From a539576cd9a07d7494b3138f12e8d63e901c8886 Mon Sep 17 00:00:00 2001 From: jhavl Date: Tue, 4 May 2021 14:52:41 +1000 Subject: [PATCH 001/116] new branch --- roboticstoolbox/examples/swift_benchmark.py | 40 +++++++-------------- setup.py | 2 +- 2 files changed, 13 insertions(+), 29 deletions(-) diff --git a/roboticstoolbox/examples/swift_benchmark.py b/roboticstoolbox/examples/swift_benchmark.py index 3ea4919dc..caef9a3c5 100644 --- a/roboticstoolbox/examples/swift_benchmark.py +++ b/roboticstoolbox/examples/swift_benchmark.py @@ -11,38 +11,22 @@ env = swift.Swift(_dev=False) env.launch() +panda = rtb.models.Panda() +panda.q = panda.qr +env.add(panda, show_robot=True) -# panda = rtb.models.Panda() -# panda.q = panda.qr -# env.add(panda, show_robot=True) +ev = [0.01, 0, 0, 0, 0, 0] +panda.qd = np.linalg.pinv(panda.jacobe(panda.q, fast=True)) @ ev +env.step(0.001) -# ev = [0.01, 0, 0, 0, 0, 0] -# panda.qd = np.linalg.pinv(panda.jacobe(panda.q, fast=True)) @ ev -# env.step(0.001) - - -# def stepper(): -# for i in range(10000): -# panda.qd = np.linalg.pinv(panda.jacob0(panda.q, fast=True)) @ ev -# # panda.jacob0(panda.q, fast=True) - -# # panda.fkine_all_fast(panda.q) -# env.step(0.001) - - -import spatialgeometry as sg -import spatialmath as sm - -b1 = sg.Box(scale=[0.2, 0.1, 0.2], base=sm.SE3(1.0, 1, 1)) -b2 = sg.Cylinder(radius=0.2, length=0.8, base=sm.SE3(0.0, 1, 1)) +def stepper(): + for i in range(10000): + panda.qd = np.linalg.pinv(panda.jacob0(panda.q, fast=True)) @ ev + # panda.jacob0(panda.q, fast=True) -env.add(b1) -env.add(b2) + # panda.fkine_all_fast(panda.q) + env.step(0.001) -def stepper(): - for i in range(100000): - a, b, c = b1.closest_point(b2, inf_dist=4.0, homogenous=False) -a, b, c = b1.closest_point(b2, inf_dist=4.0, homogenous=False) cProfile.run("stepper()") diff --git a/setup.py b/setup.py index 4193c3045..a5c3de0e9 100644 --- a/setup.py +++ b/setup.py @@ -95,7 +95,7 @@ def package_files(directory): setup( name='roboticstoolbox-python', - version='0.10.0', + version='0.10.1', description='A Python library for robotic education and research', From 978cab5abb7edf25c489cfb4f391a3c6d29a0455 Mon Sep 17 00:00:00 2001 From: Jesse Haviland Date: Tue, 4 May 2021 15:05:13 +1000 Subject: [PATCH 002/116] Update future_testing.yml --- .github/workflows/future_testing.yml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/.github/workflows/future_testing.yml b/.github/workflows/future_testing.yml index 95c283005..2350be408 100644 --- a/.github/workflows/future_testing.yml +++ b/.github/workflows/future_testing.yml @@ -45,16 +45,18 @@ jobs: - name: Install dependencies run: | + python -m pip install --upgrade pip cd sm python -m pip install . cd ../sg python -m pip install . cd ../swift python -m pip install . - cd ../rtb - python -m pip install --upgrade pip + cd ../rtb/rtb-data + python -m pip install . - name: Test with pytest run: | + cd rtb pip install .[dev,collision,vpython] pip install pytest-timeout pytest --timeout=50 --timeout_method thread -s From 5dbc3d1e418f0acebeeb5013d780eabd5c411ecb Mon Sep 17 00:00:00 2001 From: jhavl Date: Thu, 6 May 2021 17:04:23 +1000 Subject: [PATCH 003/116] fix #231 p_servo comments corrected --- roboticstoolbox/tools/p_servo.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/roboticstoolbox/tools/p_servo.py b/roboticstoolbox/tools/p_servo.py index c1455c0f5..b223f7aa2 100644 --- a/roboticstoolbox/tools/p_servo.py +++ b/roboticstoolbox/tools/p_servo.py @@ -6,7 +6,7 @@ def p_servo(wTe, wTep, gain=2, threshold=0.1): - ''' + """ Position-based servoing. Returns the end-effector velocity which will cause the robot to approach @@ -29,7 +29,7 @@ def p_servo(wTe, wTep, gain=2, threshold=0.1): pose :rtype arrived: bool - ''' + """ if not isinstance(wTe, SE3): wTe = SE3(wTe) @@ -40,11 +40,11 @@ def p_servo(wTe, wTep, gain=2, threshold=0.1): # Pose difference eTep = wTe.inv() * wTep - # Translational velocity error + # Translational error ev = eTep.t - # Angular velocity error - ew = eTep.rpy('rad') + # Angular error + ew = eTep.rpy("rad") # Form error vector e = np.r_[ev, ew] From e8065d6332355e333fa81628a8d0f7272b344374 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sun, 9 May 2021 15:20:34 +1000 Subject: [PATCH 004/116] Add example Circle of Puma's doing a mexican wave --- roboticstoolbox/examples/mexican-wave.py | 39 ++++++++++++++++++++++++ 1 file changed, 39 insertions(+) create mode 100644 roboticstoolbox/examples/mexican-wave.py diff --git a/roboticstoolbox/examples/mexican-wave.py b/roboticstoolbox/examples/mexican-wave.py new file mode 100644 index 000000000..7c0d229c9 --- /dev/null +++ b/roboticstoolbox/examples/mexican-wave.py @@ -0,0 +1,39 @@ +# a circle of Puma robot's doing a Mexican wave + +import numpy as np +from spatialmath import SE3 +import roboticstoolbox as rtb +from roboticstoolbox.backends.swift import Swift +import time + +puma0 = rtb.models.URDF.Puma560() +swift = Swift() + +swift.launch() + +pumas = [] + +for theta in np.linspace(0, 2 * np.pi, 10): + base = SE3.Rz(theta) * SE3(2, 0, 0) + + puma = rtb.ERobot(puma0) # clone the robot + puma.base = base + puma.q = puma0.qz + swift.add(puma) + pumas.append(puma) + +# the wave is a Gaussian that moves around the circle +tt = np.linspace(0, 10, 100) +def gaussian(x, mu, sig): + return np.exp(-np.power(x - mu, 2.) / (2 * np.power(sig, 2.))) +g = gaussian(tt, 5, 1) + +for t in range(1000): + for i, puma in enumerate(pumas): + k = (t + i * 10) % len(tt) + puma.q = np.r_[0, g[k], -g[k], 0, 0, 0] + + # NEXT LINE CAUSES 9/10 ROBOTS TO DISAPPEAR + swift.step(0.1) + time.sleep(0.02) + \ No newline at end of file From 29fe3e70f66e93e12fe05043fbf201edee94e62f Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 10 May 2021 12:33:06 +1000 Subject: [PATCH 005/116] Added urdf string and path prop to ERobot's --- roboticstoolbox/models/URDF/Frankie.py | 9 +++-- roboticstoolbox/models/URDF/KinovaGen3.py | 23 +++++++------ roboticstoolbox/models/URDF/LBR.py | 17 +++++----- roboticstoolbox/models/URDF/Mico.py | 26 ++++++++------- roboticstoolbox/models/URDF/PR2.py | 10 ++++-- roboticstoolbox/models/URDF/Panda.py | 9 +++-- roboticstoolbox/models/URDF/Puma560.py | 18 ++++++---- roboticstoolbox/models/URDF/UR10.py | 20 ++++++------ roboticstoolbox/models/URDF/UR3.py | 20 +++++++----- roboticstoolbox/models/URDF/UR5.py | 40 +++++++++++++++-------- roboticstoolbox/models/URDF/YuMi.py | 11 +++++-- roboticstoolbox/models/URDF/px100.py | 24 +++++++------- roboticstoolbox/models/URDF/px150.py | 24 +++++++------- roboticstoolbox/models/URDF/rx150.py | 24 +++++++------- roboticstoolbox/models/URDF/rx200.py | 24 +++++++------- roboticstoolbox/models/URDF/vx300.py | 24 +++++++------- roboticstoolbox/models/URDF/vx300s.py | 26 ++++++++------- roboticstoolbox/models/URDF/wx200.py | 24 +++++++------- roboticstoolbox/models/URDF/wx250.py | 24 +++++++------- roboticstoolbox/models/URDF/wx250s.py | 26 ++++++++------- roboticstoolbox/robot/ERobot.py | 27 ++++++++++++--- 21 files changed, 270 insertions(+), 180 deletions(-) diff --git a/roboticstoolbox/models/URDF/Frankie.py b/roboticstoolbox/models/URDF/Frankie.py index c7adcdd1a..d02f799c7 100644 --- a/roboticstoolbox/models/URDF/Frankie.py +++ b/roboticstoolbox/models/URDF/Frankie.py @@ -32,12 +32,17 @@ class Frankie(ERobot): def __init__(self): - links, name = self.URDF_read( + links, name, urdf_string, urdf_filepath = self.URDF_read( "franka_description/robots/frankie_arm_hand.urdf.xacro" ) super().__init__( - links, name=name, manufacturer="Franka Emika", gripper_links=links[11] + links, + name=name, + manufacturer="Franka Emika", + gripper_links=links[11], + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, ) self.grippers[0].tool = SE3(0, 0, 0.1034) diff --git a/roboticstoolbox/models/URDF/KinovaGen3.py b/roboticstoolbox/models/URDF/KinovaGen3.py index 4e89a6da5..69ac7f151 100644 --- a/roboticstoolbox/models/URDF/KinovaGen3.py +++ b/roboticstoolbox/models/URDF/KinovaGen3.py @@ -31,27 +31,30 @@ class KinovaGen3(ERobot): def __init__(self): - elinks, name = self.URDF_read( - "kortex_description/robots/gen3.xacro") + links, name, urdf_string, urdf_filepath = self.URDF_read( + "kortex_description/robots/gen3.xacro" + ) super().__init__( - elinks, + links, name=name, - manufacturer='Kinova' + manufacturer="Kinova", + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, # gripper_links=elinks[9] ) # self.qdlim = np.array([ # 2.1750, 2.1750, 2.1750, 2.1750, 2.6100, 2.6100, 2.6100, 3.0, 3.0]) - self.addconfiguration("qz", np.array( - [0, 0, 0, 0, 0, 0, 0])) + self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0])) - self.addconfiguration("qr", np.array( - [np.pi, -0.3, 0, -1.6, 0, -1.0, np.pi / 2])) + self.addconfiguration( + "qr", np.array([np.pi, -0.3, 0, -1.6, 0, -1.0, np.pi / 2]) + ) -if __name__ == '__main__': # pragma nocover +if __name__ == "__main__": # pragma nocover - robot = LBR() + robot = KinovaGen3() print(robot) diff --git a/roboticstoolbox/models/URDF/LBR.py b/roboticstoolbox/models/URDF/LBR.py index 8284b9759..d445940fb 100644 --- a/roboticstoolbox/models/URDF/LBR.py +++ b/roboticstoolbox/models/URDF/LBR.py @@ -31,27 +31,28 @@ class LBR(ERobot): def __init__(self): - links, name = self.URDF_read( - "kuka_description/kuka_lbr_iiwa/urdf/lbr_iiwa_14_r820.xacro") + links, name, urdf_string, urdf_filepath = self.URDF_read( + "kuka_description/kuka_lbr_iiwa/urdf/lbr_iiwa_14_r820.xacro" + ) super().__init__( links, name=name, - manufacturer='Kuka' + manufacturer="Kuka", + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, # gripper_links=elinks[9] ) # self.qdlim = np.array([ # 2.1750, 2.1750, 2.1750, 2.1750, 2.6100, 2.6100, 2.6100, 3.0, 3.0]) - self.addconfiguration("qz", np.array( - [0, 0, 0, 0, 0, 0, 0])) + self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0])) - self.addconfiguration("qr", np.array( - [0, -0.3, 0, -1.9, 0, 1.5, np.pi/4])) + self.addconfiguration("qr", np.array([0, -0.3, 0, -1.9, 0, 1.5, np.pi / 4])) -if __name__ == '__main__': # pragma nocover +if __name__ == "__main__": # pragma nocover robot = LBR() print(robot) diff --git a/roboticstoolbox/models/URDF/Mico.py b/roboticstoolbox/models/URDF/Mico.py index 263b2a82a..43a34bfd3 100644 --- a/roboticstoolbox/models/URDF/Mico.py +++ b/roboticstoolbox/models/URDF/Mico.py @@ -26,24 +26,28 @@ class Mico(ERobot): .. codeauthor:: Jesse Haviland .. sectionauthor:: Peter Corke """ + def __init__(self): - links, name = self.URDF_read( - "kinova_description/urdf/j2n4s300_standalone.xacro") + links, name, urdf_string, urdf_filepath = self.URDF_read( + "kinova_description/urdf/j2n4s300_standalone.xacro" + ) super().__init__( - links, - name=name, - manufacturer='Kinova' - ) - - self.addconfiguration( - "qz", np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0])) + links, + name=name, + manufacturer="Kinova", + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) + + self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0])) self.addconfiguration( - "qr", np.array([0, 45, 60, 0, 0, 0, 0, 0, 0, 0]) * np.pi/180) + "qr", np.array([0, 45, 60, 0, 0, 0, 0, 0, 0, 0]) * np.pi / 180 + ) -if __name__ == '__main__': # pragma nocover +if __name__ == "__main__": # pragma nocover robot = Mico() print(robot) diff --git a/roboticstoolbox/models/URDF/PR2.py b/roboticstoolbox/models/URDF/PR2.py index fdbdd73cc..a630b1bc6 100644 --- a/roboticstoolbox/models/URDF/PR2.py +++ b/roboticstoolbox/models/URDF/PR2.py @@ -7,11 +7,17 @@ class PR2(ERobot): def __init__(self): - links, name = self.URDF_read( + links, name, urdf_string, urdf_filepath = self.URDF_read( "pr2_description/robots/pr2.urdf.xacro", "pr2_description" ) - super().__init__(links, gripper_links=[links[53], links[73]], name=name) + super().__init__( + links, + gripper_links=[links[53], links[73]], + name=name, + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) self.grippers[0].tool = self.link_dict["r_gripper_tool_frame"].A() self.grippers[1].tool = self.link_dict["l_gripper_tool_frame"].A() diff --git a/roboticstoolbox/models/URDF/Panda.py b/roboticstoolbox/models/URDF/Panda.py index 98231a60f..4cab7ba94 100644 --- a/roboticstoolbox/models/URDF/Panda.py +++ b/roboticstoolbox/models/URDF/Panda.py @@ -32,12 +32,17 @@ class Panda(ERobot): def __init__(self): - links, name = self.URDF_read( + links, name, urdf_string, urdf_filepath = self.URDF_read( "franka_description/robots/panda_arm_hand.urdf.xacro" ) super().__init__( - links, name=name, manufacturer="Franka Emika", gripper_links=links[9] + links, + name=name, + manufacturer="Franka Emika", + gripper_links=links[9], + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, ) self.grippers[0].tool = SE3(0, 0, 0.1034) diff --git a/roboticstoolbox/models/URDF/Puma560.py b/roboticstoolbox/models/URDF/Puma560.py index 8dfc6597a..e0f039c7b 100644 --- a/roboticstoolbox/models/URDF/Puma560.py +++ b/roboticstoolbox/models/URDF/Puma560.py @@ -39,12 +39,16 @@ class Puma560(ERobot): def __init__(self): - links, name = self.URDF_read( - "puma560_description/urdf/puma560_robot.urdf.xacro") + links, name, urdf_string, urdf_filepath = self.URDF_read( + "puma560_description/urdf/puma560_robot.urdf.xacro" + ) super().__init__( links, - name=name) + name=name, + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) self.manufacturer = "Unimation" # self.ee_link = self.ets[9] @@ -53,16 +57,16 @@ def __init__(self): self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0])) # ready pose, arm up - self.addconfiguration("qr", np.array([0, pi/2, -pi/2, 0, 0, 0])) + self.addconfiguration("qr", np.array([0, pi / 2, -pi / 2, 0, 0, 0])) # straight and horizontal - self.addconfiguration("qs", np.array([0, 0, -pi/2, 0, 0, 0])) + self.addconfiguration("qs", np.array([0, 0, -pi / 2, 0, 0, 0])) # nominal table top picking pose - self.addconfiguration("qn", np.array([0, pi/4, pi, 0, pi/4, 0])) + self.addconfiguration("qn", np.array([0, pi / 4, pi, 0, pi / 4, 0])) -if __name__ == '__main__': # pragma nocover +if __name__ == "__main__": # pragma nocover robot = Puma560() print(robot) diff --git a/roboticstoolbox/models/URDF/UR10.py b/roboticstoolbox/models/URDF/UR10.py index cf9b56640..b6b850f6c 100644 --- a/roboticstoolbox/models/URDF/UR10.py +++ b/roboticstoolbox/models/URDF/UR10.py @@ -29,23 +29,23 @@ class UR10(ERobot): def __init__(self): - links, name = self.URDF_read( + links, name, urdf_string, urdf_filepath = self.URDF_read( "ur_description/urdf/ur10_joint_limited_robot.urdf.xacro" ) super().__init__( - links, - name=name.upper(), - manufacturer='Universal Robotics' - ) + links, + name=name.upper(), + manufacturer="Universal Robotics", + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) - self.addconfiguration( - "qz", np.array([0, 0, 0, 0, 0, 0])) - self.addconfiguration( - "qr", np.array([np.pi, 0, 0, 0, np.pi/2, 0])) + self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0])) + self.addconfiguration("qr", np.array([np.pi, 0, 0, 0, np.pi / 2, 0])) -if __name__ == '__main__': # pragma nocover +if __name__ == "__main__": # pragma nocover robot = UR10() print(robot) diff --git a/roboticstoolbox/models/URDF/UR3.py b/roboticstoolbox/models/URDF/UR3.py index 1f81343b5..396777e5d 100644 --- a/roboticstoolbox/models/URDF/UR3.py +++ b/roboticstoolbox/models/URDF/UR3.py @@ -26,22 +26,26 @@ class UR3(ERobot): .. codeauthor:: Jesse Haviland .. sectionauthor:: Peter Corke """ + def __init__(self): - links, name = self.URDF_read( - "ur_description/urdf/ur3_joint_limited_robot.urdf.xacro") + links, name, urdf_string, urdf_filepath = self.URDF_read( + "ur_description/urdf/ur3_joint_limited_robot.urdf.xacro" + ) super().__init__( - links, - name=name.upper(), - manufacturer='Universal Robotics' - ) + links, + name=name.upper(), + manufacturer="Universal Robotics", + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0])) - self.addconfiguration("qr", np.array([np.pi, 0, 0, 0, np.pi/2, 0])) + self.addconfiguration("qr", np.array([np.pi, 0, 0, 0, np.pi / 2, 0])) -if __name__ == '__main__': # pragma nocover +if __name__ == "__main__": # pragma nocover robot = UR3() print(robot) diff --git a/roboticstoolbox/models/URDF/UR5.py b/roboticstoolbox/models/URDF/UR5.py index 4dcd1d4db..d397ed9b0 100644 --- a/roboticstoolbox/models/URDF/UR5.py +++ b/roboticstoolbox/models/URDF/UR5.py @@ -29,27 +29,39 @@ class UR5(ERobot): def __init__(self): - links, name = self.URDF_read( - "ur_description/urdf/ur5_joint_limited_robot.urdf.xacro") + links, name, urdf_string, urdf_filepath = self.URDF_read( + "ur_description/urdf/ur5_joint_limited_robot.urdf.xacro" + ) super().__init__( - links, - name=name.upper(), - manufacturer='Universal Robotics', - gripper_links=links[7] - ) + links, + name=name.upper(), + manufacturer="Universal Robotics", + gripper_links=links[7], + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0])) self.addconfiguration("qr", np.array([np.pi, 0, 0, 0, np.pi / 2, 0])) # sol=robot.ikine_LM(SE3(0.5, -0.2, 0.2)@SE3.OA([1,0,0],[0,0,-1])) - self.addconfiguration("qn", np.array( - [ - -7.052413e-01, 3.604328e-01, -1.494176e+00, - 1.133744e+00, -7.052413e-01, 0])) - - -if __name__ == '__main__': # pragma nocover + self.addconfiguration( + "qn", + np.array( + [ + -7.052413e-01, + 3.604328e-01, + -1.494176e00, + 1.133744e00, + -7.052413e-01, + 0, + ] + ), + ) + + +if __name__ == "__main__": # pragma nocover robot = UR5() print(robot) diff --git a/roboticstoolbox/models/URDF/YuMi.py b/roboticstoolbox/models/URDF/YuMi.py index 4b0aa569b..335bd49d5 100644 --- a/roboticstoolbox/models/URDF/YuMi.py +++ b/roboticstoolbox/models/URDF/YuMi.py @@ -32,10 +32,17 @@ class YuMi(ERobot): def __init__(self): - links, name = self.URDF_read("yumi_description/urdf/yumi.urdf") + links, name, urdf_string, urdf_filepath = self.URDF_read( + "yumi_description/urdf/yumi.urdf" + ) super().__init__( - links, name=name, manufacturer="ABB", gripper_links=[links[20]] + links, + name=name, + manufacturer="ABB", + gripper_links=[links[20]], + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, ) self.addconfiguration("qz", np.zeros((14,))) diff --git a/roboticstoolbox/models/URDF/px100.py b/roboticstoolbox/models/URDF/px100.py index 9263d43c6..dd8401123 100644 --- a/roboticstoolbox/models/URDF/px100.py +++ b/roboticstoolbox/models/URDF/px100.py @@ -29,24 +29,26 @@ class px100(ERobot): .. codeauthor:: Jesse Haviland .. sectionauthor:: Peter Corke """ + def __init__(self): - links, name = self.URDF_read( - "interbotix_descriptions/urdf/px100.urdf.xacro") + links, name, urdf_string, urdf_filepath = self.URDF_read( + "interbotix_descriptions/urdf/px100.urdf.xacro" + ) super().__init__( - links, - name=name, - manufacturer='Interbotix' - ) + links, + name=name, + manufacturer="Interbotix", + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) - self.addconfiguration( - "qz", np.array([0, 0, 0, 0, 0, 0, 0])) - self.addconfiguration( - "qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi/4])) + self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0])) + self.addconfiguration("qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])) -if __name__ == '__main__': # pragma nocover +if __name__ == "__main__": # pragma nocover robot = px100() print(robot) diff --git a/roboticstoolbox/models/URDF/px150.py b/roboticstoolbox/models/URDF/px150.py index 7d894be39..a67a7bbb1 100644 --- a/roboticstoolbox/models/URDF/px150.py +++ b/roboticstoolbox/models/URDF/px150.py @@ -29,24 +29,26 @@ class px150(ERobot): .. codeauthor:: Jesse Haviland .. sectionauthor:: Peter Corke """ + def __init__(self): - links, name = self.URDF_read( - "interbotix_descriptions/urdf/px150.urdf.xacro") + links, name, urdf_string, urdf_filepath = self.URDF_read( + "interbotix_descriptions/urdf/px150.urdf.xacro" + ) super().__init__( - links, - name=name, - manufacturer='Interbotix' - ) + links, + name=name, + manufacturer="Interbotix", + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) - self.addconfiguration( - "qz", np.array([0, 0, 0, 0, 0, 0, 0, 0])) - self.addconfiguration( - "qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi/4, 0])) + self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0, 0])) + self.addconfiguration("qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4, 0])) -if __name__ == '__main__': # pragma nocover +if __name__ == "__main__": # pragma nocover robot = px150() print(robot) diff --git a/roboticstoolbox/models/URDF/rx150.py b/roboticstoolbox/models/URDF/rx150.py index 26fd4e02a..9dbfb6ded 100644 --- a/roboticstoolbox/models/URDF/rx150.py +++ b/roboticstoolbox/models/URDF/rx150.py @@ -29,24 +29,26 @@ class rx150(ERobot): .. codeauthor:: Jesse Haviland .. sectionauthor:: Peter Corke """ + def __init__(self): - links, name = self.URDF_read( - "interbotix_descriptions/urdf/rx150.urdf.xacro") + links, name, urdf_string, urdf_filepath = self.URDF_read( + "interbotix_descriptions/urdf/rx150.urdf.xacro" + ) super().__init__( - links, - name=name, - manufacturer='Interbotix' - ) + links, + name=name, + manufacturer="Interbotix", + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) - self.addconfiguration( - "qz", np.array([0, 0, 0, 0, 0, 0, 0, 0])) - self.addconfiguration( - "qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi/4, 0])) + self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0, 0])) + self.addconfiguration("qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4, 0])) -if __name__ == '__main__': # pragma nocover +if __name__ == "__main__": # pragma nocover robot = rx150() print(robot) diff --git a/roboticstoolbox/models/URDF/rx200.py b/roboticstoolbox/models/URDF/rx200.py index f23ace761..c018a507e 100644 --- a/roboticstoolbox/models/URDF/rx200.py +++ b/roboticstoolbox/models/URDF/rx200.py @@ -29,24 +29,26 @@ class rx200(ERobot): .. codeauthor:: Jesse Haviland .. sectionauthor:: Peter Corke """ + def __init__(self): - links, name = self.URDF_read( - "interbotix_descriptions/urdf/rx200.urdf.xacro") + links, name, urdf_string, urdf_filepath = self.URDF_read( + "interbotix_descriptions/urdf/rx200.urdf.xacro" + ) super().__init__( - links, - name=name, - manufacturer='Interbotix' - ) + links, + name=name, + manufacturer="Interbotix", + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) - self.addconfiguration( - "qz", np.array([0, 0, 0, 0, 0, 0, 0, 0])) - self.addconfiguration( - "qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi/4, 0])) + self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0, 0])) + self.addconfiguration("qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4, 0])) -if __name__ == '__main__': # pragma nocover +if __name__ == "__main__": # pragma nocover robot = rx200() print(robot) diff --git a/roboticstoolbox/models/URDF/vx300.py b/roboticstoolbox/models/URDF/vx300.py index 6dd96e285..25932fcec 100644 --- a/roboticstoolbox/models/URDF/vx300.py +++ b/roboticstoolbox/models/URDF/vx300.py @@ -29,24 +29,26 @@ class vx300(ERobot): .. codeauthor:: Jesse Haviland .. sectionauthor:: Peter Corke """ + def __init__(self): - links, name = self.URDF_read( - "interbotix_descriptions/urdf/vx300.urdf.xacro") + links, name, urdf_string, urdf_filepath = self.URDF_read( + "interbotix_descriptions/urdf/vx300.urdf.xacro" + ) super().__init__( - links, - name=name, - manufacturer='Interbotix' - ) + links, + name=name, + manufacturer="Interbotix", + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) - self.addconfiguration( - "qz", np.array([0, 0, 0, 0, 0, 0, 0, 0])) - self.addconfiguration( - "qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi/4, 0])) + self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0, 0])) + self.addconfiguration("qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4, 0])) -if __name__ == '__main__': # pragma nocover +if __name__ == "__main__": # pragma nocover robot = vx300() print(robot) diff --git a/roboticstoolbox/models/URDF/vx300s.py b/roboticstoolbox/models/URDF/vx300s.py index 92c16cf0d..5b36347d3 100644 --- a/roboticstoolbox/models/URDF/vx300s.py +++ b/roboticstoolbox/models/URDF/vx300s.py @@ -29,24 +29,28 @@ class vx300s(ERobot): .. codeauthor:: Jesse Haviland .. sectionauthor:: Peter Corke """ + def __init__(self): - links, name = self.URDF_read( - "interbotix_descriptions/urdf/vx300s.urdf.xacro") + links, name, urdf_string, urdf_filepath = self.URDF_read( + "interbotix_descriptions/urdf/vx300s.urdf.xacro" + ) super().__init__( - links, - name=name, - manufacturer='Interbotix' - ) - - self.addconfiguration( - "qz", np.array([0, 0, 0, 0, 0, 0, 0, 0, 0])) + links, + name=name, + manufacturer="Interbotix", + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) + + self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0, 0, 0])) self.addconfiguration( - "qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi/4, 0, 0])) + "qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4, 0, 0]) + ) -if __name__ == '__main__': # pragma nocover +if __name__ == "__main__": # pragma nocover robot = vx300s() print(robot) diff --git a/roboticstoolbox/models/URDF/wx200.py b/roboticstoolbox/models/URDF/wx200.py index 45177cc9a..4a3858645 100644 --- a/roboticstoolbox/models/URDF/wx200.py +++ b/roboticstoolbox/models/URDF/wx200.py @@ -29,24 +29,26 @@ class wx200(ERobot): .. codeauthor:: Jesse Haviland .. sectionauthor:: Peter Corke """ + def __init__(self): - links, name = self.URDF_read( - "interbotix_descriptions/urdf/wx200.urdf.xacro") + links, name, urdf_string, urdf_filepath = self.URDF_read( + "interbotix_descriptions/urdf/wx200.urdf.xacro" + ) super().__init__( - links, - name=name, - manufacturer='Interbotix' - ) + links, + name=name, + manufacturer="Interbotix", + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) - self.addconfiguration( - "qz", np.array([0, 0, 0, 0, 0, 0, 0, 0])) - self.addconfiguration( - "qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi/4, 0])) + self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0, 0])) + self.addconfiguration("qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4, 0])) -if __name__ == '__main__': # pragma nocover +if __name__ == "__main__": # pragma nocover robot = wx200() print(robot) diff --git a/roboticstoolbox/models/URDF/wx250.py b/roboticstoolbox/models/URDF/wx250.py index 2c805546d..ba7e4a366 100644 --- a/roboticstoolbox/models/URDF/wx250.py +++ b/roboticstoolbox/models/URDF/wx250.py @@ -29,24 +29,26 @@ class wx250(ERobot): .. codeauthor:: Jesse Haviland .. sectionauthor:: Peter Corke """ + def __init__(self): - links, name = self.URDF_read( - "interbotix_descriptions/urdf/wx250.urdf.xacro") + links, name, urdf_string, urdf_filepath = self.URDF_read( + "interbotix_descriptions/urdf/wx250.urdf.xacro" + ) super().__init__( - links, - name=name, - manufacturer='Interbotix' - ) + links, + name=name, + manufacturer="Interbotix", + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) - self.addconfiguration( - "qz", np.array([0, 0, 0, 0, 0, 0, 0, 0])) - self.addconfiguration( - "qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi/4, 0])) + self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0, 0])) + self.addconfiguration("qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4, 0])) -if __name__ == '__main__': # pragma nocover +if __name__ == "__main__": # pragma nocover robot = wx250() print(robot) diff --git a/roboticstoolbox/models/URDF/wx250s.py b/roboticstoolbox/models/URDF/wx250s.py index fa308a060..e7bd51d0c 100644 --- a/roboticstoolbox/models/URDF/wx250s.py +++ b/roboticstoolbox/models/URDF/wx250s.py @@ -29,24 +29,28 @@ class wx250s(ERobot): .. codeauthor:: Jesse Haviland .. sectionauthor:: Peter Corke """ + def __init__(self): - links, name = self.URDF_read( - "interbotix_descriptions/urdf/wx250s.urdf.xacro") + links, name, urdf_string, urdf_filepath = self.URDF_read( + "interbotix_descriptions/urdf/wx250s.urdf.xacro" + ) super().__init__( - links, - name=name, - manufacturer='Interbotix' - ) - - self.addconfiguration( - "qz", np.array([0, 0, 0, 0, 0, 0, 0, 0, 0])) + links, + name=name, + manufacturer="Interbotix", + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) + + self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0, 0, 0])) self.addconfiguration( - "qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi/4, 0, 0])) + "qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4, 0, 0]) + ) -if __name__ == '__main__': # pragma nocover +if __name__ == "__main__": # pragma nocover robot = wx250s() print(robot) diff --git a/roboticstoolbox/robot/ERobot.py b/roboticstoolbox/robot/ERobot.py index 83bd54f72..12cbf2c91 100644 --- a/roboticstoolbox/robot/ERobot.py +++ b/roboticstoolbox/robot/ERobot.py @@ -973,7 +973,10 @@ def _getlink(self, link, default=None): class ERobot(BaseERobot): - def __init__(self, arg, **kwargs): + def __init__(self, arg, urdf_string=None, urdf_filepath=None, **kwargs): + + self._urdf_string = urdf_string + self._urdf_filepath = urdf_filepath if isinstance(arg, DHRobot): # we're passed a DHRobot object @@ -1025,7 +1028,7 @@ def URDF(cls, file_path, gripper=None): If ``gripper`` is specified, links from that link outward are removed from the rigid-body tree and folded into a ``Gripper`` object. """ - links, name = ERobot.URDF_read(file_path) + links, name, _, _ = ERobot.URDF_read(file_path) if gripper is not None: if isinstance(gripper, int): @@ -1040,9 +1043,23 @@ def URDF(cls, file_path, gripper=None): else: raise TypeError("bad argument passed as gripper") - links, name = ERobot.URDF_read(file_path) + links, name, urdf_string, urdf_filepath = ERobot.URDF_read(file_path) + + return cls( + links, + name=name, + gripper_links=gripper, + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) - return cls(links, name=name, gripper_links=gripper) + @property + def urdf_string(self): + return self._urdf_string + + @property + def urdf_filepath(self): + return self._urdf_filepath # --------------------------------------------------------------------- # @@ -1212,7 +1229,7 @@ def URDF_read(file_path, tld=None): else: # pragma nocover urdf = URDF.loadstr(open(file_path).read(), file_path) - return urdf.elinks, urdf.name + return urdf.elinks, urdf.name, urdf_string, file_path # --------------------------------------------------------------------- # From 66ac19ccf9a566fbf70e627c42bb8014600c4a8a Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sun, 16 May 2021 11:07:43 +1000 Subject: [PATCH 006/116] Added kinematic cache class --- roboticstoolbox/robot/KinematicCache.py | 328 ++++++++++++++++++++++++ 1 file changed, 328 insertions(+) create mode 100644 roboticstoolbox/robot/KinematicCache.py diff --git a/roboticstoolbox/robot/KinematicCache.py b/roboticstoolbox/robot/KinematicCache.py new file mode 100644 index 000000000..59c825eb3 --- /dev/null +++ b/roboticstoolbox/robot/KinematicCache.py @@ -0,0 +1,328 @@ +import numpy as np +from collections import OrderedDict +import roboticstoolbox as rtb +import timeit + +np.set_printoptions(linewidth=np.inf) + +class KinematicCache: + + def __init__(self, robot, cachesize=16): + """ + Create kinematic cache instance + + :param robot: robot to be cached + :type robot: Robot subclass instance + :param cachesize: maximum length of cache, defaults to 16 + :type cachesize: int, optional + + The cache is an ordered dictionary indexed by function, joint angles and + method arguments. If you use N different cached functions at each + timestep then ``cachesize`` should be at least N. + """ + self._robot = robot + self._cachesize = cachesize + self._dict = OrderedDict() + + def __str__(self): + s = f"KinematicCache({self._robot.name})" + return s + + def __repr__(self): + return str(self) + + def __len__(self): + """ + Length of kinematic cache + + :return: number of cache entries + :rtype: int + + This is the length of the cache dictionary. + """ + return len(self._dict) + + def cache(self): + """ + Display kinematic cache + + :return: cache entries, one per line + :rtype: str + + The cache dictionary is displayed. Oldest entries are first. + The display:: + + fkine_all : 0x59913cdb1a5be5c0, (None,) + fkine : 0xb9cd1db3d2a255e0, (None,) + fkine_all : 0xb9cd1db3d2a255e0, (None,) + fkine : 0x639cf014e2baaafb, (None,) + + shows the kinematic function, the joint configuration has, and any + additional arguments. + """ + s = "" + for key in self._dict.keys(): + s += f"{key[0]:12s}: {np.uint64(key[1]):#0x}, {key[2:]}\n" + return s + + def _qhash(self, q): + """ + Compute joint configuration hash + + :param q: joint configuration :type q: ndarray(N) :return: hash :rtype: + int + + Returns an integer hash of the joint configuration and trims the cache + to length of ``cachesize`` + + .. note:: Uses ``hash(q.tobytes('C'))`` as the hash, takes around 250us. + + .. note:: Hashing and cache trimming could be a separate methods, but + since hash has to be computed for every cached kinematic function + it's quicker to merge both functions. + """ + # cache is an ordered dict, new entries go on the end to old entries + # are popped from the front (last=False) + while len(self._dict) > self._cachesize: + self._dict.popitem(last=False) + + # compute and return the hash + return hash(q.tobytes('C')) + + #TODO: + # this needs to accept a common subset of arguments for DHRobot and ERobot classes. + # that means end, tool and start. Need to rationalise these + # end can be ELink or str, means we have to make Elink hashable + # if tool is allowed, then SE3 needs to be hashable, probably not a bad idea + def fkine(self, q, end=None): + """ + Cached forward kinematics + + :param q: Joint configuration + :type q: ndarray(n) + :param end: specific end-effector, defaults to None + :type end: str or ELink instance + :return: forward kinematics + :rtype: SE3 instance + + :seealso: :func:`DHRobot.fkine`, :func:`ERobot.fkine` + """ + # compute the key we use for cache lookup + qhash = self._qhash(q) + key = ('fkine', qhash, end) + if key not in self._dict: + # cache miss, check if we have fkine_all() result + key_fkall = ('fkine_all', qhash, end) + if key_fkall in self._dict: + # we do, take just the EE pose and cache that + self._dict[key] = self._dict[key_fkall][-1] + else: + # nothing cached, compute fkine() the hard way and cache it + self._dict[key] = self._robot.fkine(q) + # return the cached value + return self._dict[key] + + def fkine_all(self, q, end=None): + """ + Cached forward kinematics for all frames + + :param q: joint configuration + :type q: ndarray(n) + :param end: specific end effector, defaults to None + :type end: str or ELink instance, optional + :return: all link frames including base + :rtype: multi-valuedSE3 instance + """ + + key = ('fkine_all', self._qhash(q), end) + if key not in self._dict: + # cache miss, compute it + self._dict[key] = self._robot.fkine_all(q) + return self._dict[key] + + def jacob0(self, q, end=None, analytical=None, half=None): + """ + Cached world-frame Jacobian + + :param q: joint configuration + :type q: ndarray(n) + :param end: specific end effector, defaults to None + :type end: str or ELink instance, optional + :param half: return half Jacobian: 'trans' or 'rot' + :type half: str + :param analytical: return analytical Jacobian instead of geometric Jacobian (default) + :type analytical: str + :return: Jacobian in world frame + :rtype: ndarray(6, n) + """ + # NOTE: we could write + # def jacob0(self, q, **kwargs): + # key = ('jacob0', self._qhash(q), tuple(kwargs.keys())) + # which is more elegant/compact but the order of the kw arguments would + # then become important + key = ('jacob0', self._qhash(q), end, analytical, half) + if key not in self._dict: + # cache miss, compute it + + # get fkine from the cache if possible + # TODO: fkine() will have to compute the hash again, maybe pass it + # down as argument _qhash + T = self.fkine(q, end=end) + self._dict[key] = self._robot.jacob0(q, T=T, end=end, half=half, analytical=analytical) + return self._dict[key] + + def jacob0_inv(self, q, end=None, analytical=None): + """ + Cached world-frame Jacobian inverse + + :param q: joint configuration + :type q: ndarray(n) + :param end: specific end effector, defaults to None + :type end: str or ELink instance, optional + :param analytical: return analytical Jacobian instead of geometric Jacobian (default) + :type analytical: str + :return: Inverse Jacobian in world frame + :rtype: ndarray(6, n) + + .. note:: Robot objects don't have this method. + """ + key = ('jacob0_inv', self._qhash(q), end, analytical) + if key not in self._dict: + # cache miss, compute it + + # get Jacobian from cache + J = self.jacob0(q, end=end, analytical=analytical) + self._dict[key] = np.linalg.inv(J) + return self._dict[key] + + def jacob0_pinv(self, q, end=None, analytical=None): + """ + Cached world-frame Jacobian pseudo inverse + + :param q: joint configuration + :type q: ndarray(n) + :param end: specific end effector, defaults to None + :type end: str or ELink instance, optional + :param analytical: return analytical Jacobian instead of geometric Jacobian (default) + :type analytical: str + :return: Pseudo inverse Jacobian in world frame + :rtype: ndarray(6, n) + + .. note:: Robot objects don't have this method. + """ + key = ('jacob0_pinv', self._qhash(q), end, analytical) + if key not in self._dict: + # cache miss, compute it + + # get Jacobian from cache + J = self.jacob0(q, end=end, analytical=analytical) + self._dict[key] = np.linalg.pinv(J) + return self._dict[key] + + # TODO jacobe doesnt support end for DHRobot, should it have analytical + def jacobe(self, q, end=None, half=None): + """ + Cached world-frame Jacobian + + :param q: joint configuration + :type q: ndarray(n) + :param end: specific end effector, defaults to None + :type end: str or ELink instance, optional + :param half: return half Jacobian: 'trans' or 'rot' + :type half: str + :return: Jacobian in end-effector-frame + :rtype: ndarray(6, n) + """ + # NOTE: we could write + # def jacob0(self, q, **kwargs): + # key = ('jacob0', self._qhash(q), tuple(kwargs.keys())) + # which is more elegant/compact but the order of the kw arguments would + # then become important + key = ('jacobe', self._qhash(q), end, half) + if key not in self._dict: + # cache miss, compute it + + # get fkine from the cache if possible + if isinstance(self._robot, DHRobot): + T = None # actually not needed for DHRobot case + else: + T = self.fkine(q, end=end) + self._dict[key] = self._robot.jacobe(q, T=T, end=end) + return self._dict[key] + + def jacobe_inv(self, q, end=None, analytical=None): + """ + Cached end-effector-frame Jacobian inverse + + :param q: joint configuration + :type q: ndarray(n) + :param end: specific end effector, defaults to None + :type end: str or ELink instance, optional + :return: Inverse Jacobian in end-effector-frame + :rtype: ndarray(6, n) + + .. note:: Robot objects don't have this method. + """ + key = ('jacobe_inv', self._qhash(q), end) + if key not in self._dict: + # cache miss, compute it + + # get Jacobian from cache + J = self.jacobe(q, end=end) + self._dict[key] = np.linalg.inv(J) + return self._dict[key] + + def jacobe_pinv(self, q, end=None): + """ + Cached end-effector-frame Jacobian pseudo inverse + + :param q: joint configuration + :type q: ndarray(n) + :param end: specific end effector, defaults to None + :type end: str or ELink instance, optional + :return: Pseudo inverse Jacobian in end-effector-frame + :rtype: ndarray(6, n) + + .. note:: Robot objects don't have this method. + """ + key = ('jacob0_pinv', self._qhash(q), end, analytical) + if key not in self._dict: + # cache miss, compute it + + # get Jacobian from cache + J = self.jacobe(q, end=end) + self._dict[key] = np.linalg.pinv(J) + return self._dict[key] + +q = np.r_[1,2,3,4,5,6,7] + +panda = rtb.models.DH.Panda() +kc = KinematicCache(panda) +print(kc) +print(panda.fkine(panda.qr)) +print(panda.fkine(panda.qr)) +print('--') +print(panda.jacob0(panda.qr)) +print(panda.jacob0(panda.qr)) +print('--') + +def timething(statement, N=1_000): + t = timeit.timeit(stmt=statement, globals=globals(), number=N) + print(f"{statement:>25s}: {t / N * 1e6:.1f}μs") + +timething("kc._qhash(q)", 1_000_000) +timething("panda.fkine(panda.qr)", 1_000) +timething("kc.fkine(panda.qr)", 1_000_000) + +kc.fkine_all(panda.qr) +print(len(kc)) +print(kc.cache()) + +for i in range(50): + q = np.random.rand(7) + kc.fkine(q) + kc.fkine_all(q) +print(len(kc)) +print(kc.cache()) + + From 49ab01ffc5ec00086dce24310e66521f65d58b86 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 17 May 2021 14:29:29 +1000 Subject: [PATCH 007/116] new omni mobile robot --- roboticstoolbox/models/ETS/Omni.py | 68 ++++++++++++++++++++++++++ roboticstoolbox/models/ETS/__init__.py | 11 +---- 2 files changed, 70 insertions(+), 9 deletions(-) create mode 100644 roboticstoolbox/models/ETS/Omni.py diff --git a/roboticstoolbox/models/ETS/Omni.py b/roboticstoolbox/models/ETS/Omni.py new file mode 100644 index 000000000..abe73463d --- /dev/null +++ b/roboticstoolbox/models/ETS/Omni.py @@ -0,0 +1,68 @@ +#!