mean + np.sqrt(self.v_var) * np.random.randn(3) + acc = self.a_mean + np.sqrt(self.a_var) * np.random.randn(3) + + right_skewed_vx = -1 + while right_skewed_vx < 0: + right_skewed_vx = np.random.lognormal(mean=self.vx_lognorm_mean, sigma=self.vx_logmorm_sigma, size=None) + right_skewed_vx = -right_skewed_vx + self.v_max + 0.2 # +0.2 to ensure v_max can be sampled + vel[0] = right_skewed_vx + # distribution of vx is visualized in docs/distribution_of_sampled_velocity.png (v_max=6) + return vel, acc + + +if __name__ == '__main__': + data_loader = DataLoader(YopoDataset(), batch_size=32, shuffle=True, num_workers=4) + + start = time.time() + for epoch in range(1): + last = time.time() + for i, (depth, pos, quat, obs, id) in enumerate(data_loader): + pass + end = time.time() + + print("总耗时：", end - start) diff --git a/flightpolicy/yopo/primitive_utils.py b/flightpolicy/yopo/primitive_utils.py new file mode 100644 index 0000000..eae78bb --- /dev/null +++ b/flightpolicy/yopo/primitive_utils.py @@ -0,0 +1,137 @@ +import numpy as np +from scipy.spatial.transform import Rotation as R + + +class LatticeParam(): + def __init__(self, cfg): + self.vel_max = cfg["vel_max"] + segment_time = 2 * cfg["radio_range"] / self.vel_max + self.horizon_num = cfg["horizon_num"] + self.vertical_num = cfg["vertical_num"] + self.radio_num = cfg["radio_num"] + self.vel_num = cfg["vel_num"] + self.horizon_fov = cfg["horizon_camera_fov"] * (self.horizon_num - 1) / self.horizon_num + self.vertical_fov = cfg["vertical_camera_fov"] * (self.vertical_num - 1) / self.vertical_num + self.horizon_anchor_fov = cfg["horizon_anchor_fov"] + self.vertical_anchor_fov = cfg["vertical_anchor_fov"] + self.radio_range = cfg["radio_range"] + self.vel_fov = cfg["vel_fov"] + self.vel_prefile = cfg["vel_prefile"] + self.acc_max = self.vel_max / segment_time + print("---------------------") + print("| max speed = ", round(self.vel_max, 1), " |") + print("| traj time = ", round(segment_time, 1), " |") + print("| max radio = ", round(2 * self.radio_range, 1), " |") + print("---------------------") + + +# ID in images: +# [8, 7, 6, +# 5, 4, 3, +# 2, 1, 0] +class LatticePrimitive(): + def __init__(self, LatticeParam): + self.lattice_param = LatticeParam + + if self.lattice_param.horizon_num == 1: + direction_diff = 0 + else: + direction_diff = (self.lattice_param.horizon_fov / 180.0 * np.pi) / (self.lattice_param.horizon_num - 1) + if self.lattice_param.vertical_num == 1: + altitude_diff = 0 + else: + altitude_diff = (self.lattice_param.vertical_fov / 180.0 * np.pi) / (self.lattice_param.vertical_num - 1) + radio_diff = self.lattice_param.radio_range / self.lattice_param.radio_num + if self.lattice_param.vel_num == 1: + vel_dir_diff = 0 + else: + vel_dir_diff = (self.lattice_param.vel_fov / 180.0 * np.pi) / (self.lattice_param.vel_num - 1) + + lattice_pos_list = [] + lattice_vel_list = [] + lattice_angle_list = [] + self.lattice_Rbp_list = [] + + # Primitives: Bottom to Top, Right to Left + # We retain the code of sampling primitives with different velocity directions and length, + # hope to predict multiple outputs in each grid like YOLO, but it does not work well. + for h in range(0, self.lattice_param.radio_num): + for i in range(0, self.lattice_param.vertical_num): + for j in range(0, self.lattice_param.horizon_num): + for k in range(0, self.lattice_param.vel_num): + search_radio = (h + 1) * radio_diff + alpha = -direction_diff * (self.lattice_param.horizon_num - 1) / 2 + j * direction_diff + beta = -altitude_diff * (self.lattice_param.vertical_num - 1) / 2 + i * altitude_diff + gamma = -vel_dir_diff * (self.lattice_param.vel_num - 1) / 2 + k * vel_dir_diff + + pos_node = [np.cos(beta) * np.cos(alpha) * search_radio, + np.cos(beta) * np.sin(alpha) * search_radio, + np.sin(beta) * search_radio] + vel_node = [np.cos(alpha + gamma) * self.lattice_param.vel_prefile, + np.sin(alpha + gamma) * self.lattice_param.vel_prefile, + 0.0] + lattice_pos_list.append(pos_node) + lattice_vel_list.append(vel_node) + lattice_angle_list.append([alpha, beta]) + # inner rotation: yaw-pitch-roll + Rotation = R.from_euler('ZYX', [alpha, -beta, 0.0], degrees=False) + self.lattice_Rbp_list.append(Rotation.as_matrix().astype(np.float32)) + + self.lattice_pos_node = np.array(lattice_pos_list) + self.lattice_vel_node = np.array(lattice_vel_list) + self.lattice_angle_node = np.array(lattice_angle_list) + + self.yaw_diff = 0.5 * self.lattice_param.horizon_anchor_fov / 180.0 * np.pi + self.pitch_diff = 0.5 * self.lattice_param.vertical_anchor_fov / 180.0 * np.pi + + def getStateLattice(self, id): + return self.lattice_pos_node[id, :], self.lattice_vel_node[id, :] + + # yaw, pitch + def getAngleLattice(self, id): + return self.lattice_angle_node[id, 0], self.lattice_angle_node[id, 1] + + def getRotation(self, id): + return self.lattice_Rbp_list[id] + + +""" +From body to world +p_w = Rwb * p_b + t_w +""" + +def rotate(q_wb, pos_b): # quat: wxzy + pos_w = np.zeros_like(pos_b) + if q_wb.ndim == 1: + Rotation_wb = R.from_quat([q_wb[1], q_wb[2], q_wb[3], q_wb[0]]) # xyzw + pos_w[:] = np.dot(Rotation_wb.as_matrix(), pos_b[:]) + else: + for i in range(0, q_wb.shape[0]): + Rotation_wb = R.from_quat([q_wb[i, 1], q_wb[i, 2], q_wb[i, 3], q_wb[i, 0]]) # xyzw + pos_w[i, :] = np.dot(Rotation_wb.as_matrix(), pos_b[i, :]) + return pos_w + +def transform(q_wb, tw, pos_b): + pos_w = rotate(q_wb, pos_b) + return pos_w + tw + + +""" +From world to body +p_b = Rbw * (p_w - t_w) +""" + +def rotate_inv(q_wb, pos_w): # quat: wxzy + pos_b = np.zeros_like(pos_w) + if q_wb.ndim == 1: + Rotation_bw = R.from_quat([-q_wb[1], -q_wb[2], -q_wb[3], q_wb[0]]) # xyzw + pos_b[:] = np.dot(Rotation_bw.as_matrix(), pos_w[:]) + else: + for i in range(0, q_wb.shape[0]): + Rotation_bw = R.from_quat([-q_wb[i, 1], -q_wb[i, 2], -q_wb[i, 3], q_wb[i, 0]]) # xyzw + pos_b[i, :] = np.dot(Rotation_bw.as_matrix(), pos_w[i, :]) + return pos_b + +def transform_inv(q_wb, tw, pos_w): + pos_b = rotate_inv(q_wb, pos_w - tw) + return pos_b diff --git a/flightpolicy/yopo/resnet.py b/flightpolicy/yopo/resnet.py new file mode 100644 index 0000000..a9b6bd1 --- /dev/null +++ b/flightpolicy/yopo/resnet.py @@ -0,0 +1,392 @@ +""" + this code is from torchvision. +""" +import torch +from torch import Tensor +import torch.nn as nn +from torch.hub import load_state_dict_from_url +from typing import Type, Any, Callable, Union, List, Optional + + +__all__ = ['ResNet', 'resnet18', 'resnet34', 'resnet50', 'resnet101', + 'resnet152', 'resnext50_32x4d', 'resnext101_32x8d', + 'wide_resnet50_2', 'wide_resnet101_2'] + + +model_urls = { + 'resnet18': 'https://download.pytorch.org/models/resnet18-f37072fd.pth', + 'resnet34': 'https://download.pytorch.org/models/resnet34-b627a593.pth', + 'resnet50': 'https://download.pytorch.org/models/resnet50-0676ba61.pth', + 'resnet101': 'https://download.pytorch.org/models/resnet101-63fe2227.pth', + 'resnet152': 'https://download.pytorch.org/models/resnet152-394f9c45.pth', + 'resnext50_32x4d': 'https://download.pytorch.org/models/resnext50_32x4d-7cdf4587.pth', + 'resnext101_32x8d': 'https://download.pytorch.org/models/resnext101_32x8d-8ba56ff5.pth', + 'wide_resnet50_2': 'https://download.pytorch.org/models/wide_resnet50_2-95faca4d.pth', + 'wide_resnet101_2': 'https://download.pytorch.org/models/wide_resnet101_2-32ee1156.pth', +} + + +def conv3x3(in_planes: int, out_planes: int, stride: int = 1, groups: int = 1, dilation: int = 1) -> nn.Conv2d: + """3x3 convolution with padding""" + return nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride, + padding=dilation, groups=groups, bias=False, dilation=dilation) + + +def conv1x1(in_planes: int, out_planes: int, stride: int = 1) -> nn.Conv2d: + """1x1 convolution""" + return nn.Conv2d(in_planes, out_planes, kernel_size=1, stride=stride, bias=False) + + +class BasicBlock(nn.Module): + expansion: int = 1 + + def __init__( + self, + inplanes: int, + planes: int, + stride: int = 1, + downsample: Optional[nn.Module] = None, + groups: int = 1, + base_width: int = 64, + dilation: int = 1, + norm_layer: Optional[Callable[..., nn.Module]] = None + ) -> None: + super(BasicBlock, self).__init__() + if norm_layer is None: + norm_layer = nn.BatchNorm2d + if groups != 1 or base_width != 64: + raise ValueError('BasicBlock only supports groups=1 and base_width=64') + if dilation > 1: + raise NotImplementedError("Dilation > 1 not supported in BasicBlock") + # Both self.conv1 and self.downsample layers downsample the input when stride != 1 + self.conv1 = conv3x3(inplanes, planes, stride) + self.bn1 = norm_layer(planes) + self.relu = nn.ReLU(inplace=True) + self.conv2 = conv3x3(planes, planes) + self.bn2 = norm_layer(planes) + self.downsample = downsample + self.stride = stride + + def forward(self, x: Tensor) -> Tensor: + identity = x + + out = self.conv1(x) + out = self.bn1(out) + out = self.relu(out) + + out = self.conv2(out) + out = self.bn2(out) + + if self.downsample is not None: + identity = self.downsample(x) + + out += identity + out = self.relu(out) + + return out + + +class Bottleneck(nn.Module): + # Bottleneck in torchvision places the stride for downsampling at 3x3 convolution(self.conv2) + # while original implementation places the stride at the first 1x1 convolution(self.conv1) + # according to "Deep residual learning for image recognition"https://arxiv.org/abs/1512.03385. + # This variant is also known as ResNet V1.5 and improves accuracy according to + # https://ngc.nvidia.com/catalog/model-scripts/nvidia:resnet_50_v1_5_for_pytorch. + + expansion: int = 4 + + def __init__( + self, + inplanes: int, + planes: int, + stride: int = 1, + downsample: Optional[nn.Module] = None, + groups: int = 1, + base_width: int = 64, + dilation: int = 1, + norm_layer: Optional[Callable[..., nn.Module]] = None + ) -> None: + super(Bottleneck, self).__init__() + if norm_layer is None: + norm_layer = nn.BatchNorm2d + width = int(planes * (base_width / 64.)) * groups + # Both self.conv2 and self.downsample layers downsample the input when stride != 1 + self.conv1 = conv1x1(inplanes, width) + self.bn1 = norm_layer(width) + self.conv2 = conv3x3(width, width, stride, groups, dilation) + self.bn2 = norm_layer(width) + self.conv3 = conv1x1(width, planes * self.expansion) + self.bn3 = norm_layer(planes * self.expansion) + self.relu = nn.ReLU(inplace=True) + self.downsample = downsample + self.stride = stride + + def forward(self, x: Tensor) -> Tensor: + identity = x + + out = self.conv1(x) + out = self.bn1(out) + out = self.relu(out) + + out = self.conv2(out) + out = self.bn2(out) + out = self.relu(out) + + out = self.conv3(out) + out = self.bn3(out) + + if self.downsample is not None: + identity = self.downsample(x) + + out += identity + out = self.relu(out) + + return out + + +class ResNet(nn.Module): + + def __init__( + self, + block: Type[Union[BasicBlock, Bottleneck]], + layers: List[int], + num_classes: int = 1000, + zero_init_residual: bool = False, + groups: int = 1, + width_per_group: int = 64, + replace_stride_with_dilation: Optional[List[bool]] = None, + norm_layer: Optional[Callable[..., nn.Module]] = None + ) -> None: + super(ResNet, self).