/usr/bin/env python + +import numpy as np +from roboticstoolbox.robot.ETS import ETS +from roboticstoolbox.robot.ERobot import ERobot +from roboticstoolbox.robot.ELink import ELink +import spatialgeometry as sg +import spatialmath as sm + + +class Omni(ERobot): + """ + A class an omnidirectional mobile robot. + + :param et_list: List of elementary transforms which represent the robot + kinematics + :type et_list: list of etb.robot.et + :param q_idx: List of indexes within the ets_list which correspond to + joints + :type q_idx: list of int + :param name: Name of the robot + :type name: str, optional + :param manufacturer: Manufacturer of the robot + :type manufacturer: str, optional + :param base: Location of the base is the world frame + :type base: float np.ndarray(4,4), optional + :param tool: Offset of the flange of the robot to the end-effector + :type tool: float np.ndarray(4,4), optional + :param qz: The zero joint angle configuration of the robot + :type qz: float np.ndarray(7,) + :param qr: The ready state joint angle configuration of the robot + :type qr: float np.ndarray(7,) + + References: [1] Kinematic Derivatives using the Elementary Transform + Sequence, J. Haviland and P. Corke + """ + + def __init__(self): + + l, w, h = 0.55, 0.40, 0.35 + + b0 = ELink(v=ETS.rz(), name="base0", parent=None, qlim=[-1000, 1000]) + + b1 = ELink(v=ETS.tx(), name="base1", parent=b0, qlim=[-1000, 1000]) + + b2 = ELink(v=ETS.ty(), name="base2", parent=b1, qlim=[-1000, 1000]) + + g0 = ELink(name="gripper", parent=b2) + + b2.geometry = sg.Box([l, w, h], base=sm.SE3(0, 0, h / 2), color=(163, 157, 134)) + + elinks = [b0, b1, b2, g0] + + super(Omni, self).__init__( + elinks, + name="Omni", + manufacturer="Jesse", + keywords=("mobile",), + gripper_links=g0, + ) + + self.addconfiguration("qz", np.array([0, 0, 0])) + + +if __name__ == "__main__": # pragma nocover + + robot = Omni() + print(robot) diff --git a/roboticstoolbox/models/ETS/__init__.py b/roboticstoolbox/models/ETS/__init__.py index 48a31b968..4e02345a8 100644 --- a/roboticstoolbox/models/ETS/__init__.py +++ b/roboticstoolbox/models/ETS/__init__.py @@ -4,13 +4,6 @@ from roboticstoolbox.models.ETS.Planar_Y import Planar_Y from roboticstoolbox.models.ETS.Planar2 import Planar2 from roboticstoolbox.models.ETS.GenericSeven import GenericSeven +from roboticstoolbox.models.ETS.Omni import Omni - -__all__ = [ - 'Panda', - 'Frankie', - 'Puma560', - 'Planar_Y', - 'Planar2', - 'GenericSeven' -] +__all__ = ["Panda", "Frankie", "Puma560", "Planar_Y", "Planar2", "GenericSeven", "Omni"] From e4edbddf5be4edca3862974c1a47766be1f5253b Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 17 May 2021 14:55:32 +1000 Subject: [PATCH 008/116] kinematic cahce format and benchmark --- .../examples/kinematic_benchmark.py | 79 ++++++++++++++++ roboticstoolbox/robot/KinematicCache.py | 92 ++++++++++--------- roboticstoolbox/robot/KinematicState.py | 38 -------- roboticstoolbox/robot/__init__.py | 45 +++++---- 4 files changed, 152 insertions(+), 102 deletions(-) create mode 100644 roboticstoolbox/examples/kinematic_benchmark.py delete mode 100644 roboticstoolbox/robot/KinematicState.py diff --git a/roboticstoolbox/examples/kinematic_benchmark.py b/roboticstoolbox/examples/kinematic_benchmark.py new file mode 100644 index 000000000..a47bef680 --- /dev/null +++ b/roboticstoolbox/examples/kinematic_benchmark.py @@ -0,0 +1,79 @@ +#!/usr/bin/env python +""" +@author Jesse Haviland +""" + +import roboticstoolbox as rtb +import numpy as np +import timeit + +panda = rtb.models.Panda() +panda.q = panda.qr + +ks = rtb.KinematicCache(panda) + +reps = 100000 + + +def fkine_sameq(): + for _ in range(reps): + panda.fkine(panda.q, fast=True) + + +def fkine_cache_sameq(): + for _ in range(reps): + ks.fkine(panda.q) + + +def fkine_diffq(): + for _ in range(reps): + q = np.random.random(7) + panda.fkine(q, fast=True) + + +def fkine_cache_diffq(): + for _ in range(reps): + q = np.random.random(7) + ks.fkine(q) + + +def jacob0_sameq(): + for _ in range(reps): + panda.jacob0(panda.q, fast=True) + + +def jacob0_cache_sameq(): + for _ in range(reps): + ks.jacob0(panda.q) + + +def jacob0_diffq(): + for _ in range(reps): + q = np.random.random(7) + panda.jacob0(q, fast=True) + + +def jacob0_cache_diffq(): + for _ in range(reps): + q = np.random.random(7) + ks.jacob0(q) + + +print("Fkine Same q:") +print("Normal: ", timeit.Timer(fkine_sameq).timeit(number=1)) +print("Cached: ", timeit.Timer(fkine_cache_sameq).timeit(number=1)) + +print("") +print("Fkine Different q:") +print("Normal: ", timeit.Timer(fkine_diffq).timeit(number=1)) +print("Cached: ", timeit.Timer(fkine_cache_diffq).timeit(number=1)) + +print("") +print("Jacob0 Same q:") +print("Normal: ", timeit.Timer(jacob0_sameq).timeit(number=1)) +print("Cached: ", timeit.Timer(jacob0_cache_sameq).timeit(number=1)) + +print("") +print("Jacob0 Different q:") +print("Normal: ", timeit.Timer(jacob0_diffq).timeit(number=1)) +print("Cached: ", timeit.Timer(jacob0_cache_diffq).timeit(number=1)) diff --git a/roboticstoolbox/robot/KinematicCache.py b/roboticstoolbox/robot/KinematicCache.py index 59c825eb3..3f08e5815 100644 --- a/roboticstoolbox/robot/KinematicCache.py +++ b/roboticstoolbox/robot/KinematicCache.py @@ -5,8 +5,8 @@ np.set_printoptions(linewidth=np.inf) -class KinematicCache: +class KinematicCache: def __init__(self, robot, cachesize=16): """ Create kinematic cache instance @@ -81,15 +81,15 @@ def _qhash(self, q): since hash has to be computed for every cached kinematic function it's quicker to merge both functions. """ - # cache is an ordered dict, new entries go on the end to old entries + # cache is an ordered dict, new entries go on the end to old entries # are popped from the front (last=False) while len(self._dict) > self._cachesize: self._dict.popitem(last=False) # compute and return the hash - return hash(q.tobytes('C')) + return hash(q.tobytes("C")) - #TODO: + # TODO: # this needs to accept a common subset of arguments for DHRobot and ERobot classes. # that means end, tool and start. Need to rationalise these # end can be ELink or str, means we have to make Elink hashable @@ -109,10 +109,10 @@ def fkine(self, q, end=None): """ # compute the key we use for cache lookup qhash = self._qhash(q) - key = ('fkine', qhash, end) + key = ("fkine", qhash, end) if key not in self._dict: # cache miss, check if we have fkine_all() result - key_fkall = ('fkine_all', qhash, end) + key_fkall = ("fkine_all", qhash, end) if key_fkall in self._dict: # we do, take just the EE pose and cache that self._dict[key] = self._dict[key_fkall][-1] @@ -134,7 +134,7 @@ def fkine_all(self, q, end=None): :rtype: multi-valuedSE3 instance """ - key = ('fkine_all', self._qhash(q), end) + key = ("fkine_all", self._qhash(q), end) if key not in self._dict: # cache miss, compute it self._dict[key] = self._robot.fkine_all(q) @@ -160,7 +160,7 @@ def jacob0(self, q, end=None, analytical=None, half=None): # key = ('jacob0', self._qhash(q), tuple(kwargs.keys())) # which is more elegant/compact but the order of the kw arguments would # then become important - key = ('jacob0', self._qhash(q), end, analytical, half) + key = ("jacob0", self._qhash(q), end, analytical, half) if key not in self._dict: # cache miss, compute it @@ -168,7 +168,9 @@ def jacob0(self, q, end=None, analytical=None, half=None): # TODO: fkine() will have to compute the hash again, maybe pass it # down as argument _qhash T = self.fkine(q, end=end) - self._dict[key] = self._robot.jacob0(q, T=T, end=end, half=half, analytical=analytical) + self._dict[key] = self._robot.jacob0( + q, T=T, end=end, half=half, analytical=analytical + ) return self._dict[key] def jacob0_inv(self, q, end=None, analytical=None): @@ -186,7 +188,7 @@ def jacob0_inv(self, q, end=None, analytical=None): .. note:: Robot objects don't have this method. """ - key = ('jacob0_inv', self._qhash(q), end, analytical) + key = ("jacob0_inv", self._qhash(q), end, analytical) if key not in self._dict: # cache miss, compute it @@ -210,7 +212,7 @@ def jacob0_pinv(self, q, end=None, analytical=None): .. note:: Robot objects don't have this method. """ - key = ('jacob0_pinv', self._qhash(q), end, analytical) + key = ("jacob0_pinv", self._qhash(q), end, analytical) if key not in self._dict: # cache miss, compute it @@ -238,7 +240,7 @@ def jacobe(self, q, end=None, half=None): # key = ('jacob0', self._qhash(q), tuple(kwargs.keys())) # which is more elegant/compact but the order of the kw arguments would # then become important - key = ('jacobe', self._qhash(q), end, half) + key = ("jacobe", self._qhash(q), end, half) if key not in self._dict: # cache miss, compute it @@ -263,7 +265,7 @@ def jacobe_inv(self, q, end=None, analytical=None): .. note:: Robot objects don't have this method. """ - key = ('jacobe_inv', self._qhash(q), end) + key = ("jacobe_inv", self._qhash(q), end) if key not in self._dict: # cache miss, compute it @@ -285,7 +287,7 @@ def jacobe_pinv(self, q, end=None): .. note:: Robot objects don't have this method. """ - key = ('jacob0_pinv', self._qhash(q), end, analytical) + key = ("jacob0_pinv", self._qhash(q), end, analytical) if key not in self._dict: # cache miss, compute it @@ -294,35 +296,35 @@ def jacobe_pinv(self, q, end=None): self._dict[key] = np.linalg.pinv(J) return self._dict[key] -q = np.r_[1,2,3,4,5,6,7] - -panda = rtb.models.DH.Panda() -kc = KinematicCache(panda) -print(kc) -print(panda.fkine(panda.qr)) -print(panda.fkine(panda.qr)) -print('--') -print(panda.jacob0(panda.qr)) -print(panda.jacob0(panda.qr)) -print('--') - -def timething(statement, N=1_000): - t = timeit.timeit(stmt=statement, globals=globals(), number=N) - print(f"{statement:>25s}: {t / N * 1e6:.1f}μs") - -timething("kc._qhash(q)", 1_000_000) -timething("panda.fkine(panda.qr)", 1_000) -timething("kc.fkine(panda.qr)", 1_000_000) - -kc.fkine_all(panda.qr) -print(len(kc)) -print(kc.cache()) - -for i in range(50): - q = np.random.rand(7) - kc.fkine(q) - kc.fkine_all(q) -print(len(kc)) -print(kc.cache()) - +if __name__ == "__main__": + q = np.r_[1, 2, 3, 4, 5, 6, 7] + + panda = rtb.models.DH.Panda() + kc = KinematicCache(panda) + print(kc) + print(panda.fkine(panda.qr)) + print(panda.fkine(panda.qr)) + print("--") + print(panda.jacob0(panda.qr)) + print(panda.jacob0(panda.qr)) + print("--") + + def timething(statement, N=1_000): + t = timeit.timeit(stmt=statement, globals=globals(), number=N) + print(f"{statement:>25s}: {t / N * 1e6:.1f}μs") + + timething("kc._qhash(q)", 1_000_000) + timething("panda.fkine(panda.qr)", 1_000) + timething("kc.fkine(panda.qr)", 1_000_000) + + kc.fkine_all(panda.qr) + print(len(kc)) + print(kc.cache()) + + for i in range(50): + q = np.random.rand(7) + kc.fkine(q) + kc.fkine_all(q) + print(len(kc)) + print(kc.cache()) diff --git a/roboticstoolbox/robot/KinematicState.py b/roboticstoolbox/robot/KinematicState.py deleted file mode 100644 index b8845ca7c..000000000 --- a/roboticstoolbox/robot/KinematicState.py +++ /dev/null @@ -1,38 +0,0 @@ -#!/usr/bin/env python3 -""" -@author: Jesse Haviland -@author: Peter Corke -""" - -import numpy as np - - -class KinematicState: - - def __init__(self, robot): - self.robot = robot - self._invalidate() - - self._fkine = np.empty((4, 4)) - self._jacobe = np.empty((6, robot.n)) - self._jacob0 = np.empty((6, robot.n)) - self._hessian0 = np.empty((6, robot.n, robot.n)) - - def _invalidate(self): - - self.__fkine = False - self.__jacobe = False - self.__jacob0 = False - self.__hessian0 = False - - def q(self): - self.q = quit - self._invalidate() - - def fkine(self): - if self.__fkine: - return self._fkine - else: - self._fkine = self.robot.fkine() - self.__fkine = True - return self._fkine diff --git a/roboticstoolbox/robot/__init__.py b/roboticstoolbox/robot/__init__.py index e358e64ce..a5a194dd0 100644 --- a/roboticstoolbox/robot/__init__.py +++ b/roboticstoolbox/robot/__init__.py @@ -1,29 +1,36 @@ from roboticstoolbox.robot.Robot import Robot from roboticstoolbox.robot.Link import Link from roboticstoolbox.robot.DHRobot import SerialLink, DHRobot -from roboticstoolbox.robot.DHLink import DHLink, RevoluteDH, PrismaticDH, \ - RevoluteMDH, PrismaticMDH +from roboticstoolbox.robot.DHLink import ( + DHLink, + RevoluteDH, + PrismaticDH, + RevoluteMDH, + PrismaticMDH, +) from roboticstoolbox.robot.ERobot import ERobot, ERobot2 from roboticstoolbox.robot.ELink import ELink, ELink2 from roboticstoolbox.robot.ETS import ETS, ETS2 from roboticstoolbox.robot.Gripper import Gripper +from roboticstoolbox.robot.KinematicCache import KinematicCache __all__ = [ - 'Robot', - 'SerialLink', - 'DHRobot', - 'Link', - 'DHLink', - 'RevoluteDH', - 'PrismaticDH', - 'RevoluteMDH', - 'PrismaticMDH', - 'ERobot', - 'ELink', - 'ELink2', - 'ERobot', - 'ERobot2', - 'ETS', - 'ETS2', - 'Gripper' + "Robot", + "SerialLink", + "DHRobot", + "Link", + "DHLink", + "RevoluteDH", + "PrismaticDH", + "RevoluteMDH", + "PrismaticMDH", + "ERobot", + "ELink", + "ELink2", + "ERobot", + "ERobot2", + "ETS", + "ETS2", + "Gripper", + "KinematicCache", ] From a5fca7fe1bdee06292d0154c48992733817bdd10 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 17 May 2021 14:55:44 +1000 Subject: [PATCH 009/116] dual mobile example --- roboticstoolbox/examples/dual_mobile_robot.py | 63 +++++++++++++++++++ 1 file changed, 63 insertions(+) create mode 100644 roboticstoolbox/examples/dual_mobile_robot.py diff --git a/roboticstoolbox/examples/dual_mobile_robot.py b/roboticstoolbox/examples/dual_mobile_robot.py new file mode 100644 index 000000000..2aed6fd4f --- /dev/null +++ b/roboticstoolbox/examples/dual_mobile_robot.py @@ -0,0 +1,63 @@ +#!/usr/bin/env python +""" +@author Jesse Haviland +""" + +import swift +import roboticstoolbox as rtb +import spatialgeometry as sg +import spatialmath as sm +import numpy as np +import time + +env = swift.Swift() +env.launch(realtime=True) + +omni = rtb.models.ETS.Omni() +omni.grippers[0].tool = ( + sm.SE3(-0.15, -0.1, 0.35) * sm.SE3.Rz(np.pi / 4) * sm.SE3.Rx(np.pi) +) +env.add(omni) + + +ax_frankie = sg.Axes(0.1) +ax_omni = sg.Axes(0.1) +env.add(ax_frankie) +env.add(ax_omni) + + +frankie = rtb.models.Frankie() +frankie.q = frankie.qr +frankie.base = sm.SE3(3, 0.1, 0) * sm.SE3.Rz(np.pi) +env.add(frankie) + +time.sleep(2) + +arrived = False + +dt = 0.05 + +while not arrived: + + wTo = omni.fkine(omni.q, fast=True) + wTf = frankie.fkine(frankie.q, fast=True) + + vo, arrivedo = rtb.p_servo(wTo, wTf, 1) + vf, arrivedf = rtb.p_servo(wTf, wTo, 1) + + omni.qd = np.linalg.pinv(omni.jacobe(omni.q, fast=True)) @ vo + frankie.qd = np.linalg.pinv(frankie.jacobe(frankie.q, fast=True)) @ vf + + ax_omni.base = wTo + ax_frankie.base = wTf + env.step(dt) + + # Reset bases + omni.base = omni.fkine(omni.q, end=omni.links[2]) + omni.q = omni.qz + base_new = frankie.fkine(frankie._q, end=frankie.links[2], fast=True) + base_new[2, 3] -= 0.38 + frankie._base.A[:] = base_new + frankie.q[:2] = 0 + +env.hold() From a2f7ff73bf91abc450e80cde45da16d45120b383 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sun, 23 May 2021 08:52:23 +1000 Subject: [PATCH 010/116] Allow rtbtool to set the default graphical backend used by plot() --- roboticstoolbox/{examples => bin}/rtbtool | 11 ++++++-- roboticstoolbox/robot/Robot.py | 33 ++++++++++++++++++++--- 2 files changed, 38 insertions(+), 6 deletions(-) rename roboticstoolbox/{examples => bin}/rtbtool (94%) diff --git a/roboticstoolbox/examples/rtbtool b/roboticstoolbox/bin/rtbtool similarity index 94% rename from roboticstoolbox/examples/rtbtool rename to roboticstoolbox/bin/rtbtool index 8d8e284b5..728cac5c1 100755 --- a/roboticstoolbox/examples/rtbtool +++ b/roboticstoolbox/bin/rtbtool @@ -73,6 +73,8 @@ parser.add_argument('--ansi', default=False, action='store_true', help='use ANSImatrix to display matrices') parser.add_argument('--examples', '-e', default=False, action='store_true', help='change working directory to shipped examples') +parser.add_argument('--swift', '-s', default=False, action='store_true', + help='use Swift as default backend') args = parser.parse_args() # TODO more options @@ -89,13 +91,18 @@ if args.book: args.ansi = False args.examples = True +# set default backend for Robot.plot +if args.swift: + Robot.default_backend = "swift" + +# set matrix printing mode for spatialmath SE3._ansimatrix = args.ansi +# set default matplotlib backend if args.backend is not None: print(f"Using matplotlb backend {args.backend}") mpl.use(args.backend) - # load some robot models puma = models.DH.Puma560() panda = models.DH.Panda() @@ -178,4 +185,4 @@ if code is None: else: code.append("plt.ion()") c.InteractiveShellApp.exec_lines = code -IPython.start_ipython(config=c, user_ns=globals()) +IPython.start_ipython(config=c, user_ns=globals()) \ No newline at end of file diff --git a/roboticstoolbox/robot/Robot.py b/roboticstoolbox/robot/Robot.py index 73a032b68..9f41b3187 100644 --- a/roboticstoolbox/robot/Robot.py +++ b/roboticstoolbox/robot/Robot.py @@ -25,6 +25,7 @@ except ImportError: # pragma nocover pass +_default_backend = None # TODO maybe this needs to be abstract # ikine functions need: fkine, jacobe, qlim methods from subclass @@ -350,6 +351,33 @@ def qrandom(self): raise ValueError("some joint limits not defined") return np.random.uniform(low=qlim[0, :], high=qlim[1, :], size=(self.n,)) + @property + def default_backend(self): + """ + Get default graphical backend + + :return: backend name + :rtype: str + + Get the default graphical backend, used when no explicit backend is + passed to ``Robot.plot``. + """ + return _default_backend + + @default_backend.setter + def default_backend(self, be): + """ + Set default graphical backend + + :param be: backend name + :type be: str + + Set the default graphical backend, used when no explicit backend is + passed to ``Robot.plot``. The default set here will be overridden if + the particular ``Robot`` subclass cannot support it. + """ + _default_backend = be + def addconfiguration(self, name, q, unit="rad"): """ Add a named joint configuration (Robot superclass) @@ -1217,7 +1245,7 @@ def control_type(self, cn): # TODO probably should be a static method def _get_graphical_backend(self, backend=None): - default = None + default = self.default_backend # figure out the right default if backend is None: @@ -1225,8 +1253,6 @@ def _get_graphical_backend(self, backend=None): default = "pyplot" elif isinstance(self, rtb.ERobot2): default = "pyplot2" - else: - default = "swift" if backend is not None: backend = backend.lower() @@ -1266,7 +1292,6 @@ def _get_graphical_backend(self, backend=None): if backend == "vpython": print("VPython is not installed, " "install it using pip or conda") backend = "pyplot" - if backend is None: backend = default From 3d5afa359dc8010b11def7694fe2aa94d2a05b8c Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sun, 23 May 2021 09:16:07 +1000 Subject: [PATCH 011/116] blacked! --- roboticstoolbox/bin/rtbtool | 130 +++++++++++++++++++++--------------- 1 file changed, 78 insertions(+), 52 deletions(-) diff --git a/roboticstoolbox/bin/rtbtool b/roboticstoolbox/bin/rtbtool index 728cac5c1..215229bcb 100755 --- a/roboticstoolbox/bin/rtbtool +++ b/roboticstoolbox/bin/rtbtool @@ -19,14 +19,14 @@ from IPython.terminal.prompts import ClassicPrompts from traitlets.config import Config import IPython import argparse -from math import pi # lgtm [py/unused-import] +from math import pi # lgtm [py/unused-import] import numpy as np import scipy as sp import matplotlib.pyplot as plt # lgtm [py/unused-import] -from roboticstoolbox import * # lgtm [py/unused-import] -from spatialmath import * # lgtm [py/polluting-import] -from spatialgeometry import * # lgtm [py/polluting-import] -from spatialmath.base import * # lgtm [py/polluting-import] +from roboticstoolbox import * # lgtm [py/unused-import] +from spatialmath import * # lgtm [py/polluting-import] +from spatialgeometry import * # lgtm [py/polluting-import] +from spatialmath.base import * # lgtm [py/polluting-import] from spatialmath.base import sym import matplotlib as mpl from pathlib import Path @@ -35,6 +35,7 @@ from importlib.metadata import version try: from colored import fg, bg, attr + _colored = True # print('using colored output') except ImportError: @@ -43,38 +44,57 @@ except ImportError: # setup defaults np.set_printoptions( - linewidth=120, formatter={ - 'float': lambda x: f"{x:8.4g}" if abs(x) > 1e-10 else f"{0:8.4g}"}) - -parser = argparse.ArgumentParser('Robotics Toolbox shell') -parser.add_argument('script', default=None, nargs='?', - help='specify script to run') -parser.add_argument('--backend', '-b', default=None, - help='specify graphics backend') + linewidth=120, + formatter={"float": lambda x: f"{x:8.4g}" if abs(x) > 1e-10 else f"{0:8.4g}"}, +) + +parser = argparse.ArgumentParser("Robotics Toolbox shell") +parser.add_argument("script", default=None, nargs="?", help="specify script to run") +parser.add_argument("--backend", "-b", default=None, help="specify graphics backend") parser.add_argument( - '--color', - '-c', - default='neutral', - help='specify terminal color scheme (neutral, lightbg, nocolor, linux), linux is for dark mode') -parser.add_argument('--confirmexit', '-x', default=False, - help='confirm exit') -parser.add_argument('--prompt', '-p', default='(rtb) >>> ', - help='input prompt') + "--color", + "-c", + default="neutral", + help="specify terminal color scheme (neutral, lightbg, nocolor, linux), linux is for dark mode", +) +parser.add_argument("--confirmexit", "-x", default=False, help="confirm exit") +parser.add_argument("--prompt", "-p", default="(rtb) >>> ", help="input prompt") parser.add_argument( - '--resultprefix', - '-r', + "--resultprefix", + "-r", default=None, - help='execution result prefix, include {} for execution count number') -parser.add_argument('--showassign', '-a', default=False, action='store_true', - help='do not display the result of assignments') -parser.add_argument('--book', default=False, action='store_true', - help='use defaults as per RVC book') -parser.add_argument('--ansi', default=False, action='store_true', - help='use ANSImatrix to display matrices') -parser.add_argument('--examples', '-e', default=False, action='store_true', - help='change working directory to shipped examples') -parser.add_argument('--swift', '-s', default=False, action='store_true', - help='use Swift as default backend') + help="execution result prefix, include {} for execution count number", +) +parser.add_argument( + "--showassign", + "-a", + default=False, + action="store_true", + help="do not display the result of assignments", +) +parser.add_argument( + "--book", default=False, action="store_true", help="use defaults as per RVC book" +) +parser.add_argument( + "--ansi", + default=False, + action="store_true", + help="use ANSImatrix to display matrices", +) +parser.add_argument( + "--examples", + "-e", + default=False, + action="store_true", + help="change working directory to shipped examples", +) +parser.add_argument( + "--swift", + "-s", + default=False, + action="store_true", + help="use Swift as default backend", +) args = parser.parse_args() # TODO more options @@ -85,8 +105,8 @@ sys.argv = [sys.argv[0]] if args.book: # set book options - args.resultprefix = '' - args.prompt = '>>> ' + args.resultprefix = "" + args.prompt = ">>> " args.showassign = True args.ansi = False args.examples = True @@ -110,12 +130,14 @@ panda = models.DH.Panda() # print the banner # https://patorjk.com/software/taag/#p=display&f=Cybermedium&t=Robotics%20Toolbox%0A -banner = fg('yellow') + r"""____ ____ ___ ____ ___ _ ____ ____ ___ ____ ____ _ ___ ____ _ _ +banner = ( + fg("yellow") + + r"""____ ____ ___ ____ ___ _ ____ ____ ___ ____ ____ _ ___ ____ _ _ |__/ | | |__] | | | | | [__ | | | | | | |__] | | \/ | \ |__| |__] |__| | | |___ ___] | |__| |__| |___ |__] |__| _/\_ -for Python""" \ -+ f" (RTB=={version('roboticstoolbox-python')}, SMTB=={version('spatialmath-python')})" \ +for Python""" + + f" (RTB=={version('roboticstoolbox-python')}, SMTB=={version('spatialmath-python')})" + r""" from roboticstoolbox import * @@ -127,17 +149,20 @@ func/object? - show brief help help(func/object) - show detailed help func/object?? - show source code -""" + attr(0) +""" + + attr(0) +) print(banner) if args.showassign: print( - fg('red') + - """Results of assignments will be displayed, use trailing ; to suppress + fg("red") + + """Results of assignments will be displayed, use trailing ; to suppress """, - attr(0)) + attr(0), + ) # drop into IPython class MyPrompt(Prompts): @@ -148,13 +173,14 @@ class MyPrompt(Prompts): if args.resultprefix is None: # traditional behaviour return [ - (Token.OutPrompt, 'Out['), + (Token.OutPrompt, "Out["), (Token.OutPromptNum, str(self.shell.execution_count)), - (Token.OutPrompt, ']: '), + (Token.OutPrompt, "]: "), ] else: - return [(Token.Prompt, args.resultprefix.format( - self.shell.execution_count))] + return [ + (Token.Prompt, args.resultprefix.format(self.shell.execution_count)) + ] # set configuration options, there are lots, see @@ -165,7 +191,7 @@ c.InteractiveShell.confirm_exit = args.confirmexit # c.InteractiveShell.prompts_class = ClassicPrompts c.InteractiveShell.prompts_class = MyPrompt if args.showassign: - c.InteractiveShell.ast_node_interactivity = 'last_expr_or_assign' + c.InteractiveShell.ast_node_interactivity = "last_expr_or_assign" # set precision, same as %precision c.PlainTextFormatter.float_precision = "%.3f" @@ -176,13 +202,13 @@ if args.script is not None: path = Path(args.script) if not path.exists(): raise ValueError(f"script does not exist: {args.script}") - code = path.open('r').readlines() + code = path.open("r").readlines() if code is None: code = [ "plt.ion()", - ] - + ] + else: code.append("plt.ion()") c.InteractiveShellApp.exec_lines = code -IPython.start_ipython(config=c, user_ns=globals()) \ No newline at end of file +IPython.start_ipython(config=c, user_ns=globals()) From 1a9c727c66d0ce6c7616b503253fe740cd7da5b6 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sun, 23 May 2021 10:34:33 +1000 Subject: [PATCH 012/116] Add simple Makefile to run the notebooks. Fixed minor breaks in notebooks due to recent changes --- notebooks/Makefile | 10 + notebooks/dynamics.ipynb | 2 +- notebooks/icra2021.ipynb | 3315 +++++++++++++++++++++++++++++++++--- notebooks/kinematics.ipynb | 125 +- 4 files changed, 3175 insertions(+), 277 deletions(-) create mode 100644 notebooks/Makefile diff --git a/notebooks/Makefile b/notebooks/Makefile new file mode 100644 index 000000000..2abeb093e --- /dev/null +++ b/notebooks/Makefile @@ -0,0 +1,10 @@ +pyfiles = kinematics.py dynamics.py icra2021.py + +all: $(pyfiles) + +clean: + rm *.py + +$(pyfiles): %.py: %.ipynb + jupyter nbconvert --to script $< + ipython --matplotlib=osx $@ diff --git a/notebooks/dynamics.ipynb b/notebooks/dynamics.ipynb index d0562b688..1d6a97886 100644 --- a/notebooks/dynamics.ipynb +++ b/notebooks/dynamics.ipynb @@ -5347,7 +5347,7 @@ { "data": { "text/html": [ - "" + "" ], "text/plain": [ "" diff --git a/notebooks/icra2021.ipynb b/notebooks/icra2021.ipynb index c135a47b5..cdbd1c450 100644 --- a/notebooks/icra2021.ipynb +++ b/notebooks/icra2021.ipynb @@ -12,7 +12,7 @@ }, { "cell_type": "code", - "execution_count": 125, + "execution_count": 1, "metadata": {}, "outputs": [ { @@ -49,7 +49,8 @@ " div#menubar-container { width: 65%; }\n", " div#maintoolbar-container { width: 99%; }\n", "\n", - "\"\"\"))" + "\"\"\"))\n", + "%matplotlib notebook" ] }, { @@ -61,19 +62,19 @@ }, { "cell_type": "code", - "execution_count": 76, + "execution_count": 2, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "array([[ 0.9752, -0.1987, -0.09784, 0.5],\n", - " [ 0.1538, 0.2896, 0.9447, 0],\n", - " [ -0.1593, -0.9363, 0.313, 0],\n", - " [ 0, 0, 0, 1]])" + "array([[ 0.9752, -0.1987, -0.09784, 0.5],\n", + " [ 0.1538, 0.2896, 0.9447, 0],\n", + " [ -0.1593, -0.9363, 0.313, 0],\n", + " [ 0, 0, 0, 1]])" ] }, - "execution_count": 76, + "execution_count": 2, "metadata": {}, "output_type": "execute_result" } @@ -85,19 +86,19 @@ }, { "cell_type": "code", - "execution_count": 77, + "execution_count": 3, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - " \u001b[38;5;1m 0.97517 \u001b[0m\u001b[38;5;1m-0.198669 \u001b[0m\u001b[38;5;1m-0.0978434 \u001b[0m\u001b[38;5;4m 0.5 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 0.153792 \u001b[0m\u001b[38;5;1m 0.289629 \u001b[0m\u001b[38;5;1m 0.944702 \u001b[0m\u001b[38;5;4m 0 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m-0.159345 \u001b[0m\u001b[38;5;1m-0.936293 \u001b[0m\u001b[38;5;1m 0.312992 \u001b[0m\u001b[38;5;4m 0 \u001b[0m \u001b[0m\n", - " \u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 1 \u001b[0m \u001b[0m\n" + " \u001b[38;5;1m 0.9752 \u001b[0m \u001b[38;5;1m-0.1987 \u001b[0m \u001b[38;5;1m-0.09784 \u001b[0m \u001b[38;5;4m 0.5 \u001b[0m \u001b[0m\n", + " \u001b[38;5;1m 0.1538 \u001b[0m \u001b[38;5;1m 0.2896 \u001b[0m \u001b[38;5;1m 0.9447 \u001b[0m \u001b[38;5;4m 0 \u001b[0m \u001b[0m\n", + " \u001b[38;5;1m-0.1593 \u001b[0m \u001b[38;5;1m-0.9363 \u001b[0m \u001b[38;5;1m 0.313 \u001b[0m \u001b[38;5;4m 0 \u001b[0m \u001b[0m\n", + " \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 1 \u001b[0m \u001b[0m\n" ] }, - "execution_count": 77, + "execution_count": 3, "metadata": {}, "output_type": "execute_result" } @@ -109,16 +110,16 @@ }, { "cell_type": "code", - "execution_count": 78, + "execution_count": 4, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "array([ 1.674, 1.252, -1.402])" + "array([ 1.674, 1.252, -1.402])" ] }, - "execution_count": 78, + "execution_count": 4, "metadata": {}, "output_type": "execute_result" } @@ -129,18 +130,18 @@ }, { "cell_type": "code", - "execution_count": 79, + "execution_count": 5, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "array([[ 0.9752, -0.1987, -0.09784],\n", - " [ 0.1538, 0.2896, 0.9447],\n", - " [ -0.1593, -0.9363, 0.313]])" + "array([[ 0.9752, -0.1987, -0.09784],\n", + " [ 0.1538, 0.2896, 0.9447],\n", + " [ -0.1593, -0.9363, 0.313]])" ] }, - "execution_count": 79, + "execution_count": 5, "metadata": {}, "output_type": "execute_result" } @@ -151,14 +152,974 @@ }, { "cell_type": "code", - "execution_count": 80, + "execution_count": 6, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", + "application/javascript": [ + "/* Put everything inside the global mpl namespace */\n", + "/* global mpl */\n", + "window.mpl = {};\n", + "\n", + "mpl.get_websocket_type = function () {\n", + " if (typeof WebSocket !== 'undefined') {\n", + " return WebSocket;\n", + " } else if (typeof MozWebSocket !== 'undefined') {\n", + " return MozWebSocket;\n", + " } else {\n", + " alert(\n", + " 'Your browser does not have WebSocket support. ' +\n", + " 'Please try Chrome, Safari or Firefox ≥ 6. ' +\n", + " 'Firefox 4 and 5 are also supported but you ' +\n", + " 'have to enable WebSockets in about:config.'\n", + " );\n", + " }\n", + "};\n", + "\n", + "mpl.figure = function (figure_id, websocket, ondownload, parent_element) {\n", + " this.id = figure_id;\n", + "\n", + " this.ws = websocket;\n", + "\n", + " this.supports_binary = this.ws.binaryType !== undefined;\n", + "\n", + " if (!this.supports_binary) {\n", + " var warnings = document.getElementById('mpl-warnings');\n", + " if (warnings) {\n", + " warnings.style.display = 'block';\n", + " warnings.textContent =\n", + " 'This browser does not support binary websocket messages. ' +\n", + " 'Performance may be slow.';\n", + " }\n", + " }\n", + "\n", + " this.imageObj = new Image();\n", + "\n", + " this.context = undefined;\n", + " this.message = undefined;\n", + " this.canvas = undefined;\n", + " this.rubberband_canvas = undefined;\n", + " this.rubberband_context = undefined;\n", + " this.format_dropdown = undefined;\n", + "\n", + " this.image_mode = 'full';\n", + "\n", + " this.root = document.createElement('div');\n", + " this.root.setAttribute('style', 'display: inline-block');\n", + " this._root_extra_style(this.root);\n", + "\n", + " parent_element.appendChild(this.root);\n", + "\n", + " this._init_header(this);\n", + " this._init_canvas(this);\n", + " this._init_toolbar(this);\n", + "\n", + " var fig = this;\n", + "\n", + " this.waiting = false;\n", + "\n", + " this.ws.onopen = function () {\n", + " fig.send_message('supports_binary', { value: fig.supports_binary });\n", + " fig.send_message('send_image_mode', {});\n", + " if (fig.ratio !== 1) {\n", + " fig.send_message('set_dpi_ratio', { dpi_ratio: fig.ratio });\n", + " }\n", + " fig.send_message('refresh', {});\n", + " };\n", + "\n", + " this.imageObj.onload = function () {\n", + " if (fig.image_mode === 'full') {\n", + " // Full images could contain transparency (where diff images\n", + " // almost always do), so we need to clear the canvas so that\n", + " // there is no ghosting.\n", + " fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n", + " }\n", + " fig.context.drawImage(fig.imageObj, 0, 0);\n", + " };\n", + "\n", + " this.imageObj.onunload = function () {\n", + " fig.ws.close();\n", + " };\n", + "\n", + " this.ws.onmessage = this._make_on_message_function(this);\n", + "\n", + " this.ondownload = ondownload;\n", + "};\n", + "\n", + "mpl.figure.prototype._init_header = function () {\n", + " var titlebar = document.createElement('div');\n", + " titlebar.classList =\n", + " 'ui-dialog-titlebar ui-widget-header ui-corner-all ui-helper-clearfix';\n", + " var titletext = document.createElement('div');\n", + " titletext.classList = 'ui-dialog-title';\n", + " titletext.setAttribute(\n", + " 'style',\n", + " 'width: 100%; text-align: center; padding: 3px;'\n", + " );\n", + " titlebar.appendChild(titletext);\n", + " this.root.appendChild(titlebar);\n", + " this.header = titletext;\n", + "};\n", + "\n", + "mpl.figure.prototype._canvas_extra_style = function (_canvas_div) {};\n", + "\n", + "mpl.figure.prototype._root_extra_style = function (_canvas_div) {};\n", + "\n", + "mpl.figure.prototype._init_canvas = function () {\n", + " var fig = this;\n", + "\n", + " var canvas_div = (this.canvas_div = document.createElement('div'));\n", + " canvas_div.setAttribute(\n", + " 'style',\n", + " 'border: 1px solid #ddd;' +\n", + " 'box-sizing: content-box;' +\n", + " 'clear: both;' +\n", + " 'min-height: 1px;' +\n", + " 'min-width: 1px;' +\n", + " 'outline: 0;' +\n", + " 'overflow: hidden;' +\n", + " 'position: relative;' +\n", + " 'resize: both;'\n", + " );\n", + "\n", + " function on_keyboard_event_closure(name) {\n", + " return function (event) {\n", + " return fig.key_event(event, name);\n", + " };\n", + " }\n", + "\n", + " canvas_div.addEventListener(\n", + " 'keydown',\n", + " on_keyboard_event_closure('key_press')\n", + " );\n", + " canvas_div.addEventListener(\n", + " 'keyup',\n", + " on_keyboard_event_closure('key_release')\n", + " );\n", + "\n", + " this._canvas_extra_style(canvas_div);\n", + " this.root.appendChild(canvas_div);\n", + "\n", + " var canvas = (this.canvas = document.createElement('canvas'));\n", + " canvas.classList.add('mpl-canvas');\n", + " canvas.setAttribute('style', 'box-sizing: content-box;');\n", + "\n", + " this.context = canvas.getContext('2d');\n", + "\n", + " var backingStore =\n", + " this.context.backingStorePixelRatio ||\n", + " this.context.webkitBackingStorePixelRatio ||\n", + " this.context.mozBackingStorePixelRatio ||\n", + " this.context.msBackingStorePixelRatio ||\n", + " this.context.oBackingStorePixelRatio ||\n", + " this.context.backingStorePixelRatio ||\n", + " 1;\n", + "\n", + " this.ratio = (window.devicePixelRatio || 1) / backingStore;\n", + "\n", + " var rubberband_canvas = (this.rubberband_canvas = document.createElement(\n", + " 'canvas'\n", + " ));\n", + " rubberband_canvas.setAttribute(\n", + " 'style',\n", + " 'box-sizing: content-box; position: absolute; left: 0; top: 0; z-index: 1;'\n", + " );\n", + "\n", + " // Apply a ponyfill if ResizeObserver is not implemented by browser.\n", + " if (this.ResizeObserver === undefined) {\n", + " if (window.ResizeObserver !== undefined) {\n", + " this.ResizeObserver = window.ResizeObserver;\n", + " } else {\n", + " var obs = _JSXTOOLS_RESIZE_OBSERVER({});\n", + " this.ResizeObserver = obs.ResizeObserver;\n", + " }\n", + " }\n", + "\n", + " this.resizeObserverInstance = new this.ResizeObserver(function (entries) {\n", + " var nentries = entries.length;\n", + " for (var i = 0; i < nentries; i++) {\n", + " var entry = entries[i];\n", + " var width, height;\n", + " if (entry.contentBoxSize) {\n", + " if (entry.contentBoxSize instanceof Array) {\n", + " // Chrome 84 implements new version of spec.\n", + " width = entry.contentBoxSize[0].inlineSize;\n", + " height = entry.contentBoxSize[0].blockSize;\n", + " } else {\n", + " // Firefox implements old version of spec.\n", + " width = entry.contentBoxSize.inlineSize;\n", + " height = entry.contentBoxSize.blockSize;\n", + " }\n", + " } else {\n", + " // Chrome <84 implements even older version of spec.\n", + " width = entry.contentRect.width;\n", + " height = entry.contentRect.height;\n", + " }\n", + "\n", + " // Keep the size of the canvas and rubber band canvas in sync with\n", + " // the canvas container.\n", + " if (entry.devicePixelContentBoxSize) {\n", + " // Chrome 84 implements new version of spec.\n", + " canvas.setAttribute(\n", + " 'width',\n", + " entry.devicePixelContentBoxSize[0].inlineSize\n", + " );\n", + " canvas.setAttribute(\n", + " 'height',\n", + " entry.devicePixelContentBoxSize[0].blockSize\n", + " );\n", + " } else {\n", + " canvas.setAttribute('width', width * fig.ratio);\n", + " canvas.setAttribute('height', height * fig.ratio);\n", + " }\n", + " canvas.setAttribute(\n", + " 'style',\n", + " 'width: ' + width + 'px; height: ' + height + 'px;'\n", + " );\n", + "\n", + " rubberband_canvas.setAttribute('width', width);\n", + " rubberband_canvas.setAttribute('height', height);\n", + "\n", + " // And update the size in Python. We ignore the initial 0/0 size\n", + " // that occurs as the element is placed into the DOM, which should\n", + " // otherwise not happen due to the minimum size styling.\n", + " if (fig.ws.readyState == 1 && width != 0 && height != 0) {\n", + " fig.request_resize(width, height);\n", + " }\n", + " }\n", + " });\n", + " this.resizeObserverInstance.observe(canvas_div);\n", + "\n", + " function on_mouse_event_closure(name) {\n", + " return function (event) {\n", + " return fig.mouse_event(event, name);\n", + " };\n", + " }\n", + "\n", + " rubberband_canvas.addEventListener(\n", + " 'mousedown',\n", + " on_mouse_event_closure('button_press')\n", + " );\n", + " rubberband_canvas.addEventListener(\n", + " 'mouseup',\n", + " on_mouse_event_closure('button_release')\n", + " );\n", + " // Throttle sequential mouse events to 1 every 20ms.\n", + " rubberband_canvas.addEventListener(\n", + " 'mousemove',\n", + " on_mouse_event_closure('motion_notify')\n", + " );\n", + "\n", + " rubberband_canvas.addEventListener(\n", + " 'mouseenter',\n", + " on_mouse_event_closure('figure_enter')\n", + " );\n", + " rubberband_canvas.addEventListener(\n", + " 'mouseleave',\n", + " on_mouse_event_closure('figure_leave')\n", + " );\n", + "\n", + " canvas_div.addEventListener('wheel', function (event) {\n", + " if (event.deltaY < 0) {\n", + " event.step = 1;\n", + " } else {\n", + " event.step = -1;\n", + " }\n", + " on_mouse_event_closure('scroll')(event);\n", + " });\n", + "\n", + " canvas_div.appendChild(canvas);\n", + " canvas_div.appendChild(rubberband_canvas);\n", + "\n", + " this.rubberband_context = rubberband_canvas.getContext('2d');\n", + " this.rubberband_context.strokeStyle = '#000000';\n", + "\n", + " this._resize_canvas = function (width, height, forward) {\n", + " if (forward) {\n", + " canvas_div.style.width = width + 'px';\n", + " canvas_div.style.height = height + 'px';\n", + " }\n", + " };\n", + "\n", + " // Disable right mouse context menu.\n", + " this.rubberband_canvas.addEventListener('contextmenu', function (_e) {\n", + " event.preventDefault();\n", + " return false;\n", + " });\n", + "\n", + " function set_focus() {\n", + " canvas.focus();\n", + " canvas_div.focus();\n", + " }\n", + "\n", + " window.setTimeout(set_focus, 100);\n", + "};\n", + "\n", + "mpl.figure.prototype._init_toolbar = function () {\n", + " var fig = this;\n", + "\n", + " var toolbar = document.createElement('div');\n", + " toolbar.classList = 'mpl-toolbar';\n", + " this.root.appendChild(toolbar);\n", + "\n", + " function on_click_closure(name) {\n", + " return function (_event) {\n", + " return fig.toolbar_button_onclick(name);\n", + " };\n", + " }\n", + "\n", + " function on_mouseover_closure(tooltip) {\n", + " return function (event) {\n", + " if (!event.currentTarget.disabled) {\n", + " return fig.toolbar_button_onmouseover(tooltip);\n", + " }\n", + " };\n", + " }\n", + "\n", + " fig.buttons = {};\n", + " var buttonGroup = document.createElement('div');\n", + " buttonGroup.classList = 'mpl-button-group';\n", + " for (var toolbar_ind in mpl.toolbar_items) {\n", + " var name = mpl.toolbar_items[toolbar_ind][0];\n", + " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n", + " var image = mpl.toolbar_items[toolbar_ind][2];\n", + " var method_name = mpl.toolbar_items[toolbar_ind][3];\n", + "\n", + " if (!name) {\n", + " /* Instead of a spacer, we start a new button group. */\n", + " if (buttonGroup.hasChildNodes()) {\n", + " toolbar.appendChild(buttonGroup);\n", + " }\n", + " buttonGroup = document.createElement('div');\n", + " buttonGroup.classList = 'mpl-button-group';\n", + " continue;\n", + " }\n", + "\n", + " var button = (fig.buttons[name] = document.createElement('button'));\n", + " button.classList = 'mpl-widget';\n", + " button.setAttribute('role', 'button');\n", + " button.setAttribute('aria-disabled', 'false');\n", + " button.addEventListener('click', on_click_closure(method_name));\n", + " button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n", + "\n", + " var icon_img = document.createElement('img');\n", + " icon_img.src = '_images/' + image + '.png';\n", + " icon_img.srcset = '_images/' + image + '_large.png 2x';\n", + " icon_img.alt = tooltip;\n", + " button.appendChild(icon_img);\n", + "\n", + " buttonGroup.appendChild(button);\n", + " }\n", + "\n", + " if (buttonGroup.hasChildNodes()) {\n", + " toolbar.appendChild(buttonGroup);\n", + " }\n", + "\n", + " var fmt_picker = document.createElement('select');\n", + " fmt_picker.classList = 'mpl-widget';\n", + " toolbar.appendChild(fmt_picker);\n", + " this.format_dropdown = fmt_picker;\n", + "\n", + " for (var ind in mpl.extensions) {\n", + " var fmt = mpl.extensions[ind];\n", + " var option = document.createElement('option');\n", + " option.selected = fmt === mpl.default_extension;\n", + " option.innerHTML = fmt;\n", + " fmt_picker.appendChild(option);\n", + " }\n", + "\n", + " var status_bar = document.createElement('span');\n", + " status_bar.classList = 'mpl-message';\n", + " toolbar.appendChild(status_bar);\n", + " this.message = status_bar;\n", + "};\n", + "\n", + "mpl.figure.prototype.request_resize = function (x_pixels, y_pixels) {\n", + " // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n", + " // which will in turn request a refresh of the image.\n", + " this.send_message('resize', { width: x_pixels, height: y_pixels });\n", + "};\n", + "\n", + "mpl.figure.prototype.send_message = function (type, properties) {\n", + " properties['type'] = type;\n", + " properties['figure_id'] = this.id;\n", + " this.ws.send(JSON.stringify(properties));\n", + "};\n", + "\n", + "mpl.figure.prototype.send_draw_message = function () {\n", + " if (!this.waiting) {\n", + " this.waiting = true;\n", + " this.ws.send(JSON.stringify({ type: 'draw', figure_id: this.id }));\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_save = function (fig, _msg) {\n", + " var format_dropdown = fig.format_dropdown;\n", + " var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n", + " fig.ondownload(fig, format);\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_resize = function (fig, msg) {\n", + " var size = msg['size'];\n", + " if (size[0] !== fig.canvas.width || size[1] !== fig.canvas.height) {\n", + " fig._resize_canvas(size[0], size[1], msg['forward']);\n", + " fig.send_message('refresh', {});\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_rubberband = function (fig, msg) {\n", + " var x0 = msg['x0'] / fig.ratio;\n", + " var y0 = (fig.canvas.height - msg['y0']) / fig.ratio;\n", + " var x1 = msg['x1'] / fig.ratio;\n", + " var y1 = (fig.canvas.height - msg['y1']) / fig.ratio;\n", + " x0 = Math.floor(x0) + 0.5;\n", + " y0 = Math.floor(y0) + 0.5;\n", + " x1 = Math.floor(x1) + 0.5;\n", + " y1 = Math.floor(y1) + 0.5;\n", + " var min_x = Math.min(x0, x1);\n", + " var min_y = Math.min(y0, y1);\n", + " var width = Math.abs(x1 - x0);\n", + " var height = Math.abs(y1 - y0);\n", + "\n", + " fig.rubberband_context.clearRect(\n", + " 0,\n", + " 0,\n", + " fig.canvas.width / fig.ratio,\n", + " fig.canvas.height / fig.ratio\n", + " );\n", + "\n", + " fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_figure_label = function (fig, msg) {\n", + " // Updates the figure title.\n", + " fig.header.textContent = msg['label'];\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_cursor = function (fig, msg) {\n", + " var cursor = msg['cursor'];\n", + " switch (cursor) {\n", + " case 0:\n", + " cursor = 'pointer';\n", + " break;\n", + " case 1:\n", + " cursor = 'default';\n", + " break;\n", + " case 2:\n", + " cursor = 'crosshair';\n", + " break;\n", + " case 3:\n", + " cursor = 'move';\n", + " break;\n", + " }\n", + " fig.rubberband_canvas.style.cursor = cursor;\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_message = function (fig, msg) {\n", + " fig.message.textContent = msg['message'];\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_draw = function (fig, _msg) {\n", + " // Request the server to send over a new figure.\n", + " fig.send_draw_message();\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_image_mode = function (fig, msg) {\n", + " fig.image_mode = msg['mode'];\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_history_buttons = function (fig, msg) {\n", + " for (var key in msg) {\n", + " if (!(key in fig.buttons)) {\n", + " continue;\n", + " }\n", + " fig.buttons[key].disabled = !msg[key];\n", + " fig.buttons[key].setAttribute('aria-disabled', !msg[key]);\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_navigate_mode = function (fig, msg) {\n", + " if (msg['mode'] === 'PAN') {\n", + " fig.buttons['Pan'].classList.add('active');\n", + " fig.buttons['Zoom'].classList.remove('active');\n", + " } else if (msg['mode'] === 'ZOOM') {\n", + " fig.buttons['Pan'].classList.remove('active');\n", + " fig.buttons['Zoom'].classList.add('active');\n", + " } else {\n", + " fig.buttons['Pan'].classList.remove('active');\n", + " fig.buttons['Zoom'].classList.remove('active');\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.updated_canvas_event = function () {\n", + " // Called whenever the canvas gets updated.\n", + " this.send_message('ack', {});\n", + "};\n", + "\n", + "// A function to construct a web socket function for onmessage handling.\n", + "// Called in the figure constructor.\n", + "mpl.figure.prototype._make_on_message_function = function (fig) {\n", + " return function socket_on_message(evt) {\n", + " if (evt.data instanceof Blob) {\n", + " /* FIXME: We get \"Resource interpreted as Image but\n", + " * transferred with MIME type text/plain:\" errors on\n", + " * Chrome. But how to set the MIME type? It doesn't seem\n", + " * to be part of the websocket stream */\n", + " evt.data.type = 'image/png';\n", + "\n", + " /* Free the memory for the previous frames */\n", + " if (fig.imageObj.src) {\n", + " (window.URL || window.webkitURL).revokeObjectURL(\n", + " fig.imageObj.src\n", + " );\n", + " }\n", + "\n", + " fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n", + " evt.data\n", + " );\n", + " fig.updated_canvas_event();\n", + " fig.waiting = false;\n", + " return;\n", + " } else if (\n", + " typeof evt.data === 'string' &&\n", + " evt.data.slice(0, 21) === 'data:image/png;base64'\n", + " ) {\n", + " fig.imageObj.src = evt.data;\n", + " fig.updated_canvas_event();\n", + " fig.waiting = false;\n", + " return;\n", + " }\n", + "\n", + " var msg = JSON.parse(evt.data);\n", + " var msg_type = msg['type'];\n", + "\n", + " // Call the \"handle_{type}\" callback, which takes\n", + " // the figure and JSON message as its only arguments.\n", + " try {\n", + " var callback = fig['handle_' + msg_type];\n", + " } catch (e) {\n", + " console.log(\n", + " \"No handler for the '\" + msg_type + \"' message type: \",\n", + " msg\n", + " );\n", + " return;\n", + " }\n", + "\n", + " if (callback) {\n", + " try {\n", + " // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n", + " callback(fig, msg);\n", + " } catch (e) {\n", + " console.log(\n", + " \"Exception inside the 'handler_\" + msg_type + \"' callback:\",\n", + " e,\n", + " e.stack,\n", + " msg\n", + " );\n", + " }\n", + " }\n", + " };\n", + "};\n", + "\n", + "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n", + "mpl.findpos = function (e) {\n", + " //this section is from http://www.quirksmode.org/js/events_properties.html\n", + " var targ;\n", + " if (!e) {\n", + " e = window.event;\n", + " }\n", + " if (e.target) {\n", + " targ = e.target;\n", + " } else if (e.srcElement) {\n", + " targ = e.srcElement;\n", + " }\n", + " if (targ.nodeType === 3) {\n", + " // defeat Safari bug\n", + " targ = targ.parentNode;\n", + " }\n", + "\n", + " // pageX,Y are the mouse positions relative to the document\n", + " var boundingRect = targ.getBoundingClientRect();\n", + " var x = e.pageX - (boundingRect.left + document.body.scrollLeft);\n", + " var y = e.pageY - (boundingRect.top + document.body.scrollTop);\n", + "\n", + " return { x: x, y: y };\n", + "};\n", + "\n", + "/*\n", + " * return a copy of an object with only non-object keys\n", + " * we need this to avoid circular references\n", + " * http://stackoverflow.com/a/24161582/3208463\n", + " */\n", + "function simpleKeys(original) {\n", + " return Object.keys(original).reduce(function (obj, key) {\n", + " if (typeof original[key] !== 'object') {\n", + " obj[key] = original[key];\n", + " }\n", + " return obj;\n", + " }, {});\n", + "}\n", + "\n", + "mpl.figure.prototype.mouse_event = function (event, name) {\n", + " var canvas_pos = mpl.findpos(event);\n", + "\n", + " if (name === 'button_press') {\n", + " this.canvas.focus();\n", + " this.canvas_div.focus();\n", + " }\n", + "\n", + " var x = canvas_pos.x * this.ratio;\n", + " var y = canvas_pos.y * this.ratio;\n", + "\n", + " this.send_message(name, {\n", + " x: x,\n", + " y: y,\n", + " button: event.button,\n", + " step: event.step,\n", + " guiEvent: simpleKeys(event),\n", + " });\n", + "\n", + " /* This prevents the web browser from automatically changing to\n", + " * the text insertion cursor when the button is pressed. We want\n", + " * to control all of the cursor setting manually through the\n", + " * 'cursor' event from matplotlib */\n", + " event.preventDefault();\n", + " return false;\n", + "};\n", + "\n", + "mpl.figure.prototype._key_event_extra = function (_event, _name) {\n", + " // Handle any extra behaviour associated with a key event\n", + "};\n", + "\n", + "mpl.figure.prototype.key_event = function (event, name) {\n", + " // Prevent repeat events\n", + " if (name === 'key_press') {\n", + " if (event.which === this._key) {\n", + " return;\n", + " } else {\n", + " this._key = event.which;\n", + " }\n", + " }\n", + " if (name === 'key_release') {\n", + " this._key = null;\n", + " }\n", + "\n", + " var value = '';\n", + " if (event.ctrlKey && event.which !== 17) {\n", + " value += 'ctrl+';\n", + " }\n", + " if (event.altKey && event.which !== 18) {\n", + " value += 'alt+';\n", + " }\n", + " if (event.shiftKey && event.which !== 16) {\n", + " value += 'shift+';\n", + " }\n", + "\n", + " value += 'k';\n", + " value += event.which.toString();\n", + "\n", + " this._key_event_extra(event, name);\n", + "\n", + " this.send_message(name, { key: value, guiEvent: simpleKeys(event) });\n", + " return false;\n", + "};\n", + "\n", + "mpl.figure.prototype.toolbar_button_onclick = function (name) {\n", + " if (name === 'download') {\n", + " this.handle_save(this, null);\n", + " } else {\n", + " this.send_message('toolbar_button', { name: name });\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.toolbar_button_onmouseover = function (tooltip) {\n", + " this.message.textContent = tooltip;\n", + "};\n", + "\n", + "///////////////// REMAINING CONTENT GENERATED BY embed_js.py /////////////////\n", + "// prettier-ignore\n", + "var _JSXTOOLS_RESIZE_OBSERVER=function(A){var t,i=new WeakMap,n=new WeakMap,a=new WeakMap,r=new WeakMap,o=new Set;function s(e){if(!(this instanceof s))throw new TypeError(\"Constructor requires 'new' operator\");i.set(this,e)}function h(){throw new TypeError(\"Function is not a constructor\")}function c(e,t,i,n){e=0 in arguments?Number(arguments[0]):0,t=1 in arguments?Number(arguments[1]):0,i=2 in arguments?Number(arguments[2]):0,n=3 in arguments?Number(arguments[3]):0,this.right=(this.x=this.left=e)+(this.width=i),this.bottom=(this.y=this.top=t)+(this.height=n),Object.freeze(this)}function d(){t=requestAnimationFrame(d);var s=new WeakMap,p=new Set;o.forEach((function(t){r.get(t).forEach((function(i){var r=t instanceof window.SVGElement,o=a.get(t),d=r?0:parseFloat(o.paddingTop),f=r?0:parseFloat(o.paddingRight),l=r?0:parseFloat(o.paddingBottom),u=r?0:parseFloat(o.paddingLeft),g=r?0:parseFloat(o.borderTopWidth),m=r?0:parseFloat(o.borderRightWidth),w=r?0:parseFloat(o.borderBottomWidth),b=u+f,F=d+l,v=(r?0:parseFloat(o.borderLeftWidth))+m,W=g+w,y=r?0:t.offsetHeight-W-t.clientHeight,E=r?0:t.offsetWidth-v-t.clientWidth,R=b+v,z=F+W,M=r?t.width:parseFloat(o.width)-R-E,O=r?t.height:parseFloat(o.height)-z-y;if(n.has(t)){var k=n.get(t);if(k[0]===M&&k[1]===O)return}n.set(t,[M,O]);var S=Object.create(h.prototype);S.target=t,S.contentRect=new c(u,d,M,O),s.has(i)||(s.set(i,[]),p.add(i)),s.get(i).push(S)}))})),p.forEach((function(e){i.get(e).call(e,s.get(e),e)}))}return s.prototype.observe=function(i){if(i instanceof window.Element){r.has(i)||(r.set(i,new Set),o.add(i),a.set(i,window.getComputedStyle(i)));var n=r.get(i);n.has(this)||n.add(this),cancelAnimationFrame(t),t=requestAnimationFrame(d)}},s.prototype.unobserve=function(i){if(i instanceof window.Element&&r.has(i)){var n=r.get(i);n.has(this)&&(n.delete(this),n.size||(r.delete(i),o.delete(i))),n.size||r.delete(i),o.size||cancelAnimationFrame(t)}},A.DOMRectReadOnly=c,A.ResizeObserver=s,A.ResizeObserverEntry=h,A}; // eslint-disable-line\n", + "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Left button pans, Right button zooms\\nx/y fixes axis, CTRL fixes aspect\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\\nx/y fixes axis, CTRL fixes aspect\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n", + "\n", + "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n", + "\n", + "mpl.default_extension = \"png\";/* global mpl */\n", + "\n", + "var comm_websocket_adapter = function (comm) {\n", + " // Create a \"websocket\"-like object which calls the given IPython comm\n", + " // object with the appropriate methods. Currently this is a non binary\n", + " // socket, so there is still some room for performance tuning.\n", + " var ws = {};\n", + "\n", + " ws.close = function () {\n", + " comm.close();\n", + " };\n", + " ws.send = function (m) {\n", + " //console.log('sending', m);\n", + " comm.send(m);\n", + " };\n", + " // Register the callback with on_msg.\n", + " comm.on_msg(function (msg) {\n", + " //console.log('receiving', msg['content']['data'], msg);\n", + " // Pass the mpl event to the overridden (by mpl) onmessage function.\n", + " ws.onmessage(msg['content']['data']);\n", + " });\n", + " return ws;\n", + "};\n", + "\n", + "mpl.mpl_figure_comm = function (comm, msg) {\n", + " // This is the function which gets called when the mpl process\n", + " // starts-up an IPython Comm through the \"matplotlib\" channel.\n", + "\n", + " var id = msg.content.data.id;\n", + " // Get hold of the div created by the display call when the Comm\n", + " // socket was opened in Python.\n", + " var element = document.getElementById(id);\n", + " var ws_proxy = comm_websocket_adapter(comm);\n", + "\n", + " function ondownload(figure, _format) {\n", + " window.open(figure.canvas.toDataURL());\n", + " }\n", + "\n", + " var fig = new mpl.figure(id, ws_proxy, ondownload, element);\n", + "\n", + " // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n", + " // web socket which is closed, not our websocket->open comm proxy.\n", + " ws_proxy.onopen();\n", + "\n", + " fig.parent_element = element;\n", + " fig.cell_info = mpl.find_output_cell(\"
\");\n", + " if (!fig.cell_info) {\n", + " console.error('Failed to find cell for figure', id, fig);\n", + " return;\n", + " }\n", + " fig.cell_info[0].output_area.element.on(\n", + " 'cleared',\n", + " { fig: fig },\n", + " fig._remove_fig_handler\n", + " );\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_close = function (fig, msg) {\n", + " var width = fig.canvas.width / fig.ratio;\n", + " fig.cell_info[0].output_area.element.off(\n", + " 'cleared',\n", + " fig._remove_fig_handler\n", + " );\n", + " fig.resizeObserverInstance.unobserve(fig.canvas_div);\n", + "\n", + " // Update the output cell to use the data from the current canvas.\n", + " fig.push_to_output();\n", + " var dataURL = fig.canvas.toDataURL();\n", + " // Re-enable the keyboard manager in IPython - without this line, in FF,\n", + " // the notebook keyboard shortcuts fail.\n", + " IPython.keyboard_manager.enable();\n", + " fig.parent_element.innerHTML =\n", + " '';\n", + " fig.close_ws(fig, msg);\n", + "};\n", + "\n", + "mpl.figure.prototype.close_ws = function (fig, msg) {\n", + " fig.send_message('closing', msg);\n", + " // fig.ws.close()\n", + "};\n", + "\n", + "mpl.figure.prototype.push_to_output = function (_remove_interactive) {\n", + " // Turn the data on the canvas into data in the output cell.\n", + " var width = this.canvas.width / this.ratio;\n", + " var dataURL = this.canvas.toDataURL();\n", + " this.cell_info[1]['text/html'] =\n", + " '';\n", + "};\n", + "\n", + "mpl.figure.prototype.updated_canvas_event = function () {\n", + " // Tell IPython that the notebook contents must change.\n", + " IPython.notebook.set_dirty(true);\n", + " this.send_message('ack', {});\n", + " var fig = this;\n", + " // Wait a second, then push the new image to the DOM so\n", + " // that it is saved nicely (might be nice to debounce this).\n", + " setTimeout(function () {\n", + " fig.push_to_output();\n", + " }, 1000);\n", + "};\n", + "\n", + "mpl.figure.prototype._init_toolbar = function () {\n", + " var fig = this;\n", + "\n", + " var toolbar = document.createElement('div');\n", + " toolbar.classList = 'btn-toolbar';\n", + " this.root.appendChild(toolbar);\n", + "\n", + " function on_click_closure(name) {\n", + " return function (_event) {\n", + " return fig.toolbar_button_onclick(name);\n", + " };\n", + " }\n", + "\n", + " function on_mouseover_closure(tooltip) {\n", + " return function (event) {\n", + " if (!event.currentTarget.disabled) {\n", + " return fig.toolbar_button_onmouseover(tooltip);\n", + " }\n", + " };\n", + " }\n", + "\n", + " fig.buttons = {};\n", + " var buttonGroup = document.createElement('div');\n", + " buttonGroup.classList = 'btn-group';\n", + " var button;\n", + " for (var toolbar_ind in mpl.toolbar_items) {\n", + " var name = mpl.toolbar_items[toolbar_ind][0];\n", + " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n", + " var image = mpl.toolbar_items[toolbar_ind][2];\n", + " var method_name = mpl.toolbar_items[toolbar_ind][3];\n", + "\n", + " if (!name) {\n", + " /* Instead of a spacer, we start a new button group. */\n", + " if (buttonGroup.hasChildNodes()) {\n", + " toolbar.appendChild(buttonGroup);\n", + " }\n", + " buttonGroup = document.createElement('div');\n", + " buttonGroup.classList = 'btn-group';\n", + " continue;\n", + " }\n", + "\n", + " button = fig.buttons[name] = document.createElement('button');\n", + " button.classList = 'btn btn-default';\n", + " button.href = '#';\n", + " button.title = name;\n", + " button.innerHTML = '';\n", + " button.addEventListener('click', on_click_closure(method_name));\n", + " button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n", + " buttonGroup.appendChild(button);\n", + " }\n", + "\n", + " if (buttonGroup.hasChildNodes()) {\n", + " toolbar.appendChild(buttonGroup);\n", + " }\n", + "\n", + " // Add the status bar.\n", + " var status_bar = document.createElement('span');\n", + " status_bar.classList = 'mpl-message pull-right';\n", + " toolbar.appendChild(status_bar);\n", + " this.message = status_bar;\n", + "\n", + " // Add the close button to the window.\n", + " var buttongrp = document.createElement('div');\n", + " buttongrp.classList = 'btn-group inline pull-right';\n", + " button = document.createElement('button');\n", + " button.classList = 'btn btn-mini btn-primary';\n", + " button.href = '#';\n", + " button.title = 'Stop Interaction';\n", + " button.innerHTML = '';\n", + " button.addEventListener('click', function (_evt) {\n", + " fig.handle_close(fig, {});\n", + " });\n", + " button.addEventListener(\n", + " 'mouseover',\n", + " on_mouseover_closure('Stop Interaction')\n", + " );\n", + " buttongrp.appendChild(button);\n", + " var titlebar = this.root.querySelector('.ui-dialog-titlebar');\n", + " titlebar.insertBefore(buttongrp, titlebar.firstChild);\n", + "};\n", + "\n", + "mpl.figure.prototype._remove_fig_handler = function (event) {\n", + " var fig = event.data.fig;\n", + " if (event.target !== this) {\n", + " // Ignore bubbled events from children.\n", + " return;\n", + " }\n", + " fig.close_ws(fig, {});\n", + "};\n", + "\n", + "mpl.figure.prototype._root_extra_style = function (el) {\n", + " el.style.boxSizing = 'content-box'; // override notebook setting of border-box.\n", + "};\n", + "\n", + "mpl.figure.prototype._canvas_extra_style = function (el) {\n", + " // this is important to make the div 'focusable\n", + " el.setAttribute('tabindex', 0);\n", + " // reach out to IPython and tell the keyboard manager to turn it's self\n", + " // off when our div gets focus\n", + "\n", + " // location in version 3\n", + " if (IPython.notebook.keyboard_manager) {\n", + " IPython.notebook.keyboard_manager.register_events(el);\n", + " } else {\n", + " // location in version 2\n", + " IPython.keyboard_manager.register_events(el);\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype._key_event_extra = function (event, _name) {\n", + " var manager = IPython.notebook.keyboard_manager;\n", + " if (!manager) {\n", + " manager = IPython.keyboard_manager;\n", + " }\n", + "\n", + " // Check for shift+enter\n", + " if (event.shiftKey && event.which === 13) {\n", + " this.canvas_div.blur();\n", + " // select the cell after this one\n", + " var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n", + " IPython.notebook.select(index + 1);\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_save = function (fig, _msg) {\n", + " fig.ondownload(fig, null);\n", + "};\n", + "\n", + "mpl.find_output_cell = function (html_output) {\n", + " // Return the cell and output element which can be found *uniquely* in the notebook.\n", + " // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n", + " // IPython event is triggered only after the cells have been serialised, which for\n", + " // our purposes (turning an active figure into a static one), is too late.\n", + " var cells = IPython.notebook.get_cells();\n", + " var ncells = cells.length;\n", + " for (var i = 0; i < ncells; i++) {\n", + " var cell = cells[i];\n", + " if (cell.cell_type === 'code') {\n", + " for (var j = 0; j < cell.output_area.outputs.length; j++) {\n", + " var data = cell.output_area.outputs[j];\n", + " if (data.data) {\n", + " // IPython >= 3 moved mimebundle to data attribute of output\n", + " data = data.data;\n", + " }\n", + " if (data['text/html'] === html_output) {\n", + " return [cell, data, j];\n", + " }\n", + " }\n", + " }\n", + " }\n", + "};\n", + "\n", + "// Register the function which deals with the matplotlib target/channel.\n", + "// The kernel may be null if the page has been refreshed.\n", + "if (IPython.notebook.kernel !== null) {\n", + " IPython.notebook.kernel.comm_manager.register_target(\n", + " 'matplotlib',\n", + " mpl.mpl_figure_comm\n", + " );\n", + "}\n" + ], + "text/plain": [ + "" + ] + }, + "metadata": {}, + "output_type": "display_data" + }, + { + "data": { + "text/html": [ + "" + ], "text/plain": [ - "
" + "" ] }, "metadata": {}, @@ -171,7 +1132,7 @@ }, { "cell_type": "code", - "execution_count": 81, + "execution_count": 7, "metadata": {}, "outputs": [ { @@ -185,7 +1146,7 @@ "data": { "text/plain": [] }, - "execution_count": 81, + "execution_count": 7, "metadata": {}, "output_type": "execute_result" } @@ -197,7 +1158,7 @@ }, { "cell_type": "code", - "execution_count": 82, + "execution_count": 8, "metadata": {}, "outputs": [ { @@ -206,7 +1167,7 @@ "100" ] }, - "execution_count": 82, + "execution_count": 8, "metadata": {}, "output_type": "execute_result" } @@ -226,7 +1187,7 @@ }, { "cell_type": "code", - "execution_count": 84, + "execution_count": 9, "metadata": {}, "outputs": [], "source": [ @@ -241,23 +1202,23 @@ }, { "cell_type": "code", - "execution_count": 85, + "execution_count": 10, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "my IRB140 (by ): 3 axes (RRR), standard DH parameters\n", + "DHRobot: my IRB140, 3 joints (RRR), dynamics, standard DH parameters\n", "┏━━━━┳━━━━━━━┳━━━━━━┳━━━━━━━━┓\n", "┃θⱼ ┃ dⱼ ┃ aⱼ ┃ ⍺ⱼ ┃\n", "┣━━━━╋━━━━━━━╋━━━━━━╋━━━━━━━━┫\n", "┃ q1\u001b[0m ┃ 0.352\u001b[0m ┃ 0.07\u001b[0m ┃ -90.0°\u001b[0m ┃\n", - "┃ q2\u001b[0m ┃ 0.0\u001b[0m ┃ 0.36\u001b[0m ┃ 0.0°\u001b[0m ┃\n", - "┃ q3\u001b[0m ┃ 0.0\u001b[0m ┃ 0.0\u001b[0m ┃ 90.0°\u001b[0m ┃\n", + "┃ q2\u001b[0m ┃ 0\u001b[0m ┃ 0.36\u001b[0m ┃ 0.0°\u001b[0m ┃\n", + "┃ q3\u001b[0m ┃ 0\u001b[0m ┃ 0\u001b[0m ┃ 90.0°\u001b[0m ┃\n", "┗━━━━┻━━━━━━━┻━━━━━━┻━━━━━━━━┛" ] }, - "execution_count": 85, + "execution_count": 10, "metadata": {}, "output_type": "execute_result" } @@ -272,23 +1233,23 @@ }, { "cell_type": "code", - "execution_count": 86, + "execution_count": 11, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "Puma 560 (by Unimation): 6 axes (RRRRRR), standard DH parameters\n", - "┏━━━━┳━━━━━━━━━━━━━━━━━━━━┳━━━━━━━━┳━━━━━━━━┳━━━━━━━━━┳━━━━━━━━┓\n", - "┃θⱼ ┃ dⱼ ┃ aⱼ ┃ ⍺ⱼ ┃ q⁻ ┃ q⁺ ┃\n", - "┣━━━━╋━━━━━━━━━━━━━━━━━━━━╋━━━━━━━━╋━━━━━━━━╋━━━━━━━━━╋━━━━━━━━┫\n", - "┃ q1\u001b[0m ┃ 0.6718299999999999\u001b[0m ┃ 0\u001b[0m ┃ 90.0°\u001b[0m ┃ -160.0°\u001b[0m ┃ 160.0°\u001b[0m ┃\n", - "┃ q2\u001b[0m ┃ 0\u001b[0m ┃ 0.4318\u001b[0m ┃ 0.0°\u001b[0m ┃ -110.0°\u001b[0m ┃ 110.0°\u001b[0m ┃\n", - "┃ q3\u001b[0m ┃ 0.15005\u001b[0m ┃ 0.0203\u001b[0m ┃ -90.0°\u001b[0m ┃ -135.0°\u001b[0m ┃ 135.0°\u001b[0m ┃\n", - "┃ q4\u001b[0m ┃ 0.4318\u001b[0m ┃ 0\u001b[0m ┃ 90.0°\u001b[0m ┃ -266.0°\u001b[0m ┃ 266.0°\u001b[0m ┃\n", - "┃ q5\u001b[0m ┃ 0\u001b[0m ┃ 0\u001b[0m ┃ -90.0°\u001b[0m ┃ -100.0°\u001b[0m ┃ 100.0°\u001b[0m ┃\n", - "┃ q6\u001b[0m ┃ 0\u001b[0m ┃ 0\u001b[0m ┃ 0.0°\u001b[0m ┃ -266.0°\u001b[0m ┃ 266.0°\u001b[0m ┃\n", - "┗━━━━┻━━━━━━━━━━━━━━━━━━━━┻━━━━━━━━┻━━━━━━━━┻━━━━━━━━━┻━━━━━━━━┛\n", + "DHRobot: Puma 560 (by Unimation), 6 joints (RRRRRR), dynamics, geometry, standard DH parameters\n", + "┏━━━━┳━━━━━━━━┳━━━━━━━━┳━━━━━━━━┳━━━━━━━━━┳━━━━━━━━┓\n", + "┃θⱼ ┃ dⱼ ┃ aⱼ ┃ ⍺ⱼ ┃ q⁻ ┃ q⁺ ┃\n", + "┣━━━━╋━━━━━━━━╋━━━━━━━━╋━━━━━━━━╋━━━━━━━━━╋━━━━━━━━┫\n", + "┃ q1\u001b[0m ┃ 0.6718\u001b[0m ┃ 0\u001b[0m ┃ 90.0°\u001b[0m ┃ -160.0°\u001b[0m ┃ 160.0°\u001b[0m ┃\n", + "┃ q2\u001b[0m ┃ 0\u001b[0m ┃ 0.4318\u001b[0m ┃ 0.0°\u001b[0m ┃ -110.0°\u001b[0m ┃ 110.0°\u001b[0m ┃\n", + "┃ q3\u001b[0m ┃ 0.15\u001b[0m ┃ 0.0203\u001b[0m ┃ -90.0°\u001b[0m ┃ -135.0°\u001b[0m ┃ 135.0°\u001b[0m ┃\n", + "┃ q4\u001b[0m ┃ 0.4318\u001b[0m ┃ 0\u001b[0m ┃ 90.0°\u001b[0m ┃ -266.0°\u001b[0m ┃ 266.0°\u001b[0m ┃\n", + "┃ q5\u001b[0m ┃ 0\u001b[0m ┃ 0\u001b[0m ┃ -90.0°\u001b[0m ┃ -100.0°\u001b[0m ┃ 100.0°\u001b[0m ┃\n", + "┃ q6\u001b[0m ┃ 0\u001b[0m ┃ 0\u001b[0m ┃ 0.0°\u001b[0m ┃ -266.0°\u001b[0m ┃ 266.0°\u001b[0m ┃\n", + "┗━━━━┻━━━━━━━━┻━━━━━━━━┻━━━━━━━━┻━━━━━━━━━┻━━━━━━━━┛\n", "\n", "┌─────┬─────┬──────┬───────┬─────┬──────┬─────┐\n", "│name │ q0 │ q1 │ q2 │ q3 │ q4 │ q5 │\n", @@ -300,7 +1261,7 @@ "└─────┴─────┴──────┴───────┴─────┴──────┴─────┘" ] }, - "execution_count": 86, + "execution_count": 11, "metadata": {}, "output_type": "execute_result" } @@ -311,19 +1272,19 @@ }, { "cell_type": "code", - "execution_count": 87, + "execution_count": 12, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - " \u001b[38;5;1m 0.121698 \u001b[0m\u001b[38;5;1m-0.606672 \u001b[0m\u001b[38;5;1m-0.785582 \u001b[0m\u001b[38;5;4m 0.247803 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 0.818364 \u001b[0m\u001b[38;5;1m 0.509197 \u001b[0m\u001b[38;5;1m-0.266456 \u001b[0m\u001b[38;5;4m-0.12594 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 0.561667 \u001b[0m\u001b[38;5;1m-0.610465 \u001b[0m\u001b[38;5;1m 0.558446 \u001b[0m\u001b[38;5;4m 1.14629 \u001b[0m \u001b[0m\n", - " \u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 1 \u001b[0m \u001b[0m\n" + " \u001b[38;5;1m 0.1217 \u001b[0m \u001b[38;5;1m-0.6067 \u001b[0m \u001b[38;5;1m-0.7856 \u001b[0m \u001b[38;5;4m 0.2478 \u001b[0m \u001b[0m\n", + " \u001b[38;5;1m 0.8184 \u001b[0m \u001b[38;5;1m 0.5092 \u001b[0m \u001b[38;5;1m-0.2665 \u001b[0m \u001b[38;5;4m-0.1259 \u001b[0m \u001b[0m\n", + " \u001b[38;5;1m 0.5617 \u001b[0m \u001b[38;5;1m-0.6105 \u001b[0m \u001b[38;5;1m 0.5584 \u001b[0m \u001b[38;5;4m 1.146 \u001b[0m \u001b[0m\n", + " \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 1 \u001b[0m \u001b[0m\n" ] }, - "execution_count": 87, + "execution_count": 12, "metadata": {}, "output_type": "execute_result" } @@ -334,16 +1295,16 @@ }, { "cell_type": "code", - "execution_count": 88, + "execution_count": 13, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "IKsolution(q=array([ 0.1, 0.2, 0.3, 0.4, 0.5, 0.6]), success=True, reason=None, iterations=12, residual=8.515092622288915e-13)" + "IKsolution(q=array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6]), success=True, reason=None, iterations=12, residual=8.515092622288915e-13)" ] }, - "execution_count": 88, + "execution_count": 13, "metadata": {}, "output_type": "execute_result" } @@ -354,14 +1315,962 @@ }, { "cell_type": "code", - "execution_count": 90, + "execution_count": 14, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", + "application/javascript": [ + "/* Put everything inside the global mpl namespace */\n", + "/* global mpl */\n", + "window.mpl = {};\n", + "\n", + "mpl.get_websocket_type = function () {\n", + " if (typeof WebSocket !== 'undefined') {\n", + " return WebSocket;\n", + " } else if (typeof MozWebSocket !== 'undefined') {\n", + " return MozWebSocket;\n", + " } else {\n", + " alert(\n", + " 'Your browser does not have WebSocket support. ' +\n", + " 'Please try Chrome, Safari or Firefox ≥ 6. ' +\n", + " 'Firefox 4 and 5 are also supported but you ' +\n", + " 'have to enable WebSockets in about:config.'\n", + " );\n", + " }\n", + "};\n", + "\n", + "mpl.figure = function (figure_id, websocket, ondownload, parent_element) {\n", + " this.id = figure_id;\n", + "\n", + " this.ws = websocket;\n", + "\n", + " this.supports_binary = this.ws.binaryType !== undefined;\n", + "\n", + " if (!this.supports_binary) {\n", + " var warnings = document.getElementById('mpl-warnings');\n", + " if (warnings) {\n", + " warnings.style.display = 'block';\n", + " warnings.textContent =\n", + " 'This browser does not support binary websocket messages. ' +\n", + " 'Performance may be slow.';\n", + " }\n", + " }\n", + "\n", + " this.imageObj = new Image();\n", + "\n", + " this.context = undefined;\n", + " this.message = undefined;\n", + " this.canvas = undefined;\n", + " this.rubberband_canvas = undefined;\n", + " this.rubberband_context = undefined;\n", + " this.format_dropdown = undefined;\n", + "\n", + " this.image_mode = 'full';\n", + "\n", + " this.root = document.createElement('div');\n", + " this.root.setAttribute('style', 'display: inline-block');\n", + " this._root_extra_style(this.root);\n", + "\n", + " parent_element.appendChild(this.root);\n", + "\n", + " this._init_header(this);\n", + " this._init_canvas(this);\n", + " this._init_toolbar(this);\n", + "\n", + " var fig = this;\n", + "\n", + " this.waiting = false;\n", + "\n", + " this.ws.onopen = function () {\n", + " fig.send_message('supports_binary', { value: fig.supports_binary });\n", + " fig.send_message('send_image_mode', {});\n", + " if (fig.ratio !== 1) {\n", + " fig.send_message('set_dpi_ratio', { dpi_ratio: fig.ratio });\n", + " }\n", + " fig.send_message('refresh', {});\n", + " };\n", + "\n", + " this.imageObj.onload = function () {\n", + " if (fig.image_mode === 'full') {\n", + " // Full images could contain transparency (where diff images\n", + " // almost always do), so we need to clear the canvas so that\n", + " // there is no ghosting.\n", + " fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n", + " }\n", + " fig.context.drawImage(fig.imageObj, 0, 0);\n", + " };\n", + "\n", + " this.imageObj.onunload = function () {\n", + " fig.ws.close();\n", + " };\n", + "\n", + " this.ws.onmessage = this._make_on_message_function(this);\n", + "\n", + " this.ondownload = ondownload;\n", + "};\n", + "\n", + "mpl.figure.prototype._init_header = function () {\n", + " var titlebar = document.createElement('div');\n", + " titlebar.classList =\n", + " 'ui-dialog-titlebar ui-widget-header ui-corner-all ui-helper-clearfix';\n", + " var titletext = document.createElement('div');\n", + " titletext.classList = 'ui-dialog-title';\n", + " titletext.setAttribute(\n", + " 'style',\n", + " 'width: 100%; text-align: center; padding: 3px;'\n", + " );\n", + " titlebar.appendChild(titletext);\n", + " this.root.appendChild(titlebar);\n", + " this.header = titletext;\n", + "};\n", + "\n", + "mpl.figure.prototype._canvas_extra_style = function (_canvas_div) {};\n", + "\n", + "mpl.figure.prototype._root_extra_style = function (_canvas_div) {};\n", + "\n", + "mpl.figure.prototype._init_canvas = function () {\n", + " var fig = this;\n", + "\n", + " var canvas_div = (this.canvas_div = document.createElement('div'));\n", + " canvas_div.setAttribute(\n", + " 'style',\n", + " 'border: 1px solid #ddd;' +\n", + " 'box-sizing: content-box;' +\n", + " 'clear: both;' +\n", + " 'min-height: 1px;' +\n", + " 'min-width: 1px;' +\n", + " 'outline: 0;' +\n", + " 'overflow: hidden;' +\n", + " 'position: relative;' +\n", + " 'resize: both;'\n", + " );\n", + "\n", + " function on_keyboard_event_closure(name) {\n", + " return function (event) {\n", + " return fig.key_event(event, name);\n", + " };\n", + " }\n", + "\n", + " canvas_div.addEventListener(\n", + " 'keydown',\n", + " on_keyboard_event_closure('key_press')\n", + " );\n", + " canvas_div.addEventListener(\n", + " 'keyup',\n", + " on_keyboard_event_closure('key_release')\n", + " );\n", + "\n", + " this._canvas_extra_style(canvas_div);\n", + " this.root.appendChild(canvas_div);\n", + "\n", + " var canvas = (this.canvas = document.createElement('canvas'));\n", + " canvas.classList.add('mpl-canvas');\n", + " canvas.setAttribute('style', 'box-sizing: content-box;');\n", + "\n", + " this.context = canvas.getContext('2d');\n", + "\n", + " var backingStore =\n", + " this.context.backingStorePixelRatio ||\n", + " this.context.webkitBackingStorePixelRatio ||\n", + " this.context.mozBackingStorePixelRatio ||\n", + " this.context.msBackingStorePixelRatio ||\n", + " this.context.oBackingStorePixelRatio ||\n", + " this.context.backingStorePixelRatio ||\n", + " 1;\n", + "\n", + " this.ratio = (window.devicePixelRatio || 1) / backingStore;\n", + "\n", + " var rubberband_canvas = (this.rubberband_canvas = document.createElement(\n", + " 'canvas'\n", + " ));\n", + " rubberband_canvas.setAttribute(\n", + " 'style',\n", + " 'box-sizing: content-box; position: absolute; left: 0; top: 0; z-index: 1;'\n", + " );\n", + "\n", + " // Apply a ponyfill if ResizeObserver is not implemented by browser.\n", + " if (this.ResizeObserver === undefined) {\n", + " if (window.ResizeObserver !== undefined) {\n", + " this.ResizeObserver = window.ResizeObserver;\n", + " } else {\n", + " var obs = _JSXTOOLS_RESIZE_OBSERVER({});\n", + " this.ResizeObserver = obs.ResizeObserver;\n", + " }\n", + " }\n", + "\n", + " this.resizeObserverInstance = new this.ResizeObserver(function (entries) {\n", + " var nentries = entries.length;\n", + " for (var i = 0; i < nentries; i++) {\n", + " var entry = entries[i];\n", + " var width, height;\n", + " if (entry.contentBoxSize) {\n", + " if (entry.contentBoxSize instanceof Array) {\n", + " // Chrome 84 implements new version of spec.\n", + " width = entry.contentBoxSize[0].inlineSize;\n", + " height = entry.contentBoxSize[0].blockSize;\n", + " } else {\n", + " // Firefox implements old version of spec.\n", + " width = entry.contentBoxSize.inlineSize;\n", + " height = entry.contentBoxSize.blockSize;\n", + " }\n", + " } else {\n", + " // Chrome <84 implements even older version of spec.\n", + " width = entry.contentRect.width;\n", + " height = entry.contentRect.height;\n", + " }\n", + "\n", + " // Keep the size of the canvas and rubber band canvas in sync with\n", + " // the canvas container.\n", + " if (entry.devicePixelContentBoxSize) {\n", + " // Chrome 84 implements new version of spec.\n", + " canvas.setAttribute(\n", + " 'width',\n", + " entry.devicePixelContentBoxSize[0].inlineSize\n", + " );\n", + " canvas.setAttribute(\n", + " 'height',\n", + " entry.devicePixelContentBoxSize[0].blockSize\n", + " );\n", + " } else {\n", + " canvas.setAttribute('width', width * fig.ratio);\n", + " canvas.setAttribute('height', height * fig.ratio);\n", + " }\n", + " canvas.setAttribute(\n", + " 'style',\n", + " 'width: ' + width + 'px; height: ' + height + 'px;'\n", + " );\n", + "\n", + " rubberband_canvas.setAttribute('width', width);\n", + " rubberband_canvas.setAttribute('height', height);\n", + "\n", + " // And update the size in Python. We ignore the initial 0/0 size\n", + " // that occurs as the element is placed into the DOM, which should\n", + " // otherwise not happen due to the minimum size styling.\n", + " if (fig.ws.readyState == 1 && width != 0 && height != 0) {\n", + " fig.request_resize(width, height);\n", + " }\n", + " }\n", + " });\n", + " this.resizeObserverInstance.observe(canvas_div);\n", + "\n", + " function on_mouse_event_closure(name) {\n", + " return function (event) {\n", + " return fig.mouse_event(event, name);\n", + " };\n", + " }\n", + "\n", + " rubberband_canvas.addEventListener(\n", + " 'mousedown',\n", + " on_mouse_event_closure('button_press')\n", + " );\n", + " rubberband_canvas.addEventListener(\n", + " 'mouseup',\n", + " on_mouse_event_closure('button_release')\n", + " );\n", + " // Throttle sequential mouse events to 1 every 20ms.