__init__() + if norm_layer is None: + norm_layer = nn.BatchNorm2d + self._norm_layer = norm_layer + + self.inplanes = 64 + self.dilation = 1 + if replace_stride_with_dilation is None: + # each element in the tuple indicates if we should replace + # the 2x2 stride with a dilated convolution instead + replace_stride_with_dilation = [False, False, False] + if len(replace_stride_with_dilation) != 3: + raise ValueError("replace_stride_with_dilation should be None " + "or a 3-element tuple, got {}".format(replace_stride_with_dilation)) + self.groups = groups + self.base_width = width_per_group + self.conv1 = nn.Conv2d(3, self.inplanes, kernel_size=7, stride=2, padding=3, + bias=False) + self.bn1 = norm_layer(self.inplanes) + self.relu = nn.ReLU(inplace=True) + self.maxpool = nn.MaxPool2d(kernel_size=3, stride=2, padding=1) + self.layer1 = self._make_layer(block, 64, layers[0], stride=2) + self.layer2 = self._make_layer(block, 128, layers[1], stride=2, + dilate=replace_stride_with_dilation[0]) + self.layer3 = self._make_layer(block, 256, layers[2], stride=2, + dilate=replace_stride_with_dilation[1]) + self.layer4 = self._make_layer(block, 512, layers[3], stride=2, + dilate=replace_stride_with_dilation[2]) + self.avgpool = nn.AdaptiveAvgPool2d((1, 1)) + self.fc = nn.Linear(512 * block.expansion, num_classes) + + for m in self.modules(): + if isinstance(m, nn.Conv2d): + nn.init.kaiming_normal_(m.weight, mode='fan_out', nonlinearity='relu') + elif isinstance(m, (nn.BatchNorm2d, nn.GroupNorm)): + nn.init.constant_(m.weight, 1) + nn.init.constant_(m.bias, 0) + + # Zero-initialize the last BN in each residual branch, + # so that the residual branch starts with zeros, and each residual block behaves like an identity. + # This improves the model by 0.2~0.3% according to https://arxiv.org/abs/1706.02677 + if zero_init_residual: + for m in self.modules(): + if isinstance(m, Bottleneck): + nn.init.constant_(m.bn3.weight, 0) # type: ignore[arg-type] + elif isinstance(m, BasicBlock): + nn.init.constant_(m.bn2.weight, 0) # type: ignore[arg-type] + + def _make_layer(self, block: Type[Union[BasicBlock, Bottleneck]], planes: int, blocks: int, + stride: int = 1, dilate: bool = False) -> nn.Sequential: + norm_layer = self._norm_layer + downsample = None + previous_dilation = self.dilation + if dilate: + self.dilation *= stride + stride = 1 + if stride != 1 or self.inplanes != planes * block.expansion: + downsample = nn.Sequential( + conv1x1(self.inplanes, planes * block.expansion, stride), + norm_layer(planes * block.expansion), + ) + + layers = [] + layers.append(block(self.inplanes, planes, stride, downsample, self.groups, + self.base_width, previous_dilation, norm_layer)) + self.inplanes = planes * block.expansion + for _ in range(1, blocks): + layers.append(block(self.inplanes, planes, groups=self.groups, + base_width=self.base_width, dilation=self.dilation, + norm_layer=norm_layer)) + + return nn.Sequential(*layers) + + def _forward_impl(self, x: Tensor) -> Tensor: + # See note [TorchScript super()] + x = self.conv1(x) + x = self.bn1(x) + x = self.relu(x) + # x = self.maxpool(x) + + x = self.layer1(x) + x = self.layer2(x) + x = self.layer3(x) + x = self.layer4(x) + + x = self.avgpool(x) + # x = torch.flatten(x, 1) + x = self.fc(x) + + return x + + def forward(self, x: Tensor) -> Tensor: + return self._forward_impl(x) + + +def _resnet( + arch: str, + block: Type[Union[BasicBlock, Bottleneck]], + layers: List[int], + pretrained: bool, + progress: bool, + **kwargs: Any +) -> ResNet: + model = ResNet(block, layers, **kwargs) + if pretrained: + state_dict = load_state_dict_from_url(model_urls[arch], + progress=progress) + model.load_state_dict(state_dict) + return model + + +def resnet18(pretrained: bool = False, progress: bool = True, **kwargs: Any) -> ResNet: + r"""ResNet-18 model from + `"Deep Residual Learning for Image Recognition" `_. + + Args: + pretrained (bool): If True, returns a model pre-trained on ImageNet + progress (bool): If True, displays a progress bar of the download to stderr + """ + return _resnet('resnet18', BasicBlock, [2, 2, 2, 2], pretrained, progress, + **kwargs) + + +def resnet34(pretrained: bool = False, progress: bool = True, **kwargs: Any) -> ResNet: + r"""ResNet-34 model from + `"Deep Residual Learning for Image Recognition" `_. + + Args: + pretrained (bool): If True, returns a model pre-trained on ImageNet + progress (bool): If True, displays a progress bar of the download to stderr + """ + return _resnet('resnet34', BasicBlock, [3, 4, 6, 3], pretrained, progress, + **kwargs) + + +def resnet50(pretrained: bool = False, progress: bool = True, **kwargs: Any) -> ResNet: + r"""ResNet-50 model from + `"Deep Residual Learning for Image Recognition" `_. + + Args: + pretrained (bool): If True, returns a model pre-trained on ImageNet + progress (bool): If True, displays a progress bar of the download to stderr + """ + return _resnet('resnet50', Bottleneck, [3, 4, 6, 3], pretrained, progress, + **kwargs) + + +def resnet101(pretrained: bool = False, progress: bool = True, **kwargs: Any) -> ResNet: + r"""ResNet-101 model from + `"Deep Residual Learning for Image Recognition" `_. + + Args: + pretrained (bool): If True, returns a model pre-trained on ImageNet + progress (bool): If True, displays a progress bar of the download to stderr + """ + return _resnet('resnet101', Bottleneck, [3, 4, 23, 3], pretrained, progress, + **kwargs) + + +def resnet152(pretrained: bool = False, progress: bool = True, **kwargs: Any) -> ResNet: + r"""ResNet-152 model from + `"Deep Residual Learning for Image Recognition" `_. + + Args: + pretrained (bool): If True, returns a model pre-trained on ImageNet + progress (bool): If True, displays a progress bar of the download to stderr + """ + return _resnet('resnet152', Bottleneck, [3, 8, 36, 3], pretrained, progress, + **kwargs) + + +def resnext50_32x4d(pretrained: bool = False, progress: bool = True, **kwargs: Any) -> ResNet: + r"""ResNeXt-50 32x4d model from + `"Aggregated Residual Transformation for Deep Neural Networks" `_. + + Args: + pretrained (bool): If True, returns a model pre-trained on ImageNet + progress (bool): If True, displays a progress bar of the download to stderr + """ + kwargs['groups'] = 32 + kwargs['width_per_group'] = 4 + return _resnet('resnext50_32x4d', Bottleneck, [3, 4, 6, 3], + pretrained, progress, **kwargs) + + +def resnext101_32x8d(pretrained: bool = False, progress: bool = True, **kwargs: Any) -> ResNet: + r"""ResNeXt-101 32x8d model from + `"Aggregated Residual Transformation for Deep Neural Networks" `_. + + Args: + pretrained (bool): If True, returns a model pre-trained on ImageNet + progress (bool): If True, displays a progress bar of the download to stderr + """ + kwargs['groups'] = 32 + kwargs['width_per_group'] = 8 + return _resnet('resnext101_32x8d', Bottleneck, [3, 4, 23, 3], + pretrained, progress, **kwargs) + + +def wide_resnet50_2(pretrained: bool = False, progress: bool = True, **kwargs: Any) -> ResNet: + r"""Wide ResNet-50-2 model from + `"Wide Residual Networks" `_. + + The model is the same as ResNet except for the bottleneck number of channels + which is twice larger in every block. The number of channels in outer 1x1 + convolutions is the same, e.g. last block in ResNet-50 has 2048-512-2048 + channels, and in Wide ResNet-50-2 has 2048-1024-2048. + + Args: + pretrained (bool): If True, returns a model pre-trained on ImageNet + progress (bool): If True, displays a progress bar of the download to stderr + """ + kwargs['width_per_group'] = 64 * 2 + return _resnet('wide_resnet50_2', Bottleneck, [3, 4, 6, 3], + pretrained, progress, **kwargs) + + +def wide_resnet101_2(pretrained: bool = False, progress: bool = True, **kwargs: Any) -> ResNet: + r"""Wide ResNet-101-2 model from + `"Wide Residual Networks" `_. + + The model is the same as ResNet except for the bottleneck number of channels + which is twice larger in every block. The number of channels in outer 1x1 + convolutions is the same, e.g. last block in ResNet-50 has 2048-512-2048 + channels, and in Wide ResNet-50-2 has 2048-1024-2048. + + Args: + pretrained (bool): If True, returns a model pre-trained on ImageNet + progress (bool): If True, displays a progress bar of the download to stderr + """ + kwargs['width_per_group'] = 64 * 2 + return _resnet('wide_resnet101_2', Bottleneck, [3, 4, 23, 3], + pretrained, progress, **kwargs) diff --git a/flightpolicy/yopo/yopo_algorithm.py b/flightpolicy/yopo/yopo_algorithm.py new file mode 100644 index 0000000..e29d57c --- /dev/null +++ b/flightpolicy/yopo/yopo_algorithm.py @@ -0,0 +1,610 @@ +""" +Training Strategy +supervised learning, imitation learning, testing, rollout +""" +import time +from copy import deepcopy +import os +import random +import cv2 +import numpy as np +import torch as th +from torch.nn import functional as F +from stable_baselines3.common.type_aliases import RolloutReturn, TrainFreq, TrainFrequencyUnit +from stable_baselines3.common.utils import should_collect_more_steps, get_schedule_fn, configure_logger +from stable_baselines3.common.vec_env import VecEnv +from stable_baselines3.common.utils import get_device + +# ----------- +from flightpolicy.yopo.yopo_policy import YopoPolicy +from flightpolicy.yopo.dataloader import YopoDataset +from torch.utils.data import DataLoader +from flightpolicy.yopo.primitive_utils import transform, rotate, transform_inv, rotate_inv +from flightpolicy.yopo.primitive_utils import LatticeParam, LatticePrimitive +from flightpolicy.yopo.buffers import ReplayBuffer +from ruamel.yaml import YAML + + +class YopoAlgorithm: + def __init__( + self, + env=None, + learning_rate=0.001, + is_imitation=False, + buffer_size=1_000_000, + learning_starts=100, + batch_size=256, + unselect=0.0, + loss_weight=[], + train_freq=(1, "step"), + change_env_freq=-1, + gradient_steps=1, + policy_kwargs=None, + tensorboard_log=None, + verbose=0, + max_grad_norm=10, + ): + # env + self.observation_dim = env.observation_dim + self.action_dim = env.action_dim + self.n_envs = env.num_envs + self.env = env + # training + self.learning_rate = learning_rate + self.batch_size = batch_size + self.max_grad_norm = max_grad_norm + self.unselect = unselect + self.loss_weight = loss_weight + self.device = get_device('auto') + self.policy_kwargs = {} if policy_kwargs is None else policy_kwargs + # imitation learning + self.is_imitation = is_imitation + self.buffer_size = buffer_size + self.train_freq = train_freq + self.change_env_freq = change_env_freq + self.learning_starts = learning_starts + self.gradient_steps = gradient_steps + self.freq_reset = False + self.replay_buffer = None + # logger + self.verbose = verbose + self.tensorboard_log = tensorboard_log + self.logger = configure_logger(self.verbose, self.tensorboard_log, "YOPO") + # trajectory + cfg = YAML().load(open(os.environ["FLIGHTMARE_PATH"] + "/flightlib/configs/traj_opt.yaml", 'r')) + self.lattice_space = LatticeParam(cfg) + self.lattice_primitive = LatticePrimitive(self.lattice_space) + + self._setup_model() + + def _setup_model(self): + self.lr_schedule = get_schedule_fn(self.learning_rate) + + # buffer: pos, quat, vel, acc, depth + if self.replay_buffer is None and self.is_imitation: + self.replay_buffer = ReplayBuffer( + self.buffer_size, + self.observation_dim, + (self.env.network_width, self.env.network_height), + device=self.device, + n_envs=self.n_envs, + ) + + print("Loading Network...") + + self.policy = YopoPolicy( + observation_dim=self.observation_dim, + action_dim=self.action_dim, + lattice_space=self.lattice_space, + lattice_primitive=self.lattice_primitive, + lr_schedule=self.lr_schedule, + train_env=self.env, + device=self.device, + **self.policy_kwargs + ) + + self.policy = self.policy.to(self.device) + print("Network Loaded!") + + if self.is_imitation: + self._convert_train_freq() + + def supervised_learning(self, epoch, log_interval): + self.policy.set_training_mode(True) + data_loader = DataLoader(YopoDataset(), batch_size=self.batch_size, shuffle=True, num_workers=0) + + n_updates = 0 + start_time = time.time() + for epoch_ in range(epoch): + cost_losses = [] # Performance (score) of prediction + score_losses = [] # Accuracy of the predicted score + for step, (depth, pos, quat, obs_b, map_id) in enumerate(data_loader): # obs: body frame + if depth.shape[0] != self.batch_size: # batch size == num of env + continue + n_updates = n_updates + 1 + depth = depth.to(self.device) + obs_b = obs_b.numpy() + + goal_dir = obs_b[:, 6:9] + goal_w = transform(quat.numpy(), pos.numpy(), 10 * goal_dir) # Rwb * g_b + t_wb + vel_w = rotate(quat.numpy(), obs_b[:, 0:3]) + acc_w = rotate(quat.numpy(), obs_b[:, 3:6]) + self.env.setState(pos.numpy(), vel_w, acc_w, quat.numpy()) + self.env.setGoal(goal_w) + self.env.setMapID(map_id.numpy()) + + obs_b[:, 0:6] = self.normalize_obs(obs_b[:, 0:6]) + obs_norm_input = self.prapare_input_observation(obs_b) + obs_norm_input = obs_norm_input.to(self.device) + endstate_score_predictions, cost_labels = self.policy.inference(depth, obs_norm_input) + score_labels = cost_labels.clone().detach() + cost_labels_record = th.mean(cost_labels) + cost_labels_filtered = self.cost_filter(cost_labels) + + cost_loss = th.mean(cost_labels_filtered) + score_loss = F.smooth_l1_loss(endstate_score_predictions[:, 9, :], score_labels) + loss = self.loss_weight[0] * cost_loss + self.loss_weight[1] * score_loss + cost_losses.append(self.loss_weight[0] * cost_labels_record.item()) + score_losses.append(self.loss_weight[1] * score_loss.item()) + + # Optimize the policy + self.policy.optimizer.zero_grad() + loss.backward() + # Clip gradient norm + th.nn.utils.clip_grad_norm_(self.policy.parameters(), self.max_grad_norm) + self.policy.optimizer.step() + + if log_interval is not None and n_updates % log_interval[0] == 0: + self.logger.record("time/epoch", epoch_, exclude="tensorboard") + self.logger.record("time/steps", n_updates, exclude="tensorboard") + self.logger.record("time/batch_fps", log_interval[0] / (time.time() - start_time), + exclude="tensorboard") + self.logger.record("train/trajectory_cost", np.mean(cost_losses)) + self.logger.record("train/score_loss", np.mean(score_losses)) + self.logger.dump(step=n_updates) + cost_losses = [] + score_losses = [] + start_time = time.time() + + if log_interval is not None and n_updates % log_interval[1] == 0: + policy_path = self.logger.get_dir() + "/Policy" + os.makedirs(policy_path, exist_ok=True) + path = policy_path + "/epoch{}_iter{}.pth".format(epoch_, step) + th.save({"state_dict": self.policy.state_dict(), "data": self.policy.get_constructor_parameters()}, path) + + # 模仿学习: 已弃用(暂未删除以备后续使用) + # 0、reset_state、get_depth、reset_goal + # 1、执行若干步（env_num * 200） + # 2、训练若干步（batch_size = env_num, 训200次=1eposide） + # 3、reset_state、get_depth、reset_goal + def imitation_learning( + self, + total_timesteps, + callback=None, + log_interval=4, + eval_env=None, + eval_freq=-1, + n_eval_episodes=5, + tb_log_name="YOPO", + eval_log_path=None, + reset_num_timesteps=True, + ): + + # 0. 初始化第一次观测 + total_timesteps, callback = self._setup_learn( + total_timesteps, + eval_env, + callback, + eval_freq, + n_eval_episodes, + eval_log_path, + reset_num_timesteps, + tb_log_name, + ) + self.pretrained = self.env.pretrained + callback.on_training_start(locals(), globals()) + + while self.num_timesteps < total_timesteps: + # 1. 数据收集 + rollout = self.collect_rollouts( + self.env, + train_freq=self.train_freq, + action_noise=self.action_noise, + callback=callback, + replay_buffer=self.replay_buffer, + log_interval=log_interval, + ) + + if rollout.continue_training is False: + break + + # 2. 训练模型 + if self.num_timesteps > 0 and self.num_timesteps > self.learning_starts: + # If no `gradient_steps` is specified, + # do as many gradients steps as steps performed during the rollout + gradient_steps = self.gradient_steps if self.gradient_steps >= 0 else rollout.episode_timesteps + # Special case when the user passes `gradient_steps=0` + if gradient_steps > 0: + self.train(batch_size=self.batch_size, gradient_steps=gradient_steps) + self.reset_state() + + iteration = int(self.num_timesteps / (self.train_freq.frequency * self.env.num_envs)) + + # 3. 重置环境 + if self.change_env_freq > 0 and iteration % self.change_env_freq == 0: + self.env.spawnTreesAndSavePointcloud() + self._map_id = self._map_id + 1 + self.reset_state() + + # 4. 终端打印log + if log_interval is not None and iteration % log_interval[0] == 0: + self._dump_logs() + + if log_interval is not None and iteration % log_interval[1] == 0: + policy_path = self.logger.get_dir() + "/Policy" + os.makedirs(policy_path, exist_ok=True) + path = policy_path + "/epoch0_iter{}.pth".format(iteration) + th.save({"state_dict": self.policy.state_dict(), "data": self.policy.get_constructor_parameters()}, path) + + callback.on_training_end() + + def test_policy(self, num_rollouts: int = 10): + max_ep_length = 400 + self.policy.set_training_mode(False) + + for n_roll in range(num_rollouts): + obs, done, ep_len = self.env.reset(), False, 0 + costs = [] + # Randomly initialize the position and goal on the map. + random_y_goal = 20 * random.uniform(-1, 1) + 20 + random_y = 20 * random.uniform(-1, 1) + 20 + goal_w = np.array([[20, random_y_goal, 2]]) + obs = np.array([[-20, random_y, 2, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0]]) + self.env.setGoal(goal_w) + self.env.setState(np.array([[-20, random_y, 2]]), np.array([[0, 0, 0]]), + np.array([[0, 0, 0]]), np.array([[1, 0, 0, 0]])) + self.env.render() + + while not (done or (ep_len >= max_ep_length)): + depth = self.env.getDepthImage() + depth_vis = cv2.resize(depth[0][0], (320, 180)) + cv2.imshow("depth", depth_vis) + cv2.waitKey(10) + depth = th.from_numpy(depth).to(self.device) + + # transform observation to body frame + quat_bw = -obs[:, 9:13] # inv of quat: [w, -x, -y, -z] + quat_bw[:, 0] = -quat_bw[:, 0] + goal_dir_w = (goal_w - obs[:, 0:3]) / np.linalg.norm(goal_w - obs[:, 0:3]) + goal_dir_b = rotate(quat_bw, goal_dir_w) + vel_acc_norm_b = self.normalize_obs(obs[:, 3:9]) + obs_norm_b = np.hstack((vel_acc_norm_b, goal_dir_b)) + + obs_norm_input = self.prapare_input_observation(obs_norm_b) + obs_norm_input = obs_norm_input.to(self.device) + + endstate_pred, score_pred = self.policy.predict(depth, obs_norm_input) + endstate_pred = endstate_pred.cpu().numpy() + # obs: p_wb, v_b, a_b, q_wb; endstate_pred: pva in body frame + obs, rew, done = self.env.step(endstate_pred) + + costs.append(rew) + ep_len += 1 + print("round ", n_roll, ", total steps:", len(costs), ", avg cost:", sum(costs) / len(costs)) + + def train(self, gradient_steps: int, batch_size: int) -> None: + """ + Sample the replay buffer and do the updates + (gradient descent and update target networks) + """ + # Switch to train mode (this affects batch norm / dropout) + self.policy.set_training_mode(True) + # Update learning rate according to schedule (TODO in supervised learning) + self._update_learning_rate(self.policy.optimizer) + + cost_losses = [] + score_losses = [] # dy, dz, r, p, vx, vy, vz + for _ in range(gradient_steps): + # Sample replay buffer + replay_data = self.replay_buffer.sample(batch_size, env=self._vec_normalize_env) + depth = th.from_numpy(replay_data.depths).to(self.device) + pos = replay_data.observations[:, 0:3] + vel_acc_b = replay_data.observations[:, 3:9] + quat_wb = replay_data.observations[:, 9:13] + goal_w = replay_data.goals + map_id = replay_data.map_id + + goal_dir_w = (goal_w - pos) / np.linalg.norm(goal_w - pos, axis=1)[:, np.newaxis] + goal_dir_b = rotate_inv(quat_wb, goal_dir_w) + vel_w = rotate(quat_wb, vel_acc_b[:, 0:3]) + acc_w = rotate(quat_wb, vel_acc_b[:, 3:6]) + self.env.setState(pos, vel_w, acc_w, quat_wb) + self.env.setGoal(goal_w) + self.env.setMapID(map_id) + + vel_acc_norm_b = self.normalize_obs(vel_acc_b) + obs_norm_b = np.hstack((vel_acc_norm_b, goal_dir_b)) + obs_norm_input = self.prapare_input_observation(obs_norm_b) + obs_norm_input = obs_norm_input.to(self.device) + endstate_score_predictions, cost_labels = self.policy.inference(depth, obs_norm_input) + score_labels = cost_labels.clone().detach() + + cost_labels_record = th.mean(cost_labels) + cost_labels_filtered = self.cost_filter(cost_labels) + + cost_loss = th.mean(cost_labels_filtered) + score_loss = F.smooth_l1_loss(endstate_score_predictions[:, 9, :], score_labels) + loss = self.loss_weight[0] * cost_loss + self.loss_weight[1] * score_loss + cost_losses.append(self.loss_weight[0] * cost_labels_record.item()) + score_losses.append(self.loss_weight[1] * score_loss.item()) + + # Optimize the policy + self.policy.optimizer.zero_grad() + loss.backward() + # Clip gradient norm + th.nn.utils.clip_grad_norm_(self.policy.parameters(), self.max_grad_norm) + self.policy.optimizer.step() + + # Increase update counter + self._n_updates += gradient_steps + self.logger.record("train/n_updates", self._n_updates, exclude="tensorboard") + self.logger.record("train/trajectory_cost", np.mean(cost_losses)) + self.logger.record("train/score_loss", np.mean(score_losses)) + + def collect_rollouts( + self, + env, + callback, + train_freq, + replay_buffer, + action_noise=None, + log_interval=None, + ) -> RolloutReturn: + + self.policy.set_training_mode(False) + + num_collected_steps, num_collected_episodes = 0, 0 + + assert isinstance(env, VecEnv), "You must pass a VecEnv" + assert train_freq.frequency > 0, "Should at least collect one step or episode." + + if env.num_envs > 1: + assert train_freq.unit == TrainFrequencyUnit.STEP, "You must use only one env when doing episodic training." + + callback.on_rollout_start() + continue_training = True + + """ + 1、pred endstate + 2、get obs: self._last_obs = env.step(endstate) + 3、get depth: self._last_depth = env.getDepthImage() + 4、record to buffer and back to 1 + """ + while should_collect_more_steps(train_freq, num_collected_steps, num_collected_episodes): + + # 1. pred endstate used latest policy or pre-trained policy + sampled_endstate = self._sample_action(action_noise, env.num_envs) + + # 2. perform action + new_obs, rewards, dones = env.step(sampled_endstate) + + self.num_timesteps += env.num_envs + num_collected_steps += 1 + + # Give access to local variables + callback.update_locals(locals()) + # Only stop training if return value is False, not when it is None. + if callback.on_step() is False: + return RolloutReturn(num_collected_steps * env.num_envs, num_collected_episodes, + continue_training=False) + + # 3. store the last obs, depth, and goal + # self._update_info_buffer(infos, dones) + self._store_transition(replay_buffer) + self._update_current_progress_remaining(self.num_timesteps, self._total_timesteps) + + # 4. update the obs, depth, goal, and reset the goal for the done-env + self._last_obs = new_obs + self._last_depth = env.getDepthImage() + + for idx, done in enumerate(dones): + if done: + # Update stats + num_collected_episodes += 1 + self._episode_num += 1 + # reset goal for the 'done' env + self._last_goal[idx] = self.get_random_goal(self._last_obs[idx]) + + callback.on_rollout_end() + + return RolloutReturn(num_collected_steps * env.num_envs, num_collected_episodes, continue_training) + + def prapare_input_observation(self, obs): + """ + convert the observation from body frame to primitive frame, + and then concatenate it with the depth features (to ensure the translational invariance) + """ + obs_return = np.ones( + (obs.shape[0], self.lattice_space.vertical_num, self.lattice_space.horizon_num, obs.shape[1]), + dtype=np.float32) + id = 0 + v_b = obs[:, 0:3] + a_b = obs[:, 3:6] + g_b = obs[:, 6:9] + for i in range(self.lattice_space.vertical_num - 1, -1, -1): + for j in range(self.lattice_space.horizon_num - 1, -1, -1): + Rbp = self.lattice_primitive.getRotation(id) + v_p = np.dot(Rbp.T, v_b.T).T + a_p = np.dot(Rbp.T, a_b.T).T + g_p = np.dot(Rbp.T, g_b.T).T + obs_return[:, i, j, 0:3] = v_p + obs_return[:, i, j, 3:6] = a_p + obs_return[:, i, j, 6:9] = g_p + # obs_return[:, i, j, 0:6] = self.normalize_obs(obs_return[:, i, j, 0:6]) + id = id + 1 + obs_return = np.transpose(obs_return, [0, 3, 1, 2]) + return th.from_numpy(obs_return) + + def unnormalize_obs(self, vel_acc_norm): + vel = vel_acc_norm[:, 0:3] * self.lattice_space.vel_max + acc = vel_acc_norm[:, 3:6] * self.lattice_space.acc_max + return np.hstack((vel, acc)) + + def normalize_obs(self, vel_acc): + vel_norm = vel_acc[:, 0:3] / self.lattice_space.vel_max + acc_norm = vel_acc[:, 3:6] / self.lattice_space.acc_max + return np.hstack((vel_norm, acc_norm)) + + def cost_filter(self, costs_): + # costs_ = costs.clone() # NOTE: numpy.ndarray is reference invocation! + if self.unselect <= 0 or self.unselect >= 1: + return costs_ + # filter the negative samples + rows, cols = costs_.size() + unselect = int(cols * self.unselect) + for i in range(rows): + row = costs_[i] + _, indices = th.topk(row, unselect) + costs_[i][indices] = 0.0 + return costs_ + + def _setup_learn( + self, + total_timesteps, + eval_env=None, + callback=None, + eval_freq=10000, + n_eval_episodes=5, + log_path=None, + reset_num_timesteps=True, + tb_log_name="run", + ): + # ----------------- Init the First Observation ----------------- + # super()._setup_learn() 中： self._last_obs = self.env.reset() + total_timesteps_, callback_ = super()._setup_learn( + total_timesteps, + eval_env, + callback, + eval_freq, + n_eval_episodes, + log_path, + reset_num_timesteps, + tb_log_name, + ) + self._last_depth = self.env.getDepthImage() + self._last_goal = np.zeros([self.env.num_envs, 3], dtype=np.float32) + for i in range(0, self.env.num_envs): + self._last_goal[i] = self.get_random_goal(self._last_obs[i]) + self._map_id = np.zeros((self.env.num_envs, 1), dtype=np.float32) + + return total_timesteps_, callback_ + + + def _sample_action(self) -> np.ndarray: + """ + use pretrained model or current model to sample the actions (endstate) + self._last_obs: last state obs [p, v, a, q] + self._last_depth: last depth image + """ + obs = self._last_obs.copy() + goal_w = self._last_goal.copy() + depth = th.from_numpy(self._last_depth).to(self.device) + # wxyz 四元数的逆[w, -x, -y, -z] + quat_bw = -obs[:, 9:13] + quat_bw[:, 0] = -quat_bw[:, 0] + vel_acc_norm_b = self.normalize_obs(obs[:, 3:9]) + goal_dir_w = (goal_w - obs[:, 0:3]) / np.linalg.norm(goal_w - obs[:, 0:3], axis=1)[:, np.newaxis] + goal_dir_b = rotate(quat_bw, goal_dir_w) + obs_norm_b = np.hstack((vel_acc_norm_b, goal_dir_b)) + + obs_norm_input = self.prapare_input_observation(obs_norm_b) + obs_norm_input = obs_norm_input.to(self.device) + + endstate_pred, score_pred = self.policy.predict(depth, obs_norm_input) + endstate_pred = endstate_pred.cpu().numpy() + return endstate_pred + + def _dump_logs(self) -> None: + """ + Write log. + """ + time_elapsed = time.time() - self.start_time + fps = int((self.num_timesteps - self._num_timesteps_at_start) / (time_elapsed + 1e-8)) + self.logger.record("time/fps", fps, exclude="tensorboard") + self.logger.record("time/minute_elapsed", int(time_elapsed / 60), exclude="tensorboard") + self.logger.record("time/total_timesteps", self.num_timesteps, exclude="tensorboard") + self.logger.record("train/map_id", self._map_id[0][0], exclude="tensorboard") + + # Pass the number of timesteps for tensorboard + self.logger.dump(step=self.num_timesteps) + + def _store_transition(self, replay_buffer): + + # Avoid modification by reference + obs = deepcopy(self._last_obs) + goal = deepcopy(self._last_goal) + depth = deepcopy(self._last_depth) + map_id = deepcopy(self._map_id) + + replay_buffer.add( + obs, + goal, + depth, + map_id + ) + + def get_random_goal(self, uav_state=None): + world = self.env.world_box + # 1. Use random goal in map + if uav_state is None: + world_center = np.array([world[3] + world[0], world[4] + world[1], world[5] + world[2]]) / 2 + world_scale = np.array([world[3] - world[0], world[4] - world[1], 1.0]) + # The goal can be out of the world, if strictly in world: np.random.uniform(-0.5, 0.5, 3) + random_numbers = np.random.uniform(-1, 1, 3) + random_goal = random_numbers * world_scale + world_center + # 2. Use goal in front of the UAV (for better imitation learning) + else: + q_wb = uav_state[9:] + p_wb = uav_state[0:3] + goal = np.random.randn(3) + np.array([2, 0, 0]) + goal_dir = goal / np.linalg.norm(goal) + random_goal_b = 50 * goal_dir + random_goal_w = transform(q_wb, p_wb, random_goal_b) + random_goal_w[2] = np.random.uniform(-1, 1) * 1 + (world[5] + world[2]) / 2 + random_goal = random_goal_w + + return random_goal + + def reset_state(self): + """ + Reset the state and map_id after every train step, because the state and map_id are manually set in training, + which will affect the cost, controller, image render, and other parts for next rollout + """ + self.env.setMapID(-np.ones((self.env.num_envs, 1))) + self._last_obs = self.env.reset() + self._last_depth = self.env.getDepthImage() + for i in range(0, self.env.num_envs): + self._last_goal[i] = self.get_random_goal(self._last_obs[i]) + + def _convert_train_freq(self) -> None: + """ + Convert `train_freq` parameter (int or tuple) + to a TrainFreq object. + """ + if not isinstance(self.train_freq, TrainFreq): + train_freq = self.train_freq + + # The value of the train frequency will be checked later + if not isinstance(train_freq, tuple): + train_freq = (train_freq, "step") + + try: + train_freq = (train_freq[0], TrainFrequencyUnit(train_freq[1])) + except ValueError: + raise ValueError( + f"The unit of the `train_freq` must be either 'step' or 'episode' not '{train_freq[1]}'!") + + if not isinstance(train_freq[0], int): + raise ValueError(f"The frequency of `train_freq` must be an integer and not {train_freq[0]}") + + self.train_freq = TrainFreq(*train_freq) diff --git a/flightpolicy/yopo/yopo_network.py b/flightpolicy/yopo/yopo_network.py new file mode 100644 index 0000000..8feeab7 --- /dev/null +++ b/flightpolicy/yopo/yopo_network.py @@ -0,0 +1,71 @@ +# The backbone and the custom gradient layer. +import time +import torch as th +import torch.nn +import numpy as np +from torchvision.models import mobilenet_v3_small +from flightpolicy.yopo.resnet import resnet18 +from torch.autograd import Function + + +# 18ms, Fast and effective. +class ResNet18(torch.nn.Module): + def __init__(self, output_dim: int, primitive_shape: int): + super(ResNet18, self).__init__() + self.cnn = resnet18(pretrained=False) + self.cnn.conv1 = th.nn.Conv2d(1, 64, kernel_size=7, stride=2, padding=3, bias=False) + if (primitive_shape != 1): + self.cnn.avgpool = th.nn.Sequential() + self.cnn.fc = th.nn.Conv2d(512, output_dim, kernel_size=1, stride=1, padding=0, bias=False) + self.features_dim = output_dim + + def forward(self, depth: th.Tensor) -> th.Tensor: + return self.cnn(depth) + + +# 20ms, Performs worse than ResNet and is slower than ResNet-18. +class MobileNet(th.nn.Module): + def __init__(self, output_dim: int): + super(MobileNet, self).__init__() + self.cnn = mobilenet_v3_small(pretrained=False) + self.cnn.features[0][0] = th.nn.Conv2d(1, 16, kernel_size=3, stride=1, padding=1, bias=False) + self.cnn.classifier = th.nn.Linear(576, output_dim) + self.features_dim = output_dim + + def forward(self, depth: th.Tensor) -> th.Tensor: + return self.cnn(depth) + + +def YopoBackbone(output_dim, primitive_shape): + return ResNet18(output_dim, primitive_shape) + + +class CostAndGradLayer(Function): + + @staticmethod + def forward(ctx, input_dp, train_env, primitive_id): + # print("input ", input_dp.shape) + device = input_dp.device + cost, grad = train_env.getCostAndGradient(input_dp, primitive_id) + grad = np.minimum(grad, 1.0) # Gradient clipping: Prevent excessively large values. + cost = torch.tensor(cost).to(device) + grad = torch.tensor(grad).to(device) + ctx.save_for_backward(grad) + cost.requires_grad = True + return cost + + @staticmethod + def backward(ctx, cost_grad_input): + grad, = ctx.saved_tensors + return_grad = th.bmm(grad.unsqueeze(-1), cost_grad_input.unsqueeze(-1)).squeeze(dim=2) + # print("grad ", return_grad.shape) + # print("grad: ", return_grad) + return return_grad, None, None + + +if __name__ == '__main__': + net = YopoBackbone(64, 3) + input_ = torch.zeros((1, 1, 96, 96)) + start = time.time() + output = net(input_) + print(time.time() - start) diff --git a/flightpolicy/yopo/yopo_policy.py b/flightpolicy/yopo/yopo_policy.py new file mode 100644 index 0000000..90520ed --- /dev/null +++ b/flightpolicy/yopo/yopo_policy.py @@ -0,0 +1,213 @@ +""" +YOPO Network +forward, prediction, pre-processing, post-processing +""" + +import torch as th +from torch import nn +import numpy as np +from typing import Any, Dict, List, Type +from flightpolicy.yopo.yopo_network import YopoBackbone, CostAndGradLayer + + +class YopoPolicy(nn.Module): + + def __init__( + self, + observation_dim, + action_dim, # x_pva, y_pva, z_pva, score + hidden_state, + lattice_space, + lattice_primitive, + lr_schedule=None, + train_env=None, + net_arch=None, + activation_fn=nn.ReLU, + normalize_images=True, + optimizer_class=th.optim.Adam, + optimizer_kwargs=None, + device=None + ): + super(YopoPolicy, self).__init__() + self.observation_dim = observation_dim + self.action_dim = action_dim + self.lattice_space = lattice_space + self.hidden_state = hidden_state + self.lattice_primitive = lattice_primitive + self.optimizer_class = optimizer_class + self.optimizer_kwargs = optimizer_kwargs + self.net_arch = net_arch + self.activation_fn = activation_fn + self.normalize_images = normalize_images + self.yaw_diff = lattice_primitive.yaw_diff + self.pitch_diff = lattice_primitive.pitch_diff + self.train_env = train_env + self.device = device + + self._build(lr_schedule) + + def _build(self, lr_schedule=None) -> None: + # output state dim = action dim + score + output_dim = (self.action_dim + 1) * self.lattice_space.vel_num * self.lattice_space.radio_num + # input state dim = hidden_state + vel + acc + goal + input_dim = self.hidden_state + 9 + self.image_backbone = YopoBackbone(self.hidden_state, + self.lattice_space.horizon_num * self.lattice_space.vertical_num) + self.state_backbone = nn.Sequential() + self.yopo_header = self.create_header(input_dim, output_dim, self.net_arch, self.activation_fn, True) + self.grad_layer = CostAndGradLayer.apply + # Setup optimizer with initial learning rate + learning_rate = lr_schedule(1) if lr_schedule is not None else 1e-3 + self.optimizer = self.optimizer_class(self.parameters(), lr=learning_rate) + + # TenserRT Transfer + def forward(self, depth: th.Tensor, obs: th.Tensor) -> th.Tensor: + """ + forward propagation of neural network, only used for TensorRT conversion. + """ + depth_feature = self.image_backbone(depth) + obs_feature = self.state_backbone(obs) + input_tensor = th.cat((obs_feature, depth_feature), 1) + output = self.yopo_header(input_tensor) + # [batch, endstate+score, lattice_row, lattice_col] + return output + + # Training Policy + def inference(self, depth: th.Tensor, obs: th.Tensor) -> th.Tensor: + """ + For network training: + (1) predicted the endstate(end_state) and score + (2) record the gradients and costs of prediction + """ + depth_feature = self.image_backbone(depth) + obs_feature = self.state_backbone(obs) + input_tensor = th.cat((obs_feature, depth_feature), 1) + output = self.yopo_header(input_tensor) + + # [batch, endstate+score, lattice_num] + batch_size = obs.shape[0] + output = output.view(batch_size, 10, self.lattice_space.horizon_num * self.lattice_space.vertical_num) + # output.register_hook(self.print_grad) + endstate_pred = output[:, 0:9, :] + score_pred = output[:, 9, :] + + endstate_score_predictions = th.zeros_like(output).to(self.device) + cost_labels = th.zeros((batch_size, self.lattice_space.horizon_num * self.lattice_space.vertical_num)).to(self.device) + for i in range(0, self.lattice_space.horizon_num * self.lattice_space.vertical_num): + id = self.lattice_space.horizon_num * self.lattice_space.vertical_num - 1 - i + ids = id * np.ones((batch_size, 1)) + endstate = self.pred_to_endstate(endstate_pred[:, :, i], id) + # endstate.register_hook(self.print_grad) + cost_label = self.grad_layer(endstate, self.train_env, ids) + endstate_score_predictions[:, 0:9, i] = endstate + endstate_score_predictions[:, 9, i] = score_pred[:, i] + cost_labels[:, i] = cost_label.squeeze() + + return endstate_score_predictions, cost_labels + + # Testing Policy + def predict(self, depth: th.Tensor, obs: th.Tensor, return_all_preds=False) -> th.Tensor: + """ + For network testing: + (1) predicted the endstate(end_state) and score + """ + with th.no_grad(): + depth_feature = self.image_backbone(depth) + obs_feature = self.state_backbone(obs.float()) + input_tensor = th.cat((obs_feature, depth_feature), 1) + output = self.yopo_header(input_tensor) + batch_size = obs.shape[0] + output = output.view(batch_size, 10, self.lattice_space.horizon_num * self.lattice_space.vertical_num) + endstate_pred = output[:, 0:9, :] + score_pred = output[:, 9, :] + + if not return_all_preds: + endstate_prediction = th.zeros(batch_size, self.action_dim) + score_prediction = th.zeros(batch_size, 1) + for i in range(0, batch_size): + action_id = th.argmin(score_pred[i]).item() + lattice_id = self.lattice_space.horizon_num * self.lattice_space.vertical_num - 1 - action_id + endstate_prediction[i] = self.pred_to_endstate(th.unsqueeze(endstate_pred[i, :, action_id], 0), lattice_id) + score_prediction[i] = score_pred[i, action_id] + else: + endstate_prediction = th.zeros_like(endstate_pred) + score_prediction = score_pred + for i in range(0, self.lattice_space.horizon_num * self.lattice_space.vertical_num): + lattice_id = self.lattice_space.horizon_num * self.lattice_space.vertical_num - 1 - i + endstate = self.pred_to_endstate(endstate_pred[:, :, i], lattice_id) + endstate_prediction[:, :, i] = endstate + + return endstate_prediction, score_prediction + + def pred_to_endstate(self, endstate_pred: th.Tensor, id: int): + """ + Transform the predicted state to the body frame. + """ + delta_yaw = endstate_pred[:, 0] * self.yaw_diff + delta_pitch = endstate_pred[:, 1] * self.pitch_diff + radio = endstate_pred[:, 2] * self.lattice_space.radio_range + self.lattice_space.radio_range + yaw, pitch = self.lattice_primitive.getAngleLattice(id) + endstate_x = th.cos(pitch + delta_pitch) * th.cos(yaw + delta_yaw) * radio + endstate_y = th.cos(pitch + delta_pitch) * th.sin(yaw + delta_yaw) * radio + endstate_z = th.sin(pitch + delta_pitch) * radio + endstate_p = th.stack((endstate_x, endstate_y, endstate_z), dim=1) + + endstate_vp = endstate_pred[:, 3:6] * self.lattice_space.vel_max + endstate_ap = endstate_pred[:, 6:9] * self.lattice_space.acc_max + Rbp = self.lattice_primitive.getRotation(id) + endstate_vb = th.matmul(th.tensor(Rbp).to(self.device), endstate_vp.t()).t() + endstate_ab = th.matmul(th.tensor(Rbp).to(self.device), endstate_ap.t()).t() + endstate = th.cat((endstate_p, endstate_vb, endstate_ab), dim=1) + endstate[:, [0, 1, 2, 3, 4, 5, 6, 7, 8]] = endstate[:, [0, 3, 6, 1, 4, 7, 2, 5, 8]] + return endstate + + def create_header(self, + input_dim: int, + output_dim: int, + net_arch: List[int], + activation_fn: Type[nn.Module] = nn.ReLU, + squash_output: bool = False, + ) -> nn.Sequential: + + if len(net_arch) > 0: + modules = [nn.Conv2d(in_channels=input_dim, out_channels=net_arch[0], kernel_size=1, stride=1, padding=0), + activation_fn()] + else: + modules = [] + + for idx in range(len(net_arch) - 1): + modules.append(nn.Conv2d(in_channels=net_arch[idx], out_channels=net_arch[idx + 1], kernel_size=1, stride=1, + padding=0)) + modules.append(activation_fn()) + + if output_dim > 0: + last_layer_dim = net_arch[-1] if len(net_arch) > 0 else input_dim + modules.append(nn.Conv2d(in_channels=last_layer_dim, out_channels=output_dim, kernel_size=1, stride=1, + padding=0)) + if squash_output: + modules.append(nn.Tanh()) + return nn.Sequential(*modules) + + def get_constructor_parameters(self) -> Dict[str, Any]: + data = {"net_arch": self.net_arch, + "hidden_state": self.hidden_state, + "observation_dim": self.observation_dim, + "action_dim": self.action_dim, + "activation_fn": self.activation_fn, + "lattice_space": self.lattice_space, + "lattice_primitive": self.lattice_primitive + } + return data + + def print_grad(ctx, grad): + print("grad of hook: ", grad) + + def set_training_mode(self, mode: bool) -> None: + """ + Put the policy in either training or evaluation mode. + + This affects certain modules, such as batch normalisation and dropout. + + :param mode: if true, set to training mode, else set to evaluation mode + """ + self.train(mode) diff --git a/flightrender/.gitignore b/flightrender/.gitignore new file mode 100644 index 0000000..dc1c3c8 --- /dev/null +++ b/flightrender/.gitignore @@ -0,0 +1,7 @@ +# Ignore everything in this directory +* +# Except this file +!.gitignore +!.clang-format +!CMakeLists.txt +!package.xml \ No newline at end of file diff --git a/flightrender/CMakeLists.txt b/flightrender/CMakeLists.txt new file mode 100644 index 0000000..f869ecb --- /dev/null +++ b/flightrender/CMakeLists.txt @@ -0,0 +1,35 @@ +project(flightrender) + +cmake_minimum_required(VERSION 3.0.0) + +find_package(catkin_simple REQUIRED) + +catkin_simple() + +# Setup Default Build Type as Release +if (NOT CMAKE_BUILD_TYPE) + set(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE) +endif () + +# Setup Architcture-specific Flags +if ("${CMAKE_HOST_SYSTEM_PROCESSOR}" STREQUAL "armv7l") + message(STATUS "Using ARMv7 optimized flags!") + set(CMAKE_CXX_ARCH_FLAGS " -Wno-psabi -march=armv7-a -mfpu=neon -mfloat-abi=hard -funsafe-math-optimizations") +elseif ("${CMAKE_HOST_SYSTEM_PROCESSOR}" STREQUAL "aarch64") + message(STATUS "Using ARM aarch64 optimized flags!") + set(CMAKE_CXX_ARCH_FLAGS " -Wno-psabi -march=armv8-a+crypto -mcpu=cortex-a57+crypto") +else () + set(CMAKE_CXX_ARCH_FLAGS " -march=native") +endif () + +# Setup General C++ Flags +SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17") +SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DEIGEN_STACK_ALLOCATION_LIMIT=1048576") + +# Setup Release and Debug flags +set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} ${CMAKE_CXX_ARCH_FLAGS} -Wall -DNDEBUG") +set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -Wall -g") + +# Finish +cs_install() +cs_export() \ No newline at end of file diff --git a/flightrender/package.xml b/flightrender/package.xml new file mode 100644 index 0000000..108db42 --- /dev/null +++ b/flightrender/package.xml @@ -0,0 +1,14 @@ + + + flightrender + 0.0.1 + Flightmare Render Engine built on Unity + + Yunlong Song + + GNU GPL + + catkin + catkin_simple + + \ No newline at end of file diff --git a/run/data_collection_realworld.py b/run/data_collection_realworld.py new file mode 100644 index 0000000..6133a5a --- /dev/null +++ b/run/data_collection_realworld.py @@ -0,0 +1,119 @@ +""" +# 收集实飞数据，记录位置、姿态、图像，用于离线fine-tuning (保存至save_dir) +# 注意： 由于里程计漂移，可能utils/pointcloud_clip需要对地图进行微调，需对无人机位置和yaw, pitch, roll做相同的变换 +# 注意保证地图和里程计处于同一坐标系，同时录包+保存地图 +""" +import cv2 +import numpy as np +import time, os, sys +from cv_bridge import CvBridge, CvBridgeError +import rospy +from sensor_msgs.msg import Image +from nav_msgs.msg import Odometry +from scipy.spatial.transform import Rotation + +depth_img = np.zeros([270, 480]) +pos = np.array([0, 0, 0]) +quat = np.array([1, 0, 0, 0]) +positions = [] +quaternions = [] +frame_id = 0 +new_depth = False +new_odom = False +first_frame = True +last_time = time.time() +save_dir = os.environ["FLIGHTMARE_PATH"] + "/run/depth_realworld" +label_path = save_dir + "/label.npz" +if not os.path.exists(save_dir): + os.mkdir(save_dir) +# Due to odometry drift, the map is adjusted, and the drone's position is also adjusted accordingly. +R_no = Rotation.from_euler('ZYX', [15, 3, 0.0], degrees=True) # yaw, pitch, roll +translation_no = np.array([0, 0, 2]) + + +def callback_odometry(data): + # NWU + global pos, quat, new_odom, R_no, translation_no + p_ob = np.array([[data.pose.pose.position.x], + [data.pose.pose.position.y], + [data.pose.pose.position.z]]) + q_ob = np.array([data.pose.pose.orientation.x, + data.pose.pose.orientation.y, + data.pose.pose.orientation.z, + data.pose.pose.orientation.w]) + R_ob = Rotation.from_quat(q_ob) # old->body (xyzw) + quat_xyzw = (R_no * R_ob).as_quat() # new->body (xyzw) + quat = np.array([quat_xyzw[3], quat_xyzw[0], quat_xyzw[1], quat_xyzw[2]]) + pos = np.squeeze(np.dot(R_no.as_matrix(), p_ob)) + translation_no + new_odom = True + + +def callback_depth(data): + global depth_img, new_depth + max_dis = 20.0 + min_dis = 0.03 + height = 270 + width = 480 + scale = 0.001 + bridge = CvBridge() + try: + depth_ = bridge.imgmsg_to_cv2(data, "32FC1") + except: + print("CV_bridge ERROR: Your ros and python path has something wrong!") + + if depth_.shape[0] != height or depth_.shape[1] != width: + depth_ = cv2.resize(depth_, (width, height), interpolation=cv2.INTER_NEAREST) + depth_ = np.minimum(depth_ * scale, max_dis) / max_dis + + try: + nan_mask = np.isnan(depth_) | (depth_ < min_dis) + depth_ = cv2.inpaint(np.uint8(depth_ * 255), np.uint8(nan_mask), 3, cv2.INPAINT_NS) + depth_ = depth_.astype(np.float32) / 255.0 + except: + print("Interpolation failed") + + # Not necessary, but encountered some inexplicable errors previously, so temporarily kept. + if np.sum(np.isnan(depth_)) > 0: + depth_[np.isnan(depth_)] = 0 + print("WARN: Have NAN values in depth image") + + depth_img = depth_.copy() + new_depth = True + + +def save_data(_timer): + global pos, quat, new_odom, depth_img, new_depth, last_time, first_frame + global save_dir, label_path, frame_id, positions, quaternions + if not (new_odom and new_depth): + if not first_frame and time.time() - last_time > 1: + np.savez( + label_path, + positions=np.asarray(positions), + quaternions=np.asarray(quaternions), + ) + print("Record Done!") + sys.exit() + return + new_odom, new_depth = False, False + + image_path = save_dir + "/img_" + str(frame_id) + ".tif" + cv2.imwrite(image_path, depth_img) + positions.append(pos) + quaternions.append(quat) + + last_time = time.time() + first_frame = False + frame_id = frame_id + 1 + + +def main(): + rospy.init_node('data_collect', anonymous=False) + odom_ref_sub = rospy.Subscriber("/odometry/imu", Odometry, callback_odometry, queue_size=1) + depth_sub = rospy.Subscriber("/camera/depth/image_rect_raw", Image, callback_depth, queue_size=1) + timer = rospy.Timer(rospy.Duration(0.033), save_data) + print("Data Collection Node Ready!") + rospy.spin() + + +if __name__ == "__main__": + main() diff --git a/run/data_collection_simulation.py b/run/data_collection_simulation.py new file mode 100644 index 0000000..943cfda --- /dev/null +++ b/run/data_collection_simulation.py @@ -0,0 +1,84 @@ +#!