\n", + " rubberband_canvas.addEventListener(\n", + " 'mousemove',\n", + " on_mouse_event_closure('motion_notify')\n", + " );\n", + "\n", + " rubberband_canvas.addEventListener(\n", + " 'mouseenter',\n", + " on_mouse_event_closure('figure_enter')\n", + " );\n", + " rubberband_canvas.addEventListener(\n", + " 'mouseleave',\n", + " on_mouse_event_closure('figure_leave')\n", + " );\n", + "\n", + " canvas_div.addEventListener('wheel', function (event) {\n", + " if (event.deltaY < 0) {\n", + " event.step = 1;\n", + " } else {\n", + " event.step = -1;\n", + " }\n", + " on_mouse_event_closure('scroll')(event);\n", + " });\n", + "\n", + " canvas_div.appendChild(canvas);\n", + " canvas_div.appendChild(rubberband_canvas);\n", + "\n", + " this.rubberband_context = rubberband_canvas.getContext('2d');\n", + " this.rubberband_context.strokeStyle = '#000000';\n", + "\n", + " this._resize_canvas = function (width, height, forward) {\n", + " if (forward) {\n", + " canvas_div.style.width = width + 'px';\n", + " canvas_div.style.height = height + 'px';\n", + " }\n", + " };\n", + "\n", + " // Disable right mouse context menu.\n", + " this.rubberband_canvas.addEventListener('contextmenu', function (_e) {\n", + " event.preventDefault();\n", + " return false;\n", + " });\n", + "\n", + " function set_focus() {\n", + " canvas.focus();\n", + " canvas_div.focus();\n", + " }\n", + "\n", + " window.setTimeout(set_focus, 100);\n", + "};\n", + "\n", + "mpl.figure.prototype._init_toolbar = function () {\n", + " var fig = this;\n", + "\n", + " var toolbar = document.createElement('div');\n", + " toolbar.classList = 'mpl-toolbar';\n", + " this.root.appendChild(toolbar);\n", + "\n", + " function on_click_closure(name) {\n", + " return function (_event) {\n", + " return fig.toolbar_button_onclick(name);\n", + " };\n", + " }\n", + "\n", + " function on_mouseover_closure(tooltip) {\n", + " return function (event) {\n", + " if (!event.currentTarget.disabled) {\n", + " return fig.toolbar_button_onmouseover(tooltip);\n", + " }\n", + " };\n", + " }\n", + "\n", + " fig.buttons = {};\n", + " var buttonGroup = document.createElement('div');\n", + " buttonGroup.classList = 'mpl-button-group';\n", + " for (var toolbar_ind in mpl.toolbar_items) {\n", + " var name = mpl.toolbar_items[toolbar_ind][0];\n", + " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n", + " var image = mpl.toolbar_items[toolbar_ind][2];\n", + " var method_name = mpl.toolbar_items[toolbar_ind][3];\n", + "\n", + " if (!name) {\n", + " /* Instead of a spacer, we start a new button group. */\n", + " if (buttonGroup.hasChildNodes()) {\n", + " toolbar.appendChild(buttonGroup);\n", + " }\n", + " buttonGroup = document.createElement('div');\n", + " buttonGroup.classList = 'mpl-button-group';\n", + " continue;\n", + " }\n", + "\n", + " var button = (fig.buttons[name] = document.createElement('button'));\n", + " button.classList = 'mpl-widget';\n", + " button.setAttribute('role', 'button');\n", + " button.setAttribute('aria-disabled', 'false');\n", + " button.addEventListener('click', on_click_closure(method_name));\n", + " button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n", + "\n", + " var icon_img = document.createElement('img');\n", + " icon_img.src = '_images/' + image + '.png';\n", + " icon_img.srcset = '_images/' + image + '_large.png 2x';\n", + " icon_img.alt = tooltip;\n", + " button.appendChild(icon_img);\n", + "\n", + " buttonGroup.appendChild(button);\n", + " }\n", + "\n", + " if (buttonGroup.hasChildNodes()) {\n", + " toolbar.appendChild(buttonGroup);\n", + " }\n", + "\n", + " var fmt_picker = document.createElement('select');\n", + " fmt_picker.classList = 'mpl-widget';\n", + " toolbar.appendChild(fmt_picker);\n", + " this.format_dropdown = fmt_picker;\n", + "\n", + " for (var ind in mpl.extensions) {\n", + " var fmt = mpl.extensions[ind];\n", + " var option = document.createElement('option');\n", + " option.selected = fmt === mpl.default_extension;\n", + " option.innerHTML = fmt;\n", + " fmt_picker.appendChild(option);\n", + " }\n", + "\n", + " var status_bar = document.createElement('span');\n", + " status_bar.classList = 'mpl-message';\n", + " toolbar.appendChild(status_bar);\n", + " this.message = status_bar;\n", + "};\n", + "\n", + "mpl.figure.prototype.request_resize = function (x_pixels, y_pixels) {\n", + " // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n", + " // which will in turn request a refresh of the image.\n", + " this.send_message('resize', { width: x_pixels, height: y_pixels });\n", + "};\n", + "\n", + "mpl.figure.prototype.send_message = function (type, properties) {\n", + " properties['type'] = type;\n", + " properties['figure_id'] = this.id;\n", + " this.ws.send(JSON.stringify(properties));\n", + "};\n", + "\n", + "mpl.figure.prototype.send_draw_message = function () {\n", + " if (!this.waiting) {\n", + " this.waiting = true;\n", + " this.ws.send(JSON.stringify({ type: 'draw', figure_id: this.id }));\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_save = function (fig, _msg) {\n", + " var format_dropdown = fig.format_dropdown;\n", + " var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n", + " fig.ondownload(fig, format);\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_resize = function (fig, msg) {\n", + " var size = msg['size'];\n", + " if (size[0] !== fig.canvas.width || size[1] !== fig.canvas.height) {\n", + " fig._resize_canvas(size[0], size[1], msg['forward']);\n", + " fig.send_message('refresh', {});\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_rubberband = function (fig, msg) {\n", + " var x0 = msg['x0'] / fig.ratio;\n", + " var y0 = (fig.canvas.height - msg['y0']) / fig.ratio;\n", + " var x1 = msg['x1'] / fig.ratio;\n", + " var y1 = (fig.canvas.height - msg['y1']) / fig.ratio;\n", + " x0 = Math.floor(x0) + 0.5;\n", + " y0 = Math.floor(y0) + 0.5;\n", + " x1 = Math.floor(x1) + 0.5;\n", + " y1 = Math.floor(y1) + 0.5;\n", + " var min_x = Math.min(x0, x1);\n", + " var min_y = Math.min(y0, y1);\n", + " var width = Math.abs(x1 - x0);\n", + " var height = Math.abs(y1 - y0);\n", + "\n", + " fig.rubberband_context.clearRect(\n", + " 0,\n", + " 0,\n", + " fig.canvas.width / fig.ratio,\n", + " fig.canvas.height / fig.ratio\n", + " );\n", + "\n", + " fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_figure_label = function (fig, msg) {\n", + " // Updates the figure title.\n", + " fig.header.textContent = msg['label'];\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_cursor = function (fig, msg) {\n", + " var cursor = msg['cursor'];\n", + " switch (cursor) {\n", + " case 0:\n", + " cursor = 'pointer';\n", + " break;\n", + " case 1:\n", + " cursor = 'default';\n", + " break;\n", + " case 2:\n", + " cursor = 'crosshair';\n", + " break;\n", + " case 3:\n", + " cursor = 'move';\n", + " break;\n", + " }\n", + " fig.rubberband_canvas.style.cursor = cursor;\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_message = function (fig, msg) {\n", + " fig.message.textContent = msg['message'];\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_draw = function (fig, _msg) {\n", + " // Request the server to send over a new figure.\n", + " fig.send_draw_message();\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_image_mode = function (fig, msg) {\n", + " fig.image_mode = msg['mode'];\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_history_buttons = function (fig, msg) {\n", + " for (var key in msg) {\n", + " if (!(key in fig.buttons)) {\n", + " continue;\n", + " }\n", + " fig.buttons[key].disabled = !msg[key];\n", + " fig.buttons[key].setAttribute('aria-disabled', !msg[key]);\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_navigate_mode = function (fig, msg) {\n", + " if (msg['mode'] === 'PAN') {\n", + " fig.buttons['Pan'].classList.add('active');\n", + " fig.buttons['Zoom'].classList.remove('active');\n", + " } else if (msg['mode'] === 'ZOOM') {\n", + " fig.buttons['Pan'].classList.remove('active');\n", + " fig.buttons['Zoom'].classList.add('active');\n", + " } else {\n", + " fig.buttons['Pan'].classList.remove('active');\n", + " fig.buttons['Zoom'].classList.remove('active');\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.updated_canvas_event = function () {\n", + " // Called whenever the canvas gets updated.\n", + " this.send_message('ack', {});\n", + "};\n", + "\n", + "// A function to construct a web socket function for onmessage handling.\n", + "// Called in the figure constructor.\n", + "mpl.figure.prototype._make_on_message_function = function (fig) {\n", + " return function socket_on_message(evt) {\n", + " if (evt.data instanceof Blob) {\n", + " /* FIXME: We get \"Resource interpreted as Image but\n", + " * transferred with MIME type text/plain:\" errors on\n", + " * Chrome. But how to set the MIME type? It doesn't seem\n", + " * to be part of the websocket stream */\n", + " evt.data.type = 'image/png';\n", + "\n", + " /* Free the memory for the previous frames */\n", + " if (fig.imageObj.src) {\n", + " (window.URL || window.webkitURL).revokeObjectURL(\n", + " fig.imageObj.src\n", + " );\n", + " }\n", + "\n", + " fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n", + " evt.data\n", + " );\n", + " fig.updated_canvas_event();\n", + " fig.waiting = false;\n", + " return;\n", + " } else if (\n", + " typeof evt.data === 'string' &&\n", + " evt.data.slice(0, 21) === 'data:image/png;base64'\n", + " ) {\n", + " fig.imageObj.src = evt.data;\n", + " fig.updated_canvas_event();\n", + " fig.waiting = false;\n", + " return;\n", + " }\n", + "\n", + " var msg = JSON.parse(evt.data);\n", + " var msg_type = msg['type'];\n", + "\n", + " // Call the \"handle_{type}\" callback, which takes\n", + " // the figure and JSON message as its only arguments.\n", + " try {\n", + " var callback = fig['handle_' + msg_type];\n", + " } catch (e) {\n", + " console.log(\n", + " \"No handler for the '\" + msg_type + \"' message type: \",\n", + " msg\n", + " );\n", + " return;\n", + " }\n", + "\n", + " if (callback) {\n", + " try {\n", + " // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n", + " callback(fig, msg);\n", + " } catch (e) {\n", + " console.log(\n", + " \"Exception inside the 'handler_\" + msg_type + \"' callback:\",\n", + " e,\n", + " e.stack,\n", + " msg\n", + " );\n", + " }\n", + " }\n", + " };\n", + "};\n", + "\n", + "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n", + "mpl.findpos = function (e) {\n", + " //this section is from http://www.quirksmode.org/js/events_properties.html\n", + " var targ;\n", + " if (!e) {\n", + " e = window.event;\n", + " }\n", + " if (e.target) {\n", + " targ = e.target;\n", + " } else if (e.srcElement) {\n", + " targ = e.srcElement;\n", + " }\n", + " if (targ.nodeType === 3) {\n", + " // defeat Safari bug\n", + " targ = targ.parentNode;\n", + " }\n", + "\n", + " // pageX,Y are the mouse positions relative to the document\n", + " var boundingRect = targ.getBoundingClientRect();\n", + " var x = e.pageX - (boundingRect.left + document.body.scrollLeft);\n", + " var y = e.pageY - (boundingRect.top + document.body.scrollTop);\n", + "\n", + " return { x: x, y: y };\n", + "};\n", + "\n", + "/*\n", + " * return a copy of an object with only non-object keys\n", + " * we need this to avoid circular references\n", + " * http://stackoverflow.com/a/24161582/3208463\n", + " */\n", + "function simpleKeys(original) {\n", + " return Object.keys(original).reduce(function (obj, key) {\n", + " if (typeof original[key] !== 'object') {\n", + " obj[key] = original[key];\n", + " }\n", + " return obj;\n", + " }, {});\n", + "}\n", + "\n", + "mpl.figure.prototype.mouse_event = function (event, name) {\n", + " var canvas_pos = mpl.findpos(event);\n", + "\n", + " if (name === 'button_press') {\n", + " this.canvas.focus();\n", + " this.canvas_div.focus();\n", + " }\n", + "\n", + " var x = canvas_pos.x * this.ratio;\n", + " var y = canvas_pos.y * this.ratio;\n", + "\n", + " this.send_message(name, {\n", + " x: x,\n", + " y: y,\n", + " button: event.button,\n", + " step: event.step,\n", + " guiEvent: simpleKeys(event),\n", + " });\n", + "\n", + " /* This prevents the web browser from automatically changing to\n", + " * the text insertion cursor when the button is pressed. We want\n", + " * to control all of the cursor setting manually through the\n", + " * 'cursor' event from matplotlib */\n", + " event.preventDefault();\n", + " return false;\n", + "};\n", + "\n", + "mpl.figure.prototype._key_event_extra = function (_event, _name) {\n", + " // Handle any extra behaviour associated with a key event\n", + "};\n", + "\n", + "mpl.figure.prototype.key_event = function (event, name) {\n", + " // Prevent repeat events\n", + " if (name === 'key_press') {\n", + " if (event.which === this._key) {\n", + " return;\n", + " } else {\n", + " this._key = event.which;\n", + " }\n", + " }\n", + " if (name === 'key_release') {\n", + " this._key = null;\n", + " }\n", + "\n", + " var value = '';\n", + " if (event.ctrlKey && event.which !== 17) {\n", + " value += 'ctrl+';\n", + " }\n", + " if (event.altKey && event.which !== 18) {\n", + " value += 'alt+';\n", + " }\n", + " if (event.shiftKey && event.which !== 16) {\n", + " value += 'shift+';\n", + " }\n", + "\n", + " value += 'k';\n", + " value += event.which.toString();\n", + "\n", + " this._key_event_extra(event, name);\n", + "\n", + " this.send_message(name, { key: value, guiEvent: simpleKeys(event) });\n", + " return false;\n", + "};\n", + "\n", + "mpl.figure.prototype.toolbar_button_onclick = function (name) {\n", + " if (name === 'download') {\n", + " this.handle_save(this, null);\n", + " } else {\n", + " this.send_message('toolbar_button', { name: name });\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.toolbar_button_onmouseover = function (tooltip) {\n", + " this.message.textContent = tooltip;\n", + "};\n", + "\n", + "///////////////// REMAINING CONTENT GENERATED BY embed_js.py /////////////////\n", + "// prettier-ignore\n", + "var _JSXTOOLS_RESIZE_OBSERVER=function(A){var t,i=new WeakMap,n=new WeakMap,a=new WeakMap,r=new WeakMap,o=new Set;function s(e){if(!(this instanceof s))throw new TypeError(\"Constructor requires 'new' operator\");i.set(this,e)}function h(){throw new TypeError(\"Function is not a constructor\")}function c(e,t,i,n){e=0 in arguments?Number(arguments[0]):0,t=1 in arguments?Number(arguments[1]):0,i=2 in arguments?Number(arguments[2]):0,n=3 in arguments?Number(arguments[3]):0,this.right=(this.x=this.left=e)+(this.width=i),this.bottom=(this.y=this.top=t)+(this.height=n),Object.freeze(this)}function d(){t=requestAnimationFrame(d);var s=new WeakMap,p=new Set;o.forEach((function(t){r.get(t).forEach((function(i){var r=t instanceof window.SVGElement,o=a.get(t),d=r?0:parseFloat(o.paddingTop),f=r?0:parseFloat(o.paddingRight),l=r?0:parseFloat(o.paddingBottom),u=r?0:parseFloat(o.paddingLeft),g=r?0:parseFloat(o.borderTopWidth),m=r?0:parseFloat(o.borderRightWidth),w=r?0:parseFloat(o.borderBottomWidth),b=u+f,F=d+l,v=(r?0:parseFloat(o.borderLeftWidth))+m,W=g+w,y=r?0:t.offsetHeight-W-t.clientHeight,E=r?0:t.offsetWidth-v-t.clientWidth,R=b+v,z=F+W,M=r?t.width:parseFloat(o.width)-R-E,O=r?t.height:parseFloat(o.height)-z-y;if(n.has(t)){var k=n.get(t);if(k[0]===M&&k[1]===O)return}n.set(t,[M,O]);var S=Object.create(h.prototype);S.target=t,S.contentRect=new c(u,d,M,O),s.has(i)||(s.set(i,[]),p.add(i)),s.get(i).push(S)}))})),p.forEach((function(e){i.get(e).call(e,s.get(e),e)}))}return s.prototype.observe=function(i){if(i instanceof window.Element){r.has(i)||(r.set(i,new Set),o.add(i),a.set(i,window.getComputedStyle(i)));var n=r.get(i);n.has(this)||n.add(this),cancelAnimationFrame(t),t=requestAnimationFrame(d)}},s.prototype.unobserve=function(i){if(i instanceof window.Element&&r.has(i)){var n=r.get(i);n.has(this)&&(n.delete(this),n.size||(r.delete(i),o.delete(i))),n.size||r.delete(i),o.size||cancelAnimationFrame(t)}},A.DOMRectReadOnly=c,A.ResizeObserver=s,A.ResizeObserverEntry=h,A}; // eslint-disable-line\n", + "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Left button pans, Right button zooms\\nx/y fixes axis, CTRL fixes aspect\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\\nx/y fixes axis, CTRL fixes aspect\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n", + "\n", + "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n", + "\n", + "mpl.default_extension = \"png\";/* global mpl */\n", + "\n", + "var comm_websocket_adapter = function (comm) {\n", + " // Create a \"websocket\"-like object which calls the given IPython comm\n", + " // object with the appropriate methods. Currently this is a non binary\n", + " // socket, so there is still some room for performance tuning.\n", + " var ws = {};\n", + "\n", + " ws.close = function () {\n", + " comm.close();\n", + " };\n", + " ws.send = function (m) {\n", + " //console.log('sending', m);\n", + " comm.send(m);\n", + " };\n", + " // Register the callback with on_msg.\n", + " comm.on_msg(function (msg) {\n", + " //console.log('receiving', msg['content']['data'], msg);\n", + " // Pass the mpl event to the overridden (by mpl) onmessage function.\n", + " ws.onmessage(msg['content']['data']);\n", + " });\n", + " return ws;\n", + "};\n", + "\n", + "mpl.mpl_figure_comm = function (comm, msg) {\n", + " // This is the function which gets called when the mpl process\n", + " // starts-up an IPython Comm through the \"matplotlib\" channel.\n", + "\n", + " var id = msg.content.data.id;\n", + " // Get hold of the div created by the display call when the Comm\n", + " // socket was opened in Python.\n", + " var element = document.getElementById(id);\n", + " var ws_proxy = comm_websocket_adapter(comm);\n", + "\n", + " function ondownload(figure, _format) {\n", + " window.open(figure.canvas.toDataURL());\n", + " }\n", + "\n", + " var fig = new mpl.figure(id, ws_proxy, ondownload, element);\n", + "\n", + " // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n", + " // web socket which is closed, not our websocket->open comm proxy.\n", + " ws_proxy.onopen();\n", + "\n", + " fig.parent_element = element;\n", + " fig.cell_info = mpl.find_output_cell(\"
\");\n", + " if (!fig.cell_info) {\n", + " console.error('Failed to find cell for figure', id, fig);\n", + " return;\n", + " }\n", + " fig.cell_info[0].output_area.element.on(\n", + " 'cleared',\n", + " { fig: fig },\n", + " fig._remove_fig_handler\n", + " );\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_close = function (fig, msg) {\n", + " var width = fig.canvas.width / fig.ratio;\n", + " fig.cell_info[0].output_area.element.off(\n", + " 'cleared',\n", + " fig._remove_fig_handler\n", + " );\n", + " fig.resizeObserverInstance.unobserve(fig.canvas_div);\n", + "\n", + " // Update the output cell to use the data from the current canvas.\n", + " fig.push_to_output();\n", + " var dataURL = fig.canvas.toDataURL();\n", + " // Re-enable the keyboard manager in IPython - without this line, in FF,\n", + " // the notebook keyboard shortcuts fail.\n", + " IPython.keyboard_manager.enable();\n", + " fig.parent_element.innerHTML =\n", + " '';\n", + " fig.close_ws(fig, msg);\n", + "};\n", + "\n", + "mpl.figure.prototype.close_ws = function (fig, msg) {\n", + " fig.send_message('closing', msg);\n", + " // fig.ws.close()\n", + "};\n", + "\n", + "mpl.figure.prototype.push_to_output = function (_remove_interactive) {\n", + " // Turn the data on the canvas into data in the output cell.\n", + " var width = this.canvas.width / this.ratio;\n", + " var dataURL = this.canvas.toDataURL();\n", + " this.cell_info[1]['text/html'] =\n", + " '';\n", + "};\n", + "\n", + "mpl.figure.prototype.updated_canvas_event = function () {\n", + " // Tell IPython that the notebook contents must change.\n", + " IPython.notebook.set_dirty(true);\n", + " this.send_message('ack', {});\n", + " var fig = this;\n", + " // Wait a second, then push the new image to the DOM so\n", + " // that it is saved nicely (might be nice to debounce this).\n", + " setTimeout(function () {\n", + " fig.push_to_output();\n", + " }, 1000);\n", + "};\n", + "\n", + "mpl.figure.prototype._init_toolbar = function () {\n", + " var fig = this;\n", + "\n", + " var toolbar = document.createElement('div');\n", + " toolbar.classList = 'btn-toolbar';\n", + " this.root.appendChild(toolbar);\n", + "\n", + " function on_click_closure(name) {\n", + " return function (_event) {\n", + " return fig.toolbar_button_onclick(name);\n", + " };\n", + " }\n", + "\n", + " function on_mouseover_closure(tooltip) {\n", + " return function (event) {\n", + " if (!event.currentTarget.disabled) {\n", + " return fig.toolbar_button_onmouseover(tooltip);\n", + " }\n", + " };\n", + " }\n", + "\n", + " fig.buttons = {};\n", + " var buttonGroup = document.createElement('div');\n", + " buttonGroup.classList = 'btn-group';\n", + " var button;\n", + " for (var toolbar_ind in mpl.toolbar_items) {\n", + " var name = mpl.toolbar_items[toolbar_ind][0];\n", + " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n", + " var image = mpl.toolbar_items[toolbar_ind][2];\n", + " var method_name = mpl.toolbar_items[toolbar_ind][3];\n", + "\n", + " if (!name) {\n", + " /* Instead of a spacer, we start a new button group. */\n", + " if (buttonGroup.hasChildNodes()) {\n", + " toolbar.appendChild(buttonGroup);\n", + " }\n", + " buttonGroup = document.createElement('div');\n", + " buttonGroup.classList = 'btn-group';\n", + " continue;\n", + " }\n", + "\n", + " button = fig.buttons[name] = document.createElement('button');\n", + " button.classList = 'btn btn-default';\n", + " button.href = '#';\n", + " button.title = name;\n", + " button.innerHTML = '';\n", + " button.addEventListener('click', on_click_closure(method_name));\n", + " button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n", + " buttonGroup.appendChild(button);\n", + " }\n", + "\n", + " if (buttonGroup.hasChildNodes()) {\n", + " toolbar.appendChild(buttonGroup);\n", + " }\n", + "\n", + " // Add the status bar.\n", + " var status_bar = document.createElement('span');\n", + " status_bar.classList = 'mpl-message pull-right';\n", + " toolbar.appendChild(status_bar);\n", + " this.message = status_bar;\n", + "\n", + " // Add the close button to the window.\n", + " var buttongrp = document.createElement('div');\n", + " buttongrp.classList = 'btn-group inline pull-right';\n", + " button = document.createElement('button');\n", + " button.classList = 'btn btn-mini btn-primary';\n", + " button.href = '#';\n", + " button.title = 'Stop Interaction';\n", + " button.innerHTML = '';\n", + " button.addEventListener('click', function (_evt) {\n", + " fig.handle_close(fig, {});\n", + " });\n", + " button.addEventListener(\n", + " 'mouseover',\n", + " on_mouseover_closure('Stop Interaction')\n", + " );\n", + " buttongrp.appendChild(button);\n", + " var titlebar = this.root.querySelector('.ui-dialog-titlebar');\n", + " titlebar.insertBefore(buttongrp, titlebar.firstChild);\n", + "};\n", + "\n", + "mpl.figure.prototype._remove_fig_handler = function (event) {\n", + " var fig = event.data.fig;\n", + " if (event.target !== this) {\n", + " // Ignore bubbled events from children.\n", + " return;\n", + " }\n", + " fig.close_ws(fig, {});\n", + "};\n", + "\n", + "mpl.figure.prototype._root_extra_style = function (el) {\n", + " el.style.boxSizing = 'content-box'; // override notebook setting of border-box.\n", + "};\n", + "\n", + "mpl.figure.prototype._canvas_extra_style = function (el) {\n", + " // this is important to make the div 'focusable\n", + " el.setAttribute('tabindex', 0);\n", + " // reach out to IPython and tell the keyboard manager to turn it's self\n", + " // off when our div gets focus\n", + "\n", + " // location in version 3\n", + " if (IPython.notebook.keyboard_manager) {\n", + " IPython.notebook.keyboard_manager.register_events(el);\n", + " } else {\n", + " // location in version 2\n", + " IPython.keyboard_manager.register_events(el);\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype._key_event_extra = function (event, _name) {\n", + " var manager = IPython.notebook.keyboard_manager;\n", + " if (!manager) {\n", + " manager = IPython.keyboard_manager;\n", + " }\n", + "\n", + " // Check for shift+enter\n", + " if (event.shiftKey && event.which === 13) {\n", + " this.canvas_div.blur();\n", + " // select the cell after this one\n", + " var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n", + " IPython.notebook.select(index + 1);\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_save = function (fig, _msg) {\n", + " fig.ondownload(fig, null);\n", + "};\n", + "\n", + "mpl.find_output_cell = function (html_output) {\n", + " // Return the cell and output element which can be found *uniquely* in the notebook.\n", + " // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n", + " // IPython event is triggered only after the cells have been serialised, which for\n", + " // our purposes (turning an active figure into a static one), is too late.\n", + " var cells = IPython.notebook.get_cells();\n", + " var ncells = cells.length;\n", + " for (var i = 0; i < ncells; i++) {\n", + " var cell = cells[i];\n", + " if (cell.cell_type === 'code') {\n", + " for (var j = 0; j < cell.output_area.outputs.length; j++) {\n", + " var data = cell.output_area.outputs[j];\n", + " if (data.data) {\n", + " // IPython >= 3 moved mimebundle to data attribute of output\n", + " data = data.data;\n", + " }\n", + " if (data['text/html'] === html_output) {\n", + " return [cell, data, j];\n", + " }\n", + " }\n", + " }\n", + " }\n", + "};\n", + "\n", + "// Register the function which deals with the matplotlib target/channel.\n", + "// The kernel may be null if the page has been refreshed.\n", + "if (IPython.notebook.kernel !== null) {\n", + " IPython.notebook.kernel.comm_manager.register_target(\n", + " 'matplotlib',\n", + " mpl.mpl_figure_comm\n", + " );\n", + "}\n" + ], "text/plain": [ - "
" + "" ] }, "metadata": {}, @@ -369,8 +2278,11 @@ }, { "data": { + "text/html": [ + "" + ], "text/plain": [ - "
" + "" ] }, "metadata": {}, @@ -378,21 +2290,21 @@ } ], "source": [ - "puma.plot(sol.q, block=False);" + "puma.plot(sol.q);" ] }, { "cell_type": "code", - "execution_count": 91, + "execution_count": 15, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "IKsolution(q=array([ 2.101, 1.116, 0.3, 0.9528, -1.651, -0.986]), success=True, reason='')" + "IKsolution(q=array([ 2.10117673, 1.11634865, 0.3 , 0.9527867 , -1.65052534, -0.9859752 ]), success=True, reason='')" ] }, - "execution_count": 91, + "execution_count": 15, "metadata": {}, "output_type": "execute_result" } @@ -403,7 +2315,7 @@ }, { "cell_type": "code", - "execution_count": 92, + "execution_count": 16, "metadata": {}, "outputs": [], "source": [ @@ -412,7 +2324,7 @@ }, { "cell_type": "code", - "execution_count": 94, + "execution_count": 17, "metadata": {}, "outputs": [], "source": [ @@ -427,16 +2339,16 @@ }, { "cell_type": "code", - "execution_count": 95, + "execution_count": 18, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "tz(0.672) * Rz(q0) * ty(-0.2337) * Ry(q1) * tz(0.4318) * tx(0.0203) * ty(0.0837) * Ry(q2) * tz(0.4318) * Rz(q3) * Ry(q4) * Rz(q5)" + "tz(0.672) ⊕ Rz(q0) ⊕ ty(-0.2337) ⊕ Ry(q1) ⊕ tz(0.4318) ⊕ tx(0.0203) ⊕ ty(0.0837) ⊕ Ry(q2) ⊕ tz(0.4318) ⊕ Rz(q3) ⊕ Ry(q4) ⊕ Rz(q5)" ] }, - "execution_count": 95, + "execution_count": 18, "metadata": {}, "output_type": "execute_result" } @@ -449,24 +2361,24 @@ }, { "cell_type": "code", - "execution_count": 96, + "execution_count": 19, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "noname (by ): 6 axes (RRRRRR), ETS model\n", - "┌───┬────────┬────────┬───────┬────────────────────────────────────────────────────────────────────┐\n", - "│id │ link │ parent │ joint │ ETS │\n", - "├───┼────────┼────────┼───────┼────────────────────────────────────────────────────────────────────┤\n", - "│ 0\u001b[0m │ link0\u001b[0m │ _O_\u001b[0m │ \u001b[0m │ {link0} = {_O_} * tz(0.672) * Rz(q0)\u001b[0m │\n", - "│ 1\u001b[0m │ link1\u001b[0m │ link0\u001b[0m │ None\u001b[0m │ {link1} = {link0} * ty(-0.2337) * Ry(q1)\u001b[0m │\n", - "│ 2\u001b[0m │ link2\u001b[0m │ link1\u001b[0m │ None\u001b[0m │ {link2} = {link1} * tz(0.4318) * tx(0.0203) * ty(0.0837) * Ry(q2)\u001b[0m │\n", - "│ 3\u001b[0m │ link3\u001b[0m │ link2\u001b[0m │ None\u001b[0m │ {link3} = {link2} * tz(0.4318) * Rz(q3)\u001b[0m │\n", - "│ 4\u001b[0m │ link4\u001b[0m │ link3\u001b[0m │ None\u001b[0m │ {link4} = {link3} * Ry(q4)\u001b[0m │\n", - "│ 5\u001b[0m │ @link5\u001b[0m │ link4\u001b[0m │ None\u001b[0m │ {link5} = {link4} * Rz(q5)\u001b[0m │\n", - "└───┴────────┴────────┴───────┴────────────────────────────────────────────────────────────────────┘\n", + "ERobot: noname, 6 joints (RRRRRR)\n", + "┌───┬────────┬───────┬────────┬───────────────────────────────────────────────────────────────────┐\n", + "│id │ link │ joint │ parent │ ETS │\n", + "├───┼────────┼───────┼────────┼───────────────────────────────────────────────────────────────────┤\n", + "│ 1\u001b[0m │ link0\u001b[0m │ 0\u001b[0m │ BASE\u001b[0m │ {link0} = {BASE} ⊕ tz(0.672) ⊕ Rz(q0)\u001b[0m │\n", + "│ 2\u001b[0m │ link1\u001b[0m │ 1\u001b[0m │ link0\u001b[0m │ {link1} = {link0} ⊕ ty(-0.2337) ⊕ Ry(q1)\u001b[0m │\n", + "│ 3\u001b[0m │ link2\u001b[0m │ 2\u001b[0m │ link1\u001b[0m │ {link2} = {link1} ⊕ tz(0.4318) ⊕ tx(0.0203) ⊕ ty(0.0837) ⊕ Ry(q2)\u001b[0m │\n", + "│ 4\u001b[0m │ link3\u001b[0m │ 3\u001b[0m │ link2\u001b[0m │ {link3} = {link2} ⊕ tz(0.4318) ⊕ Rz(q3)\u001b[0m │\n", + "│ 5\u001b[0m │ link4\u001b[0m │ 4\u001b[0m │ link3\u001b[0m │ {link4} = {link3} ⊕ Ry(q4)\u001b[0m │\n", + "│ 6\u001b[0m │ @link5\u001b[0m │ 5\u001b[0m │ link4\u001b[0m │ {link5} = {link4} ⊕ Rz(q5)\u001b[0m │\n", + "└───┴────────┴───────┴────────┴───────────────────────────────────────────────────────────────────┘\n", "\n" ] } @@ -478,7 +2390,7 @@ }, { "cell_type": "code", - "execution_count": 97, + "execution_count": 20, "metadata": { "lines_to_next_cell": 2 }, @@ -487,20 +2399,20 @@ "name": "stdout", "output_type": "stream", "text": [ - "panda (by Franka Emika): 7 axes (RRRRRRR), ETS model\n", - "┌───┬──────────────┬─────────────┬──────────────┬──────────────────────────────────────────────────────────────────────────────┐\n", - "│id │ link │ parent │ joint │ ETS │\n", - "├───┼──────────────┼─────────────┼──────────────┼──────────────────────────────────────────────────────────────────────────────┤\n", - "│ 0\u001b[0m │ \u001b[38;5;4mpanda_link0\u001b[0m │ _O_\u001b[0m │ \u001b[0m │ {panda_link0} = {_O_} \u001b[0m │\n", - "│ 1\u001b[0m │ panda_link1\u001b[0m │ panda_link0\u001b[0m │ panda_joint1\u001b[0m │ {panda_link1} = {panda_link0} * tz(0.333) * Rz(q0)\u001b[0m │\n", - "│ 2\u001b[0m │ panda_link2\u001b[0m │ panda_link1\u001b[0m │ panda_joint2\u001b[0m │ {panda_link2} = {panda_link1} * Rx(-90°) * Rz(q1)\u001b[0m │\n", - "│ 3\u001b[0m │ panda_link3\u001b[0m │ panda_link2\u001b[0m │ panda_joint3\u001b[0m │ {panda_link3} = {panda_link2} * ty(-0.316) * Rx(90°) * Rz(q2)\u001b[0m │\n", - "│ 4\u001b[0m │ panda_link4\u001b[0m │ panda_link3\u001b[0m │ panda_joint4\u001b[0m │ {panda_link4} = {panda_link3} * tx(0.0825) * Rx(90°) * Rz(q3)\u001b[0m │\n", - "│ 5\u001b[0m │ panda_link5\u001b[0m │ panda_link4\u001b[0m │ panda_joint5\u001b[0m │ {panda_link5} = {panda_link4} * tx(-0.0825) * ty(0.384) * Rx(-90°) * Rz(q4)\u001b[0m │\n", - "│ 6\u001b[0m │ panda_link6\u001b[0m │ panda_link5\u001b[0m │ panda_joint6\u001b[0m │ {panda_link6} = {panda_link5} * Rx(90°) * Rz(q5)\u001b[0m │\n", - "│ 7\u001b[0m │ panda_link7\u001b[0m │ panda_link6\u001b[0m │ panda_joint7\u001b[0m │ {panda_link7} = {panda_link6} * tx(0.088) * Rx(90°) * Rz(q6)\u001b[0m │\n", - "│ 8\u001b[0m │ \u001b[38;5;4m@panda_link8\u001b[0m │ panda_link7\u001b[0m │ panda_joint8\u001b[0m │ {panda_link8} = {panda_link7} * tz(0.107)\u001b[0m │\n", - "└───┴──────────────┴─────────────┴──────────────┴──────────────────────────────────────────────────────────────────────────────┘\n", + "ERobot: panda (by Franka Emika), 7 joints (RRRRRRR), geometry, collision\n", + "┌───┬──────────────┬───────┬─────────────┬─────────────────────────────────────────────────────────────────────────────┐\n", + "│id │ link │ joint │ parent │ ETS │\n", + "├───┼──────────────┼───────┼─────────────┼─────────────────────────────────────────────────────────────────────────────┤\n", + "│ 1\u001b[0m │ \u001b[38;5;4mpanda_link0\u001b[0m │ \u001b[0m │ BASE\u001b[0m │ {panda_link0} = {BASE}\u001b[0m │\n", + "│ 2\u001b[0m │ panda_link1\u001b[0m │ 0\u001b[0m │ panda_link0\u001b[0m │ {panda_link1} = {panda_link0} ⊕ tz(0.333) ⊕ Rz(q0)\u001b[0m │\n", + "│ 3\u001b[0m │ panda_link2\u001b[0m │ 1\u001b[0m │ panda_link1\u001b[0m │ {panda_link2} = {panda_link1} ⊕ Rx(-90°) ⊕ Rz(q1)\u001b[0m │\n", + "│ 4\u001b[0m │ panda_link3\u001b[0m │ 2\u001b[0m │ panda_link2\u001b[0m │ {panda_link3} = {panda_link2} ⊕ ty(-0.316) ⊕ Rx(90°) ⊕ Rz(q2)\u001b[0m │\n", + "│ 5\u001b[0m │ panda_link4\u001b[0m │ 3\u001b[0m │ panda_link3\u001b[0m │ {panda_link4} = {panda_link3} ⊕ tx(0.0825) ⊕ Rx(90°) ⊕ Rz(q3)\u001b[0m │\n", + "│ 6\u001b[0m │ panda_link5\u001b[0m │ 4\u001b[0m │ panda_link4\u001b[0m │ {panda_link5} = {panda_link4} ⊕ tx(-0.0825) ⊕ ty(0.384) ⊕ Rx(-90°) ⊕ Rz(q4)\u001b[0m │\n", + "│ 7\u001b[0m │ panda_link6\u001b[0m │ 5\u001b[0m │ panda_link5\u001b[0m │ {panda_link6} = {panda_link5} ⊕ Rx(90°) ⊕ Rz(q5)\u001b[0m │\n", + "│ 8\u001b[0m │ panda_link7\u001b[0m │ 6\u001b[0m │ panda_link6\u001b[0m │ {panda_link7} = {panda_link6} ⊕ tx(0.088) ⊕ Rx(90°) ⊕ Rz(q6)\u001b[0m │\n", + "│ 9\u001b[0m │ \u001b[38;5;4m@panda_link8\u001b[0m │ \u001b[0m │ panda_link7\u001b[0m │ {panda_link8} = {panda_link7} ⊕ tz(0.107)\u001b[0m │\n", + "└───┴──────────────┴───────┴─────────────┴─────────────────────────────────────────────────────────────────────────────┘\n", "\n", "┌─────┬─────┬────────┬─────┬───────┬─────┬───────┬──────┐\n", "│name │ q0 │ q1 │ q2 │ q3 │ q4 │ q5 │ q6 │\n", @@ -526,18 +2438,988 @@ }, { "cell_type": "code", - "execution_count": 99, + "execution_count": 25, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", + "application/javascript": [ + "/* Put everything inside the global mpl namespace */\n", + "/* global mpl */\n", + "window.mpl = {};\n", + "\n", + "mpl.get_websocket_type = function () {\n", + " if (typeof WebSocket !== 'undefined') {\n", + " return WebSocket;\n", + " } else if (typeof MozWebSocket !== 'undefined') {\n", + " return MozWebSocket;\n", + " } else {\n", + " alert(\n", + " 'Your browser does not have WebSocket support. ' +\n", + " 'Please try Chrome, Safari or Firefox ≥ 6. ' +\n", + " 'Firefox 4 and 5 are also supported but you ' +\n", + " 'have to enable WebSockets in about:config.'\n", + " );\n", + " }\n", + "};\n", + "\n", + "mpl.figure = function (figure_id, websocket, ondownload, parent_element) {\n", + " this.id = figure_id;\n", + "\n", + " this.ws = websocket;\n", + "\n", + " this.supports_binary = this.ws.binaryType !== undefined;\n", + "\n", + " if (!this.supports_binary) {\n", + " var warnings = document.getElementById('mpl-warnings');\n", + " if (warnings) {\n", + " warnings.style.display = 'block';\n", + " warnings.textContent =\n", + " 'This browser does not support binary websocket messages. ' +\n", + " 'Performance may be slow.';\n", + " }\n", + " }\n", + "\n", + " this.imageObj = new Image();\n", + "\n", + " this.context = undefined;\n", + " this.message = undefined;\n", + " this.canvas = undefined;\n", + " this.rubberband_canvas = undefined;\n", + " this.rubberband_context = undefined;\n", + " this.format_dropdown = undefined;\n", + "\n", + " this.image_mode = 'full';\n", + "\n", + " this.root = document.createElement('div');\n", + " this.root.setAttribute('style', 'display: inline-block');\n", + " this._root_extra_style(this.root);\n", + "\n", + " parent_element.appendChild(this.root);\n", + "\n", + " this._init_header(this);\n", + " this._init_canvas(this);\n", + " this._init_toolbar(this);\n", + "\n", + " var fig = this;\n", + "\n", + " this.waiting = false;\n", + "\n", + " this.ws.onopen = function () {\n", + " fig.send_message('supports_binary', { value: fig.supports_binary });\n", + " fig.send_message('send_image_mode', {});\n", + " if (fig.ratio !== 1) {\n", + " fig.send_message('set_dpi_ratio', { dpi_ratio: fig.ratio });\n", + " }\n", + " fig.send_message('refresh', {});\n", + " };\n", + "\n", + " this.imageObj.onload = function () {\n", + " if (fig.image_mode === 'full') {\n", + " // Full images could contain transparency (where diff images\n", + " // almost always do), so we need to clear the canvas so that\n", + " // there is no ghosting.\n", + " fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n", + " }\n", + " fig.context.drawImage(fig.imageObj, 0, 0);\n", + " };\n", + "\n", + " this.imageObj.onunload = function () {\n", + " fig.ws.close();\n", + " };\n", + "\n", + " this.ws.onmessage = this._make_on_message_function(this);\n", + "\n", + " this.ondownload = ondownload;\n", + "};\n", + "\n", + "mpl.figure.prototype._init_header = function () {\n", + " var titlebar = document.createElement('div');\n", + " titlebar.classList =\n", + " 'ui-dialog-titlebar ui-widget-header ui-corner-all ui-helper-clearfix';\n", + " var titletext = document.createElement('div');\n", + " titletext.classList = 'ui-dialog-title';\n", + " titletext.setAttribute(\n", + " 'style',\n", + " 'width: 100%; text-align: center; padding: 3px;'\n", + " );\n", + " titlebar.appendChild(titletext);\n", + " this.root.appendChild(titlebar);\n", + " this.header = titletext;\n", + "};\n", + "\n", + "mpl.figure.prototype._canvas_extra_style = function (_canvas_div) {};\n", + "\n", + "mpl.figure.prototype._root_extra_style = function (_canvas_div) {};\n", + "\n", + "mpl.figure.prototype._init_canvas = function () {\n", + " var fig = this;\n", + "\n", + " var canvas_div = (this.canvas_div = document.createElement('div'));\n", + " canvas_div.setAttribute(\n", + " 'style',\n", + " 'border: 1px solid #ddd;' +\n", + " 'box-sizing: content-box;' +\n", + " 'clear: both;' +\n", + " 'min-height: 1px;' +\n", + " 'min-width: 1px;' +\n", + " 'outline: 0;' +\n", + " 'overflow: hidden;' +\n", + " 'position: relative;' +\n", + " 'resize: both;'\n", + " );\n", + "\n", + " function on_keyboard_event_closure(name) {\n", + " return function (event) {\n", + " return fig.key_event(event, name);\n", + " };\n", + " }\n", + "\n", + " canvas_div.addEventListener(\n", + " 'keydown',\n", + " on_keyboard_event_closure('key_press')\n", + " );\n", + " canvas_div.addEventListener(\n", + " 'keyup',\n", + " on_keyboard_event_closure('key_release')\n", + " );\n", + "\n", + " this._canvas_extra_style(canvas_div);\n", + " this.root.appendChild(canvas_div);\n", + "\n", + " var canvas = (this.canvas = document.createElement('canvas'));\n", + " canvas.classList.add('mpl-canvas');\n", + " canvas.setAttribute('style', 'box-sizing: content-box;');\n", + "\n", + " this.context = canvas.getContext('2d');\n", + "\n", + " var backingStore =\n", + " this.context.backingStorePixelRatio ||\n", + " this.context.webkitBackingStorePixelRatio ||\n", + " this.context.mozBackingStorePixelRatio ||\n", + " this.context.msBackingStorePixelRatio ||\n", + " this.context.oBackingStorePixelRatio ||\n", + " this.context.backingStorePixelRatio ||\n", + " 1;\n", + "\n", + " this.ratio = (window.devicePixelRatio || 1) / backingStore;\n", + "\n", + " var rubberband_canvas = (this.rubberband_canvas = document.createElement(\n", + " 'canvas'\n", + " ));\n", + " rubberband_canvas.setAttribute(\n", + " 'style',\n", + " 'box-sizing: content-box; position: absolute; left: 0; top: 0; z-index: 1;'\n", + " );\n", + "\n", + " // Apply a ponyfill if ResizeObserver is not implemented by browser.\n", + " if (this.ResizeObserver === undefined) {\n", + " if (window.ResizeObserver !== undefined) {\n", + " this.ResizeObserver = window.ResizeObserver;\n", + " } else {\n", + " var obs = _JSXTOOLS_RESIZE_OBSERVER({});\n", + " this.ResizeObserver = obs.ResizeObserver;\n", + " }\n", + " }\n", + "\n", + " this.resizeObserverInstance = new this.ResizeObserver(function (entries) {\n", + " var nentries = entries.length;\n", + " for (var i = 0; i < nentries; i++) {\n", + " var entry = entries[i];\n", + " var width, height;\n", + " if (entry.contentBoxSize) {\n", + " if (entry.contentBoxSize instanceof Array) {\n", + " // Chrome 84 implements new version of spec.\n", + " width = entry.contentBoxSize[0].inlineSize;\n", + " height = entry.contentBoxSize[0].blockSize;\n", + " } else {\n", + " // Firefox implements old version of spec.\n", + " width = entry.contentBoxSize.inlineSize;\n", + " height = entry.contentBoxSize.blockSize;\n", + " }\n", + " } else {\n", + " // Chrome <84 implements even older version of spec.\n", + " width = entry.contentRect.width;\n", + " height = entry.contentRect.height;\n", + " }\n", + "\n", + " // Keep the size of the canvas and rubber band canvas in sync with\n", + " // the canvas container.\n", + " if (entry.devicePixelContentBoxSize) {\n", + " // Chrome 84 implements new version of spec.\n", + " canvas.setAttribute(\n", + " 'width',\n", + " entry.devicePixelContentBoxSize[0].inlineSize\n", + " );\n", + " canvas.setAttribute(\n", + " 'height',\n", + " entry.devicePixelContentBoxSize[0].blockSize\n", + " );\n", + " } else {\n", + " canvas.setAttribute('width', width * fig.ratio);\n", + " canvas.setAttribute('height', height * fig.ratio);\n", + " }\n", + " canvas.setAttribute(\n", + " 'style',\n", + " 'width: ' + width + 'px; height: ' + height + 'px;'\n", + " );\n", + "\n", + " rubberband_canvas.setAttribute('width', width);\n", + " rubberband_canvas.setAttribute('height', height);\n", + "\n", + " // And update the size in Python. We ignore the initial 0/0 size\n", + " // that occurs as the element is placed into the DOM, which should\n", + " // otherwise not happen due to the minimum size styling.\n", + " if (fig.ws.readyState == 1 && width != 0 && height != 0) {\n", + " fig.request_resize(width, height);\n", + " }\n", + " }\n", + " });\n", + " this.resizeObserverInstance.observe(canvas_div);\n", + "\n", + " function on_mouse_event_closure(name) {\n", + " return function (event) {\n", + " return fig.mouse_event(event, name);\n", + " };\n", + " }\n", + "\n", + " rubberband_canvas.addEventListener(\n", + " 'mousedown',\n", + " on_mouse_event_closure('button_press')\n", + " );\n", + " rubberband_canvas.addEventListener(\n", + " 'mouseup',\n", + " on_mouse_event_closure('button_release')\n", + " );\n", + " // Throttle sequential mouse events to 1 every 20ms.\n", + " rubberband_canvas.addEventListener(\n", + " 'mousemove',\n", + " on_mouse_event_closure('motion_notify')\n", + " );\n", + "\n", + " rubberband_canvas.addEventListener(\n", + " 'mouseenter',\n", + " on_mouse_event_closure('figure_enter')\n", + " );\n", + " rubberband_canvas.addEventListener(\n", + " 'mouseleave',\n", + " on_mouse_event_closure('figure_leave')\n", + " );\n", + "\n", + " canvas_div.addEventListener('wheel', function (event) {\n", + " if (event.deltaY < 0) {\n", + " event.step = 1;\n", + " } else {\n", + " event.step = -1;\n", + " }\n", + " on_mouse_event_closure('scroll')(event);\n", + " });\n", + "\n", + " canvas_div.appendChild(canvas);\n", + " canvas_div.appendChild(rubberband_canvas);\n", + "\n", + " this.rubberband_context = rubberband_canvas.getContext('2d');\n", + " this.rubberband_context.strokeStyle = '#000000';\n", + "\n", + " this._resize_canvas = function (width, height, forward) {\n", + " if (forward) {\n", + " canvas_div.style.width = width + 'px';\n", + " canvas_div.style.height = height + 'px';\n", + " }\n", + " };\n", + "\n", + " // Disable right mouse context menu.\n", + " this.rubberband_canvas.addEventListener('contextmenu', function (_e) {\n", + " event.preventDefault();\n", + " return false;\n", + " });\n", + "\n", + " function set_focus() {\n", + " canvas.focus();\n", + " canvas_div.focus();\n", + " }\n", + "\n", + " window.setTimeout(set_focus, 100);\n", + "};\n", + "\n", + "mpl.figure.prototype._init_toolbar = function () {\n", + " var fig = this;\n", + "\n", + " var toolbar = document.createElement('div');\n", + " toolbar.classList = 'mpl-toolbar';\n", + " this.root.appendChild(toolbar);\n", + "\n", + " function on_click_closure(name) {\n", + " return function (_event) {\n", + " return fig.toolbar_button_onclick(name);\n", + " };\n", + " }\n", + "\n", + " function on_mouseover_closure(tooltip) {\n", + " return function (event) {\n", + " if (!event.currentTarget.disabled) {\n", + " return fig.toolbar_button_onmouseover(tooltip);\n", + " }\n", + " };\n", + " }\n", + "\n", + " fig.buttons = {};\n", + " var buttonGroup = document.createElement('div');\n", + " buttonGroup.classList = 'mpl-button-group';\n", + " for (var toolbar_ind in mpl.toolbar_items) {\n", + " var name = mpl.toolbar_items[toolbar_ind][0];\n", + " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n", + " var image = mpl.toolbar_items[toolbar_ind][2];\n", + " var method_name = mpl.toolbar_items[toolbar_ind][3];\n", + "\n", + " if (!name) {\n", + " /* Instead of a spacer, we start a new button group. */\n", + " if (buttonGroup.hasChildNodes()) {\n", + " toolbar.appendChild(buttonGroup);\n", + " }\n", + " buttonGroup = document.createElement('div');\n", + " buttonGroup.classList = 'mpl-button-group';\n", + " continue;\n", + " }\n", + "\n", + " var button = (fig.buttons[name] = document.createElement('button'));\n", + " button.classList = 'mpl-widget';\n", + " button.setAttribute('role', 'button');\n", + " button.setAttribute('aria-disabled', 'false');\n", + " button.addEventListener('click', on_click_closure(method_name));\n", + " button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n", + "\n", + " var icon_img = document.createElement('img');\n", + " icon_img.src = '_images/' + image + '.png';\n", + " icon_img.srcset = '_images/' + image + '_large.png 2x';\n", + " icon_img.alt = tooltip;\n", + " button.appendChild(icon_img);\n", + "\n", + " buttonGroup.appendChild(button);\n", + " }\n", + "\n", + " if (buttonGroup.hasChildNodes()) {\n", + " toolbar.appendChild(buttonGroup);\n", + " }\n", + "\n", + " var fmt_picker = document.createElement('select');\n", + " fmt_picker.classList = 'mpl-widget';\n", + " toolbar.appendChild(fmt_picker);\n", + " this.format_dropdown = fmt_picker;\n", + "\n", + " for (var ind in mpl.extensions) {\n", + " var fmt = mpl.extensions[ind];\n", + " var option = document.createElement('option');\n", + " option.selected = fmt === mpl.default_extension;\n", + " option.innerHTML = fmt;\n", + " fmt_picker.appendChild(option);\n", + " }\n", + "\n", + " var status_bar = document.createElement('span');\n", + " status_bar.classList = 'mpl-message';\n", + " toolbar.appendChild(status_bar);\n", + " this.message = status_bar;\n", + "};\n", + "\n", + "mpl.figure.prototype.request_resize = function (x_pixels, y_pixels) {\n", + " // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n", + " // which will in turn request a refresh of the image.\n", + " this.send_message('resize', { width: x_pixels, height: y_pixels });\n", + "};\n", + "\n", + "mpl.figure.prototype.send_message = function (type, properties) {\n", + " properties['type'] = type;\n", + " properties['figure_id'] = this.id;\n", + " this.ws.send(JSON.stringify(properties));\n", + "};\n", + "\n", + "mpl.figure.prototype.send_draw_message = function () {\n", + " if (!this.waiting) {\n", + " this.waiting = true;\n", + " this.ws.send(JSON.stringify({ type: 'draw', figure_id: this.id }));\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_save = function (fig, _msg) {\n", + " var format_dropdown = fig.format_dropdown;\n", + " var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n", + " fig.ondownload(fig, format);\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_resize = function (fig, msg) {\n", + " var size = msg['size'];\n", + " if (size[0] !== fig.canvas.width || size[1] !== fig.canvas.height) {\n", + " fig._resize_canvas(size[0], size[1], msg['forward']);\n", + " fig.send_message('refresh', {});\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_rubberband = function (fig, msg) {\n", + " var x0 = msg['x0'] / fig.ratio;\n", + " var y0 = (fig.canvas.height - msg['y0']) / fig.ratio;\n", + " var x1 = msg['x1'] / fig.ratio;\n", + " var y1 = (fig.canvas.height - msg['y1']) / fig.ratio;\n", + " x0 = Math.floor(x0) + 0.5;\n", + " y0 = Math.floor(y0) + 0.5;\n", + " x1 = Math.floor(x1) + 0.5;\n", + " y1 = Math.floor(y1) + 0.5;\n", + " var min_x = Math.min(x0, x1);\n", + " var min_y = Math.min(y0, y1);\n", + " var width = Math.abs(x1 - x0);\n", + " var height = Math.abs(y1 - y0);\n", + "\n", + " fig.rubberband_context.clearRect(\n", + " 0,\n", + " 0,\n", + " fig.canvas.width / fig.ratio,\n", + " fig.canvas.height / fig.ratio\n", + " );\n", + "\n", + " fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_figure_label = function (fig, msg) {\n", + " // Updates the figure title.\n", + " fig.header.textContent = msg['label'];\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_cursor = function (fig, msg) {\n", + " var cursor = msg['cursor'];\n", + " switch (cursor) {\n", + " case 0:\n", + " cursor = 'pointer';\n", + " break;\n", + " case 1:\n", + " cursor = 'default';\n", + " break;\n", + " case 2:\n", + " cursor = 'crosshair';\n", + " break;\n", + " case 3:\n", + " cursor = 'move';\n", + " break;\n", + " }\n", + " fig.rubberband_canvas.style.cursor = cursor;\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_message = function (fig, msg) {\n", + " fig.message.textContent = msg['message'];\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_draw = function (fig, _msg) {\n", + " // Request the server to send over a new figure.\n", + " fig.send_draw_message();\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_image_mode = function (fig, msg) {\n", + " fig.image_mode = msg['mode'];\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_history_buttons = function (fig, msg) {\n", + " for (var key in msg) {\n", + " if (!(key in fig.buttons)) {\n", + " continue;\n", + " }\n", + " fig.buttons[key].disabled = !msg[key];\n", + " fig.buttons[key].setAttribute('aria-disabled', !msg[key]);\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_navigate_mode = function (fig, msg) {\n", + " if (msg['mode'] === 'PAN') {\n", + " fig.buttons['Pan'].classList.add('active');\n", + " fig.buttons['Zoom'].classList.remove('active');\n", + " } else if (msg['mode'] === 'ZOOM') {\n", + " fig.buttons['Pan'].classList.remove('active');\n", + " fig.buttons['Zoom'].classList.add('active');\n", + " } else {\n", + " fig.buttons['Pan'].classList.remove('active');\n", + " fig.buttons['Zoom'].classList.remove('active');\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.updated_canvas_event = function () {\n", + " // Called whenever the canvas gets updated.\n", + " this.send_message('ack', {});\n", + "};\n", + "\n", + "// A function to construct a web socket function for onmessage handling.\n", + "// Called in the figure constructor.\n", + "mpl.figure.prototype._make_on_message_function = function (fig) {\n", + " return function socket_on_message(evt) {\n", + " if (evt.data instanceof Blob) {\n", + " /* FIXME: We get \"Resource interpreted as Image but\n", + " * transferred with MIME type text/plain:\" errors on\n", + " * Chrome. But how to set the MIME type? It doesn't seem\n", + " * to be part of the websocket stream */\n", + " evt.data.type = 'image/png';\n", + "\n", + " /* Free the memory for the previous frames */\n", + " if (fig.imageObj.src) {\n", + " (window.URL || window.webkitURL).revokeObjectURL(\n", + " fig.imageObj.src\n", + " );\n", + " }\n", + "\n", + " fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n", + " evt.data\n", + " );\n", + " fig.updated_canvas_event();\n", + " fig.waiting = false;\n", + " return;\n", + " } else if (\n", + " typeof evt.data === 'string' &&\n", + " evt.data.slice(0, 21) === 'data:image/png;base64'\n", + " ) {\n", + " fig.imageObj.src = evt.data;\n", + " fig.updated_canvas_event();\n", + " fig.waiting = false;\n", + " return;\n", + " }\n", + "\n", + " var msg = JSON.parse(evt.data);\n", + " var msg_type = msg['type'];\n", + "\n", + " // Call the \"handle_{type}\" callback, which takes\n", + " // the figure and JSON message as its only arguments.\n", + " try {\n", + " var callback = fig['handle_' + msg_type];\n", + " } catch (e) {\n", + " console.log(\n", + " \"No handler for the '\" + msg_type + \"' message type: \",\n", + " msg\n", + " );\n", + " return;\n", + " }\n", + "\n", + " if (callback) {\n", + " try {\n", + " // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n", + " callback(fig, msg);\n", + " } catch (e) {\n", + " console.log(\n", + " \"Exception inside the 'handler_\" + msg_type + \"' callback:\",\n", + " e,\n", + " e.stack,\n", + " msg\n", + " );\n", + " }\n", + " }\n", + " };\n", + "};\n", + "\n", + "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n", + "mpl.findpos = function (e) {\n", + " //this section is from http://www.quirksmode.org/js/events_properties.html\n", + " var targ;\n", + " if (!e) {\n", + " e = window.event;\n", + " }\n", + " if (e.target) {\n", + " targ = e.target;\n", + " } else if (e.srcElement) {\n", + " targ = e.srcElement;\n", + " }\n", + " if (targ.nodeType === 3) {\n", + " // defeat Safari bug\n", + " targ = targ.parentNode;\n", + " }\n", + "\n", + " // pageX,Y are the mouse positions relative to the document\n", + " var boundingRect = targ.getBoundingClientRect();\n", + " var x = e.pageX - (boundingRect.left + document.body.scrollLeft);\n", + " var y = e.pageY - (boundingRect.top + document.body.scrollTop);\n", + "\n", + " return { x: x, y: y };\n", + "};\n", + "\n", + "/*\n", + " * return a copy of an object with only non-object keys\n", + " * we need this to avoid circular references\n", + " * http://stackoverflow.com/a/24161582/3208463\n", + " */\n", + "function simpleKeys(original) {\n", + " return Object.keys(original).reduce(function (obj, key) {\n", + " if (typeof original[key] !== 'object') {\n", + " obj[key] = original[key];\n", + " }\n", + " return obj;\n", + " }, {});\n", + "}\n", + "\n", + "mpl.figure.prototype.mouse_event = function (event, name) {\n", + " var canvas_pos = mpl.findpos(event);\n", + "\n", + " if (name === 'button_press') {\n", + " this.canvas.focus();\n", + " this.canvas_div.focus();\n", + " }\n", + "\n", + " var x = canvas_pos.x * this.ratio;\n", + " var y = canvas_pos.y * this.ratio;\n", + "\n", + " this.send_message(name, {\n", + " x: x,\n", + " y: y,\n", + " button: event.button,\n", + " step: event.step,\n", + " guiEvent: simpleKeys(event),\n", + " });\n", + "\n", + " /* This prevents the web browser from automatically changing to\n", + " * the text insertion cursor when the button is pressed. We want\n", + " * to control all of the cursor setting manually through the\n", + " * 'cursor' event from matplotlib */\n", + " event.preventDefault();\n", + " return false;\n", + "};\n", + "\n", + "mpl.figure.prototype._key_event_extra = function (_event, _name) {\n", + " // Handle any extra behaviour associated with a key event\n", + "};\n", + "\n", + "mpl.figure.prototype.key_event = function (event, name) {\n", + " // Prevent repeat events\n", + " if (name === 'key_press') {\n", + " if (event.which === this._key) {\n", + " return;\n", + " } else {\n", + " this._key = event.which;\n", + " }\n", + " }\n", + " if (name === 'key_release') {\n", + " this._key = null;\n", + " }\n", + "\n", + " var value = '';\n", + " if (event.ctrlKey && event.which !== 17) {\n", + " value += 'ctrl+';\n", + " }\n", + " if (event.altKey && event.which !== 18) {\n", + " value += 'alt+';\n", + " }\n", + " if (event.shiftKey && event.which !== 16) {\n", + " value += 'shift+';\n", + " }\n", + "\n", + " value += 'k';\n", + " value += event.which.toString();\n", + "\n", + " this._key_event_extra(event, name);\n", + "\n", + " this.send_message(name, { key: value, guiEvent: simpleKeys(event) });\n", + " return false;\n", + "};\n", + "\n", + "mpl.figure.prototype.toolbar_button_onclick = function (name) {\n", + " if (name === 'download') {\n", + " this.handle_save(this, null);\n", + " } else {\n", + " this.send_message('toolbar_button', { name: name });\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.toolbar_button_onmouseover = function (tooltip) {\n", + " this.message.textContent = tooltip;\n", + "};\n", + "\n", + "///////////////// REMAINING CONTENT GENERATED BY embed_js.py /////////////////\n", + "// prettier-ignore\n", + "var _JSXTOOLS_RESIZE_OBSERVER=function(A){var t,i=new WeakMap,n=new WeakMap,a=new WeakMap,r=new WeakMap,o=new Set;function s(e){if(!(this instanceof s))throw new TypeError(\"Constructor requires 'new' operator\");i.set(this,e)}function h(){throw new TypeError(\"Function is not a constructor\")}function c(e,t,i,n){e=0 in arguments?Number(arguments[0]):0,t=1 in arguments?Number(arguments[1]):0,i=2 in arguments?Number(arguments[2]):0,n=3 in arguments?Number(arguments[3]):0,this.right=(this.x=this.left=e)+(this.width=i),this.bottom=(this.y=this.top=t)+(this.height=n),Object.freeze(this)}function d(){t=requestAnimationFrame(d);var s=new WeakMap,p=new Set;o.forEach((function(t){r.get(t).forEach((function(i){var r=t instanceof window.SVGElement,o=a.get(t),d=r?0:parseFloat(o.paddingTop),f=r?0:parseFloat(o.paddingRight),l=r?0:parseFloat(o.paddingBottom),u=r?0:parseFloat(o.paddingLeft),g=r?0:parseFloat(o.borderTopWidth),m=r?0:parseFloat(o.borderRightWidth),w=r?0:parseFloat(o.borderBottomWidth),b=u+f,F=d+l,v=(r?0:parseFloat(o.borderLeftWidth))+m,W=g+w,y=r?0:t.offsetHeight-W-t.clientHeight,E=r?0:t.offsetWidth-v-t.clientWidth,R=b+v,z=F+W,M=r?t.width:parseFloat(o.width)-R-E,O=r?t.height:parseFloat(o.height)-z-y;if(n.has(t)){var k=n.get(t);if(k[0]===M&&k[1]===O)return}n.set(t,[M,O]);var S=Object.create(h.prototype);S.target=t,S.contentRect=new c(u,d,M,O),s.has(i)||(s.set(i,[]),p.add(i)),s.get(i).push(S)}))})),p.forEach((function(e){i.get(e).call(e,s.get(e),e)}))}return s.prototype.observe=function(i){if(i instanceof window.Element){r.has(i)||(r.set(i,new Set),o.add(i),a.set(i,window.getComputedStyle(i)));var n=r.get(i);n.has(this)||n.add(this),cancelAnimationFrame(t),t=requestAnimationFrame(d)}},s.prototype.unobserve=function(i){if(i instanceof window.Element&&r.has(i)){var n=r.get(i);n.has(this)&&(n.delete(this),n.size||(r.delete(i),o.delete(i))),n.size||r.delete(i),o.size||cancelAnimationFrame(t)}},A.DOMRectReadOnly=c,A.ResizeObserver=s,A.ResizeObserverEntry=h,A}; // eslint-disable-line\n", + "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Left button pans, Right button zooms\\nx/y fixes axis, CTRL fixes aspect\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\\nx/y fixes axis, CTRL fixes aspect\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n", + "\n", + "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n", + "\n", + "mpl.default_extension = \"png\";/* global mpl */\n", + "\n", + "var comm_websocket_adapter = function (comm) {\n", + " // Create a \"websocket\"-like object which calls the given IPython comm\n", + " // object with the appropriate methods. Currently this is a non binary\n", + " // socket, so there is still some room for performance tuning.\n", + " var ws = {};\n", + "\n", + " ws.close = function () {\n", + " comm.close();\n", + " };\n", + " ws.send = function (m) {\n", + " //console.log('sending', m);\n", + " comm.send(m);\n", + " };\n", + " // Register the callback with on_msg.\n", + " comm.on_msg(function (msg) {\n", + " //console.log('receiving', msg['content']['data'], msg);\n", + " // Pass the mpl event to the overridden (by mpl) onmessage function.\n", + " ws.onmessage(msg['content']['data']);\n", + " });\n", + " return ws;\n", + "};\n", + "\n", + "mpl.mpl_figure_comm = function (comm, msg) {\n", + " // This is the function which gets called when the mpl process\n", + " // starts-up an IPython Comm through the \"matplotlib\" channel.\n", + "\n", + " var id = msg.content.data.id;\n", + " // Get hold of the div created by the display call when the Comm\n", + " // socket was opened in Python.\n", + " var element = document.getElementById(id);\n", + " var ws_proxy = comm_websocket_adapter(comm);\n", + "\n", + " function ondownload(figure, _format) {\n", + " window.open(figure.canvas.toDataURL());\n", + " }\n", + "\n", + " var fig = new mpl.figure(id, ws_proxy, ondownload, element);\n", + "\n", + " // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n", + " // web socket which is closed, not our websocket->open comm proxy.\n", + " ws_proxy.onopen();\n", + "\n", + " fig.parent_element = element;\n", + " fig.cell_info = mpl.find_output_cell(\"
\");\n", + " if (!fig.cell_info) {\n", + " console.error('Failed to find cell for figure', id, fig);\n", + " return;\n", + " }\n", + " fig.cell_info[0].output_area.element.on(\n", + " 'cleared',\n", + " { fig: fig },\n", + " fig._remove_fig_handler\n", + " );\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_close = function (fig, msg) {\n", + " var width = fig.canvas.width / fig.ratio;\n", + " fig.cell_info[0].output_area.element.off(\n", + " 'cleared',\n", + " fig._remove_fig_handler\n", + " );\n", + " fig.resizeObserverInstance.unobserve(fig.canvas_div);\n", + "\n", + " // Update the output cell to use the data from the current canvas.\n", + " fig.push_to_output();\n", + " var dataURL = fig.canvas.toDataURL();\n", + " // Re-enable the keyboard manager in IPython - without this line, in FF,\n", + " // the notebook keyboard shortcuts fail.\n", + " IPython.keyboard_manager.enable();\n", + " fig.parent_element.innerHTML =\n", + " '';\n", + " fig.close_ws(fig, msg);\n", + "};\n", + "\n", + "mpl.figure.prototype.close_ws = function (fig, msg) {\n", + " fig.send_message('closing', msg);\n", + " // fig.ws.close()\n", + "};\n", + "\n", + "mpl.figure.prototype.push_to_output = function (_remove_interactive) {\n", + " // Turn the data on the canvas into data in the output cell.\n", + " var width = this.canvas.width / this.ratio;\n", + " var dataURL = this.canvas.toDataURL();\n", + " this.cell_info[1]['text/html'] =\n", + " '';\n", + "};\n", + "\n", + "mpl.figure.prototype.updated_canvas_event = function () {\n", + " // Tell IPython that the notebook contents must change.\n", + " IPython.notebook.set_dirty(true);\n", + " this.send_message('ack', {});\n", + " var fig = this;\n", + " // Wait a second, then push the new image to the DOM so\n", + " // that it is saved nicely (might be nice to debounce this).\n", + " setTimeout(function () {\n", + " fig.push_to_output();\n", + " }, 1000);\n", + "};\n", + "\n", + "mpl.figure.prototype._init_toolbar = function () {\n", + " var fig = this;\n", + "\n", + " var toolbar = document.createElement('div');\n", + " toolbar.classList = 'btn-toolbar';\n", + " this.root.appendChild(toolbar);\n", + "\n", + " function on_click_closure(name) {\n", + " return function (_event) {\n", + " return fig.toolbar_button_onclick(name);\n", + " };\n", + " }\n", + "\n", + " function on_mouseover_closure(tooltip) {\n", + " return function (event) {\n", + " if (!event.currentTarget.disabled) {\n", + " return fig.toolbar_button_onmouseover(tooltip);\n", + " }\n", + " };\n", + " }\n", + "\n", + " fig.buttons = {};\n", + " var buttonGroup = document.createElement('div');\n", + " buttonGroup.classList = 'btn-group';\n", + " var button;\n", + " for (var toolbar_ind in mpl.toolbar_items) {\n", + " var name = mpl.toolbar_items[toolbar_ind][0];\n", + " var tooltip = mpl.toolbar_items[toolbar_ind][1];\n", + " var image = mpl.toolbar_items[toolbar_ind][2];\n", + " var method_name = mpl.toolbar_items[toolbar_ind][3];\n", + "\n", + " if (!name) {\n", + " /* Instead of a spacer, we start a new button group. */\n", + " if (buttonGroup.hasChildNodes()) {\n", + " toolbar.appendChild(buttonGroup);\n", + " }\n", + " buttonGroup = document.createElement('div');\n", + " buttonGroup.classList = 'btn-group';\n", + " continue;\n", + " }\n", + "\n", + " button = fig.buttons[name] = document.createElement('button');\n", + " button.classList = 'btn btn-default';\n", + " button.href = '#';\n", + " button.title = name;\n", + " button.innerHTML = '';\n", + " button.addEventListener('click', on_click_closure(method_name));\n", + " button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n", + " buttonGroup.appendChild(button);\n", + " }\n", + "\n", + " if (buttonGroup.hasChildNodes()) {\n", + " toolbar.appendChild(buttonGroup);\n", + " }\n", + "\n", + " // Add the status bar.\n", + " var status_bar = document.createElement('span');\n", + " status_bar.classList = 'mpl-message pull-right';\n", + " toolbar.appendChild(status_bar);\n", + " this.message = status_bar;\n", + "\n", + " // Add the close button to the window.\n", + " var buttongrp = document.createElement('div');\n", + " buttongrp.classList = 'btn-group inline pull-right';\n", + " button = document.createElement('button');\n", + " button.classList = 'btn btn-mini btn-primary';\n", + " button.href = '#';\n", + " button.title = 'Stop Interaction';\n", + " button.innerHTML = '';\n", + " button.addEventListener('click', function (_evt) {\n", + " fig.handle_close(fig, {});\n", + " });\n", + " button.addEventListener(\n", + " 'mouseover',\n", + " on_mouseover_closure('Stop Interaction')\n", + " );\n", + " buttongrp.appendChild(button);\n", + " var titlebar = this.root.querySelector('.ui-dialog-titlebar');\n", + " titlebar.insertBefore(buttongrp, titlebar.firstChild);\n", + "};\n", + "\n", + "mpl.figure.prototype._remove_fig_handler = function (event) {\n", + " var fig = event.data.fig;\n", + " if (event.target !== this) {\n", + " // Ignore bubbled events from children.\n", + " return;\n", + " }\n", + " fig.close_ws(fig, {});\n", + "};\n", + "\n", + "mpl.figure.prototype._root_extra_style = function (el) {\n", + " el.style.boxSizing = 'content-box'; // override notebook setting of border-box.\n", + "};\n", + "\n", + "mpl.figure.prototype._canvas_extra_style = function (el) {\n", + " // this is important to make the div 'focusable\n", + " el.setAttribute('tabindex', 0);\n", + " // reach out to IPython and tell the keyboard manager to turn it's self\n", + " // off when our div gets focus\n", + "\n", + " // location in version 3\n", + " if (IPython.notebook.keyboard_manager) {\n", + " IPython.notebook.keyboard_manager.register_events(el);\n", + " } else {\n", + " // location in version 2\n", + " IPython.keyboard_manager.register_events(el);\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype._key_event_extra = function (event, _name) {\n", + " var manager = IPython.notebook.keyboard_manager;\n", + " if (!manager) {\n", + " manager = IPython.keyboard_manager;\n", + " }\n", + "\n", + " // Check for shift+enter\n", + " if (event.shiftKey && event.which === 13) {\n", + " this.canvas_div.blur();\n", + " // select the cell after this one\n", + " var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n", + " IPython.notebook.select(index + 1);\n", + " }\n", + "};\n", + "\n", + "mpl.figure.prototype.handle_save = function (fig, _msg) {\n", + " fig.ondownload(fig, null);\n", + "};\n", + "\n", + "mpl.find_output_cell = function (html_output) {\n", + " // Return the cell and output element which can be found *uniquely* in the notebook.\n", + " // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n", + " // IPython event is triggered only after the cells have been serialised, which for\n", + " // our purposes (turning an active figure into a static one), is too late.\n", + " var cells = IPython.notebook.get_cells();\n", + " var ncells = cells.length;\n", + " for (var i = 0; i < ncells; i++) {\n", + " var cell = cells[i];\n", + " if (cell.cell_type === 'code') {\n", + " for (var j = 0; j < cell.output_area.outputs.length; j++) {\n", + " var data = cell.output_area.outputs[j];\n", + " if (data.data) {\n", + " // IPython >= 3 moved mimebundle to data attribute of output\n", + " data = data.data;\n", + " }\n", + " if (data['text/html'] === html_output) {\n", + " return [cell, data, j];\n", + " }\n", + " }\n", + " }\n", + " }\n", + "};\n", + "\n", + "// Register the function which deals with the matplotlib target/channel.\n", + "// The kernel may be null if the page has been refreshed.\n", + "if (IPython.notebook.kernel !== null) {\n", + " IPython.notebook.kernel.comm_manager.register_target(\n", + " 'matplotlib',\n", + " mpl.mpl_figure_comm\n", + " );\n", + "}\n" + ], "text/plain": [ - "
" + "" ] }, "metadata": {}, "output_type": "display_data" + }, + { + "data": { + "text/html": [ + "" + ], + "text/plain": [ + "" + ] + }, + "metadata": {}, + "output_type": "display_data" + }, + { + "data": { + "text/plain": [ + "[]" + ] + }, + "execution_count": 25, + "metadata": {}, + "output_type": "execute_result" } ], "source": [ @@ -547,19 +3429,19 @@ }, { "cell_type": "code", - "execution_count": 101, + "execution_count": 26, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - " \u001b[38;5;1m 1 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;4m 0.6 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 1 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;4m-0.5 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 1 \u001b[0m\u001b[38;5;4m 0.3 \u001b[0m \u001b[0m\n", - " \u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 1 \u001b[0m \u001b[0m\n" + " \u001b[38;5;1m 1 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;4m 0.6 \u001b[0m \u001b[0m\n", + " \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 1 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;4m-0.5 \u001b[0m \u001b[0m\n", + " \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 1 \u001b[0m \u001b[38;5;4m 0.3 \u001b[0m \u001b[0m\n", + " \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 1 \u001b[0m \u001b[0m\n" ] }, - "execution_count": 101, + "execution_count": 26, "metadata": {}, "output_type": "execute_result" } @@ -571,19 +3453,19 @@ }, { "cell_type": "code", - "execution_count": 102, + "execution_count": 27, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - " \u001b[38;5;1m 1 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;4m 0.4 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 1 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;4m 0.5 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 1 \u001b[0m\u001b[38;5;4m 0.2 \u001b[0m \u001b[0m\n", - " \u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 1 \u001b[0m \u001b[0m\n" + " \u001b[38;5;1m 1 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;4m 0.4 \u001b[0m \u001b[0m\n", + " \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 1 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;4m 0.5 \u001b[0m \u001b[0m\n", + " \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 1 \u001b[0m \u001b[38;5;4m 0.2 \u001b[0m \u001b[0m\n", + " \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 1 \u001b[0m \u001b[0m\n" ] }, - "execution_count": 102, + "execution_count": 27, "metadata": {}, "output_type": "execute_result" } @@ -594,7 +3476,7 @@ }, { "cell_type": "code", - "execution_count": 103, + "execution_count": 28, "metadata": {}, "outputs": [ { @@ -603,7 +3485,7 @@ "200" ] }, - "execution_count": 103, + "execution_count": 28, "metadata": {}, "output_type": "execute_result" } @@ -615,7 +3497,7 @@ }, { "cell_type": "code", - "execution_count": 104, + "execution_count": 29, "metadata": {}, "outputs": [ { @@ -624,7 +3506,7 @@ "(200, 6)" ] }, - "execution_count": 104, + "execution_count": 29, "metadata": {}, "output_type": "execute_result" } @@ -643,19 +3525,18 @@ }, { "cell_type": "code", - "execution_count": 105, + "execution_count": 30, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "array([[cos(ψ)*cos(ϴ), sin(φ)*sin(ϴ)*cos(ψ) - sin(ψ)*cos(φ), sin(φ)*sin(ψ) + sin(ϴ)*cos(φ)*cos(ψ)],\n", - " [sin(ψ)*cos(ϴ), sin(φ)*sin(ψ)*sin(ϴ) + cos(φ)*cos(ψ),\n", - " -sin(φ)*cos(ψ) + sin(ψ)*sin(ϴ)*cos(φ)],\n", + " [sin(ψ)*cos(ϴ), sin(φ)*sin(ψ)*sin(ϴ) + cos(φ)*cos(ψ), -sin(φ)*cos(ψ) + sin(ψ)*sin(ϴ)*cos(φ)],\n", " [-sin(ϴ), sin(φ)*cos(ϴ), cos(φ)*cos(ϴ)]], dtype=object)" ] }, - "execution_count": 105, + "execution_count": 30, "metadata": {}, "output_type": "execute_result" } @@ -668,7 +3549,7 @@ }, { "cell_type": "code", - "execution_count": 107, + "execution_count": 31, "metadata": {}, "outputs": [], "source": [ @@ -678,7 +3559,7 @@ }, { "cell_type": "code", - "execution_count": 108, + "execution_count": 32, "metadata": {}, "outputs": [ { @@ -690,7 +3571,7 @@ "0.15005*sin(q_0) - 0.0203*sin(q_1)*sin(q_2)*cos(q_0) - 0.4318*sin(q_1)*cos(q_0)*cos(q_2) - 0.4318*sin(q_2)*cos(q_0)*cos(q_1) + 0.0203*cos(q_0)*cos(q_1)*cos(q_2) + 0.4318*cos(q_0)*cos(q_1)" ] }, - "execution_count": 108, + "execution_count": 32, "metadata": {}, "output_type": "execute_result" } @@ -703,21 +3584,21 @@ }, { "cell_type": "code", - "execution_count": 109, + "execution_count": 33, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "array([[ 0.1501, 0.01435, 0.3197, 0, 0, 0],\n", - " [ 0.5963, 0, 0, 0, 0, 0],\n", - " [ 0, 0.5963, 0.291, 0, 0, 0],\n", - " [ 0, 0, 0, 0.7071, 0, 1],\n", - " [ 0, -1, -1, 0, -1, 0],\n", - " [ 1, 0, 0, -0.7071, 0, 0]])" + "array([[ 1.50050000e-01, 1.43542677e-02, 3.19682976e-01, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00],\n", + " [ 5.96303149e-01, 3.65130371e-17, 1.78170459e-17, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00],\n", + " [-5.28447268e-18, 5.96303149e-01, 2.90974440e-01, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00],\n", + " [-3.52180785e-17, 0.00000000e+00, 0.00000000e+00, 7.07106781e-01, 0.00000000e+00, 1.00000000e+00],\n", + " [ 6.86402876e-33, -1.00000000e+00, -1.00000000e+00, -1.04530143e-16, -1.00000000e+00, -6.12323400e-17],\n", + " [ 1.00000000e+00, 6.12323400e-17, 6.12323400e-17, -7.07106781e-01, 6.12323400e-17, -3.13396163e-16]])" ] }, - "execution_count": 109, + "execution_count": 33, "metadata": {}, "output_type": "execute_result" } @@ -729,21 +3610,21 @@ }, { "cell_type": "code", - "execution_count": 110, + "execution_count": 34, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "array([[ 0, -0.5963, -0.291, 0, 0, 0],\n", - " [ 0.5963, 0, 0, 0, 0, 0],\n", - " [ 0.15, 0.01435, 0.3197, 0, 0, 0],\n", - " [ -1, 0, 0, 0.7071, 0, 0],\n", - " [ 0, -1, -1, 0, -1, 0],\n", - " [ 0, 0, 0, 0.7071, 0, 1]])" + "array([[-7.82536587e-17, -5.96303149e-01, -2.90974440e-01, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00],\n", + " [ 5.96303149e-01, 8.78945397e-19, 1.95749367e-17, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00],\n", + " [ 1.50050000e-01, 1.43542677e-02, 3.19682976e-01, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00],\n", + " [-1.00000000e+00, 3.01573569e-33, 3.01573569e-33, 7.07106781e-01, 0.00000000e+00, 0.00000000e+00],\n", + " [-6.12323400e-17, -1.00000000e+00, -1.00000000e+00, -1.79345371e-17, -1.00000000e+00, 0.00000000e+00],\n", + " [-3.13396163e-16, 6.12323400e-17, 6.12323400e-17, 7.07106781e-01, 6.12323400e-17, 1.00000000e+00]])" ] }, - "execution_count": 110, + "execution_count": 34, "metadata": {}, "output_type": "execute_result" } @@ -761,21 +3642,21 @@ }, { "cell_type": "code", - "execution_count": 111, + "execution_count": 35, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "array([[ 0.15, -0.8636, -0.4318, 0, 0, 0],\n", - " [ 0.0203, 0, 0, 0, 0, 0],\n", - " [ 0, 0.0203, 0.0203, 0, 0, 0],\n", - " [ 0, 0, 0, 0, 0, 0],\n", - " [ 0, -1, -1, 0, -1, 0],\n", - " [ 1, 0, 0, 1, 0, 1]])" + "array([[ 1.5005000e-01, -8.6360000e-01, -4.3180000e-01, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00],\n", + " [ 2.0300000e-02, 1.2430165e-18, 1.2430165e-18, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00],\n", + " [ 0.0000000e+00, 2.0300000e-02, 2.0300000e-02, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00],\n", + " [ 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00],\n", + " [ 0.0000000e+00, -1.0000000e+00, -1.0000000e+00, 0.0000000e+00, -1.0000000e+00, 0.0000000e+00],\n", + " [ 1.0000000e+00, 6.1232340e-17, 6.1232340e-17, 1.0000000e+00, 6.1232340e-17, 1.0000000e+00]])" ] }, - "execution_count": 111, + "execution_count": 35, "metadata": {}, "output_type": "execute_result" } @@ -786,7 +3667,7 @@ }, { "cell_type": "code", - "execution_count": 112, + "execution_count": 36, "metadata": {}, "outputs": [ { @@ -795,7 +3676,7 @@ "5" ] }, - "execution_count": 112, + "execution_count": 36, "metadata": {}, "output_type": "execute_result" } @@ -806,7 +3687,7 @@ }, { "cell_type": "code", - "execution_count": 113, + "execution_count": 37, "metadata": {}, "outputs": [ { @@ -823,7 +3704,7 @@ }, { "cell_type": "code", - "execution_count": 114, + "execution_count": 38, "metadata": {}, "outputs": [ { @@ -832,7 +3713,7 @@ "(6, 7, 7)" ] }, - "execution_count": 114, + "execution_count": 38, "metadata": {}, "output_type": "execute_result" } @@ -844,7 +3725,7 @@ }, { "cell_type": "code", - "execution_count": 116, + "execution_count": 39, "metadata": {}, "outputs": [ { @@ -853,7 +3734,7 @@ "0.07861716534599998" ] }, - "execution_count": 116, + "execution_count": 39, "metadata": {}, "output_type": "execute_result" } @@ -864,7 +3745,7 @@ }, { "cell_type": "code", - "execution_count": 117, + "execution_count": 40, "metadata": {}, "outputs": [ { @@ -873,7 +3754,7 @@ "0.0043746137281665" ] }, - "execution_count": 117, + "execution_count": 40, "metadata": {}, "output_type": "execute_result" } @@ -884,7 +3765,7 @@ }, { "cell_type": "code", - "execution_count": 118, + "execution_count": 41, "metadata": {}, "outputs": [ { @@ -893,7 +3774,7 @@ "0.11118146146764128" ] }, - "execution_count": 118, + "execution_count": 41, "metadata": {}, "output_type": "execute_result" } @@ -904,7 +3785,7 @@ }, { "cell_type": "code", - "execution_count": 119, + "execution_count": 42, "metadata": { "lines_to_next_cell": 2 }, @@ -912,16 +3793,16 @@ { "data": { "text/plain": [ - "array([[ 0],\n", - " [-0.002627],\n", - " [ 0],\n", - " [ 0.04064],\n", - " [ 0],\n", - " [-0.02734],\n", - " [ 0]])" + "array([[-1.23259516e-32],\n", + " [-2.62678438e-03],\n", + " [-1.48554870e-17],\n", + " [ 4.06398364e-02],\n", + " [ 4.44870139e-18],\n", + " [-2.73383661e-02],\n", + " [-5.54667824e-32]])" ] }, - "execution_count": 119, + "execution_count": 42, "metadata": {}, "output_type": "execute_result" } @@ -939,7 +3820,7 @@ }, { "cell_type": "code", - "execution_count": 126, + "execution_count": 43, "metadata": { "lines_to_next_cell": 2 }, @@ -947,10 +3828,10 @@ { "data": { "text/plain": [ - "array([ 0, 31.64, 6.035, 0, 0.02825, 0])" + "array([-1.61532977e-15, 3.16398804e+01, 6.03513802e+00, 8.34761258e-18, 2.82528000e-02, 0.00000000e+00])" ] }, - "execution_count": 126, + "execution_count": 43, "metadata": {}, "output_type": "execute_result" } @@ -961,7 +3842,7 @@ }, { "cell_type": "code", - "execution_count": 129, + "execution_count": 44, "metadata": { "lines_to_next_cell": 2 }, @@ -969,15 +3850,15 @@ { "data": { "text/plain": [ - "array([[ 3.659, -0.4044, 0.1006, -0.002517, 0, 0],\n", - " [ -0.4044, 4.414, 0.3509, 0, 0.00236, 0],\n", - " [ 0.1006, 0.3509, 0.9378, 0, 0.00148, 0],\n", - " [ -0.002517, 0, 0, 0.1925, 0, 2.828e-05],\n", - " [ 0, 0.00236, 0.00148, 0, 0.1713, 0],\n", - " [ 0, 0, 0, 2.828e-05, 0, 0.1941]])" + "array([[ 3.65937541e+00, -4.04361246e-01, 1.00613648e-01, -2.51695583e-03, 2.79129133e-19, -1.11022302e-20],\n", + " [-4.04361246e-01, 4.41374193e+00, 3.50890665e-01, 5.95529431e-19, 2.35951307e-03, 2.44929360e-21],\n", + " [ 1.00613648e-01, 3.50890665e-01, 9.37841575e-01, 5.41684976e-19, 1.48016639e-03, 2.44929360e-21],\n", + " [-2.51695583e-03, 5.95529431e-19, 5.41684976e-19, 1.92531706e-01, 2.62380953e-20, 2.82842712e-05],\n", + " [ 2.52898724e-19, 2.35951307e-03, 1.48016639e-03, 2.62380953e-20, 1.71348452e-01, 2.44929360e-21],\n", + " [-1.01643954e-20, 2.44929360e-21, 2.44929360e-21, 2.82842712e-05, 2.44929360e-21, 1.94104506e-01]])" ] }, - "execution_count": 129, + "execution_count": 44, "metadata": {}, "output_type": "execute_result" } @@ -988,7 +3869,7 @@ }, { "cell_type": "code", - "execution_count": 130, + "execution_count": 45, "metadata": { "lines_to_next_cell": 2 }, @@ -996,15 +3877,15 @@ { "data": { "text/plain": [ - "array([[ -0.0267, -0.1291, 0.01696, -3.344e-05, -0.0002789, 6e-06],\n", - " [ 0.06274, 0.03857, 0.07715, -0.0001552, -1.24e-05, -5.858e-07],\n", - " [ -0.03607, -0.03867, -9.207e-05, -9.304e-05, -0.0002762, -5.858e-07],\n", - " [ 4.001e-05, 