/usr/bin/env python3 + +import argparse +import os +import cv2 +import numpy as np +from tqdm import tqdm +from flightgym import QuadrotorEnv_v1 +from flightpolicy.envs import vec_env_wrapper as wrapper +from ruamel.yaml import YAML, RoundTripDumper, dump + + +def configure_random_seed(seed, env=None): + if env is not None: + env.seed(seed) + np.random.seed(seed) + + +def parser(): + parser = argparse.ArgumentParser() + parser.add_argument("--seed", type=int, default=0, help="random seed") + parser.add_argument("--num_each_env", type=int, default=10000, help="num of images to save in each env") + parser.add_argument("--num_env", type=int, default=10, help="num of env to change") + return parser + + +def main(): + args = parser().parse_args() + + configure_random_seed(args.seed) + + # load configurations + cfg = YAML().load(open(os.environ["FLIGHTMARE_PATH"] + "/flightlib/configs/vec_env.yaml", 'r')) + cfg["env"]["num_envs"] = 1 + cfg["env"]["num_threads"] = 1 + cfg["env"]["render"] = True + cfg["env"]["supervised"] = False + cfg["env"]["imitation"] = False + + os.system(os.environ["FLIGHTMARE_PATH"] + "/flightrender/RPG_Flightmare/flightmare.x86_64 &") + env = QuadrotorEnv_v1(dump(cfg, Dumper=RoundTripDumper), False) + env = wrapper.FlightEnvVec(env) + env.connectUnity() + + iteration = args.num_each_env + epoch = args.num_env + + home_dir = os.environ["FLIGHTMARE_PATH"] + cfg["env"]["dataset_path"] + if not os.path.exists(home_dir): + os.mkdir(home_dir) + + for epoch_i in range(epoch): + spacing = cfg["unity"]["avg_tree_spacing"] + env.spawnTreesAndSavePointcloud(epoch_i, spacing) + env.setMapID(np.array([-1])) + env.reset(random=True) + + positions = np.zeros([iteration, 3], dtype=np.float32) + quaternions = np.zeros([iteration, 4], dtype=np.float32) + + save_dir = os.environ["FLIGHTMARE_PATH"] + cfg["env"]["dataset_path"] + str(epoch_i) + "/" + label_path = save_dir + "/label.npz" + if not os.path.exists(save_dir): + os.mkdir(save_dir) + + for frame_id in tqdm(range(iteration)): + image_path = save_dir + "/img_" + str(frame_id) + ".tif" + observation = env.reset() + positions[frame_id, :] = observation[0, 0:3] + quaternions[frame_id, :] = observation[0, 9:] + depth = env.getDepthImage(resize=False) + cv2.imwrite(image_path, depth[0][0]) + + np.savez( + label_path, + positions=positions, + quaternions=quaternions, + ) + + env.disconnectUnity() + + +if __name__ == "__main__": + main() diff --git a/run/run_yopo.py b/run/run_yopo.py new file mode 100644 index 0000000..cf76888 --- /dev/null +++ b/run/run_yopo.py @@ -0,0 +1,118 @@ +import argparse +import os +import random +import numpy as np +import torch +from flightgym import QuadrotorEnv_v1 +from ruamel.yaml import YAML, RoundTripDumper, dump +from flightpolicy.envs import vec_env_wrapper as wrapper +from flightpolicy.yopo.yopo_algorithm import YopoAlgorithm + + +def configure_random_seed(seed, env=None): + if env is not None: + env.seed(seed) + random.seed(seed) + os.environ['PYTHONHASHSEED'] = str(seed) + np.random.seed(seed) + torch.manual_seed(seed) + torch.cuda.manual_seed(seed) + torch.cuda.manual_seed_all(seed) + # some cudnn methods can be random even after fixing the seed unless you tell it to be deterministic + torch.backends.cudnn.deterministic = True + + +def parser(): + parser = argparse.ArgumentParser() + parser.add_argument("--seed", type=int, default=0, help="random seed") + parser.add_argument("--train", type=int, default=1, help="train or evaluate the policy?") + parser.add_argument("--render", type=int, default=0, help="render with Unity?") + parser.add_argument("--trial", type=int, default=1, help="trial number") + parser.add_argument("--epoch", type=int, default=0, help="epoch number") + parser.add_argument("--iter", type=int, default=0, help="iter number") + parser.add_argument("--pretrained", type=int, default=0, help="use pre-trained model?") + parser.add_argument("--supervised", type=int, default=1, help="supervised learning?") + parser.add_argument("--imitation", type=int, default=0, help="imitation learning?") + return parser + + +def main(): + args = parser().parse_args() + + # load configurations + cfg = YAML().load(open(os.environ["FLIGHTMARE_PATH"] + "/flightlib/configs/vec_env.yaml", 'r')) + cfg["env"]["supervised"] = bool(args.supervised) + cfg["env"]["imitation"] = bool(args.imitation) + if not args.train: + cfg["env"]["num_envs"] = 1 + cfg["env"]["render"] = bool(args.render) + if args.render: + cfg["env"]["ply_path"] = "/flightrender/RPG_Flightmare/pointcloud_data/" # change the paths during test or imitation + if not os.path.exists(os.environ["FLIGHTMARE_PATH"] + cfg["env"]["ply_path"]): + os.mkdir(os.environ["FLIGHTMARE_PATH"] + cfg["env"]["ply_path"]) + os.system(os.environ["FLIGHTMARE_PATH"] + "/flightrender/RPG_Flightmare/flightmare.x86_64 &") + + # create training environment + train_env = QuadrotorEnv_v1(dump(cfg, Dumper=RoundTripDumper), False) + train_env = wrapper.FlightEnvVec(train_env) + + # set random seed + configure_random_seed(args.seed, env=train_env) + + # save the configuration and other files + rsg_root = os.path.dirname(os.path.abspath(__file__)) + log_dir = rsg_root + "/saved" + os.makedirs(log_dir, exist_ok=True) + + model = YopoAlgorithm( + tensorboard_log=log_dir, + env=train_env, + is_imitation=args.imitation, + learning_starts=10000, # How many samples are collected before starting imitation learning + train_freq=200, # How many steps of data to collect from each environment per round + gradient_steps=200, # How many steps to train per round + change_env_freq=20, # How many rounds of "collect-train" to reset the tree (-1: not reset) + learning_rate=1.5e-4, # Learning rate + batch_size=cfg["env"]["num_envs"], # Equal to the number of environment, as gradients are from environments + buffer_size=100000, # Buffer size + loss_weight=[1.0, 10.0], # Weights for the costs of endstate and score + unselect=0, # Proportion of trajectories not optimized in each sample + policy_kwargs=dict( + activation_fn=torch.nn.ReLU, + net_arch=[256, 256], + hidden_state=64 + ), + verbose=1, + ) + + if args.render: + train_env.connectUnity() + spacing = cfg["unity"]["avg_tree_spacing"] + train_env.spawnTreesAndSavePointcloud(0, spacing) + train_env.setMapID(-np.ones((train_env.num_envs, 1))) + train_env.reset(random=True) + + if args.train: + if args.pretrained: + device = torch.device('cuda' if torch.cuda.is_available() else 'cpu') + weight = rsg_root + "/saved/YOPO_{}/Policy/epoch{}_iter{}.pth".format(args.trial, args.epoch, args.iter) + saved_variables = torch.load(weight, map_location=device) + model.policy.load_state_dict(saved_variables["state_dict"], strict=False) + print("use pretrained model ", weight) + + if args.supervised: + model.supervised_learning(epoch=int(50), log_interval=(100, 50000)) # How many batches to print and save + + elif args.imitation: + model.imitation_learning(total_timesteps=int(1 * 1e6), log_interval=(1, 40)) + + else: + weight = rsg_root + "/saved/YOPO_{}/Policy/epoch{}_iter{}.pth".format(args.trial, args.epoch, args.iter) + device = torch.device('cuda' if torch.cuda.is_available() else 'cpu') + saved_variables = torch.load(weight, map_location=device) + model.policy.load_state_dict(saved_variables["state_dict"], strict=False) + model.test_policy(num_rollouts=20) + + +if __name__ == "__main__": + main() diff --git a/run/saved/YOPO_1/Policy/epoch0_iter0.pth b/run/saved/YOPO_1/Policy/epoch0_iter0.pth new file mode 100644 index 0000000..2327441 Binary files /dev/null and b/run/saved/YOPO_1/Policy/epoch0_iter0.pth differ diff --git a/run/saved/YOPO_1/events.out.tfevents.1729323375.610.68573.0 b/run/saved/YOPO_1/events.out.tfevents.1729323375.610.68573.0 new file mode 100644 index 0000000..475deec Binary files /dev/null and b/run/saved/YOPO_1/events.out.tfevents.1729323375.610.68573.0 differ diff --git a/run/test_yopo_ros.py b/run/test_yopo_ros.py new file mode 100644 index 0000000..dbe5688 --- /dev/null +++ b/run/test_yopo_ros.py @@ -0,0 +1,388 @@ +import rospy +from sensor_msgs.msg import Image +from nav_msgs.msg import Odometry +from std_msgs.msg import Float32MultiArray, MultiArrayDimension +from geometry_msgs.msg import PoseStamped +from cv_bridge import CvBridge + +import numpy as np +import cv2 +import os +import torch +import argparse +import time +from ruamel.yaml import YAML +from scipy.spatial.transform import Rotation as R +from flightpolicy.yopo.yopo_policy import YopoPolicy +from flightpolicy.yopo.primitive_utils import LatticeParam, LatticePrimitive + +try: + from torch2trt import TRTModule +except ImportError: + print("tensorrt not found.") + + +class YopoNet: + def __init__(self, config, weight): + self.config = config + rospy.init_node('yopo_net', anonymous=False) + # load params + self.bridge = CvBridge() + self.odom = Odometry() + self.odom_ref = Odometry() + self.height = self.config['img_height'] + self.width = self.config['img_width'] + self.depth = np.zeros((1, 1, self.config['img_height'], self.config['img_width'])) + self.goal = np.array(self.config['goal']) + self.env = self.config['env'] + self.use_trt = self.config['use_tensorrt'] + self.verbose = self.config['verbose'] + self.visualize = self.config['visualize'] + self.Rotation_bc = R.from_euler('ZYX', [0, self.config['pitch_angle_deg'], 0], degrees=True).as_matrix() + self.new_odom = False + self.new_depth = False + self.odom_ref_init = False + self.device = "cuda" if torch.cuda.is_available() else "cpu" + + cfg = YAML().load(open(os.environ["FLIGHTMARE_PATH"] + "/flightlib/configs/traj_opt.yaml", 'r')) + self.lattice_space = LatticeParam(cfg) + self.lattice_primitive = LatticePrimitive(self.lattice_space) + + # eval + self.time_forward = 0.0 + self.time_process = 0.0 + self.time_prepare = 0.0 + self.time_interpolation = 0.0 + self.count = 0 + self.count_interpolation = 0 + + # Load Network + if self.use_trt: + self.policy = TRTModule() + self.policy.load_state_dict(torch.load(weight)) + else: + saved_variables = torch.load(weight, map_location=self.device) + saved_variables["data"]["lattice_space"] = self.lattice_space + saved_variables["data"]["lattice_primitive"] = self.lattice_primitive + self.policy = YopoPolicy(device=self.device, **saved_variables["data"]) + self.policy.load_state_dict(saved_variables["state_dict"], strict=False) + self.policy.to(self.device) + self.policy.set_training_mode(False) + torch.set_grad_enabled(False) + self.warm_up() + + # ros publisher + odom_topic = self.config['odom_topic'] + depth_topic = self.config['depth_topic'] + self.endstate_pub = rospy.Publisher("/yopo_net/pred_endstate", Float32MultiArray, queue_size=1) + self.all_endstate_pub = rospy.Publisher("/yopo_net/pred_endstates", Float32MultiArray, queue_size=1) + self.goal_pub = rospy.Publisher("/yopo_net/goal", Float32MultiArray, queue_size=1) + # ros subscriber + self.odom_sub = rospy.Subscriber(odom_topic, Odometry, self.callback_odometry, queue_size=1, tcp_nodelay=True) + self.odom_ref_sub = rospy.Subscriber("/juliett/state_ref/odom", Odometry, self.callback_odometry_ref, + queue_size=1, tcp_nodelay=True) + self.depth_sub = rospy.Subscriber(depth_topic, Image, self.callback_depth, queue_size=1, tcp_nodelay=True) + self.goal_sub = rospy.Subscriber("/move_base_simple/goal", PoseStamped, self.callback_set_goal, queue_size=1) + self.timer_net = rospy.Timer(rospy.Duration(1. / self.config['network_frequency']), self.test_policy) + print("YOPO Net Node Ready!") + rospy.spin() + + # the first frame + def callback_odometry(self, data): + self.odom = data + if not self.odom_ref_init: + self.new_odom = True + + # the following frame (The planner is planning from the desired state, instead of the actual state) + def callback_odometry_ref(self, data): + if not self.odom_ref_init: + print("odom ref init") + self.odom_ref_init = True + self.odom_ref = data + self.new_odom = True + + def process_odom(self): + # Rwb + Rotation_wb = R.from_quat([self.odom.pose.pose.orientation.x, + self.odom.pose.pose.orientation.y, + self.odom.pose.pose.orientation.z, + self.odom.pose.pose.orientation.w]).as_matrix() + self.Rotation_wc = np.dot(Rotation_wb, self.Rotation_bc) + + if self.odom_ref_init: + odom_data = self.odom_ref + # vel_b + vel_w = np.array([odom_data.twist.twist.linear.x, + odom_data.twist.twist.linear.y, + odom_data.twist.twist.linear.z]) + vel_b = np.dot(np.linalg.inv(self.Rotation_wc), vel_w) + # acc_b + acc_w = np.array([odom_data.twist.twist.angular.x, # acc stored in angular in our ref_state topic + odom_data.twist.twist.angular.y, + odom_data.twist.twist.angular.z]) + acc_b = np.dot(np.linalg.inv(self.Rotation_wc), acc_w) + else: + odom_data = self.odom + vel_b = np.array([0.0, 0.0, 0.0]) + acc_b = np.array([0.0, 0.0, 0.0]) + + # pose + pos = np.array([odom_data.pose.pose.position.x, + odom_data.pose.pose.position.y, + odom_data.pose.pose.position.z]) + + # goal_dir + goal_w = (self.goal - pos) / np.linalg.norm(self.goal - pos) + goal_b = np.dot(np.linalg.inv(self.Rotation_wc), goal_w) + + vel_acc = np.concatenate((vel_b, acc_b), axis=0) + vel_acc_norm = self.normalize_obs(vel_acc[np.newaxis, :]) + obs_norm = np.hstack((vel_acc_norm, goal_b[np.newaxis, :])) + return obs_norm + + def callback_depth(self, data): + max_dis = 20.0 + min_dis = 0.03 + if self.env == '435': + scale = 0.001 + elif self.env == 'flightmare': + scale = 1.0 + + try: + depth_ = self.bridge.imgmsg_to_cv2(data, "32FC1") + except: + print("CV_bridge ERROR: The ROS path is not included in Python Path!") + + if depth_.shape[0] != self.height or depth_.shape[1] != self.width: + depth_ = cv2.resize(depth_, (self.width, self.height), interpolation=cv2.INTER_NEAREST) + depth_ = np.minimum(depth_ * scale, max_dis) / max_dis + + # interpolated the nan value (experiment shows that treating nan directly as 0 produces similar results) + start = time.time() + nan_mask = np.isnan(depth_) | (depth_ < min_dis) + interpolated_image = cv2.inpaint(np.uint8(depth_ * 255), np.uint8(nan_mask), 1, cv2.INPAINT_NS) + interpolated_image = interpolated_image.astype(np.float32) / 255.0 + depth_ = interpolated_image.reshape([1, 1, self.height, self.width]) + if self.verbose: + self.time_interpolation = self.time_interpolation + (time.time() - start) + self.count_interpolation = self.count_interpolation + 1 + print("interpolation time:", self.time_interpolation / self.count_interpolation) + + # cv2.imshow("1", depth_[0][0]) + # cv2.waitKey(1) + self.new_depth = True + self.depth = depth_.astype(np.float32) + + def callback_set_goal(self, data): + self.goal = np.asarray([data.pose.position.x, data.pose.position.y, 2]) + print("New goal:", self.goal) + + def test_policy(self, _timer): + if self.new_depth and self.new_odom: + self.new_odom = False + self.new_depth = False + obs = self.process_odom() + odom_sec = self.odom.header.stamp.to_sec() + + # input prepare + time0 = time.time() + depth = torch.from_numpy(self.depth).to(self.device, non_blocking=True) # (non_blocking: copying speed 3x) + obs_norm_input = self.prepare_input_observation(obs) + obs_norm_input = obs_norm_input.to(self.device, non_blocking=True) + # torch.cuda.synchronize() + + # forward + if self.use_trt: # TensorRT (inference speed increased by 10x) + time1 = time.time() + trt_output = self.policy(depth, obs_norm_input) + time2 = time.time() + endstate_pred, score_pred = self.trt_process(trt_output, return_all_preds=self.visualize) + endstate_pred = endstate_pred.squeeze() + time3 = time.time() + else: + endstate_pred, score_pred = self.policy.predict(depth, obs_norm_input, return_all_preds=self.visualize) + endstate_pred = endstate_pred.cpu().numpy().squeeze() + score_pred = score_pred.cpu().numpy() + + # Transform the prediction(body frame) to the world frame with the attitude in inference + # Replacing PyTorch calculations on CUDA with NumPy calculations on the CPU (speed increased by 10x) + endstate_b = endstate_pred + endstate_w = np.zeros_like(endstate_b) + traj_num = self.lattice_space.horizon_num * self.lattice_space.vertical_num if self.visualize else 1 + Pb, Vb, Ab = [np.zeros((3, traj_num)) for _ in range(3)] + for i in range(3): + Pb[i] = endstate_b[3 * i] + Vb[i] = endstate_b[3 * i + 1] + Ab[i] = endstate_b[3 * i + 2] + # pos_actual = np.array([self.odom.pose.pose.position.x, + # self.odom.pose.pose.position.y, + # self.odom.pose.pose.position.z]) + Pw = np.dot(self.Rotation_wc, Pb) # + np.tile(pos_actual, (15, 1)).T + Vw = np.dot(self.Rotation_wc, Vb) + Aw = np.dot(self.Rotation_wc, Ab) + for i in range(3): + endstate_w[3 * i] = Pw[i] + endstate_w[3 * i + 1] = Vw[i] + endstate_w[3 * i + 2] = Aw[i] + + if self.verbose: + self.time_prepare = self.time_prepare + (time1 - time0) + self.time_forward = self.time_forward + (time2 - time1) + self.time_process = self.time_process + (time3 - time2) + self.count = self.count + 1 + print("time forward:", self.time_forward / self.count, "process:", self.time_process / self.count, + "prepare:", self.time_prepare / self.count) + + # publish + if not self.visualize: + endstate_pred_to_pub = Float32MultiArray(data=endstate_w.reshape(-1)) + endstate_pred_to_pub.layout.data_offset = int(1000 * odom_sec) % 1000000 # 预测时用的里程计时间戳(ms) + self.endstate_pub.publish(endstate_pred_to_pub) + else: + action_id = np.argmin(score_pred) + best_endstate_pred = endstate_w[:, action_id].reshape(-1) + endstate_pred_to_pub = Float32MultiArray(data=best_endstate_pred) + endstate_pred_to_pub.layout.data_offset = int(1000 * odom_sec) % 1000000 # 预测时用的里程计时间戳(ms) + self.endstate_pub.publish(endstate_pred_to_pub) + # visualization + endstate_score_preds = np.concatenate((endstate_w, score_pred), axis=0) + all_endstate_pred = Float32MultiArray(data=endstate_score_preds.T.reshape(-1)) + all_endstate_pred.layout.dim.append(MultiArrayDimension()) + all_endstate_pred.layout.dim[0].size = endstate_score_preds.shape[1] + all_endstate_pred.layout.dim[0].label = "primitive_num" + all_endstate_pred.layout.dim.append(MultiArrayDimension()) + all_endstate_pred.layout.dim[1].size = endstate_score_preds.shape[0] + all_endstate_pred.layout.dim[1].label = "endstate_and_score_num" + self.all_endstate_pub.publish(all_endstate_pred) + self.goal_pub.publish(Float32MultiArray(data=self.goal)) + else: + if not self.new_odom: # start a new round + self.odom_ref_init = False + + def trt_process(self, input_tensor: torch.Tensor, return_all_preds=False) -> torch.Tensor: + batch_size = input_tensor.shape[0] + input_tensor = input_tensor.cpu().numpy() + input_tensor = input_tensor.reshape(batch_size, 10, + self.lattice_space.horizon_num * self.lattice_space.vertical_num) + endstate_pred = input_tensor[:, 0:9, :] + score_pred = input_tensor[:, 9, :] + + if not return_all_preds: + endstate_prediction = np.zeros((batch_size, 9)) + score_prediction = np.zeros((batch_size, 1)) + for i in range(0, batch_size): + action_id = np.argmin(score_pred[i]) + lattice_id = self.lattice_space.horizon_num * self.lattice_space.vertical_num - 1 - action_id + endstate_prediction[i] = self.pred_to_endstate(np.expand_dims(endstate_pred[i, :, action_id], axis=0), lattice_id) + score_prediction[i] = score_pred[i, action_id] + else: + endstate_prediction = np.zeros_like(endstate_pred) + score_prediction = score_pred + for i in range(0, self.lattice_space.horizon_num * self.lattice_space.vertical_num): + lattice_id = self.lattice_space.horizon_num * self.lattice_space.vertical_num - 1 - i + endstate = self.pred_to_endstate(endstate_pred[:, :, i], lattice_id) + endstate_prediction[:, :, i] = endstate + + return endstate_prediction, score_prediction + + def prepare_input_observation(self, obs): + """ + convert the observation from body frame to primitive frame, + and then concatenate it with the depth features (to ensure the translational invariance) + """ + obs_return = np.ones( + (obs.shape[0], self.lattice_space.vertical_num, self.lattice_space.horizon_num, obs.shape[1]), + dtype=np.float32) + id = 0 + v_b = obs[:, 0:3] + a_b = obs[:, 3:6] + g_b = obs[:, 6:9] + for i in range(self.lattice_space.vertical_num - 1, -1, -1): + for j in range(self.lattice_space.horizon_num - 1, -1, -1): + Rbp = self.lattice_primitive.getRotation(id) + v_p = np.dot(Rbp.T, v_b.T).T + a_p = np.dot(Rbp.T, a_b.T).T + g_p = np.dot(Rbp.T, g_b.T).T + obs_return[:, i, j, 0:3] = v_p + obs_return[:, i, j, 3:6] = a_p + obs_return[:, i, j, 6:9] = g_p + # obs_return[:, i, j, 0:6] = self.normalize_obs(obs_return[:, i, j, 0:6]) + id = id + 1 + obs_return = np.transpose(obs_return, [0, 3, 1, 2]) + return torch.from_numpy(obs_return) + + def pred_to_endstate(self, endstate_pred: np.ndarray, id: int): + """ + Transform the predicted state to the body frame. + """ + delta_yaw = endstate_pred[:, 0] * self.lattice_primitive.yaw_diff + delta_pitch = endstate_pred[:, 1] * self.lattice_primitive.pitch_diff + radio = endstate_pred[:, 2] * self.lattice_space.radio_range + self.lattice_space.radio_range + yaw, pitch = self.lattice_primitive.getAngleLattice(id) + endstate_x = np.cos(pitch + delta_pitch) * np.cos(yaw + delta_yaw) * radio + endstate_y = np.cos(pitch + delta_pitch) * np.sin(yaw + delta_yaw) * radio + endstate_z = np.sin(pitch + delta_pitch) * radio + endstate_p = np.stack((endstate_x, endstate_y, endstate_z), axis=1) + + endstate_vp = endstate_pred[:, 3:6] * self.lattice_space.vel_max + endstate_ap = endstate_pred[:, 