5.718e-05, -4.998e-06, 1.011e-05, 2.425e-05, -4.243e-06],\n", - " [-1.756e-05, 9.62e-05, 0.0001841, -2.425e-05, 0, -5.858e-07],\n", - " [ 6e-06, 3.414e-06, 3.414e-06, 1.414e-06, 5.858e-07, 0]])" + "array([[-2.66969622e-02, -1.29059829e-01, 1.69557253e-02, -3.34419803e-05, -2.78929620e-04, 6.00000000e-06],\n", + " [ 6.27416462e-02, 3.85714300e-02, 7.71469941e-02, -1.55223544e-04, -1.24020873e-05, -5.85786438e-07],\n", + " [-3.60731378e-02, -3.86676328e-02, -9.20686970e-05, -9.30443443e-05, -2.76206091e-04, -5.85786438e-07],\n", + " [ 4.00101338e-05, 5.71808764e-05, -4.99832360e-06, 1.01080000e-05, 2.42501356e-05, -4.24264069e-06],\n", + " [-1.75563492e-05, 9.62027261e-05, 1.84137394e-04, -2.42501356e-05, -1.35525272e-21, -5.85786438e-07],\n", + " [ 6.00000000e-06, 3.41421356e-06, 3.41421356e-06, 1.41421356e-06, 5.85786438e-07, 0.00000000e+00]])" ] }, - "execution_count": 130, + "execution_count": 45, "metadata": {}, "output_type": "execute_result" } @@ -1015,7 +3896,7 @@ }, { "cell_type": "code", - "execution_count": 131, + "execution_count": 46, "metadata": { "lines_to_next_cell": 2 }, @@ -1023,10 +3904,10 @@ { "data": { "text/plain": [ - "array([ 0, 31.64, 6.035, 0, 0.02825, 0])" + "array([-1.61532977e-15, 3.16398804e+01, 6.03513802e+00, 8.34761258e-18, 2.82528000e-02, 0.00000000e+00])" ] }, - "execution_count": 131, + "execution_count": 46, "metadata": {}, "output_type": "execute_result" } @@ -1037,7 +3918,7 @@ }, { "cell_type": "code", - "execution_count": 132, + "execution_count": 47, "metadata": { "lines_to_next_cell": 2 }, @@ -1045,10 +3926,10 @@ { "data": { "text/plain": [ - "array([ 147.6, -133.7, 406.4, -2.494, -8.281, 0.0003634])" + "array([ 1.47558948e+02, -1.33667778e+02, 4.06355199e+02, -2.49417795e+00, -8.28105260e+00, 3.63443421e-04])" ] }, - "execution_count": 132, + "execution_count": 47, "metadata": {}, "output_type": "execute_result" } @@ -1067,7 +3948,7 @@ }, { "cell_type": "code", - "execution_count": 133, + "execution_count": 48, "metadata": {}, "outputs": [ { @@ -1076,49 +3957,34 @@ "False" ] }, - "execution_count": 133, + "execution_count": 48, "metadata": {}, "output_type": "execute_result" } ], "source": [ - "obstacle = Box([1, 1, 1], SE3(1, 0, 0)) \n", - "iscollision = panda.collided(obstacle) # boolean\n", + "from spatialgeometry import Box\n", + "obstacle = Box([1, 1, 1], base=SE3(1, 0, 0)) \n", + "iscollision = panda.collided(panda.qr, obstacle) # boolean\n", "iscollision = panda.links[0].collided(obstacle)" ] }, { "cell_type": "code", - "execution_count": 134, + "execution_count": 49, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "0.4276 \u001b[38;5;1m 1 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;4m 0.0724 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 1 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;4m 0.0424 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 1 \u001b[0m\u001b[38;5;4m-0.02 \u001b[0m \u001b[0m\n", - " \u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 1 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 1 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;4m 0.5 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 1 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;4m 0.0424 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 1 \u001b[0m\u001b[38;5;4m-0.02 \u001b[0m \u001b[0m\n", - " \u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 1 \u001b[0m \u001b[0m\n", - "\n", - "0.5 \u001b[38;5;1m 1 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;4m 0 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 1 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;4m 0 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 1 \u001b[0m\u001b[38;5;4m 0.06 \u001b[0m \u001b[0m\n", - " \u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 1 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 1 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;4m 0.5 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 1 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;4m 0 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 1 \u001b[0m\u001b[38;5;4m 0.06 \u001b[0m \u001b[0m\n", - " \u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 1 \u001b[0m \u001b[0m\n", - "\n" + "0.015720599440705682 [ 0.49052377 -0.05996266 0.51203177 1. ] [ 0.50037345 -0.05996266 0.49977938 1. ]\n", + "0.5 [ 5.55111512e-17 -2.96851076e-18 6.00000000e-02 1.00000000e+00] [ 5.00000000e-01 -2.77061004e-17 6.00000000e-02 1.00000000e+00]\n" ] } ], "source": [ - "d, p1, p2 = panda.closest_point(obstacle)\n", + "d, p1, p2 = panda.closest_point(panda.qr, obstacle)\n", "print(d, p1, p2)\n", "d, p1, p2 = panda.links[0].closest_point(obstacle)\n", "print(d, p1, p2)" @@ -1133,18 +3999,15 @@ }, { "cell_type": "code", - "execution_count": 135, + "execution_count": 50, "metadata": {}, "outputs": [ { - "data": { - "text/plain": [ - "" - ] - }, - "execution_count": 135, - "metadata": {}, - "output_type": "execute_result" + "name": "stdout", + "output_type": "stream", + "text": [ + "/Users/corkep/Dropbox/code/swift/swift/out\n" + ] } ], "source": [ @@ -1157,7 +4020,7 @@ "metadata": {}, "outputs": [], "source": [ - "from roboticstoolbox.backends.Swift import Swift\n", + "from roboticstoolbox.backends.swift import Swift\n", "backend = Swift()\n", "backend.launch() # create graphical world\n", "backend.add(panda) # add robot to the world\n", diff --git a/notebooks/kinematics.ipynb b/notebooks/kinematics.ipynb index 3f0dd5c1f..5efaa6b2c 100644 --- a/notebooks/kinematics.ipynb +++ b/notebooks/kinematics.ipynb @@ -49,16 +49,17 @@ "name": "stdout", "output_type": "stream", "text": [ - "┏━━━━┳━━━━━━━━━━━━━━━━━━━━┳━━━━━━━━┳━━━━━━━━┳━━━━━━━━━┳━━━━━━━━┓\n", - "┃θⱼ ┃ dⱼ ┃ aⱼ ┃ ⍺ⱼ ┃ q⁻ ┃ q⁺ ┃\n", - "┣━━━━╋━━━━━━━━━━━━━━━━━━━━╋━━━━━━━━╋━━━━━━━━╋━━━━━━━━━╋━━━━━━━━┫\n", - "┃ q1\u001b[0m ┃ 0.6718299999999999\u001b[0m ┃ 0\u001b[0m ┃ 90.0°\u001b[0m ┃ -160.0°\u001b[0m ┃ 160.0°\u001b[0m ┃\n", - "┃ q2\u001b[0m ┃ 0\u001b[0m ┃ 0.4318\u001b[0m ┃ 0.0°\u001b[0m ┃ -110.0°\u001b[0m ┃ 110.0°\u001b[0m ┃\n", - "┃ q3\u001b[0m ┃ 0.15005\u001b[0m ┃ 0.0203\u001b[0m ┃ -90.0°\u001b[0m ┃ -135.0°\u001b[0m ┃ 135.0°\u001b[0m ┃\n", - "┃ q4\u001b[0m ┃ 0.4318\u001b[0m ┃ 0\u001b[0m ┃ 90.0°\u001b[0m ┃ -266.0°\u001b[0m ┃ 266.0°\u001b[0m ┃\n", - "┃ q5\u001b[0m ┃ 0\u001b[0m ┃ 0\u001b[0m ┃ -90.0°\u001b[0m ┃ -100.0°\u001b[0m ┃ 100.0°\u001b[0m ┃\n", - "┃ q6\u001b[0m ┃ 0\u001b[0m ┃ 0\u001b[0m ┃ 0.0°\u001b[0m ┃ -266.0°\u001b[0m ┃ 266.0°\u001b[0m ┃\n", - "┗━━━━┻━━━━━━━━━━━━━━━━━━━━┻━━━━━━━━┻━━━━━━━━┻━━━━━━━━━┻━━━━━━━━┛\n", + "DHRobot: Puma 560 (by Unimation), 6 joints (RRRRRR), dynamics, geometry, standard DH parameters\n", + "┏━━━━┳━━━━━━━━┳━━━━━━━━┳━━━━━━━━┳━━━━━━━━━┳━━━━━━━━┓\n", + "┃θⱼ ┃ dⱼ ┃ aⱼ ┃ ⍺ⱼ ┃ q⁻ ┃ q⁺ ┃\n", + "┣━━━━╋━━━━━━━━╋━━━━━━━━╋━━━━━━━━╋━━━━━━━━━╋━━━━━━━━┫\n", + "┃ q1\u001b[0m ┃ 0.6718\u001b[0m ┃ 0\u001b[0m ┃ 90.0°\u001b[0m ┃ -160.0°\u001b[0m ┃ 160.0°\u001b[0m ┃\n", + "┃ q2\u001b[0m ┃ 0\u001b[0m ┃ 0.4318\u001b[0m ┃ 0.0°\u001b[0m ┃ -110.0°\u001b[0m ┃ 110.0°\u001b[0m ┃\n", + "┃ q3\u001b[0m ┃ 0.15\u001b[0m ┃ 0.0203\u001b[0m ┃ -90.0°\u001b[0m ┃ -135.0°\u001b[0m ┃ 135.0°\u001b[0m ┃\n", + "┃ q4\u001b[0m ┃ 0.4318\u001b[0m ┃ 0\u001b[0m ┃ 90.0°\u001b[0m ┃ -266.0°\u001b[0m ┃ 266.0°\u001b[0m ┃\n", + "┃ q5\u001b[0m ┃ 0\u001b[0m ┃ 0\u001b[0m ┃ -90.0°\u001b[0m ┃ -100.0°\u001b[0m ┃ 100.0°\u001b[0m ┃\n", + "┃ q6\u001b[0m ┃ 0\u001b[0m ┃ 0\u001b[0m ┃ 0.0°\u001b[0m ┃ -266.0°\u001b[0m ┃ 266.0°\u001b[0m ┃\n", + "┗━━━━┻━━━━━━━━┻━━━━━━━━┻━━━━━━━━┻━━━━━━━━━┻━━━━━━━━┛\n", "\n", "┌─────┬─────┬──────┬───────┬─────┬──────┬─────┐\n", "│name │ q0 │ q1 │ q2 │ q3 │ q4 │ q5 │\n", @@ -196,8 +197,8 @@ " this.ws.onopen = function () {\n", " fig.send_message('supports_binary', { value: fig.supports_binary });\n", " fig.send_message('send_image_mode', {});\n", - " if (mpl.ratio !== 1) {\n", - " fig.send_message('set_dpi_ratio', { dpi_ratio: mpl.ratio });\n", + " if (fig.ratio !== 1) {\n", + " fig.send_message('set_dpi_ratio', { dpi_ratio: fig.ratio });\n", " }\n", " fig.send_message('refresh', {});\n", " };\n", @@ -290,7 +291,7 @@ " this.context.backingStorePixelRatio ||\n", " 1;\n", "\n", - " mpl.ratio = (window.devicePixelRatio || 1) / backingStore;\n", + " this.ratio = (window.devicePixelRatio || 1) / backingStore;\n", "\n", " var rubberband_canvas = (this.rubberband_canvas = document.createElement(\n", " 'canvas'\n", @@ -300,7 +301,17 @@ " 'box-sizing: content-box; position: absolute; left: 0; top: 0; z-index: 1;'\n", " );\n", "\n", - " var resizeObserver = new ResizeObserver(function (entries) {\n", + " // Apply a ponyfill if ResizeObserver is not implemented by browser.\n", + " if (this.ResizeObserver === undefined) {\n", + " if (window.ResizeObserver !== undefined) {\n", + " this.ResizeObserver = window.ResizeObserver;\n", + " } else {\n", + " var obs = _JSXTOOLS_RESIZE_OBSERVER({});\n", + " this.ResizeObserver = obs.ResizeObserver;\n", + " }\n", + " }\n", + "\n", + " this.resizeObserverInstance = new this.ResizeObserver(function (entries) {\n", " var nentries = entries.length;\n", " for (var i = 0; i < nentries; i++) {\n", " var entry = entries[i];\n", @@ -334,8 +345,8 @@ " entry.devicePixelContentBoxSize[0].blockSize\n", " );\n", " } else {\n", - " canvas.setAttribute('width', width * mpl.ratio);\n", - " canvas.setAttribute('height', height * mpl.ratio);\n", + " canvas.setAttribute('width', width * fig.ratio);\n", + " canvas.setAttribute('height', height * fig.ratio);\n", " }\n", " canvas.setAttribute(\n", " 'style',\n", @@ -348,12 +359,12 @@ " // And update the size in Python. We ignore the initial 0/0 size\n", " // that occurs as the element is placed into the DOM, which should\n", " // otherwise not happen due to the minimum size styling.\n", - " if (width != 0 && height != 0) {\n", + " if (fig.ws.readyState == 1 && width != 0 && height != 0) {\n", " fig.request_resize(width, height);\n", " }\n", " }\n", " });\n", - " resizeObserver.observe(canvas_div);\n", + " this.resizeObserverInstance.observe(canvas_div);\n", "\n", " function on_mouse_event_closure(name) {\n", " return function (event) {\n", @@ -533,10 +544,10 @@ "};\n", "\n", "mpl.figure.prototype.handle_rubberband = function (fig, msg) {\n", - " var x0 = msg['x0'] / mpl.ratio;\n", - " var y0 = (fig.canvas.height - msg['y0']) / mpl.ratio;\n", - " var x1 = msg['x1'] / mpl.ratio;\n", - " var y1 = (fig.canvas.height - msg['y1']) / mpl.ratio;\n", + " var x0 = msg['x0'] / fig.ratio;\n", + " var y0 = (fig.canvas.height - msg['y0']) / fig.ratio;\n", + " var x1 = msg['x1'] / fig.ratio;\n", + " var y1 = (fig.canvas.height - msg['y1']) / fig.ratio;\n", " x0 = Math.floor(x0) + 0.5;\n", " y0 = Math.floor(y0) + 0.5;\n", " x1 = Math.floor(x1) + 0.5;\n", @@ -549,8 +560,8 @@ " fig.rubberband_context.clearRect(\n", " 0,\n", " 0,\n", - " fig.canvas.width / mpl.ratio,\n", - " fig.canvas.height / mpl.ratio\n", + " fig.canvas.width / fig.ratio,\n", + " fig.canvas.height / fig.ratio\n", " );\n", "\n", " fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n", @@ -733,8 +744,8 @@ " this.canvas_div.focus();\n", " }\n", "\n", - " var x = canvas_pos.x * mpl.ratio;\n", - " var y = canvas_pos.y * mpl.ratio;\n", + " var x = canvas_pos.x * this.ratio;\n", + " var y = canvas_pos.y * this.ratio;\n", "\n", " this.send_message(name, {\n", " x: x,\n", @@ -800,6 +811,10 @@ "mpl.figure.prototype.toolbar_button_onmouseover = function (tooltip) {\n", " this.message.textContent = tooltip;\n", "};\n", + "\n", + "///////////////// REMAINING CONTENT GENERATED BY embed_js.py /////////////////\n", + "// prettier-ignore\n", + "var _JSXTOOLS_RESIZE_OBSERVER=function(A){var t,i=new WeakMap,n=new WeakMap,a=new WeakMap,r=new WeakMap,o=new Set;function s(e){if(!(this instanceof s))throw new TypeError(\"Constructor requires 'new' operator\");i.set(this,e)}function h(){throw new TypeError(\"Function is not a constructor\")}function c(e,t,i,n){e=0 in arguments?Number(arguments[0]):0,t=1 in arguments?Number(arguments[1]):0,i=2 in arguments?Number(arguments[2]):0,n=3 in arguments?Number(arguments[3]):0,this.right=(this.x=this.left=e)+(this.width=i),this.bottom=(this.y=this.top=t)+(this.height=n),Object.freeze(this)}function d(){t=requestAnimationFrame(d);var s=new WeakMap,p=new Set;o.forEach((function(t){r.get(t).forEach((function(i){var r=t instanceof window.SVGElement,o=a.get(t),d=r?0:parseFloat(o.paddingTop),f=r?0:parseFloat(o.paddingRight),l=r?0:parseFloat(o.paddingBottom),u=r?0:parseFloat(o.paddingLeft),g=r?0:parseFloat(o.borderTopWidth),m=r?0:parseFloat(o.borderRightWidth),w=r?0:parseFloat(o.borderBottomWidth),b=u+f,F=d+l,v=(r?0:parseFloat(o.borderLeftWidth))+m,W=g+w,y=r?0:t.offsetHeight-W-t.clientHeight,E=r?0:t.offsetWidth-v-t.clientWidth,R=b+v,z=F+W,M=r?t.width:parseFloat(o.width)-R-E,O=r?t.height:parseFloat(o.height)-z-y;if(n.has(t)){var k=n.get(t);if(k[0]===M&&k[1]===O)return}n.set(t,[M,O]);var S=Object.create(h.prototype);S.target=t,S.contentRect=new c(u,d,M,O),s.has(i)||(s.set(i,[]),p.add(i)),s.get(i).push(S)}))})),p.forEach((function(e){i.get(e).call(e,s.get(e),e)}))}return s.prototype.observe=function(i){if(i instanceof window.Element){r.has(i)||(r.set(i,new Set),o.add(i),a.set(i,window.getComputedStyle(i)));var n=r.get(i);n.has(this)||n.add(this),cancelAnimationFrame(t),t=requestAnimationFrame(d)}},s.prototype.unobserve=function(i){if(i instanceof window.Element&&r.has(i)){var n=r.get(i);n.has(this)&&(n.delete(this),n.size||(r.delete(i),o.delete(i))),n.size||r.delete(i),o.size||cancelAnimationFrame(t)}},A.DOMRectReadOnly=c,A.ResizeObserver=s,A.ResizeObserverEntry=h,A}; // eslint-disable-line\n", "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Left button pans, Right button zooms\\nx/y fixes axis, CTRL fixes aspect\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\\nx/y fixes axis, CTRL fixes aspect\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n", "\n", "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n", @@ -854,11 +869,20 @@ " console.error('Failed to find cell for figure', id, fig);\n", " return;\n", " }\n", + " fig.cell_info[0].output_area.element.on(\n", + " 'cleared',\n", + " { fig: fig },\n", + " fig._remove_fig_handler\n", + " );\n", "};\n", "\n", "mpl.figure.prototype.handle_close = function (fig, msg) {\n", - " var width = fig.canvas.width / mpl.ratio;\n", - " fig.root.removeEventListener('remove', this._remove_fig_handler);\n", + " var width = fig.canvas.width / fig.ratio;\n", + " fig.cell_info[0].output_area.element.off(\n", + " 'cleared',\n", + " fig._remove_fig_handler\n", + " );\n", + " fig.resizeObserverInstance.unobserve(fig.canvas_div);\n", "\n", " // Update the output cell to use the data from the current canvas.\n", " fig.push_to_output();\n", @@ -878,7 +902,7 @@ "\n", "mpl.figure.prototype.push_to_output = function (_remove_interactive) {\n", " // Turn the data on the canvas into data in the output cell.\n", - " var width = this.canvas.width / mpl.ratio;\n", + " var width = this.canvas.width / this.ratio;\n", " var dataURL = this.canvas.toDataURL();\n", " this.cell_info[1]['text/html'] =\n", " '';\n", @@ -977,13 +1001,17 @@ " titlebar.insertBefore(buttongrp, titlebar.firstChild);\n", "};\n", "\n", - "mpl.figure.prototype._remove_fig_handler = function () {\n", - " this.close_ws(this, {});\n", + "mpl.figure.prototype._remove_fig_handler = function (event) {\n", + " var fig = event.data.fig;\n", + " if (event.target !== this) {\n", + " // Ignore bubbled events from children.\n", + " return;\n", + " }\n", + " fig.close_ws(fig, {});\n", "};\n", "\n", "mpl.figure.prototype._root_extra_style = function (el) {\n", " el.style.boxSizing = 'content-box'; // override notebook setting of border-box.\n", - " el.addEventListener('remove', this._remove_fig_handler);\n", "};\n", "\n", "mpl.figure.prototype._canvas_extra_style = function (el) {\n", @@ -1063,7 +1091,7 @@ { "data": { "text/html": [ - "" + "" ], "text/plain": [ "" @@ -1094,11 +1122,10 @@ { "data": { "text/plain": [ - "SE3: \u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 1 \u001b[0m\u001b[38;5;4m 0.596303 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 1 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;4m-0.15005 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m-1 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;4m 0.657476 \u001b[0m \u001b[0m\n", - " \u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 1 \u001b[0m \u001b[0m\n", - " " + " \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 1 \u001b[0m \u001b[38;5;4m 0.5963 \u001b[0m \u001b[0m\n", + " \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 1 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;4m-0.15005 \u001b[0m \u001b[0m\n", + " \u001b[38;5;1m-1 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;4m 0.65748 \u001b[0m \u001b[0m\n", + " \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 1 \u001b[0m \u001b[0m\n" ] }, "execution_count": 6, @@ -1154,11 +1181,10 @@ { "data": { "text/plain": [ - "SE3: \u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 1 \u001b[0m\u001b[38;5;4m 0.5 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 1 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;4m 0.2 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 0 \u001b[0m\u001b[38;5;1m 1 \u001b[0m\u001b[38;5;1m 0 \u001b[0m\u001b[38;5;4m 0.5 \u001b[0m \u001b[0m\n", - " \u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 1 \u001b[0m \u001b[0m\n", - " " + " \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 1 \u001b[0m \u001b[38;5;4m 0.5 \u001b[0m \u001b[0m\n", + " \u001b[38;5;1m 1 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;4m 0.2 \u001b[0m \u001b[0m\n", + " \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 1 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;4m 0.5 \u001b[0m \u001b[0m\n", + " \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 1 \u001b[0m \u001b[0m\n" ] }, "execution_count": 8, @@ -1202,7 +1228,7 @@ { "data": { "text/plain": [ - "IKsolution(q=array([ 0.6629, -1.21, 0.2528, -0.9351, -0.8707, 2.289]), success=True, reason=None, iterations=11, residual=4.40509410010698e-12)" + "IKsolution(q=array([ 0.6629, -1.21, 0.2528, -0.9351, -0.8707, 2.289]), success=True, reason=None, iterations=11, residual=4.40500332788795e-12)" ] }, "execution_count": 10, @@ -1256,11 +1282,10 @@ { "data": { "text/plain": [ - "SE3: \u001b[38;5;1m 1.04922e-12\u001b[0m\u001b[38;5;1m-9.33675e-13\u001b[0m\u001b[38;5;1m 1 \u001b[0m\u001b[38;5;4m 0.5 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 1 \u001b[0m\u001b[38;5;1m-6.70186e-13\u001b[0m\u001b[38;5;1m-1.04933e-12\u001b[0m\u001b[38;5;4m 0.2 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 6.70242e-13\u001b[0m\u001b[38;5;1m 1 \u001b[0m\u001b[38;5;1m 9.33642e-13\u001b[0m\u001b[38;5;4m 0.5 \u001b[0m \u001b[0m\n", - " \u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 0 \u001b[0m\u001b[38;5;244m 1 \u001b[0m \u001b[0m\n", - " " + " \u001b[38;5;1m 1.0493e-12\u001b[0m \u001b[38;5;1m-9.335e-13\u001b[0m \u001b[38;5;1m 1 \u001b[0m \u001b[38;5;4m 0.5 \u001b[0m \u001b[0m\n", + " \u001b[38;5;1m 1 \u001b[0m \u001b[38;5;1m-6.7022e-13\u001b[0m \u001b[38;5;1m-1.0493e-12\u001b[0m \u001b[38;5;4m 0.2 \u001b[0m \u001b[0m\n", + " \u001b[38;5;1m 6.7034e-13\u001b[0m \u001b[38;5;1m 1 \u001b[0m \u001b[38;5;1m 9.3361e-13\u001b[0m \u001b[38;5;4m 0.5 \u001b[0m \u001b[0m\n", + " \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 1 \u001b[0m \u001b[0m\n" ] }, "execution_count": 12, @@ -2332,7 +2357,7 @@ } ], "source": [ - "rtb.tools.trajectory.qplot(qt.q, block=True)" + "rtb.tools.trajectory.qplot(qt.q, block=False)" ] }, { From 1adfca2c208813308fd4e501c9c160a42fe9958d Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sun, 23 May 2021 10:35:26 +1000 Subject: [PATCH 013/116] Change default backend logic, for ERobot with geometry select Swift --- roboticstoolbox/robot/Robot.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/roboticstoolbox/robot/Robot.py b/roboticstoolbox/robot/Robot.py index 9f41b3187..fd55e6ac8 100644 --- a/roboticstoolbox/robot/Robot.py +++ b/roboticstoolbox/robot/Robot.py @@ -1253,6 +1253,8 @@ def _get_graphical_backend(self, backend=None): default = "pyplot" elif isinstance(self, rtb.ERobot2): default = "pyplot2" + elif isinstance(self, rtb.ERobot) and self.hasgeometry: + default = "swift" if backend is not None: backend = backend.lower() From 346ebccbe89fbf99a6a2b2be08ebde9ebd450bdc Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 31 May 2021 08:04:48 +1000 Subject: [PATCH 014/116] Add documentation build for bdsim blocks --- docs/source/blocks-arm.rst | 13 ++ docs/source/blocks-mobile.rst | 14 +++ docs/source/blocks-uav.rst | 13 ++ docs/source/blocks.rst | 15 +++ docs/source/conf.py | 3 + docs/source/exts/blockname.py | 24 ++++ docs/source/index.rst | 2 +- roboticstoolbox/blocks/__init__.py | 6 +- roboticstoolbox/blocks/arm.py | 190 ++++++++++++++--------------- roboticstoolbox/blocks/mobile.py | 70 ++++++----- setup.py | 2 +- 11 files changed, 223 insertions(+), 129 deletions(-) create mode 100644 docs/source/blocks-arm.rst create mode 100644 docs/source/blocks-mobile.rst create mode 100644 docs/source/blocks-uav.rst create mode 100644 docs/source/blocks.rst create mode 100644 docs/source/exts/blockname.py diff --git a/docs/source/blocks-arm.rst b/docs/source/blocks-arm.rst new file mode 100644 index 000000000..573f7581f --- /dev/null +++ b/docs/source/blocks-arm.rst @@ -0,0 +1,13 @@ +Robot manipulator blocks +======================== + +.. image:: https://raw.githubusercontent.com/petercorke/bdsim/master/figs/BDSimLogo_NoBackgnd@2x.png + :width: 300 + +.. automodule:: roboticstoolbox.blocks.arm + :members: + :undoc-members: + :show-inheritance: + :special-members: __init__ + :exclude-members: output, reset, step, start, done, deriv + diff --git a/docs/source/blocks-mobile.rst b/docs/source/blocks-mobile.rst new file mode 100644 index 000000000..fe3ef7d86 --- /dev/null +++ b/docs/source/blocks-mobile.rst @@ -0,0 +1,14 @@ +Mobile robot blocks +=================== + +.. image:: https://raw.githubusercontent.com/petercorke/bdsim/master/figs/BDSimLogo_NoBackgnd@2x.png + :width: 300 + +.. automodule:: roboticstoolbox.blocks.mobile + :members: + :undoc-members: + :show-inheritance: + :special-members: __init__ + :exclude-members: output, reset, step, start, done, deriv + + diff --git a/docs/source/blocks-uav.rst b/docs/source/blocks-uav.rst new file mode 100644 index 000000000..4cb106a78 --- /dev/null +++ b/docs/source/blocks-uav.rst @@ -0,0 +1,13 @@ +UAV blocks +========== + +.. image:: https://raw.githubusercontent.com/petercorke/bdsim/master/figs/BDSimLogo_NoBackgnd@2x.png + :width: 300 + +.. automodule:: roboticstoolbox.blocks.uav + :members: + :undoc-members: + :show-inheritance: + :special-members: __init__ + :exclude-members: output, reset, step, start, done, deriv + diff --git a/docs/source/blocks.rst b/docs/source/blocks.rst new file mode 100644 index 000000000..87ec14b13 --- /dev/null +++ b/docs/source/blocks.rst @@ -0,0 +1,15 @@ +bdsim blocks +============ + +.. image:: https://raw.githubusercontent.com/petercorke/bdsim/master/figs/BDSimLogo_NoBackgnd@2x.png + :width: 400 + +A set of block definitions that provide robotic capability to `bdsim `_. + +.. toctree:: + :maxdepth: 2 + + blocks-arm + blocks-mobile + blocks-uav + diff --git a/docs/source/conf.py b/docs/source/conf.py index e2cf3275e..5991df8d4 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -16,6 +16,8 @@ import sphinx_rtd_theme import re +# defined relative to configuration directory which is where this file conf.py lives +sys.path.append(os.path.abspath('exts')) # -- Project information ----------------------------------------------------- @@ -44,6 +46,7 @@ 'sphinx.ext.doctest', 'sphinx.ext.inheritance_diagram', 'sphinx_autorun', + 'blockname', ] autosummary_generate = True diff --git a/docs/source/exts/blockname.py b/docs/source/exts/blockname.py new file mode 100644 index 000000000..8454c9928 --- /dev/null +++ b/docs/source/exts/blockname.py @@ -0,0 +1,24 @@ +from docutils import nodes +#from docutils.parsers.rst import Directive + + +def block_name(name, rawtext, text, lineno, inliner, options={}, content=[]): + + # name: The local name of the interpreted role, the role name actually used in the document. + # rawtext: A string containing the enitre interpreted text input, including the role and markup. Return it as a problematic node linked to a system message if a problem is encountered. + # text: The interpreted text content. + # lineno: The line number where the interpreted text begins. + # inliner: The docutils.parsers.rst.states.Inliner object that called role_fn. It contains the several attributes useful for error reporting and document tree access. + # options: A dictionary of directive options for customization (from the "role" directive), to be interpreted by the role function. Used for additional attributes for the generated elements and other functionality. + # content: A list of strings, the directive content for customization (from the "role" directive). To be interpreted by the role function. + html_node = nodes.raw(text='

' + text + '

', format='html') + return [html_node], [] + + +def setup(app): + app.add_role("blockname", block_name) + return { + 'version': '0.1', + 'parallel_read_safe': True, + 'parallel_write_safe': True, + } \ No newline at end of file diff --git a/docs/source/index.rst b/docs/source/index.rst index c7ade7d33..3a28053e4 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -13,4 +13,4 @@ Robotics Toolbox for Python intro arm mobile - \ No newline at end of file + blocks \ No newline at end of file diff --git a/roboticstoolbox/blocks/__init__.py b/roboticstoolbox/blocks/__init__.py index d37ff1bd6..2a9d94fa0 100644 --- a/roboticstoolbox/blocks/__init__.py +++ b/roboticstoolbox/blocks/__init__.py @@ -1,3 +1,3 @@ -from roboticstoolbox.blocks.arm import * -from roboticstoolbox.blocks.mobile import * -from roboticstoolbox.blocks.uav import * \ No newline at end of file +from .arm import * +from .mobile import * +from .uav import * \ No newline at end of file diff --git a/roboticstoolbox/blocks/arm.py b/roboticstoolbox/blocks/arm.py index 3408b9f9a..bd0874ccd 100644 --- a/roboticstoolbox/blocks/arm.py +++ b/roboticstoolbox/blocks/arm.py @@ -28,13 +28,13 @@ class FKine(FunctionBlock): .. table:: :align: left - +------------+---------+---------+ - | inputs | outputs | states | - +------------+---------+---------+ - | 1 | 1 | 0 | - +------------+---------+---------+ - | ndarray | SE3 | | - +------------+---------+---------+ + +------------+---------+---------+ + | inputs | outputs | states | + +------------+---------+---------+ + | 1 | 1 | 0 | + +------------+---------+---------+ + | ndarray | SE3 | | + +------------+---------+---------+ """ def __init__(self, robot=None, args={}, *inputs, **kwargs): @@ -82,13 +82,13 @@ class IKine(FunctionBlock): .. table:: :align: left - +------------+---------+---------+ - | inputs | outputs | states | - +------------+---------+---------+ - | 1 | 1 | 0 | - +------------+---------+---------+ - | SE3 | ndarray | | - +------------+---------+---------+ + +------------+---------+---------+ + | inputs | outputs | states | + +------------+---------+---------+ + | 1 | 1 | 0 | + +------------+---------+---------+ + | SE3 | ndarray | | + +------------+---------+---------+ """ def __init__( @@ -167,13 +167,13 @@ class Jacobian(FunctionBlock): .. table:: :align: left - +------------+---------+---------+ - | inputs | outputs | states | - +------------+---------+---------+ - | 1 | 1 | 0 | - +------------+---------+---------+ - | ndarray | ndarray | | - +------------+---------+---------+ + +------------+---------+---------+ + | inputs | outputs | states | + +------------+---------+---------+ + | 1 | 1 | 0 | + +------------+---------+---------+ + | ndarray | ndarray | | + +------------+---------+---------+ """ def __init__( @@ -262,13 +262,13 @@ class Tr2Delta(FunctionBlock): .. table:: :align: left - +------------+------------+---------+ - | inputs | outputs | states | - +------------+------------+---------+ - | 2 | 1 | 0 | - +------------+------------+---------+ - | SE3, SE3 | ndarray(6) | | - +------------+------------+---------+ + +------------+------------+---------+ + | inputs | outputs | states | + +------------+------------+---------+ + | 2 | 1 | 0 | + +------------+------------+---------+ + | SE3, SE3 | ndarray(6) | | + +------------+------------+---------+ """ def __init__(self, *inputs, **kwargs): @@ -313,13 +313,13 @@ class Delta2Tr(FunctionBlock): .. table:: :align: left - +------------+----------+---------+ - | inputs | outputs | states | - +------------+----------+---------+ - | 1 | 1 | 0 | - +------------+----------+---------+ - | ndarray(6) | SE3 | | - +------------+----------+---------+ + +------------+----------+---------+ + | inputs | outputs | states | + +------------+----------+---------+ + | 1 | 1 | 0 | + +------------+----------+---------+ + | ndarray(6) | SE3 | | + +------------+----------+---------+ """ def __init__(self, *inputs, **kwargs): @@ -363,13 +363,13 @@ class Point2Tr(FunctionBlock): .. table:: :align: left - +------------+----------+---------+ - | inputs | outputs | states | - +------------+----------+---------+ - | 1 | 1 | 0 | - +------------+----------+---------+ - | ndarray(3) | SE3 | | - +------------+----------+---------+ + +------------+----------+---------+ + | inputs | outputs | states | + +------------+----------+---------+ + | 1 | 1 | 0 | + +------------+----------+---------+ + | ndarray(3) | SE3 | | + +------------+----------+---------+ """ def __init__(self, T, *inputs, **kwargs): @@ -415,13 +415,13 @@ class TR2T(FunctionBlock): .. table:: :align: left - +------------+----------+---------+ - | inputs | outputs | states | - +------------+----------+---------+ - | 1 | 3 | 0 | - +------------+----------+---------+ - | SE3 | float | | - +------------+----------+---------+ + +------------+----------+---------+ + | inputs | outputs | states | + +------------+----------+---------+ + | 1 | 3 | 0 | + +------------+----------+---------+ + | SE3 | float | | + +------------+----------+---------+ """ def __init__(self, *inputs, **kwargs): @@ -464,15 +464,15 @@ class FDyn(TransferBlock): .. table:: :align: left - +------------+---------+---------+ - | inputs | outputs | states | - +------------+---------+---------+ - | 1 | 3 | 0 | - +------------+---------+---------+ - | ndarray | ndarray,| | - | | ndarray,| | - | | ndarray | | - +------------+---------+---------+ + +------------+---------+---------+ + | inputs | outputs | states | + +------------+---------+---------+ + | 1 | 3 | 0 | + +------------+---------+---------+ + | ndarray | ndarray,| | + | | ndarray,| | + | | ndarray | | + +------------+---------+---------+ """ def __init__(self, robot, *inputs, q0=None, **kwargs): @@ -547,15 +547,15 @@ class IDyncs(FunctionBlock): .. table:: :align: left - +------------+---------+---------+ - | inputs | outputs | states | - +------------+---------+---------+ - | 3 | 1 | 0 | - +------------+---------+---------+ - | ndarray, | ndarray | | - | ndarray, | | | - | ndarray | | | - +------------+---------+---------+ + +------------+---------+---------+ + | inputs | outputs | states | + +------------+---------+---------+ + | 3 | 1 | 0 | + +------------+---------+---------+ + | ndarray, | ndarray | | + | ndarray, | | | + | ndarray | | | + +------------+---------+---------+ """ def __init__(self, robot, *inputs, gravity=None, **kwargs): @@ -611,13 +611,13 @@ class ArmPlot(GraphicsBlock): .. table:: :align: left - +--------+---------+---------+ - | inputs | outputs | states | - +--------+---------+---------+ - | 1 | 0 | 0 | - +--------+---------+---------+ - | ndarray| | | - +--------+---------+---------+ + +--------+---------+---------+ + | inputs | outputs | states | + +--------+---------+---------+ + | 1 | 0 | 0 | + +--------+---------+---------+ + | ndarray| | | + +--------+---------+---------+ """ def __init__(self, robot=None, *inputs, q0=None, backend=None, **kwargs): @@ -689,13 +689,13 @@ class Traj(FunctionBlock): .. table:: :align: left - +------------+---------+---------+ - | inputs | outputs | states | - +------------+---------+---------+ - | 0 or 1 | 1 | 0 | - +------------+---------+---------+ - | float | float | | - +------------+---------+---------+ + +------------+---------+---------+ + | inputs | outputs | states | + +------------+---------+---------+ + | 0 or 1 | 1 | 0 | + +------------+---------+---------+ + | float | float | | + +------------+---------+---------+ """ def __init__(self, y0=0, yf=1, T=None, time=False, traj="lspb", *inputs, **kwargs): @@ -795,13 +795,13 @@ class JTraj(SourceBlock): .. table:: :align: left - +------------+------------+---------+ - | inputs | outputs | states | - +------------+------------+---------+ - | 0 | 3 | 0 | - +------------+------------+---------+ - | | ndarray(n) | | - +------------+------------+---------+ + +------------+------------+---------+ + | inputs | outputs | states | + +------------+------------+---------+ + | 0 | 3 | 0 | + +------------+------------+---------+ + | | ndarray(n) | | + +------------+------------+---------+ """ def __init__(self, q0, qf, qd0=None, qdf=None, T=None, *inputs, **kwargs): @@ -936,13 +936,13 @@ class CirclePath(SourceBlock): .. table:: :align: left - +------------+---------+---------+ - | inputs | outputs | states | - +------------+---------+---------+ - | 0 or 1 | 1 | 0 | - +------------+---------+---------+ - | float | float | | - +------------+---------+---------+ + +------------+---------+---------+ + | inputs | outputs | states | + +------------+---------+---------+ + | 0 or 1 | 1 | 0 | + +------------+---------+---------+ + | float | float | | + +------------+---------+---------+ """ def __init__( diff --git a/roboticstoolbox/blocks/mobile.py b/roboticstoolbox/blocks/mobile.py index 6aa6e9406..0b7592db7 100644 --- a/roboticstoolbox/blocks/mobile.py +++ b/roboticstoolbox/blocks/mobile.py @@ -19,17 +19,17 @@ class Bicycle(TransferBlock): .. table:: :align: left - +------------+---------+---------+ - | inputs | outputs | states | - +------------+---------+---------+ - | 2 | 3 | 3 | - +------------+---------+---------+ - | float | float | | - +------------+---------+---------+ + +------------+---------+---------+ + | inputs | outputs | states | + +------------+---------+---------+ + | 2 | 3 | 3 | + +------------+---------+---------+ + | float | float | | + +------------+---------+---------+ """ def __init__(self, *inputs, x0=None, L=1, vlim=1, slim=1, **kwargs): - """ + r""" :param ``*inputs``: Optional incoming connections :type ``*inputs``: Block or Plug :param x0: Inital state, defaults to 0 @@ -43,6 +43,12 @@ def __init__(self, *inputs, x0=None, L=1, vlim=1, slim=1, **kwargs): :param ``**kwargs``: common Block options :return: a BICYCLE block :rtype: Bicycle instance + + :INPUT v: velocity + :INPUT γ: steering wheel angle + :OUTPUT x: x-position + :OUTPUT y: y-position + :OUTPUT θ: heading angle Create a vehicle model with Bicycle kinematics. @@ -104,13 +110,13 @@ class Unicycle(TransferBlock): .. table:: :align: left - +------------+---------+---------+ - | inputs | outputs | states | - +------------+---------+---------+ - | 2 | 3 | 3 | - +------------+---------+---------+ - | float | float | | - +------------+---------+---------+ + +------------+---------+---------+ + | inputs | outputs | states | + +------------+---------+---------+ + | 2 | 3 | 3 | + +------------+---------+---------+ + | float | float | | + +------------+---------+---------+ """ def __init__(self, *inputs, x0=None, **kwargs): @@ -124,6 +130,12 @@ def __init__(self, *inputs, x0=None, **kwargs): :param ``**kwargs``: common Block options :return: a UNICYCLE block :rtype: Unicycle instance + + :input v: velocity + :input ω: steering wheel angle + :output x: x-position + :output y: y-position + :output θ: heading angle Create a vehicle model with Unicycle kinematics. @@ -170,13 +182,13 @@ class DiffSteer(TransferBlock): .. table:: :align: left - +------------+---------+---------+ - | inputs | outputs | states | - +------------+---------+---------+ - | 2 | 3 | 3 | - +------------+---------+---------+ - | float | float | | - +------------+---------+---------+ + +------------+---------+---------+ + | inputs | outputs | states | + +------------+---------+---------+ + | 2 | 3 | 3 | + +------------+---------+---------+ + | float | float | | + +------------+---------+---------+ """ def __init__(self, *inputs, R=1, W=1, x0=None, **kwargs): @@ -247,13 +259,13 @@ class VehiclePlot(GraphicsBlock): .. table:: :align: left - +--------+---------+---------+ - | inputs | outputs | states | - +--------+---------+---------+ - | 3 | 0 | 0 | - +--------+---------+---------+ - | float | | | - +--------+---------+---------+ + +--------+---------+---------+ + | inputs | outputs | states | + +--------+---------+---------+ + | 3 | 0 | 0 | + +--------+---------+---------+ + | float | | | + +--------+---------+---------+ """ # TODO add ability to render an image instead of an outline diff --git a/setup.py b/setup.py index a5c3de0e9..90aa197aa 100644 --- a/setup.py +++ b/setup.py @@ -147,7 +147,7 @@ def package_files(directory): package_data={'roboticstoolbox': extra_files}, - scripts=['roboticstoolbox/examples/rtbtool'], + scripts=['roboticstoolbox/bin/rtbtool'], install_requires=req, From be2bbead3ffc81dd998d60b928ee0af3dd1a495c Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 31 May 2021 10:24:19 +1000 Subject: [PATCH 015/116] Fix free inv --- roboticstoolbox/core/fknm.c | 1 + 1 file changed, 1 insertion(+) diff --git a/roboticstoolbox/core/fknm.c b/roboticstoolbox/core/fknm.c index 4990dd5ae..87215b6b8 100644 --- a/roboticstoolbox/core/fknm.c +++ b/roboticstoolbox/core/fknm.c @@ -1115,6 +1115,7 @@ int _inv(npy_float64 *m, npy_float64 *invOut) det = m[0] * inv[0] + m[1] * inv[4] + m[2] * inv[8] + m[3] * inv[12]; if (det == 0) + free(inv); return 0; det = 1.0 / det; From 2959e11d4c005c1a657a2f9a391a4f841613224e Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 31 May 2021 10:30:01 +1000 Subject: [PATCH 016/116] fix #238 --- roboticstoolbox/core/fknm.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/roboticstoolbox/core/fknm.c b/roboticstoolbox/core/fknm.c index 87215b6b8..934bf4c92 100644 --- a/roboticstoolbox/core/fknm.c +++ b/roboticstoolbox/core/fknm.c @@ -1114,9 +1114,10 @@ int _inv(npy_float64 *m, npy_float64 *invOut) det = m[0] * inv[0] + m[1] * inv[4] + m[2] * inv[8] + m[3] * inv[12]; - if (det == 0) + if (det == 0) { free(inv); return 0; + } det = 1.0 / det; From 45ab8a98fc9be226febaa0d5dcaaf11c21092cc1 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 31 May 2021 10:34:39 +1000 Subject: [PATCH 017/116] fix setup.py script --- setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup.py b/setup.py index a5c3de0e9..90aa197aa 100644 --- a/setup.py +++ b/setup.py @@ -147,7 +147,7 @@ def package_files(directory): package_data={'roboticstoolbox': extra_files}, - scripts=['roboticstoolbox/examples/rtbtool'], + scripts=['roboticstoolbox/bin/rtbtool'], install_requires=req, From 7dd62fc1297b6e13441ecf496f53938c086857ea Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 31 May 2021 12:12:39 +1000 Subject: [PATCH 018/116] Fix frne memory leak #247 --- roboticstoolbox/core/frne.c | 49 +++++++++++++++++++++++++++---------- 1 file changed, 36 insertions(+), 13 deletions(-) diff --git a/roboticstoolbox/core/frne.c b/roboticstoolbox/core/frne.c index de4118f1e..48002a726 100644 --- a/roboticstoolbox/core/frne.c +++ b/roboticstoolbox/core/frne.c @@ -106,7 +106,8 @@ static PyObject *delete(PyObject *self, PyObject *args) { static PyObject *frne(PyObject *self, PyObject *args) { Robot *robot; - PyObject *rO, *qO, *qdO, *qddO, *gravO, *fextO; + PyObject *rO, *qO, *qdO, *qddO, *gravO, *fextO, *temp; + // PyObject *python_float; double *q, *qd, *qdd, *fext; // Vect *grav; int nq = 1; //, nqd = njoints, nqdd = njoints; @@ -127,7 +128,6 @@ static PyObject *frne(PyObject *self, PyObject *args) { qd = (double *)PyMem_RawCalloc(njoints, sizeof(double)); qdd = (double *)PyMem_RawCalloc(njoints, sizeof(double)); fext = (double *)PyMem_RawCalloc(6, sizeof(double)); - // grav = (Vect *)PyMem_RawMalloc(sizeof(Vect)); // Create iterators for arrays PyObject *iq = PyObject_GetIter(qO); @@ -137,27 +137,45 @@ static PyObject *frne(PyObject *self, PyObject *args) { PyObject *ifext = PyObject_GetIter(fextO); // Create the gravity vector - robot->gravity->x = PyFloat_AsDouble(PyIter_Next(igrav)); - robot->gravity->y = PyFloat_AsDouble(PyIter_Next(igrav)); - robot->gravity->z = PyFloat_AsDouble(PyIter_Next(igrav)); + temp = PyIter_Next(igrav); + robot->gravity->x = PyFloat_AsDouble(temp); + Py_DECREF(temp); + + temp = PyIter_Next(igrav); + robot->gravity->y = PyFloat_AsDouble(temp); + Py_DECREF(temp); + + temp = PyIter_Next(igrav); + robot->gravity->z = PyFloat_AsDouble(temp); + Py_DECREF(temp); + // Create the joint arrays for (int i = 0; i < njoints; i++) { - q[i] = PyFloat_AsDouble(PyIter_Next(iq)); - qd[i] = PyFloat_AsDouble(PyIter_Next(iqd)); - qdd[i] = PyFloat_AsDouble(PyIter_Next(iqdd)); + temp = PyIter_Next(iq); + q[i] = PyFloat_AsDouble(temp); + Py_DECREF(temp); + + temp = PyIter_Next(iqd); + qd[i] = PyFloat_AsDouble(temp); + Py_DECREF(temp); + + temp = PyIter_Next(iqdd); + qdd[i] = PyFloat_AsDouble(temp); + Py_DECREF(temp); } // Create the fext array for (int i = 0; i < 6; i++) { - fext[i] = PyFloat_AsDouble(PyIter_Next(ifext)); + temp = PyIter_Next(ifext); + fext[i] = PyFloat_AsDouble(temp); + Py_DECREF(temp); } // Create a matrix for the return argument */ double *tau; tau = (double *)PyMem_RawCalloc(njoints, sizeof(double)); - #define MEL(x,R,C) (x[(R)+(C)*nq]) // // For each point in the input trajectory @@ -185,14 +203,19 @@ static PyObject *frne(PyObject *self, PyObject *args) { PyMem_RawFree(q); PyMem_RawFree(qd); PyMem_RawFree(qdd); - // PyMem_RawFree(grav); PyMem_RawFree(fext); + Py_DECREF(iq); + Py_DECREF(iqd); + Py_DECREF(iqdd); + Py_DECREF(igrav); + Py_DECREF(ifext); + PyObject* ret = PyList_New(njoints); for (int i = 0; i < njoints; ++i) { - PyObject* python_float = Py_BuildValue("d", tau[i]); - PyList_SetItem(ret, i, python_float); + PyList_SetItem(ret, i, Py_BuildValue("d", tau[i])); } + PyMem_RawFree(tau); return ret; From 189186c47baeb06f3c926b67dd2a81472df6a31b Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 7 Jun 2021 12:35:30 +1000 Subject: [PATCH 019/116] Fixes #248, base included with defined start frame --- roboticstoolbox/robot/ERobot.py | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) diff --git a/roboticstoolbox/robot/ERobot.py b/roboticstoolbox/robot/ERobot.py index 12cbf2c91..397fa9e27 100644 --- a/roboticstoolbox/robot/ERobot.py +++ b/roboticstoolbox/robot/ERobot.py @@ -1275,6 +1275,9 @@ def fkine( Sequence, J. Haviland and P. Corke """ + if start is not None: + include_base = False + # Use c extension to calculate fkine if fast: path, _, etool = self.get_path(end, start, _fknm=True) @@ -1286,10 +1289,10 @@ def fkine( T = np.empty((4, 4)) fknm.fkine(m, path, q, etool, tool, T) - if not include_base: - return T - else: + if self._base is not None and start is None and include_base == True: return self.base.A @ T + else: + return T # Otherwise use Python method # we work with NumPy arrays not SE2/3 classes for speed @@ -1340,7 +1343,11 @@ def fkine( break # add base transform if it is set - if self._base is not None and start == self.base_link: + if ( + self._base is not None + and start == self.base_link + and include_base == True + ): Tk = self.base.A @ Tk # cast to pose class and append From 65aeda108bef406831e8944ba435eb24f04e048e Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Tue, 15 Jun 2021 16:21:56 +1000 Subject: [PATCH 020/116] Initial working version of a bunch of motion planners --- .../mobile/{bug2.py => Bug2Planner.py} | 0 .../mobile/CurvaturePolyPlanner.py | 63 +++ ...dx_form.py => DistanceTransformPlanner.py} | 0 .../mobile/{dstar.py => DstarPlanner.py} | 0 roboticstoolbox/mobile/DubinsPlanner.py | 346 ++++++++++++++ roboticstoolbox/mobile/OccGrid.py | 216 +++++++++ roboticstoolbox/mobile/PRMPlanner.py | 296 ++++++++++++ .../mobile/{navigation.py => Planner.py} | 0 roboticstoolbox/mobile/QuinticPolyPlanner.py | 222 +++++++++ roboticstoolbox/mobile/RRTPlanner.py | 197 ++++++++ roboticstoolbox/mobile/ReedsSheppPlanner.py | 424 ++++++++++++++++++ .../mobile/{vehicle.py => Vehicle.py} | 35 +- roboticstoolbox/mobile/__init__.py | 21 +- 13 files changed, 1806 insertions(+), 14 deletions(-) rename roboticstoolbox/mobile/{bug2.py => Bug2Planner.py} (100%) create mode 100644 roboticstoolbox/mobile/CurvaturePolyPlanner.py rename roboticstoolbox/mobile/{dx_form.py => DistanceTransformPlanner.py} (100%) rename roboticstoolbox/mobile/{dstar.py => DstarPlanner.py} (100%) create mode 100644 roboticstoolbox/mobile/DubinsPlanner.py create mode 100644 roboticstoolbox/mobile/OccGrid.py create mode 100644 roboticstoolbox/mobile/PRMPlanner.py rename roboticstoolbox/mobile/{navigation.py => Planner.py} (100%) create mode 100644 roboticstoolbox/mobile/QuinticPolyPlanner.py create mode 100644 roboticstoolbox/mobile/RRTPlanner.py create mode 100644 roboticstoolbox/mobile/ReedsSheppPlanner.py rename roboticstoolbox/mobile/{vehicle.py => Vehicle.py} (96%) diff --git a/roboticstoolbox/mobile/bug2.py b/roboticstoolbox/mobile/Bug2Planner.py similarity index 100% rename from roboticstoolbox/mobile/bug2.py rename to roboticstoolbox/mobile/Bug2Planner.py diff --git a/roboticstoolbox/mobile/CurvaturePolyPlanner.py b/roboticstoolbox/mobile/CurvaturePolyPlanner.py new file mode 100644 index 000000000..03026b4d1 --- /dev/null +++ b/roboticstoolbox/mobile/CurvaturePolyPlanner.py @@ -0,0 +1,63 @@ + +import math +import scipy.integrate +import scipy.optimize +import numpy as np +import matplotlib.pyplot as plt +from collections import namedtuple +from roboticstoolbox.mobile.Planner import Planner + + +def solvepath(poly, s_f, x0=[0, 0, 0], **kwargs): + + def dotfunc(t, x, poly): + theta = x[2] + k = poly[0] * t ** 3 + poly[1] * t ** 2 + poly[2] * t + poly[3] + return math.cos(theta), math.sin(theta), k + + sol = scipy.integrate.solve_ivp(dotfunc, [0, s_f], start, args=(poly,), **kwargs) + return sol.y + +def costfunc(unknowns, start, goal): + # final cost of path from start with params + # p[0:4] is polynomial + # p[4] is s_f + path = solvepath(poly=unknowns[:4], s_f=unknowns[4], x0=start) + return np.linalg.norm(path[:, -1] - np.r_[goal]) + + +class CurvaturePolyPlanner(Planner): + + def query(self, start, goal): + goal = np.r_[goal] + start = np.r_[start] + self._start = start + self._goal = goal + + delta = goal[:2] - start[:2] + d = np.linalg.norm(delta) + theta = math.atan2(delta[1], delta[0]) + sol = scipy.optimize.minimize(costfunc, [0, 0, 0, 1, theta, d], args=(start, goal,)) + + path = solvepath(sol.x[:4], sol.x[4], dense_output=True, max_step = 1e-2) + + status = namedtuple('CurvaturePolyStatus', ['s_f', 'poly'])(sol.x[5], sol.x[:5]) + + return path.T, status + +if __name__ == '__main__': + from math import pi + + # start = (1, 1, pi/4) + # goal = (-3, -3, -pi/4) + start = (0, 0, -pi/4) + goal = (1, 2, pi/4) + + # start = (0, 0, pi/2) + # goal = (1, 0, pi/2) + + planner = CurvaturePolyPlanner() + path, status = planner.query(start, goal) + + print(status) + planner.plot(path, block=True) diff --git a/roboticstoolbox/mobile/dx_form.py b/roboticstoolbox/mobile/DistanceTransformPlanner.py similarity index 100% rename from roboticstoolbox/mobile/dx_form.py rename to roboticstoolbox/mobile/DistanceTransformPlanner.py diff --git a/roboticstoolbox/mobile/dstar.py b/roboticstoolbox/mobile/DstarPlanner.py similarity index 100% rename from roboticstoolbox/mobile/dstar.py rename to roboticstoolbox/mobile/DstarPlanner.py diff --git a/roboticstoolbox/mobile/DubinsPlanner.py b/roboticstoolbox/mobile/DubinsPlanner.py new file mode 100644 index 000000000..c23316da0 --- /dev/null +++ b/roboticstoolbox/mobile/DubinsPlanner.py @@ -0,0 +1,346 @@ +""" + +Dubins path planner sample code + +author Atsushi Sakai(@Atsushi_twi) + +The MIT License (MIT) + +Copyright (c) 2016 - 2021 Atsushi Sakai + +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. + +""" +import math +from collections import namedtuple +from roboticstoolbox.mobile.Planner import Planner + +import matplotlib.pyplot as plt +import numpy as np +from spatialmath import * + +def left_straight_left(alpha, beta, d): + sa = math.sin(alpha) + sb = math.sin(beta) + ca = math.cos(alpha) + cb = math.cos(beta) + c_ab = math.cos(alpha - beta) + + tmp0 = d + sa - sb + + mode = ["L", "S", "L"] + p_squared = 2 + (d * d) - (2 * c_ab) + (2 * d * (sa - sb)) + if p_squared < 0: + return None, None, None, mode + tmp1 = math.atan2((cb - ca), tmp0) + t = base.wrap_0_2pi(-alpha + tmp1) + p = math.sqrt(p_squared) + q = base.wrap_0_2pi(beta - tmp1) + + return t, p, q, mode + + +def right_straight_right(alpha, beta, d): + sa = math.sin(alpha) + sb = math.sin(beta) + ca = math.cos(alpha) + cb = math.cos(beta) + c_ab = math.cos(alpha - beta) + + tmp0 = d - sa + sb + mode = ["R", "S", "R"] + p_squared = 2 + (d * d) - (2 * c_ab) + (2 * d * (sb - sa)) + if p_squared < 0: + return None, None, None, mode + tmp1 = math.atan2((ca - cb), tmp0) + t = base.wrap_0_2pi(alpha - tmp1) + p = math.sqrt(p_squared) + q = base.wrap_0_2pi(-beta + tmp1) + + return t, p, q, mode + + +def left_straight_right(alpha, beta, d): + sa = math.sin(alpha) + sb = math.sin(beta) + ca = math.cos(alpha) + cb = math.cos(beta) + c_ab = math.cos(alpha - beta) + + p_squared = -2 + (d * d) + (2 * c_ab) + (2 * d * (sa + sb)) + mode = ["L", "S", "R"] + if p_squared < 0: + return None, None, None, mode + p = math.sqrt(p_squared) + tmp2 = math.atan2((-ca - cb), (d + sa + sb)) - math.atan2(-2.0, p) + t = base.wrap_0_2pi(-alpha + tmp2) + q = base.wrap_0_2pi(-base.wrap_0_2pi(beta) + tmp2) + + return t, p, q, mode + + +def right_straight_left(alpha, beta, d): + sa = math.sin(alpha) + sb = math.sin(beta) + ca = math.cos(alpha) + cb = math.cos(beta) + c_ab = math.cos(alpha - beta) + + p_squared = (d * d) - 2 + (2 * c_ab) - (2 * d * (sa + sb)) + mode = ["R", "S", "L"] + if p_squared < 0: + return None, None, None, mode + p = math.sqrt(p_squared) + tmp2 = math.atan2((ca + cb), (d - sa - sb)) - math.atan2(2.0, p) + t = base.wrap_0_2pi(alpha - tmp2) + q = base.wrap_0_2pi(beta - tmp2) + + return t, p, q, mode + + +def right_left_right(alpha, beta, d): + sa = math.sin(alpha) + sb = math.sin(beta) + ca = math.cos(alpha) + cb = math.cos(beta) + c_ab = math.cos(alpha - beta) + + mode = ["R", "L", "R"] + tmp_rlr = (6.0 - d * d + 2.0 * c_ab + 2.0 * d * (sa - sb)) / 8.0 + if abs(tmp_rlr) > 1.0: + return None, None, None, mode + + p = base.wrap_0_2pi(2 * math.pi - math.acos(tmp_rlr)) + t = base.wrap_0_2pi(alpha - math.atan2(ca - cb, d - sa + sb) + base.wrap_0_2pi(p / 2.0)) + q = base.wrap_0_2pi(alpha - beta - t + base.wrap_0_2pi(p)) + return t, p, q, mode + + +def left_right_left(alpha, beta, d): + sa = math.sin(alpha) + sb = math.sin(beta) + ca = math.cos(alpha) + cb = math.cos(beta) + c_ab = math.cos(alpha - beta) + + mode = ["L", "R", "L"] + tmp_lrl = (6.0 - d * d + 2.0 * c_ab + 2.0 * d * (- sa + sb)) / 8.0 + if abs(tmp_lrl) > 1: + return None, None, None, mode + p = base.wrap_0_2pi(2 * math.pi - math.acos(tmp_lrl)) + t = base.wrap_0_2pi(-alpha - math.atan2(ca - cb, d + sa - sb) + p / 2.0) + q = base.wrap_0_2pi(base.wrap_0_2pi(beta) - alpha - t + base.wrap_0_2pi(p)) + + return t, p, q, mode + + +def dubins_path_planning_from_origin(end_x, end_y, end_yaw, curvature, + step_size): + dx = end_x + dy = end_y + D = math.hypot(dx, dy) + d = D * curvature + + theta = base.wrap_0_2pi(math.atan2(dy, dx)) + alpha = base.wrap_0_2pi(- theta) + beta = base.wrap_0_2pi(end_yaw - theta) + + planners = [left_straight_left, right_straight_right, left_straight_right, + right_straight_left, right_left_right, + left_right_left] + + best_cost = float("inf") + bt, bp, bq, best_mode = None, None, None, None + + for planner in planners: + t, p, q, mode = planner(alpha, beta, d) + if t is None: + continue + + cost = (abs(t) + abs(p) + abs(q)) + if best_cost > cost: + bt, bp, bq, best_mode = t, p, q, mode + best_cost = cost + lengths = [bt, bp, bq] + + x_list, y_list, yaw_list, directions = generate_local_course( + sum(lengths), lengths, best_mode, curvature, step_size) + + return x_list, y_list, yaw_list, best_mode, best_cost, lengths + + +def interpolate(ind, length, mode, max_curvature, origin_x, origin_y, + origin_yaw, path_x, path_y, path_yaw, directions): + if mode == "S": + path_x[ind] = origin_x + length / max_curvature * math.cos(origin_yaw) + path_y[ind] = origin_y + length / max_curvature * math.sin(origin_yaw) + path_yaw[ind] = origin_yaw + else: # curve + ldx = math.sin(length) / max_curvature + ldy = 0.0 + if mode == "L": # left turn + ldy = (1.0 - math.cos(length)) / max_curvature + elif mode == "R": # right turn + ldy = (1.0 - math.cos(length)) / -max_curvature + gdx = math.cos(-origin_yaw) * ldx + math.sin(-origin_yaw) * ldy + gdy = -math.sin(-origin_yaw) * ldx + math.cos(-origin_yaw) * ldy + path_x[ind] = origin_x + gdx + path_y[ind] = origin_y + gdy + + if mode == "L": # left turn + path_yaw[ind] = origin_yaw + length + elif mode == "R": # right turn + path_yaw[ind] = origin_yaw - length + + if length > 0.0: + directions[ind] = 1 + else: + directions[ind] = -1 + + return path_x, path_y, path_yaw, directions + + +def generate_local_course(total_length, lengths, mode, max_curvature, + step_size): + n_point = math.trunc(total_length / step_size) + len(lengths) + 4 + + path_x = [0.0 for _ in range(n_point)] + path_y = [0.0 for _ in range(n_point)] + path_yaw = [0.0 for _ in range(n_point)] + directions = [0.0 for _ in range(n_point)] + index = 1 + + if lengths[0] > 0.0: + directions[0] = 1 + else: + directions[0] = -1 + + ll = 0.0 + + for (m, l, i) in zip(mode, lengths, range(len(mode))): + if l > 0.0: + d = step_size + else: + d = -step_size + + # set origin state + origin_x, origin_y, origin_yaw = \ + path_x[index], path_y[index], path_yaw[index] + + index -= 1 + if i >= 1 and (lengths[i - 1] * lengths[i]) > 0: + pd = - d - ll + else: + pd = d - ll + + while abs(pd) <= abs(l): + index += 1 + path_x, path_y, path_yaw, directions = interpolate( + index, pd, m, max_curvature, origin_x, origin_y, origin_yaw, + path_x, path_y, path_yaw, directions) + pd += d + + ll = l - pd - d # calc remain length + + index += 1 + path_x, path_y, path_yaw, directions = interpolate( + index, l, m, max_curvature, origin_x, origin_y, origin_yaw, + path_x, path_y, path_yaw, directions) + + if len(path_x) <= 1: + return [], [], [], [] + + # remove unused data + while len(path_x) >= 1 and path_x[-1] == 0.0: + path_x.pop() + path_y.pop() + path_yaw.pop() + directions.pop() + + return path_x, path_y, path_yaw, directions + +def path_planning(start, goal, curvature, step_size=0.1): + """ + Dubins path planner + + input: + s_x x position of start point [m] + s_y y position of start point [m] + s_yaw yaw angle of start point [rad] + g_x x position of end point [m] + g_y y position of end point [m] + g_yaw yaw angle of end point [rad] + c curvature [1/m] + + """ + s_x, s_y, s_yaw = start + g_x, g_y, g_yaw = goal + + g_x = g_x - s_x + g_y = g_y - s_y + + l_rot = base.rot2(s_yaw) + le_xy = np.stack([g_x, g_y]).T @ l_rot + le_yaw = g_yaw - s_yaw + + lp_x, lp_y, lp_yaw, mode, length, lengths = dubins_path_planning_from_origin( + le_xy[0], le_xy[1], le_yaw, curvature, step_size) + + rot = base.rot2(-s_yaw) + converted_xy = np.stack([lp_x, lp_y]).T @ rot + x_list = converted_xy[:, 0] + s_x + y_list = converted_xy[:, 1] + s_y + yaw_list = [base.wrap_mpi_pi(i_yaw + s_yaw) for i_yaw in lp_yaw] + + path = np.c_[x_list, y_list, yaw_list] + return path, length, mode, lengths + +class DubinsPlanner(Planner): + + def __init__(self, curvature=1, step_size=0.1): + super().__init__() + self.curvature = curvature + self.step_size = step_size + + def query(self, start, goal): + self._start = start + self._goal = goal + path, length, mode, lengths = path_planning(start, goal, c=self.curvature, step_size=self.step_size) + status = namedtuple('DubinsStatus', ['segments', 'lengths'])(mode, lengths) + return path, status + +if __name__ == '__main__': + from math import pi + + start = (1, 1, pi/4) + goal = (-3, -3, -pi/4) + + start = (0, 0, pi/2) + goal = (1, 0, pi/2) + + dubins = DubinsPlanner(curvature=1.0) + path, status = dubins.query(start, goal) + + print(path) + print(status) + dubins.plot(path=path[:, :2]) + + plt.show(block=True) + # plt.plot(path_x, path_y, label="final course " + "".join(mode)) + + # # plotting + # plot_arrow(start_x, start_y, start_yaw) + # plot_arrow(end_x, end_y, end_yaw) + + # plt.legend() + # plt.grid(True) + # plt.axis("equal") + # plt.show(block=True) diff --git a/roboticstoolbox/mobile/OccGrid.py b/roboticstoolbox/mobile/OccGrid.py new file mode 100644 index 000000000..3ff0edce8 --- /dev/null +++ b/roboticstoolbox/mobile/OccGrid.py @@ -0,0 +1,216 @@ +import numpy as np +import matplotlib.pyplot as plt +from spatialmath import base +import scipy.ndimage as sp + +class OccGrid: + + def __init__(self, grid, size=1, origin=(0, 0), name=None): + """ + Create an occupancy grid instance + + :param grid: occupancy grid as a NumPy array + :type grid: ndarray(N,M) + :param size: cell size, defaults to 1 + :type size: float, optional + :param origin: world coordinates of the grid element [0,0], defaults to (0, 0) + :type origin: array_like(2), optional + + The array is kept internally as a bool array, True if occupied, corresponding + to input values > 0. + """ + self._size = size + self._origin = base.getvector(origin, 2) + self._grid = grid.astype(bool) + self._name = name + + def copy(self): + return self.__class__(self._grid.copy(), self._size, self._origin, self._name) + + def __str__(self): + s = "OccupancyGrid" + if self._name is not None: + s += f"[{self._name}]" + s += f": {self._grid.shape[1]} x {self._grid.shape[0]}" + ncells = np.prod(self._grid.shape) + nobs = self._grid.sum() + s += f", {nobs/ncells*100:.1f}% occupied" + s += f", cell size={self._size}" + s += f", x: {self.xmin} - {self.xmax}, y: {self.ymin} - {self.ymax}" + return s + + @property + def grid(self): + """ + Get the occupancy grid array + + :return: binary occupancy grid + :rtype: ndarray(N,M) of bool + """ + return self._grid + + @property + def xmin(self): + """ + Minimum x-coordinate of this grid + + :return: minimum x-coordinate + :rtype: float + """ + return self._origin[0] + + @property + def xmax(self): + """ + Maximum x-coordinate of this grid + + :return: maximum x-coordinate + :rtype: float + """ + return (self._grid.shape[1] -1 ) * self._size + self._origin[0] + + @property + def ymin(self): + """ + Minimum y-coordinate of this grid + + :return: minimum y-coordinate + :rtype: float + """ + return self._origin[1] + + @property + def ymax(self): + """ + Maximum y-coordinate of this grid + + :return: maximum y-coordinate + :rtype: float + """ + return (self._grid.shape[0] -1 ) * self._size + self._origin[1] + + @property + def shape(self): + """ + Shape of the occupancy grid array + + :return: shape of the occupancy grid array + :rtype: 2-tuple + """ + return self._grid.shape + + @property + def name(self): + """ + Occupancy grid name + + :return: name of the occupancy grid + :rtype: str + """ + return self._name + + @name.setter + def name(self, name): + """ + Set occupancy grid name + + :param name: new name of the occupancy grid + :type name: str + """ + self._name = name + + def g2w(self, p): + """ + Convert grid coordinate to world coordinate + + :param p: grid coordinate (column, row) + :type p: array_like(2) + :return: world coordinate (x, y) + :rtype: ndarray(2) + """ + p = base.getvector(p, 2) + return p * self._size + self._origin + + def w2g(self, p): + """ + Convert world coordinate to grid coordinate + + :param p: world coordinate (x, y) + :type p: array_like(2) + :return: grid coordinate (column, row) + :rtype: ndarray(2) + + The grid coordinate is rounded and cast to integer value. + """ + return (np.round(p - self._origin) / self._size).astype(int) + + def isoccupied(self, p): + """ + Test if coordinate is occupied + + :param p: world coordinate (x, y) + :type p: array_like(2) + :return: occupancy status of corresponding grid cell + :rtype: bool + + The world coordinate is rounded to integer grid coordinates and the + occupancy status of that cell is returned. + + :seealso: :meth:`w2g` + """ + c, r = self.w2g(p) + try: + return self._grid[r, c] + except IndexError: + return True + + def plot(self, map=None, ax=None, block=False, **kwargs): + + ax = base.axes_logic(ax, 2) + extent = [self.xmin, self.xmax, self.ymin, self.ymax] + if map is None: + ax.imshow(self._grid, extent=extent, origin='lower', **kwargs) + else: + ax.imshow(map, extent=extent, origin='lower', **kwargs) + ax.set_xlabel('X') + ax.set_ylabel('Y') + plt.show(block=block) + + def inflate(self, radius): + """ + Inflate obstales + + :param radius: radius of circular structuring element in world units + :type radius: float + + A circular structuring element is created and used to dilate the + occupancy grid. + + :seealso: :func:`scipy.ndimage.binary_dilation` + """ + # Generate a circular structuring element + r = round(radius / self._size) + Y, X = np.meshgrid(np.arange(-r, r+1), np.arange(-r, r+1)) + SE = X**2 + Y**2 <= r**2 + SE = SE.astype(int) + + # do the inflation using SciPy + self._grid = sp.binary_dilation(self._grid, SE) + +if __name__ == "__main__": + + g = np.zeros((100, 100)) + g[20:30, 50:80] = 1 + + og = OccGrid(g, size=0.1, origin=(2,4),name='bob') + print(og) + print(og.xmin, og.xmax, og.ymin, og.ymax) + print(og.isoccupied((8.5, 6.5))) + print(og.isoccupied((6, 6))) + print(og.isoccupied((500, 500))) + og.plot(block=False) + og2 = og.copy() + print(og2) + og2.inflate(0.5) + plt.figure() + og2.plot(block=True) \ No newline at end of file diff --git a/roboticstoolbox/mobile/PRMPlanner.py b/roboticstoolbox/mobile/PRMPlanner.py new file mode 100644 index 000000000..60c4cee37 --- /dev/null +++ b/roboticstoolbox/mobile/PRMPlanner.py @@ -0,0 +1,296 @@ +""" +Python PRM +@Author: Kristian Gibson +TODO: Comments + Sphynx Docs Structured Text +TODO: Bug-fix, testing + +Not ready for use yet. +""" +from numpy import disp +from scipy import integrate +from spatialmath.base.animate import Animate +from spatialmath.base.transforms2d import * +from spatialmath.base.vectors import * +from spatialmath.pose2d import SE2 +from spatialmath.base import animate +from scipy.ndimage import * +from matplotlib import cm +from roboticstoolbox.mobile.Planner import Planner +from pgraph import UGraph + + +class PRMPlanner(Planner): + def __init__(self, + private=False, reset=False, verbose=None, + transform=SE2(), npoints=100, dist_thresh=None, **kwargs): + + super().__init__(**kwargs) + + if dist_thresh is None: + self._dist_thresh = 0.3 * max(self.occgrid.shape) + + self._npoints = npoints + self._npoints0 = npoints + self._dist_thresh0 = self.dist_thresh + self._graph = None + self._v_goal = None + self._v_start = None + self._local_goal = None + self._local_path = None + self._v_path = None + self._g_path = None + + @property + def npoints(self): + return self._npoints + + @property + def npoints0(self): + return self._npoints0 + + @property + def dist_thresh(self): + return self._dist_thresh + + @property + def dist_thresh0(self): + return self._dist_thresh0 + + @property + def graph(self): + return self._graph + + @property + def v_goal(self): + return self._v_goal + + @property + def v_start(self): + return self._v_start + + @property + def local_goal(self): + return self._local_goal + + @property + def local_path(self): + return self._local_path + + @property + def v_path(self): + return self._v_path + + + def create_roadmap(self, animate=None): + a = Animate(animate, 'fps', 5) + x = None + y = None + for j in range(self.npoints): + while True: + # pick a random unoccupied point + x = self.random.uniform(self.occgrid.xmin, self.occgrid.xmax) + y = self.random.uniform(self.occgrid.ymin, self.occgrid.ymax) + if not self.occgrid.isoccupied((x, y)): + break + new = np.r_[x, y] + + # compute distance from new node to all other nodes + distances = [] + for v in self.graph: + distances.append((v, v.distance(new))) + + vnew = self.graph.add_vertex(new) + + if len(distances) > 0: + # sort into ascending order + distances.sort(key=lambda x: x[1]) + for v, d in distances: + if d > self.dist_thresh: + continue + if not self.test_path(new, v.coord): + continue + + self.graph.add_edge(v, vnew) + + if animate is not None: + self.plot() + if not np.empty(movie): + a.add() + + def test_path(self, p1, p2, npoints = 10): + dir = p2 - p1 + + for s in np.linspace(0, 1, npoints): + if self.occgrid.isoccupied(p1 + s * dir): + return False + return True + + def plan(self, npoints=None, dist_thresh=None, animate=None): + self.message('create the graph') + + if npoints is None: + npoints = self.npoints0 + if dist_thresh is None: + dist_thresh = self.dist_thresh0; + + self._npoints = npoints + self._dist_thresh = dist_thresh + + self._graph = UGraph() + self._v_path = np.array([]) + self.create_roadmap(animate) + + def query(self, start, goal): + if self.graph.n == 0: + Error('RTB:PRM:noplan:query: no plan: run the planner') + + self.check_points(start, goal) + + # find vertices closest to start and goal + vstart, _ = self.graph.closest(self.start) + vgoal, _ = self.graph.closest(self.goal) + + out = self.graph.path_Astar(vstart, vgoal) + if out is None: + print('no path found') + return None + + path = [v.coord for v in out[0]] + path.insert(0, start) + path.append(goal) + return np.array(path) + + # def closest(self, vertex, v_component): + # component = None + # if v_component is not None: + # component = self.graph.component[v_component] + # d, v = self.graph.distances(vertex) + # c = np.array([]) + + # for i in range(0, len(d)): + # if v_component is not None: + # if self._graph.component(v[i]) != component: + # continue + # if not self.test_path(vertex, self._graph.coord(v(i))): + # continue + # c = v[i] + # break + + # return c + + def next(self, p): + if all(p[:] == self.goal): + n = np.array([]) + return n + + if len(self._local_path) == 0: + if np.empty(self._g_path): + self._local_path = self.bresenham(p, self._goal) + self._local_path = self._local_path[1:len(self._local_path), :] + self._local_goal = np.array([]) + else: + self._local_goal = self._g_path[0] + self._g_path = self._g_path[1:len(self._g_path)] + + self._local_path = bresenham(p, self.graph.coord(self._local_goal)) + self._local_path = self._local_path[1:len(self._local_path), :] + self.graph.highlight_node(self._local_goal) + + n = np.transpose(self._local_path[0, :]) + self._local_pathh = self._local_path[1:len(self._local_path), :] + return n + + # def char(self): + # s = "\ngraph size: " + self._npoints + # s = s + "\nndist thresh: " + self._dist_thresh + # s = s + "\nGraph: " + self.graph + # return s + + # self.create_roadmap(self, animate) + +# def bresenham(p0, p1): +# # https://rosettacode.org/wiki/Bitmap/Bresenham%27s_line_algorithm#Python +# x0, y0 = p0 +# x1, y1 = p1 +# line = [] + +# dx = abs(x1 - x0) +# dy = abs(y1 - y0) +# x, y = x0, y0 +# sx = -1 if x0 > x1 else 1 +# sy = -1 if y0 > y1 else 1 +# if dx > dy: +# err = dx / 2.0 +# while x != x1: +# line.append((x, y)) +# err -= dy +# if err < 0: +# y += sy +# err += dx +# x += sx +# else: +# err = dy / 2.0 +# while y != y1: +# line.append((x, y)) +# err -= dx +# if err < 0: +# x += sx +# err += dy +# y += sy +# line.append((x, y)) +# return np.array(line).T + +# def hom_line(x1, y1, x2, y2): +# line = np.cross(np.array([x1, y1, 1]), np.array([x2, y2, 1])) + +# # normalize so that the result of x*l' is the pixel distance +# # from the line +# line = line / np.linalg.norm(line[0:2]) +# return line + + +# # Sourced from: https://stackoverflow.com/questions/28995146/matlab-ind2sub-equivalent-in-python/28995315#28995315 +# def sub2ind(array_shape, rows, cols): +# ind = rows * array_shape[1] + cols +# ind[ind < 0] = -1 +# ind[ind >= array_shape[0] * array_shape[1]] = -1 +# return ind + + +# def ind2sub(array_shape, ind): +# ind[ind < 0] = -1 +# ind[ind >= array_shape[0] * array_shape[1]] = -1 +# rows = (ind.astype('int') / array_shape[1]) +# cols = ind % array_shape[1] +# return rows, cols + +# def col_norm(x): +# y = np.array([]) +# if x.ndim > 1: +# x = np.column_stack(x) +# for vector in x: +# y = np.append(y, np.linalg.norm(vector)) +# else: +# y = np.linalg.norm(x) +# return y + + +if __name__ == "__main__": + + # start and goal position + start = (10, 10) + goal = (50, 50) + robot_size = 5.0 # [m] + + occgrid = np.zeros((100, 100)) + occgrid[20:40, 15:30] = 1 + + prm = PRMPlanner(occgrid=occgrid, verbose=True, inflate=5) + + prm.plan() + path = prm.query(start, goal) + print(path) + + prm.plot(path, path_marker=dict(zorder=8, linewidth=2, markersize=6, color='k')) + prm.graph.plot(ax=plt.gca(), text=False, vertex=dict(markersize=4), edge=dict(linewidth=0.5)) + plt.show(block=True) \ No newline at end of file diff --git a/roboticstoolbox/mobile/navigation.py b/roboticstoolbox/mobile/Planner.py similarity index 100% rename from roboticstoolbox/mobile/navigation.py rename to roboticstoolbox/mobile/Planner.py diff --git a/roboticstoolbox/mobile/QuinticPolyPlanner.py b/roboticstoolbox/mobile/QuinticPolyPlanner.py new file mode 100644 index 000000000..3fa18a527 --- /dev/null +++ b/roboticstoolbox/mobile/QuinticPolyPlanner.py @@ -0,0 +1,222 @@ +""" + +Quintic Polynomials Planner + +author: Atsushi Sakai (@Atsushi_twi) + +Ref: + +- [Local Path planning And Motion Control For Agv In Positioning](http://ieeexplore.ieee.org/document/637936/) + +The MIT License (MIT) + +Copyright (c) 2016 - 2021 Atsushi Sakai + +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. +""" + +import math +from collections import namedtuple + +import matplotlib.pyplot as plt +import numpy as np +from roboticstoolbox.mobile.Planner import Planner + +# parameter +MAX_T = 100.0 # maximum time to the goal [s] +MIN_T = 5.0 # minimum time to the goal[s] + +show_animation = True + + +class QuinticPolynomial: + + def __init__(self, xs, vxs, axs, xe, vxe, axe, time): + # calc coefficient of quintic polynomial + # See jupyter notebook document for derivation of this equation. + self.a0 = xs + self.a1 = vxs + self.a2 = axs / 2.0 + + A = np.array([[time ** 3, time ** 4, time ** 5], + [3 * time ** 2, 4 * time ** 3, 5 * time ** 4], + [6 * time, 12 * time ** 2, 20 * time ** 3]]) + b = np.array([xe - self.a0 - self.a1 * time - self.a2 * time ** 2, + vxe - self.a1 - 2 * self.a2 * time, + axe - 2 * self.a2]) + x = np.linalg.solve(A, b) + + self.a3 = x[0] + self.a4 = x[1] + self.a5 = x[2] + + def calc_point(self, t): + xt = self.a0 + self.a1 * t + self.a2 * t ** 2 + \ + self.a3 * t ** 3 + self.a4 * t ** 4 + self.a5 * t ** 5 + + return xt + + def calc_first_derivative(self, t): + xt = self.a1 + 2 * self.a2 * t + \ + 3 * self.a3 * t ** 2 + 4 * self.a4 * t ** 3 + 5 * self.a5 * t ** 4 + + return xt + + def calc_second_derivative(self, t): + xt = 2 * self.a2 + 6 * self.a3 * t + 12 * self.a4 * t ** 2 + 20 * self.a5 * t ** 3 + + return xt + + def calc_third_derivative(self, t): + xt = 6 * self.a3 + 24 * self.a4 * t + 60 * self.a5 * t ** 2 + + return xt + + +def quintic_polynomials_planner(sx, sy, syaw, sv, sa, gx, gy, gyaw, gv, ga, max_accel, max_jerk, dt): + """ + quintic polynomial planner + + input + s_x: start x position [m] + s_y: start y position [m] + s_yaw: start yaw angle [rad] + sa: start accel [m/ss] + gx: goal x position [m] + gy: goal y position [m] + gyaw: goal yaw angle [rad] + ga: goal accel [m/ss] + max_accel: maximum accel [m/ss] + max_jerk: maximum jerk [m/sss] + dt: time tick [s] + + return + time: time result + rx: x position result list + ry: y position result list + ryaw: yaw angle result list + rv: velocity result list + ra: accel result list + + """ + + vxs = sv * math.cos(syaw) + vys = sv * math.sin(syaw) + vxg = gv * math.cos(gyaw) + vyg = gv * math.sin(gyaw) + + axs = sa * math.cos(syaw) + ays = sa * math.sin(syaw) + axg = ga * math.cos(gyaw) + ayg = ga * math.sin(gyaw) + + time, rx, ry, ryaw, rv, ra, rj = [], [], [], [], [], [], [] + + for T in np.arange(MIN_T, MAX_T, MIN_T): + xqp = QuinticPolynomial(sx, vxs, axs, gx, vxg, axg, T) + yqp = QuinticPolynomial(sy, vys, ays, gy, vyg, ayg, T) + + time, rx, ry, ryaw, rv, ra, rj = [], [], [], [], [], [], [] + + for t in np.arange(0.0, T + dt, dt): + time.append(t) + rx.append(xqp.calc_point(t)) + ry.append(yqp.calc_point(t)) + + vx = xqp.calc_first_derivative(t) + vy = yqp.calc_first_derivative(t) + v = np.hypot(vx, vy) + yaw = math.atan2(vy, vx) + rv.append(v) + ryaw.append(yaw) + + ax = xqp.calc_second_derivative(t) + ay = yqp.calc_second_derivative(t) + a = np.hypot(ax, ay) + if len(rv) >= 2 and rv[-1] - rv[-2] < 0.0: + a *= -1 + ra.append(a) + + jx = xqp.calc_third_derivative(t) + jy = yqp.calc_third_derivative(t) + j = np.hypot(jx, jy) + if len(ra) >= 2 and ra[-1] - ra[-2] < 0.0: + j *= -1 + rj.append(j) + + if max([abs(i) for i in ra]) <= max_accel and max([abs(i) for i in rj]) <= max_jerk: + print("find path!!") + break + + return time, np.c_[rx, ry, ryaw], rv, ra, rj + + +class QuinticPolyPlanner(Planner): + + def __init__(self, dt=0.1, start_vel=0, start_acc=0, goal_vel=0, goal_acc=0, + max_acc=1, max_jerk=0.5): + super().__init__() + self.dt = dt + self.start_vel = start_vel + self.start_acc = start_acc + self.goal_vel = goal_vel + self.goal_acc = goal_acc + self.max_acc = max_acc + self.max_jerk = max_jerk + + + def query(self, start, goal): + self._start = start + self._goal = goal + + time, path, v, a, j = quintic_polynomials_planner( + start[0], start[1], start[2], self.start_vel, self.start_acc, + goal[0], goal[1], goal[2], self.start_vel, self.start_acc, + self.max_acc, self.max_jerk, dt=self.dt) + + status = namedtuple('QuinticPolyStatus', ['t', 'vel', 'acc', 'jerk'])( + time, v, a, j) + + return path, status + +if __name__ == '__main__': + from math import pi + + start = (10, 10, np.deg2rad(10.0)) + goal = (30, -10, np.deg2rad(20.0)) + + quintic = QuinticPolyPlanner(start_vel=1) + path, status = quintic.query(start, goal) + + print(path) + print(status) + quintic.plot(path=path[:, :2]) + + plt.figure() + plt.subplot(311) + plt.plot(status.t, status.vel, "-r") + plt.ylabel("velocity (m/s)") + plt.grid(True) + + plt.subplot(312) + plt.plot(status.t, status.acc, "-r") + plt.ylabel("accel (m/s2)") + plt.grid(True) + + plt.subplot(313) + plt.plot(status.t, status.jerk, "-r") + plt.xlabel("Time (s)") + plt.ylabel("jerk (m/s3)") + plt.grid(True) + + plt.show(block=True) + + diff --git a/roboticstoolbox/mobile/RRTPlanner.py b/roboticstoolbox/mobile/RRTPlanner.py new file mode 100644 index 000000000..9c8ca6660 --- /dev/null +++ b/roboticstoolbox/mobile/RRTPlanner.py @@ -0,0 +1,197 @@ +""" +Python RRT +@Author: Kristian Gibson +TODO: Comments + Sphynx Docs Structured Text +TODO: Bug-fix, testing + +Not ready for use yet. +""" +from scipy import integrate +from spatialmath.base.transforms2d import * +from spatialmath.base.vectors import * +from spatialmath.pose2d import SE2 +from spatialmath.base import * +from spatialmath.base.animate import * +from scipy.ndimage import * +from matplotlib import cm +from roboticstoolbox.mobile.Planner import Planner +from pgraph import DGraph, DVertex +from roboticstoolbox.mobile.DubinsPlanner import path_planning + +class RRTVertex(DVertex): + + def __init__(self, *args, **kwargs): + super().__init__(*args, **kwargs) + self.vel = 0 + self.path = [] + + +class RRTPlanner(Planner): + + def __init__(self, vehicle=None, + private=False, reset=False, + npoints=100, simtime=0.5, speed=1, root=(0, 0, 0), + rev_cost=1, **kwargs): + + super().__init__(**kwargs) + self._graph = None + self._vehicle = vehicle + self._npoints = npoints + self._simtime = simtime + self._speed = speed + self._root = root + self._rev_cost = rev_cost + self._v_goal = None + self._v_start = None + + @property + def npoints(self): + return self._npoints + + @property + def graph(self): + return self._graph + + @property + def vehicle(self): + return self._vehicle + + @property + def v_goal(self): + return self._v_goal + + @property + def v_start(self): + return self._v_start + + def plan(self, progress=True, samples=False, goalsampling=0.1, root=None, goal=None, maxlen=np.Inf): + + self.message('create the graph') + self._graph = DGraph(metric=lambda x: np.linalg.norm(x[:2])) + + # if np.empty(self._root): + # Error('no root node specified') + + # if not isvector(self._root, 3): + # Error('root must be 3-vector') + + assert(not self.isoccupied(root[:2]), 'root node cell is occupied') + + vroot = RRTVertex(root) + v_root = self._graph.add_vertex(vroot) + + npoints = 0 + curvature = self.vehicle.curvature_max + + while npoints < self.npoints: + if goal is not None and self.random.uniform() > goalsampling: + # pick a random unoccupied point + while True: + x = self.random.uniform(self.occgrid.xmin, self.occgrid.xmax) + y = self.random.uniform(self.occgrid.ymin, self.occgrid.ymax) + if not self.occgrid.isoccupied((x, y)): + break + + theta = self.random.uniform(-np.pi, np.pi) + rand = np.r_[x, y, theta] + else: + # with probability goalsampling give the goal + rand = goal + + vnear, d = self.graph.closest(rand) + + if d > maxlen: + continue + + near = vnear.coord + + self.message(f"random point ({rand[:2]}) node {vnear.name}") + + path, length, *_ = self.find_path(near, rand, curvature) + + for p in path: + if self.isoccupied(p[:2]): + self.message('path cross an obstacle') + break + else: + vnew = RRTVertex(rand) + vnew.path = path + self.graph.add_vertex(vnew) + self.graph.add_edge(vnear, vnew, cost=length) + + npoints += 1 + + self.message('graph create done') + + def query(self, start, goal): + if self.graph.n == 0: + Error('RTB:PRM:noplan:query: no plan: run the planner') + + self.check_points(start, goal, dim=3) + + # find vertices closest to start and goal + vstart, _ = self.graph.closest(self.start) + vgoal, _ = self.graph.closest(self.goal) + + out = self.graph.path_Astar(vstart, vgoal) + if out is None: + print('no path found') + return None + + self.astar = out + self.message(f"A* path cost {out[1]}") + + path = [self._start] + path.extend([v.coord for v in out[0]]) + path.append(self._goal) + + return np.array(path) + + def __str__(self): + s = str(self) + s += "\nregion: X: " + str(self._x_range) + " Y:" + str(self._y_range) + s += "\nsim time: " + str(self._simtime) + s += "\nspeed: " + str(self._speed) + s += "\nGraph:" + s += "\n" + str(self._graph) + if self.vehicle is not None: + s += "\n Vehicle: " + self.vehicle + return s + + def find_path(self, x0=None, xg=None, curvature=1, N=None): + + path = path_planning(x0, xg, curvature, step_size=0.1) + return path + + +if __name__ == "__main__": + + from roboticstoolbox.mobile.Vehicle import Bicycle + + # start and goal position + start = (10, 10, 0) + goal = (50, 50, 0) + robot_size = 5.0 # [m] + + occgrid = np.zeros((100, 100)) + occgrid[20:40, 15:30] = 1 + + vehicle = Bicycle(steer_max=0.4, l=2) + + rrt = RRTPlanner(occgrid=occgrid, vehicle=vehicle, verbose=False, inflate=5, seed=0) + + rrt.plan(root=start, goal=goal) + path = rrt.query(start, goal) + print(path) + + path = [] + for vertex in rrt.astar[0]: + path.extend(vertex.path) + path = np.array(path) + rrt.plot(path[:,:2], path_marker=dict(zorder=8, linewidth=2, markersize=6, color='k')) + for vertex in rrt.graph: + path = np.array(vertex.path) + if path.size > 0: + plt.plot(path[:,0], path[:,1]) + + plt.show(block=True) \ No newline at end of file diff --git a/roboticstoolbox/mobile/ReedsSheppPlanner.py b/roboticstoolbox/mobile/ReedsSheppPlanner.py new file mode 100644 index 000000000..2c82a0bc5 --- /dev/null +++ b/roboticstoolbox/mobile/ReedsSheppPlanner.py @@ -0,0 +1,424 @@ +""" + +Reeds Shepp path planner sample code + +author Atsushi Sakai(@Atsushi_twi) + +The MIT License (MIT) + +Copyright (c) 2016 - 2021 Atsushi Sakai + +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. + +""" +import math +from collections import namedtuple +from roboticstoolbox.mobile.Planner import Planner +import matplotlib.pyplot as plt +import numpy as np +from spatialmath import * + + +class Path: + + def __init__(self): + self.lengths = [] + self.ctypes = [] + self.L = 0.0 + self.x = [] + self.y = [] + self.yaw = [] + self.directions = [] + + +def plot_arrow(x, y, yaw, length=1.0, width=0.5, fc="r", ec="k"): + """ + Plot arrow + """ + + if not isinstance(x, float): + for (ix, iy, iyaw) in zip(x, y, yaw): + plot_arrow(ix, iy, iyaw) + else: + plt.arrow(x, y, length * math.cos(yaw), length * math.sin(yaw), + fc=fc, ec=ec, head_width=width, head_length=width) + plt.plot(x, y) + + +def straight_left_straight(x, y, phi): + phi = base.wrap_0_2pi(phi) + if y > 0.0 and 0.0 < phi < math.pi * 0.99: + xd = - y / math.tan(phi) + x + t = xd - math.tan(phi / 2.0) + u = phi + v = math.sqrt((x - xd) ** 2 + y ** 2) - math.tan(phi / 2.0) + return True, t, u, v + elif y < 0.0 < phi < math.pi * 0.99: + xd = - y / math.tan(phi) + x + t = xd - math.tan(phi / 2.0) + u = phi + v = -math.sqrt((x - xd) ** 2 + y ** 2) - math.tan(phi / 2.0) + return True, t, u, v + + return False, 0.0, 0.0, 0.0 + + +def set_path(paths, lengths, ctypes): + path = Path() + path.ctypes = ctypes + path.lengths = lengths + + # check same path exist + for tpath in paths: + typeissame = (tpath.ctypes == path.ctypes) + if typeissame: + if sum(np.abs(tpath.lengths)) - sum(np.abs(path.lengths)) <= 0.01: + return paths # not insert path + + path.L = sum([abs(i) for i in lengths]) + + # Base.Test.