6:9] * self.lattice_space.acc_max + Rbp = self.lattice_primitive.getRotation(id) + endstate_vb = np.matmul(Rbp, endstate_vp.T).T + endstate_ab = np.matmul(Rbp, endstate_ap.T).T + endstate = np.concatenate((endstate_p, endstate_vb, endstate_ab), axis=1) + endstate[:, [0, 1, 2, 3, 4, 5, 6, 7, 8]] = endstate[:, [0, 3, 6, 1, 4, 7, 2, 5, 8]] + return endstate + + def normalize_obs(self, vel_acc): + vel_norm = vel_acc[:, 0:3] / self.lattice_space.vel_max + acc_norm = vel_acc[:, 3:6] / self.lattice_space.acc_max + return np.hstack((vel_norm, acc_norm)) + + def warm_up(self): + depth = np.zeros(shape=[1, 1, self.height, self.width], dtype=np.float32) + obs = np.zeros(shape=[1, 9], dtype=np.float32) + obs_input = self.prepare_input_observation(obs) + if self.use_trt: + trt_output = self.policy(torch.from_numpy(depth).to(self.device), obs_input.to(self.device)) + self.trt_process(trt_output, return_all_preds=True) + else: + self.policy.predict(torch.from_numpy(depth).to(self.device), obs_input.to(self.device), + return_all_preds=True) + + +def parser(): + parser = argparse.ArgumentParser() + parser.add_argument("--use_tensorrt", type=int, default=0, help="use tensorrt or not") + parser.add_argument("--trial", type=int, default=1, help="trial number") + parser.add_argument("--epoch", type=int, default=0, help="epoch number") + parser.add_argument("--iter", type=int, default=0, help="iter number") + return parser + + +# In realworld flight: visualize=False; use_tensorrt=True, and ensure the pitch_angle consistent with your platform +# When modifying the pitch_angle, there's no need to re-collect and re-train, as all predictions are in the camera coordinate system +def main(): + args = parser().parse_args() + rsg_root = os.path.dirname(os.path.abspath(__file__)) + if args.use_tensorrt: + weight = "yopo_trt.pth" + else: + weight = rsg_root + "/saved/YOPO_{}/Policy/epoch{}_iter{}.pth".format(args.trial, args.epoch, args.iter) + + settings = {'use_tensorrt': args.use_tensorrt, + 'network_frequency': 30, + 'img_height': 96, + 'img_width': 160, + 'goal': [20, 20, 2], # the goal + 'env': 'flightmare', # use Realsense D435 or Flightmare Simulator ('435' or 'flightmare') + 'pitch_angle_deg': -5, # pitch of camera, ensure consistent with the simulator or your platform (no need to re-collect and re-train when modifying) + 'odom_topic': '/juliett/ground_truth/odom', + 'depth_topic': '/depth_image', + 'verbose': False, # print the latency? + 'visualize': True # visualize all predictions? set False in real flight + } + YopoNet(settings, weight) + + +if __name__ == "__main__": + main() diff --git a/run/utils/log_plot.py b/run/utils/log_plot.py new file mode 100755 index 0000000..2a5b517 --- /dev/null +++ b/run/utils/log_plot.py @@ -0,0 +1,25 @@ +import numpy as np +import matplotlib.pyplot as plt + +if __name__ == '__main__': + file_path = "/home/lu/flightmare/flightmare/run/utils/dist.csv" + temp = np.loadtxt(file_path, dtype=float, delimiter=",") + file_path = "/home/lu/flightmare/flightmare/run/utils/dist_x.csv" + tempX = np.loadtxt(file_path, dtype=float, delimiter=",") + plt.plot(tempX, temp) + plt.show() + print("dist min:", np.min(temp)) + file_path = "/home/lu/flightmare/flightmare/run/utils/ctrl_log.csv" + ctrl_log = np.loadtxt(file_path, dtype=float, delimiter=",") + v_total = np.sqrt( + ctrl_log[:, 3] * ctrl_log[:, 3] + ctrl_log[:, 4] * ctrl_log[:, 4] + ctrl_log[:, 5] * ctrl_log[:, 5]) + print("v max: ", np.max(v_total)) + plt.plot(ctrl_log[:, 3], label='vx') + plt.plot(ctrl_log[:, 4], label='vy') + plt.plot(ctrl_log[:, 5], label='vz') + plt.plot(v_total, label='v_total') + plt.plot(ctrl_log[:, 6], label='ax') + plt.plot(ctrl_log[:, 7], label='ay') + plt.plot(ctrl_log[:, 8], label='az') + plt.legend() + plt.show() diff --git a/run/utils/pointcloud_clip.py b/run/utils/pointcloud_clip.py new file mode 100644 index 0000000..2d510e7 --- /dev/null +++ b/run/utils/pointcloud_clip.py @@ -0,0 +1,52 @@ +# 实飞数据训练：将全局地图裁剪并保存 +# 1、注意数据收集时，地面尽量平，且需要为z=0 +# 2、收集数据不平时，修改yaw_angle_radians, pitch_angle_radians平移，并与data collection一致 +# 3、bug：需要打开保存的文件，手动把前面几行的double改成float... + +import open3d as o3d +import numpy as np + +# 1. 加载点云数据 +point_cloud = o3d.io.read_point_cloud("1.pcd") # 替换为点云文件的路径 + + +# # 统计离群点移除滤波 +# cl, ind = cropped_point_cloud.remove_statistical_outlier(nb_neighbors=5, std_ratio=1.0) # 调整参数以控制移除离群点的程度 +# filtered_cloud = cropped_point_cloud.select_by_index(ind) + +# 2. 定义旋转角度（偏航角和俯仰角） +yaw_angle_degrees = -15 # 偏航角（以度为单位） +pitch_angle_degrees = -3 # 俯仰角（以度为单位） +# 3. 将角度转换为弧度 +yaw_angle_radians = np.radians(yaw_angle_degrees) +pitch_angle_radians = np.radians(pitch_angle_degrees) + +yaw_rotation = np.array([[np.cos(yaw_angle_radians), -np.sin(yaw_angle_radians), 0], + [np.sin(yaw_angle_radians), np.cos(yaw_angle_radians), 0], + [0, 0, 1]]) + +pitch_rotation = np.array([[np.cos(pitch_angle_radians), 0, np.sin(pitch_angle_radians)], + [0, 1, 0], + [-np.sin(pitch_angle_radians), 0, np.cos(pitch_angle_radians)]]) +# 4. 平移2米到Z方向 +translation_no = np.array([0, 0, 2]) # 平移2米到Z方向 + +# 5. 组合旋转矩阵 R old->new +R_on = np.dot(yaw_rotation, pitch_rotation) # 内旋是右乘，先yaw后pitch +# P_n = (R_no * P_o.T).T + t_no = P_o * R_on + t_no +point_cloud.points = o3d.utility.Vector3dVector(np.dot(np.asarray(point_cloud.points), R_on) + translation_no) + +# o3d.visualization.draw_geometries([point_cloud]) + + +# 2. 定义裁剪范围 +# 例如，裁剪一个立方体范围，这里给出立方体的最小点和最大点坐标 +min_bound = np.array([-5.0, -18.0, 0]) # 最小点坐标 +max_bound = np.array([150.0, 25.0, 6]) # 最大点坐标 + +# 3. 使用crop函数裁剪点云 +cropped_point_cloud = point_cloud.crop(o3d.geometry.AxisAlignedBoundingBox(min_bound, max_bound)) + +o3d.io.write_point_cloud("realworld.ply", cropped_point_cloud, write_ascii=True) + +o3d.visualization.draw_geometries([cropped_point_cloud]) \ No newline at end of file diff --git a/run/yopo_trt_transfer.py b/run/yopo_trt_transfer.py new file mode 100644 index 0000000..e870f4f --- /dev/null +++ b/run/yopo_trt_transfer.py @@ -0,0 +1,101 @@ +""" + 将yopo模型转换为Tensorrt + prepare: + 1 pip install -U nvidia-tensorrt --index-url https://pypi.ngc.nvidia.com + 2 git clone https://github.com/NVIDIA-AI-IOT/torch2trt + cd torch2trt + python setup.py install +""" + +import argparse +import os +import numpy as np +import torch +from torch2trt import torch2trt +from flightgym import QuadrotorEnv_v1 +from ruamel.yaml import YAML, RoundTripDumper, dump +from flightpolicy.envs import vec_env_wrapper as wrapper +from flightpolicy.yopo.yopo_algorithm import YopoAlgorithm + + +def prapare_input_observation(obs, lattice_space, lattice_primitive): + obs_return = np.ones( + (obs.shape[0], lattice_space.vertical_num, lattice_space.horizon_num, obs.shape[1]), + dtype=np.float32) + id = 0 + v_b = obs[:, 0:3] + a_b = obs[:, 3:6] + g_b = obs[:, 6:9] + for i in range(lattice_space.vertical_num - 1, -1, -1): + for j in range(lattice_space.horizon_num - 1, -1, -1): + Rbp = lattice_primitive.getRotation(id) + v_p = np.dot(Rbp.T, v_b.T).T + a_p = np.dot(Rbp.T, a_b.T).T + g_p = np.dot(Rbp.T, g_b.T).T + obs_return[:, i, j, 0:3] = v_p + obs_return[:, i, j, 3:6] = a_p + obs_return[:, i, j, 6:9] = g_p + id = id + 1 + obs_return = np.transpose(obs_return, [0, 3, 1, 2]) + return obs_return + + +def parser(): + parser = argparse.ArgumentParser() + parser.add_argument("--trial", type=int, default=1, help="trial number") + parser.add_argument("--epoch", type=int, default=0, help="epoch number") + parser.add_argument("--iter", type=int, default=0, help="iter number") + parser.add_argument("--dir", type=str, default='yopo_trt.pth', help="output file name") + return parser + + +def main(): + args = parser().parse_args() + # load configurations + cfg = YAML().load(open(os.environ["FLIGHTMARE_PATH"] + "/flightlib/configs/vec_env.yaml", 'r')) + cfg["env"]["num_envs"] = 1 + cfg["env"]["supervised"] = False + cfg["env"]["imitation"] = False + cfg["env"]["render"] = False + + # create environment + train_env = QuadrotorEnv_v1(dump(cfg, Dumper=RoundTripDumper), False) + train_env = wrapper.FlightEnvVec(train_env) + model = YopoAlgorithm(env=train_env, + policy_kwargs=dict( + activation_fn=torch.nn.ReLU, + net_arch=[256, 256], + hidden_state=64 + )) + + rsg_root = os.path.dirname(os.path.abspath(__file__)) + weight = rsg_root + "/saved/YOPO_{}/Policy/epoch{}_iter{}.pth".format(args.trial, args.epoch, args.iter) + device = torch.device("cuda") + saved_variables = torch.load(weight, map_location=device) + model.policy.load_state_dict(saved_variables["state_dict"], strict=False) + model.policy.set_training_mode(False) + + lattice_space = saved_variables["data"]["lattice_space"] + lattice_primitive = saved_variables["data"]["lattice_primitive"] + + # The inputs should be consistent with training + depth = np.zeros(shape=[1, 1, 96, 160], dtype=np.float32) + obs = np.zeros(shape=[1, 9], dtype=np.float32) + obs_input = prapare_input_observation(obs, lattice_space, lattice_primitive) + depth_in = torch.from_numpy(depth).cuda() + obs_in = torch.from_numpy(obs_input).cuda() + model_trt = torch2trt(model.policy, [depth_in, obs_in]) + torch.save(model_trt.state_dict(), args.dir) + + # from torch2trt import TRTModule + # model_trt = TRTModule() + # model_trt.load_state_dict(torch.load('yopo_trt.pth')) + + y_trt = model_trt(depth_in, obs_in) + y = model.policy(depth_in, obs_in) + error = torch.mean(torch.abs(y - y_trt)) + print("transfer error: ", error) + + +if __name__ == "__main__": + main() diff --git a/yopo.rviz b/yopo.rviz new file mode 100644 index 0000000..87d1545 --- /dev/null +++ b/yopo.rviz @@ -0,0 +1,258 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /PointCloud21/Autocompute Value Bounds1 + - /Traj1 + Splitter Ratio: 0.5 + Tree Height: 636 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Image +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 10 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: -10 + Y: 20 + Z: 0 + Plane: XY + Plane Cell Count: 8 + Reference Frame: + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /depth_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 4 + Min Value: -5 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.20000000298023224 + Style: Flat Squares + Topic: /local_map + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 46; 52; 54 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: /yopo_net/best_traj_visual + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: true + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: /yopo_net/trajs_visual + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.07999999821186066 + Style: Flat Squares + Topic: /yopo_net/lattice_trajs_visual + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + Enabled: true + Name: Traj + - Class: rviz/Marker + Enabled: true + Marker Topic: /uav_mesh + Name: Marker + Namespaces: + mesh: true + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 255; 255; 255 + Default Light: true + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 118.67814636230469 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: -9.965242385864258 + Y: 17.71764373779297 + Z: -6.788039207458496 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.5697963237762451 + Target Frame: world + Yaw: 3.1381688117980957 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1376 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 2494 + X: 1986 + Y: 27