@test path.L >= 0.01 + if path.L >= 0.01: + paths.append(path) + + return paths + + +def straight_curve_straight(x, y, phi, paths): + flag, t, u, v = straight_left_straight(x, y, phi) + if flag: + paths = set_path(paths, [t, u, v], ["S", "L", "S"]) + + flag, t, u, v = straight_left_straight(x, -y, -phi) + if flag: + paths = set_path(paths, [t, u, v], ["S", "R", "S"]) + + return paths + + +def polar(x, y): + r = math.sqrt(x ** 2 + y ** 2) + theta = math.atan2(y, x) + return r, theta + + +def left_straight_left(x, y, phi): + u, t = polar(x - math.sin(phi), y - 1.0 + math.cos(phi)) + if t >= 0.0: + v = base.wrap_0_2pi(phi - t) + if v >= 0.0: + return True, t, u, v + + return False, 0.0, 0.0, 0.0 + + +def left_right_left(x, y, phi): + u1, t1 = polar(x - math.sin(phi), y - 1.0 + math.cos(phi)) + + if u1 <= 4.0: + u = -2.0 * math.asin(0.25 * u1) + t = base.wrap_0_2pi(t1 + 0.5 * u + math.pi) + v = base.wrap_0_2pi(phi - t + u) + + if t >= 0.0 >= u: + return True, t, u, v + + return False, 0.0, 0.0, 0.0 + + +def curve_curve_curve(x, y, phi, paths): + flag, t, u, v = left_right_left(x, y, phi) + if flag: + paths = set_path(paths, [t, u, v], ["L", "R", "L"]) + + flag, t, u, v = left_right_left(-x, y, -phi) + if flag: + paths = set_path(paths, [-t, -u, -v], ["L", "R", "L"]) + + flag, t, u, v = left_right_left(x, -y, -phi) + if flag: + paths = set_path(paths, [t, u, v], ["R", "L", "R"]) + + flag, t, u, v = left_right_left(-x, -y, phi) + if flag: + paths = set_path(paths, [-t, -u, -v], ["R", "L", "R"]) + + # backwards + xb = x * math.cos(phi) + y * math.sin(phi) + yb = x * math.sin(phi) - y * math.cos(phi) + + flag, t, u, v = left_right_left(xb, yb, phi) + if flag: + paths = set_path(paths, [v, u, t], ["L", "R", "L"]) + + flag, t, u, v = left_right_left(-xb, yb, -phi) + if flag: + paths = set_path(paths, [-v, -u, -t], ["L", "R", "L"]) + + flag, t, u, v = left_right_left(xb, -yb, -phi) + if flag: + paths = set_path(paths, [v, u, t], ["R", "L", "R"]) + + flag, t, u, v = left_right_left(-xb, -yb, phi) + if flag: + paths = set_path(paths, [-v, -u, -t], ["R", "L", "R"]) + + return paths + + +def curve_straight_curve(x, y, phi, paths): + flag, t, u, v = left_straight_left(x, y, phi) + if flag: + paths = set_path(paths, [t, u, v], ["L", "S", "L"]) + + flag, t, u, v = left_straight_left(-x, y, -phi) + if flag: + paths = set_path(paths, [-t, -u, -v], ["L", "S", "L"]) + + flag, t, u, v = left_straight_left(x, -y, -phi) + if flag: + paths = set_path(paths, [t, u, v], ["R", "S", "R"]) + + flag, t, u, v = left_straight_left(-x, -y, phi) + if flag: + paths = set_path(paths, [-t, -u, -v], ["R", "S", "R"]) + + flag, t, u, v = left_straight_right(x, y, phi) + if flag: + paths = set_path(paths, [t, u, v], ["L", "S", "R"]) + + flag, t, u, v = left_straight_right(-x, y, -phi) + if flag: + paths = set_path(paths, [-t, -u, -v], ["L", "S", "R"]) + + flag, t, u, v = left_straight_right(x, -y, -phi) + if flag: + paths = set_path(paths, [t, u, v], ["R", "S", "L"]) + + flag, t, u, v = left_straight_right(-x, -y, phi) + if flag: + paths = set_path(paths, [-t, -u, -v], ["R", "S", "L"]) + + return paths + + +def left_straight_right(x, y, phi): + u1, t1 = polar(x + math.sin(phi), y - 1.0 - math.cos(phi)) + u1 = u1 ** 2 + if u1 >= 4.0: + u = math.sqrt(u1 - 4.0) + theta = math.atan2(2.0, u) + t = base.wrap_0_2pi(t1 + theta) + v = base.wrap_0_2pi(t - phi) + + if t >= 0.0 and v >= 0.0: + return True, t, u, v + + return False, 0.0, 0.0, 0.0 + + +def generate_path(q0, q1, max_curvature): + dx = q1[0] - q0[0] + dy = q1[1] - q0[1] + dth = q1[2] - q0[2] + c = math.cos(q0[2]) + s = math.sin(q0[2]) + x = (c * dx + s * dy) * max_curvature + y = (-s * dx + c * dy) * max_curvature + + paths = [] + paths = straight_curve_straight(x, y, dth, paths) + paths = curve_straight_curve(x, y, dth, paths) + paths = curve_curve_curve(x, y, dth, paths) + + return paths + + +def interpolate(ind, length, mode, max_curvature, origin_x, origin_y, origin_yaw, path_x, path_y, path_yaw, directions): + if mode == "S": + path_x[ind] = origin_x + length / max_curvature * math.cos(origin_yaw) + path_y[ind] = origin_y + length / max_curvature * math.sin(origin_yaw) + path_yaw[ind] = origin_yaw + else: # curve + ldx = math.sin(length) / max_curvature + ldy = 0.0 + if mode == "L": # left turn + ldy = (1.0 - math.cos(length)) / max_curvature + elif mode == "R": # right turn + ldy = (1.0 - math.cos(length)) / -max_curvature + gdx = math.cos(-origin_yaw) * ldx + math.sin(-origin_yaw) * ldy + gdy = -math.sin(-origin_yaw) * ldx + math.cos(-origin_yaw) * ldy + path_x[ind] = origin_x + gdx + path_y[ind] = origin_y + gdy + + if mode == "L": # left turn + path_yaw[ind] = origin_yaw + length + elif mode == "R": # right turn + path_yaw[ind] = origin_yaw - length + + if length > 0.0: + directions[ind] = 1 + else: + directions[ind] = -1 + + return path_x, path_y, path_yaw, directions + + +def generate_local_course(total_length, lengths, mode, max_curvature, step_size): + n_point = math.trunc(total_length / step_size) + len(lengths) + 4 + + px = [0.0 for _ in range(n_point)] + py = [0.0 for _ in range(n_point)] + pyaw = [0.0 for _ in range(n_point)] + directions = [0.0 for _ in range(n_point)] + ind = 1 + + if lengths[0] > 0.0: + directions[0] = 1 + else: + directions[0] = -1 + + ll = 0.0 + + for (m, l, i) in zip(mode, lengths, range(len(mode))): + if l > 0.0: + d = step_size + else: + d = -step_size + + # set origin state + ox, oy, oyaw = px[ind], py[ind], pyaw[ind] + + ind -= 1 + if i >= 1 and (lengths[i - 1] * lengths[i]) > 0: + pd = - d - ll + else: + pd = d - ll + + while abs(pd) <= abs(l): + ind += 1 + px, py, pyaw, directions = interpolate( + ind, pd, m, max_curvature, ox, oy, oyaw, px, py, pyaw, directions) + pd += d + + ll = l - pd - d # calc remain length + + ind += 1 + px, py, pyaw, directions = interpolate( + ind, l, m, max_curvature, ox, oy, oyaw, px, py, pyaw, directions) + + # remove unused data + while px[-1] == 0.0: + px.pop() + py.pop() + pyaw.pop() + directions.pop() + + return px, py, pyaw, directions + + +def pi_2_pi(angle): + return (angle + math.pi) % (2 * math.pi) - math.pi + + +def calc_paths(sx, sy, syaw, gx, gy, gyaw, maxc, step_size): + q0 = [sx, sy, syaw] + q1 = [gx, gy, gyaw] + + paths = generate_path(q0, q1, maxc) + for path in paths: + x, y, yaw, directions = generate_local_course( + path.L, path.lengths, path.ctypes, maxc, step_size * maxc) + + # convert global coordinate + path.x = [math.cos(-q0[2]) * ix + math.sin(-q0[2]) + * iy + q0[0] for (ix, iy) in zip(x, y)] + path.y = [-math.sin(-q0[2]) * ix + math.cos(-q0[2]) + * iy + q0[1] for (ix, iy) in zip(x, y)] + path.yaw = [pi_2_pi(iyaw + q0[2]) for iyaw in yaw] + path.directions = directions + path.lengths = [length / maxc for length in path.lengths] + path.L = path.L / maxc + + return paths + + +def reeds_shepp_path_planning(start, goal, maxc, step_size): + + s_x, s_y, s_yaw = start + g_x, g_y, g_yaw = goal + + paths = calc_paths(s_x, s_y, s_yaw, g_x, g_y, g_yaw, maxc, step_size) + + if not paths: + return None + + minL = float("Inf") + best_path_index = -1 + for i, _ in enumerate(paths): + if paths[i].L <= minL: + minL = paths[i].L + best_path_index = i + + bpath = paths[best_path_index] + + return bpath + + +class ReedsSheppPlanner(Planner): + + def __init__(self, curvature=1, stepsize=0.1): + super().__init__() + self.curvature = curvature + self.stepsize = stepsize + + def query(self, start, goal): + self.start = start + self.goal = goal + bpath = reeds_shepp_path_planning(start, goal, self.curvature, self.stepsize) + + path = np.c_[bpath.x, bpath.y, bpath.yaw] + + status = namedtuple('ReedsSheppStatus', ['segments', 'lengths', 'direction'])(bpath.ctypes, bpath.lengths, bpath.directions) + return path, status + + +if __name__ == '__main__': + from math import pi + + # start = (-1, -4, -np.radians(20)) + # goal = (5, 5, np.radians(25)) + + + start = (0, 0, 0) + goal = (0, 0, pi) + + reedsshepp = ReedsShepp(curvature=1.0, stepsize=0.1) + path, status = reedsshepp.query(start, goal) + + # px, py, pyaw, mode, clen = reeds_shepp_path_planning( + # start_x, start_y, start_yaw, end_x, end_y, end_yaw, curvature, step_size) + + # if show_animation: # pragma: no cover + # plt.cla() + # plt.plot(px, py, label="final course " + str(mode)) + + # # plotting + # plot_arrow(start_x, start_y, start_yaw) + # plot_arrow(end_x, end_y, end_yaw) + + # plt.legend() + # plt.grid(True) + # plt.axis("equal") + # plt.show(block=True) + + reedsshepp.plot_fg(path=path, direction=status.direction) + plt.show(block=True) \ No newline at end of file diff --git a/roboticstoolbox/mobile/vehicle.py b/roboticstoolbox/mobile/Vehicle.py similarity index 96% rename from roboticstoolbox/mobile/vehicle.py rename to roboticstoolbox/mobile/Vehicle.py index 75aaefbee..8210fdab1 100644 --- a/roboticstoolbox/mobile/vehicle.py +++ b/roboticstoolbox/mobile/Vehicle.py @@ -516,7 +516,7 @@ def stopif(self, stop): if stop: self._stopsim = True - def plot(self, path=None, block=True): + def plot(self, x=None, shape='box', block=False, size=True, **kwargs): """ [summary] (superclass method) @@ -525,9 +525,22 @@ def plot(self, path=None, block=True): :param block: [description], defaults to True :type block: bool, optional """ - - plt.plot(path[:,0], path[:,1]) - plt.show(block=block) + if shape == 'triangle': + L = size + W = 0.6 * size + vertices = [(L, 0), (-L, -W), (-L, W)] + elif shape == 'box': + L1 = size + L2 = size + W = 0.6 * size + vertices = [(-L1, W), (0.6*L2, W), (L2, 0.5*W), (L2, -0.5*W), (0.6*L2, -W), (-L1, -W)] + elif isinstance(shape, np.ndarray): + vertices = shape + else: + raise ValueError('bad vehicle shape specified') + + vertices = np.array(vertices).T + base.plot_poly(SE2(x) * vertices, close=True, **kwargs) def plot_x_y(self, block=True, **kwargs): xyt = self._x_hist @@ -598,8 +611,8 @@ def path(self, t=10, u=None, x0=None): if x0 is None: x0 = np.zeros(3) - def dynamics(t, x, vehicle, demand): - u = vehicle.control(demand, x) + def dynamics(t, x, vehicle, u): + # u = vehicle.control(demand, x) return vehicle.deriv(x, u) @@ -613,7 +626,7 @@ def dynamics(t, x, vehicle, demand): raise ValueError('bad time argument') sol = integrate.solve_ivp(dynamics, t_span, x0, t_eval=t_eval, method="RK45", args=(self, u)) - return (sol.t, sol.y) + return (sol.t, sol.y.T) # ========================================================================= # class Bicycle(Vehicle): @@ -656,6 +669,14 @@ def l(self): """ return self._l + @property + def radius_min(self): + return self.l / np.tan(self.steer_max) + + @property + def curvature_max(self): + return 1.0 / self.radius_min + @property def steer_max(self): """ diff --git a/roboticstoolbox/mobile/__init__.py b/roboticstoolbox/mobile/__init__.py index 3882f8d9d..524cf33b2 100644 --- a/roboticstoolbox/mobile/__init__.py +++ b/roboticstoolbox/mobile/__init__.py @@ -1,7 +1,10 @@ -from roboticstoolbox.mobile.vehicle import * -from roboticstoolbox.mobile.bug2 import Bug2 -from roboticstoolbox.mobile.dx_form import DXform -from roboticstoolbox.mobile.dstar import DStar +from roboticstoolbox.mobile.Vehicle import Vehicle, Bicycle, Unicycle +from roboticstoolbox.mobile.Bug2Planner import Bug2Planner +from roboticstoolbox.mobile.DistanceTransformPlanner import DistanceTransformPlanner +from roboticstoolbox.mobile.DstarPlanner import DstarPlanner +from roboticstoolbox.mobile.DubinsPlanner import DubinsPlanner +from roboticstoolbox.mobile.ReedsSheppPlanner import ReedsSheppPlanner + from roboticstoolbox.mobile.landmarkmap import LandmarkMap from roboticstoolbox.mobile.sensors import RangeBearingSensor from roboticstoolbox.mobile.drivers import * @@ -12,9 +15,13 @@ 'Vehicle', 'Bicycle', 'Unicycle', - 'Bug2', - 'DXform', - 'DStar', + 'Bug2Planner', + 'DistanceTransformPlanner', + 'DstarPlanner', + 'DubinsPlanner', + 'ReedsSheppPlanner', + 'CurvaturePolyPlanner', + 'PRMPlanner', 'VehicleMarker', 'VehiclePolygon', 'VehicleIcon', From 6072ab9a66ebeeb39f624eb20b632a31b8d7b9ed Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Tue, 15 Jun 2021 16:25:22 +1000 Subject: [PATCH 021/116] More planners changed Navigation class to Planner --- roboticstoolbox/mobile/Bug2Planner.py | 192 +++--- .../mobile/DistanceTransformPlanner.py | 104 +-- roboticstoolbox/mobile/DstarPlanner.py | 160 +++-- roboticstoolbox/mobile/Planner.py | 593 ++++++++++-------- 4 files changed, 580 insertions(+), 469 deletions(-) diff --git a/roboticstoolbox/mobile/Bug2Planner.py b/roboticstoolbox/mobile/Bug2Planner.py index 4d813a7ca..f2d130853 100644 --- a/roboticstoolbox/mobile/Bug2Planner.py +++ b/roboticstoolbox/mobile/Bug2Planner.py @@ -14,51 +14,52 @@ from spatialmath.base.animate import * from scipy.ndimage import * from matplotlib import cm -from roboticstoolbox.mobile.navigation import Navigation +import matplotlib.pyplot as plt +from matplotlib import animation +from roboticstoolbox.mobile.Planner import Planner - -class Bug2(Navigation): +class Bug2Planner(Planner): def __init__(self, occ_grid, **kwargs): """ %Bug2.Bug2 Construct a Bug2 navigation object % - % B = Bug2(MAP, OPTIONS) is a bug2 navigation object, and MAP is an occupancy grid, - % a representation of a planar world as a matrix whose elements are 0 (free - % space) or 1 (occupied). + B = Bug2(MAP, OPTIONS) is a bug2 navigation object, and MAP is an occupancy grid, + a representation of a planar world as a matrix whose elements are 0 (free + space) or 1 (occupied). % - % Options:: - % 'goal',G Specify the goal point (1x2) - % 'inflate',K Inflate all obstacles by K cells. + Options:: + 'goal',G Specify the goal point (1x2) + 'inflate',K Inflate all obstacles by K cells. % - % See also Navigation.Navigation. + See also Navigation.Navigation. %Navigation.Navigation Create a Navigation object % - % N = Navigation(OCCGRID, OPTIONS) is a Navigation object that holds an - % occupancy grid OCCGRID. A number of options can be be passed. + N = Navigation(OCCGRID, OPTIONS) is a Navigation object that holds an + occupancy grid OCCGRID. A number of options can be be passed. % - % Options:: - % 'goal',G Specify the goal point (2x1) - % 'inflate',K Inflate all obstacles by K cells. - % 'private' Use private random number stream. - % 'reset' Reset random number stream. - % 'verbose' Display debugging information - % 'seed',S Set the initial state of the random number stream. S must - % be a proper random number generator state such as saved in - % the seed0 property of an earlier run. + Options:: + 'goal',G Specify the goal point (2x1) + 'inflate',K Inflate all obstacles by K cells. + 'private' Use private random number stream. + 'reset' Reset random number stream. + 'verbose' Display debugging information + 'seed',S Set the initial state of the random number stream. S must + be a proper random number generator state such as saved in + the seed0 property of an earlier run. % - % Notes:: - % - In the occupancy grid a value of zero means free space and non-zero means - % occupied (not driveable). - % - Obstacle inflation is performed with a round structuring element (kcircle) - % with radius given by the 'inflate' option. - % - Inflation requires either MVTB or IPT installed. - % - The 'private' option creates a private random number stream for the methods - % rand, randn and randi. If not given the global stream is used. + Notes:: + - In the occupancy grid a value of zero means free space and non-zero means + occupied (not driveable). + - Obstacle inflation is performed with a round structuring element (kcircle) + with radius given by the 'inflate' option. + - Inflation requires either MVTB or IPT installed. + - The 'private' option creates a private random number stream for the methods + rand, randn and randi. If not given the global stream is used. % - % See also randstream. + See also randstream. """ super().__init__(occ_grid=occ_grid, **kwargs) @@ -100,102 +101,100 @@ def edge(self): def k(self): return self._k - def query(self, start=None, goal=None, animate=False, movie=None, current=False): + # override query method of base class + def query(self, start=None, goal=None, animate=False, movie=None, trail=True): """ - [summary] - - :param start: [description], defaults to None - :type start: [type], optional - :param goal: [description], defaults to None - :type goal: [type], optional - :param animate: [description], defaults to False + Find a path using Bug2 + + :param start: starting position + :type start: array_like(2) + :param goal: goal position + :type goal: array_like(2) + :param animate: show animation of robot moving over the map, + defaults to False :type animate: bool, optional - :param movie: [description], defaults to None - :type movie: [type], optional - :param current: [description], defaults to False + :param movie: save animation as a movie, defaults to None. Is either + name of movie or a tuple (filename, frame interval) + :type movie: str or tuple(str, float), optional + :param trail: show the path followed by the robot, defaults to True :type current: bool, optional - :return: [description] - :rtype: [type] + :return: path from ``start`` to ``goal`` + :rtype: ndarray(2,N) - %Bug2.query Find a path - % - % B.query(START, GOAL, OPTIONS) is the path (Nx2) from START (1x2) to GOAL - % (1x2). Row are the coordinates of successive points along the path. If - % either START or GOAL is [] the grid map is displayed and the user is - % prompted to select a point by clicking on the plot. - % - % Options:: - % 'animate' show a simulation of the robot moving along the path - % 'movie',M create a movie - % 'current' show the current position as a black circle - % - % Notes:: - % - START and GOAL are given as X,Y coordinates in the grid map, not as - % MATLAB row and column coordinates. - % - START and GOAL are tested to ensure they lie in free space. - % - The Bug2 algorithm is completely reactive so there is no planning - % method. - % - If the bug does a lot of back tracking it's hard to see the current - % position, use the 'current' option. - % - For the movie option if M contains an extension a movie file with that - % extension is created. Otherwise a folder will be created containing - % individual frames. - % - % See also Animate. + Compute the path from ``start`` to `goal` assuming the robot is capable + of 8-way motion from its current cell to the next. + + .. note:: + + - ``start`` and `goal` are given as (x,y) coordinates in the grid map, + not as matrix row and column coordinates. + - ``start`` and ``goal`` are tested to ensure they lie in free space + - The Bug2 algorithm is completely reactive, there is no planning so + paths can be very inefficient. + - If the bug does a lot of back tracking it's hard to see the current + position, set ``trail=False`` + - For the ``movie`` option specify a file or a tuple containing the + filename and the frame interval (1/fps) in seconds. + + :seealso: :class:`MovieWriter` """ - anim = None - if movie is not None: - anim = Animate(movie) - animate = True # make sure start and goal are set and valid - self.check_query(start, goal) + self.check_points(start, goal) # compute the m-line # create homogeneous representation of the line # line*[x y 1]' = 0 - self._m_line = hom_line(self._start[0], self._start[1], - self._goal[0], self._goal[1]) + self._m_line = hom_line(self._start, self._goal) + + if movie is not None: + animate = True if animate: self.plot() self.plot_m_line() + plt.pause(0.05) + + movie = MovieWriter(movie) robot = self._start[:] self._step = 1 - path = [self._start] + path = np.r_[self._start] h = None + trail_line, = plt.plot(0, 0, 'y.') + trail_head, = plt.plot(0, 0, 'ko') + # iterate using the next() method until we reach the goal while True: if animate: - plt.plot(robot[0], robot[1], 'y.') - plt.pause(0.1) - if current: - h = self.plot(robot) - plt.draw() - if movie is not None: - anim.plot(h) - if current: - self.delete(h) + trail_head.set_data(robot[0], robot[1]) + if trail: + trail_line.set_data(path.T) + + plt.pause(0.001) + # plt.draw() + # plt.show(block=False) + # plt.gcf().canvas.flush_events() + + movie.add() # move to next point on path robot = self.next(robot) - # have we been here before, ie. in a loop - if any([all(robot == x) for x in path]): - raise RuntimeError('trapped') + # # have we been here before, ie. in a loop + # if any([all(robot == x) for x in path]): + # raise RuntimeError('trapped') # are we there yet? if robot is None: break else: - path.append(robot) + path = np.vstack((path, robot)) - if movie is not None: - anim.done() + movie.done() - return np.r_[path] + return path def plot_m_line(self, ls=None): if ls is None: @@ -290,6 +289,7 @@ def plan(self): # https://github.com/petercorke/toolbox-common-matlab/blob/master/edgelist.m # these are directions of 8-neighbours in a clockwise direction +# fmt: off _dirs = np.array([ [-1, 0], [-1, 1], @@ -300,7 +300,7 @@ def plan(self): [ 0, -1], [-1, -1], ]) - +# fmt: on def edgelist(im, p, direction=1): """ Find edge of a region @@ -446,8 +446,8 @@ def adjacent_point(im, seed, pix0): # Implementation of Peter Corke's matlab homline function from: # https://github.com/petercorke/spatialmath-matlab/blob/master/homline.m -def hom_line(x1, y1, x2, y2): - line = np.cross(np.r_[x1, y1, 1], np.r_[x2, y2, 1]) +def hom_line(p1, p2): + line = np.cross(np.r_[p1[0], p1[1], 1], np.r_[p2[0], p2[1], 1]) # normalize so that the result of x*l' is the pixel distance # from the line @@ -465,7 +465,7 @@ def hom_line(x1, y1, x2, y2): # ind[ind < 0] = -1 # ind[ind >= array_shape[0]*array_shape[1]] = -1 # rows = (ind.astype('int') / array_shape[1]) -# cols = ind % array_shape[1] +# cols = ind array_shape[1] # return rows, cols # def col_norm(x): diff --git a/roboticstoolbox/mobile/DistanceTransformPlanner.py b/roboticstoolbox/mobile/DistanceTransformPlanner.py index 6870ee44c..6cb6a5293 100644 --- a/roboticstoolbox/mobile/DistanceTransformPlanner.py +++ b/roboticstoolbox/mobile/DistanceTransformPlanner.py @@ -14,10 +14,10 @@ from spatialmath import base from scipy.ndimage import * from matplotlib import cm -from roboticstoolbox.mobile.navigation import Navigation +from roboticstoolbox.mobile.Planner import Planner -class DXform(Navigation): +class DistanceTransformPlanner(Planner): def __init__(self, occ_grid=None, metric="euclidean", distance_map=None, **kwargs): super().__init__(occ_grid=occ_grid, **kwargs) @@ -46,11 +46,11 @@ def goal_change(self, goal): self._distance_map = np.array([]) def plan(self, goal=None, animate=False): - show = None - if animate: - show = 0.05 - else: - show = 0 + # show = None + # if animate: + # show = 0.05 + # else: + # show = 0 if goal is not None: self.goal = goal @@ -58,7 +58,8 @@ def plan(self, goal=None, animate=False): if self._goal is None: raise ValueError('No goal specified here or in constructor') - self._distance_map = distancexform(self.occ_grid_nav, self._goal, self._metric) + self._distance_map = distancexform(self.occ_grid_nav, + goal=self._goal, metric=self._metric, animate=animate) # Use plot from parent class @@ -76,7 +77,7 @@ def next(self, robot): [ 1, 0], [ 0, 1], [ 1, 1], - ]) + ], dtype=int) x = robot[0] y = robot[1] @@ -107,12 +108,14 @@ def plot_3d(self, p=None, ls=None): fig = plt.figure() ax = fig.gca(projection='3d') - surf = ax.plot_surface(self._distance_map, cmap=cm.coolwarm, - linewidth=0, antialiased=False) + distance = self._distance_map + X, Y = np.meshgrid(np.arange(distance.shape[1]), np.arange(distance.shape[0])) + surf = ax.plot_surface(X, Y, distance, #cmap='gray', + linewidth=1, antialiased=False) if p is not None: - k = sub2ind(np.shape(self._distance_map), p[:, 1], p[:, 0]) - height = self._distance_map[k] + # k = sub2ind(np.shape(self._distance_map), p[:, 1], p[:, 0]) + height = distance[p[:,1], p[:,0]] ax.plot(p[:, 0], p[:, 1], height) plt.show() @@ -138,25 +141,30 @@ def ind2sub(array_shape, ind): import numpy as np -def distancexform(occgrid, goal, metric='cityblock', show=False): +def distancexform(occgrid, goal, metric='cityblock', animate=False): """ Distance transform for path planning - :param occgrid: Occupancy grid + :param occgrid: Occupancy grid, 0 is free, >0 is occupied/obstacle :type occgrid: NumPy ndarray :param goal: Goal position (x,y) :type goal: 2-element array-like :param metric: distance metric, defaults to 'cityblock' :type metric: str, optional + :param animate: animate the iterations of the algorithm :return: Distance transform matrix :rtype: NumPy ndarray - Returns a matrix the same size as the occupancy grid ``occgrid`` where each - cell contains the distance to the goal according to the chosen ``metric``. + Implements the grass/brush fire algorithm to compute, for every reachable + cell in the occupancy grid, its distance from the goal. + + The result is an array, the same size as the occupancy grid ``occgrid``, + where each cell contains the distance to the goal according to the chosen + ``metric``. In addition: - - Obstacle cells will be set to ``nan``. + - Obstacle cells will be set to ``nan`` - Unreachable cells, ie. free cells _inside obstacles_ will be set - to ``inf``. + to ``inf`` The cells of the passed occupancy grid are: - zero, cell is free or driveable @@ -169,51 +177,63 @@ def distancexform(occgrid, goal, metric='cityblock', show=False): # - goal is zero goal = base.getvector(goal, 2, dtype=np.int) - occgrid = occgrid.astype(np.float32) - occgrid[occgrid > 0] = np.nan # assign nan to obstacle cells - nans = np.isnan(occgrid) # keep record of where the NaNs are - occgrid[occgrid==0] = np.inf # assign inf to other cells - occgrid[goal[1], goal[0]] = 0 # assign zero to goal + distance = occgrid.astype(np.float32) + distance[occgrid > 0] = np.nan # assign nan to obstacle cells + distance[occgrid==0] = np.inf # assign inf to other cells + distance[goal[1], goal[0]] = 0 # assign zero to goal # create the appropriate distance matrix D if metric.lower() in ('manhattan', 'cityblock'): + # fmt: off D = np.array([ [ np.inf, 1, np.inf], [ 1, 0, 1], [ np.inf, 1, np.inf] ]) + # fmt: on elif metric.lower() == 'euclidean': r2 = np.sqrt(2) + # fmt: off D = np.array([ [ r2, 1, r2], [ 1, 0, 1], [ r2, 1, r2] ]) + # fmt: on # get ready to iterate count = 0 ninf = np.inf # number of infinities in the map + h = None while True: - - occgrid = dxstep(occgrid, D) - occgrid[nans] = np.nan + distance = grassfire_step(distance, D) + distance[occgrid > 0] = np.nan # reinsert nans for obstacles count += 1 - # if opt.animate - # cmap = [1 0 0; gray(count)]; - # colormap(cmap) - # image(occgrid+1, 'CDataMapping', 'direct'); - # set(gca, 'Ydir', 'normal'); - # xlabel('x'); - # ylabel('y'); - # if opt.animate - # anim.add(); - # else - # pause(opt.delay); - - ninfnow = sum(np.isinf(occgrid.flatten())) # current number of Infs + + if animate: + # TODO, needs work to update colorbar and be faster + display = distance.copy() + display[np.isinf(display)] = 0 + if h is None: + plt.figure() + plt.xlabel('x') + plt.ylabel('y') + ax = plt.gca() + plt.pause(0.001) + cmap = cm.get_cmap('gray') + cmap.set_bad('red') + cmap.set_over('white') + h = plt.imshow(display, cmap=cmap) + plt.colorbar(label='distance') + else: + h.remove() + h = plt.imshow(display, cmap=cmap) + plt.pause(0.001) + + ninfnow = np.isinf(distance).sum() # current number of Infs if ninfnow == ninf: # stop if the number of Infs left in the map had stopped reducing # it may never get to zero if there are unreachable cells in the map @@ -222,9 +242,9 @@ def distancexform(occgrid, goal, metric='cityblock', show=False): ninf = ninfnow print(f"{count:d} iterations, {ninf:d} unreachable cells") - return occgrid + return distance -def dxstep(G, D): +def grassfire_step(G, D): # pad with inf H = np.pad(G, max(D.shape) // 2, 'constant', constant_values=np.inf) diff --git a/roboticstoolbox/mobile/DstarPlanner.py b/roboticstoolbox/mobile/DstarPlanner.py index 0497a08fd..2d2a971d8 100644 --- a/roboticstoolbox/mobile/DstarPlanner.py +++ b/roboticstoolbox/mobile/DstarPlanner.py @@ -13,21 +13,23 @@ from spatialmath.pose2d import SE2 from scipy.ndimage import * from matplotlib import cm -from roboticstoolbox.mobile.navigation import Navigation - -class DStar(Navigation): +from enum import IntEnum +from roboticstoolbox.mobile.Planner import Planner + +class State(IntEnum): + NEW = 0 + OPEN = 1 + CLOSED = 2 +class DstarPlanner(Planner): def __init__(self, occ_grid=None, reset=False, **kwargs): self._g = None - self._b = None - self._t = None - self._h = None + self._b = None # backpointers + self._t = None # tags + self._h = None # path cost estimates self._valid_plan = None - self._open_list = None - self._open_list_maxlen = None - self._new = 0 - self._open = 1 - self._closed = 2 + self.open_list = None + self.open_list_maxlen = None self._niter = None self._costmap = occ_grid.astype(np.float32) self._m = 'euclidean' @@ -55,15 +57,23 @@ def dstar(self, map, goal=None, metric=None, inflate=None, progress=None): return self def reset(self): - self._b = np.zeros(self._costmap.shape) - self._t = np.zeros(self._costmap.shape) - self._h = np.inf * np.ones(self._costmap.shape) + # self._b = np.zeros(self._costmap.shape) + # self._t = np.zeros(self._costmap.shape) + # self._h = np.inf * np.ones(self._costmap.shape) + + self._bmat = np.zeros(self._costmap.shape) + self._tmat = np.zeros(self._costmap.shape) + self._hmat = np.inf * np.ones(self._costmap.shape) + + self._b = self._bmat.ravel() + self._t = self._tmat.ravel() + self._h = self._hmat.ravel() - self._open_list = np.zeros(2, 0) + self.open_list = np.zeros((2, 0)) - self._open_list_maxlen = -np.inf + self.open_list_maxlen = -np.inf - self.occ_grid2costmap(self._occ_grid_nav) + self.occgrid2costmap(self._occ_grid_nav) self._valid_plan = False @@ -86,28 +96,27 @@ def __str__(self): def next(self, current): if not self._valid_plan: Error("Cost map has changed, replan") - x = sub2ind(np.shape(self._costmap), current[1], current[0]) - x = self._b[x] + # x = sub2ind(np.shape(self._costmap), current[1], current[0]) + # x = self._b[x] + i = np.ravel_multi_index([current[1], current[0]], self._costmap.shape) + i = self._b[i] - n = None - if x == 0: - n = np.array([]) + if i == 0: + return None # we have arrived else: - r, c = ind2sub(np.shape(self._costmap), current[1], current[0]) - n = np.array([c, r]) - - return n + x = np.unravel_index((i), self._costmap.shape) + return x[1], x[0] def plan(self, goal=None, animate=False, progress=True): if goal is not None: - self.goal = goal + self._goal = np.array(goal).astype(int) self.reset() assert(goal is not None and goal is not np.array([])) goal = self._goal - self._g = sub2ind(np.shape(self._occ_grid_nav), goal[1], goal[0]) + self._g = np.ravel_multi_index([goal[1], goal[0]], self._costmap.shape) self.__insert(self._g, 0, 'goalset') self._h[self._g] = 0 @@ -116,7 +125,7 @@ def plan(self, goal=None, animate=False, progress=True): if progress: h_prog = self.progress_init('D* Planning') - n_free = np.prod(np.shape(self._occ_grid_nav)) - np.sum(np.sum(self._occ_grid_nav > 0)) + n_free = np.prod(self._occ_grid_nav.shape) - np.sum(self._occ_grid_nav > 0) n_update = np.round(n_free / 100) while True: @@ -127,7 +136,7 @@ def plan(self, goal=None, animate=False, progress=True): if animate: self.show_distance(self._h) - if self.process_state() < 0: + if self._process_state() < 0: break if progress: @@ -159,7 +168,7 @@ def modify(self, x, y, new_cost): x = sub2ind(np.shape(self._costmap), y, x) self._costmap[x] = new_cost - if self._t[x] == self._closed: + if self._t[x] == State.CLOSED: self.__insert(x, self._h[x], 'modifycost') # These are private methods ... kinda @@ -170,7 +179,7 @@ def __occ_grid2cost_map(self, og=None, cost=None): self._costmap[self._costmap==1] = np.Inf self._costmap[self._costmap==0] = cost - def __process_state(self): + def _process_state(self): x = self.__min_state() r = None @@ -181,7 +190,7 @@ def __process_state(self): k_old = self.__get_kmin() self.__delete(x) - if k_old < self.h[x]: + if k_old < self._h[x]: self.message('k_old == h[x]: ' + k_old) for y in self.__neighbours(x): if (self._h[y] <= k_old) and (self._h[x] > self._h[y] + self.__c(y, x)): @@ -189,14 +198,14 @@ def __process_state(self): self._h[x] = self._h[y] + self.__c(y, x) if k_old == self._h[x]: - self.message('k_old == h[x]: ' + k_old) + self.message(f"k_old == h[x]: {k_old}") for y in self.__neighbours(x): - if (self._t[y] == self._new) or ( (self._b[y] == x) and + if (self._t[y] == State.NEW) or ( (self._b[y] == x) and (self._h[y] != (self._h[x] + self.c[x, y]))) or ((self._b[y] != x) and (self._h[y] > (self._h[x] + self.c[x, y]))): self._b[y] = x - self.__insert(y, self._h(x)+self._c[x, y], 'L13') + self.__insert(y, self._h[x] + self._c(x, y), 'L13') else: self.message("k_old == h[x]: " + k_old) for y in self.__neighbours(x): @@ -216,60 +225,64 @@ def __process_state(self): return r def __k(self, x): - i = self._open_list[0,:] == x - kk = self._open_list[1, i] + i = self.open_list[0,:] == x + kk = self.open_list[1, i] return kk def __insert(self, x, h_new, where): - self.message("Insert (" + where + ") " + x + " = " + h_new + "\n") + self.message(f"Insert ({where}) {x} = {h_new}") - i = np.argwhere(self._open_list[0,:] == x) + i = np.argwhere(self.open_list[0, :] == x) if len(i) > 1: Error("D*:Insert: state in open list " + x + " times.\n") k_new = None - if self._t[x] == self._new: + if self._t[x] == State.NEW: k_new = h_new - data = np.array([(x), (k_new)]) - self._open_list = np.array([(self._open_list), data] ) - elif self._t[x] == self._open: - k_new = np.min(self._open_list[1, i], h_new) - elif self._t(x) == self._closed: + self.open_list = np.c_[self.open_list, [x, k_new]] + elif self._t[x] == State.OPEN: + k_new = np.min(self.open_list[1, i], h_new) + elif self._t[x] == State.CLOSED: k_new = np.min(self._h[x], h_new) data = np.array([(x), (k_new)]) - self._open_list = np.array([self._open_list, data]) + self.open_list = np.array([self.open_list, data]) - if len(self._open_list[0]) > self._open_list_maxlen: - self._open_list_maxlen = len(self._open_list[0]) + # if len(self.open_list[0]) > self.open_list_maxlen: + # self.open_list_maxlen = len(self.open_list[0]) self._h[x] = h_new - self._t[x] = self._open + self._t[x] = State.OPEN def __delete(self, x): - self.message("Delete " + x) - i = np.argwhere(self._open_list[0, :] == x) + # % remove node from open list + self.message(f"Delete {x}") + i = np.argwhere(self.open_list[0, :] == x) if len(i) != 1: Error("D*:Delete: state " + x + " doesn't exist.") if len(i) > 1: disp("Del") - self._open_list = np.delete(self._open_list, i-1, 1) - self._t = self._closed + self.open_list = np.delete(self.open_list, i-1, 1) + self._t[x] = State.CLOSED def __min_state(self): + # return the index of the open state with the smallest k value ms = None - if self._open_list is None or self._open_list is np.array([]): + if self.open_list is None or self.open_list is np.array([]): ms = np.array([]) else: - d, i = np.minimum(self._open_list[1, :]) - ms = self._open_list[0, i] - return ms + i = np.argmin(self.open_list[1, :]) + ms = self.open_list[0, i] + return ms.astype(int) def __get_kmin(self): - kmin = np.minimum(self._open_list[1, :]) - return kmin + return self.open_list[1, :].min() - def __c(self, x, y): + def _c(self, x, y): + # % return the cost of moving from state X to state Y r, c = ind2sub(np.shape(self.costmap), np.array([[x], [y]])) + + r, c = np.ravel_multi_index([goal[1], goal[0]], self._costmap.shape) + dist = np.sqrt(np.sum(np.diff(np.square(np.array([r, c]))))) d_cost = (self._costmap[x] + self._costmap[y])/2 @@ -277,17 +290,27 @@ def __c(self, x, y): return cost def __neighbours(self, x): - dims = np.shape(self._costmap) - r, c = ind2sub(dims, x) + dims = self._costmap.shape + # r, c = ind2sub(dims, x) + + r, c = np.unravel_index((x), dims) y = np.array([[r-1, r-1, r-1, r, r, r+1, r+1, r+1], [c-1, c, c+1, c-1, c+1, c-1, c, c+1]]) - k = (np.minimum(y) > 0) & (y[0, :] <= dims[0]) & (y[1, :] <= dims[1]) + k = (y.min(axis=0) > 0) & (y[0, :] <= dims[0]) & (y[1, :] <= dims[1]) y = y[:, k-1] - y = np.transpose(sub2ind(dims, np.transpose(y[0, :]), np.transpose(y[1, :]))) - return y + # y = np.transpose(sub2ind(dims, np.transpose(y[0, :]), np.transpose(y[1, :]))) + + # QUERY are these the right way around? + i = np.ravel_multi_index((y[0, :], y[1, :]), self._costmap.shape) + return i + + def occgrid2costmap(self, occgrid, cost=1): + self._costmap = occgrid.astype(float) + self._costmap[self.costmap == 1] = np.inf; # occupied cells have inf driving cost + self._costmap[self.costmap == 0] = cost # unoccupied cells have driving cost # Sourced from: https://stackoverflow.com/questions/28995146/matlab-ind2sub-equivalent-in-python/28995315#28995315 def sub2ind(array_shape, rows, cols): @@ -307,10 +330,11 @@ def ind2sub(array_shape, ind): if __name__ == "__main__": - from roboticstoolbox import DStar + from roboticstoolbox import DStar, path_to_datafile from scipy.io import loadmat - vars = loadmat("/Users/corkep/code/robotics-toolbox-python/data/map1.mat", squeeze_me=True, struct_as_record=False) + path = path_to_datafile("data/map1.mat") + vars = loadmat(path, squeeze_me=True, struct_as_record=False) map = vars['map'] ds = DStar(map, verbose=True) ds = ds.plan([50, 35]) diff --git a/roboticstoolbox/mobile/Planner.py b/roboticstoolbox/mobile/Planner.py index 6f163cef6..ab209916e 100644 --- a/roboticstoolbox/mobile/Planner.py +++ b/roboticstoolbox/mobile/Planner.py @@ -9,94 +9,113 @@ from scipy import integrate from spatialmath.base.transforms2d import * from spatialmath.base.vectors import * -from spatialmath.pose2d import SE2 -from scipy.ndimage import binary_dilation +from spatialmath import SE2, SE3 from matplotlib import cm -from abc import ABCMeta, abstractmethod +from abc import ABC, abstractmethod import matplotlib as mpl import copy +from roboticstoolbox.mobile.OccGrid import OccGrid +from colored import fg, attr -class Navigation: - # __metaclass__ = ABCMeta +class Planner: - def __init__(self, occ_grid=None, goal=None, inflate=0, - reset=False, verbose=None, seed=None, + def __init__(self, occgrid=None, goal=None, inflate=0, + reset=False, verbose=False, seed=None, transform=SE2()): - self._occ_grid_nav = None + self._occgrid = None self._start = None self._verbose = verbose self._seed = seed self._spin_count = None - self._rand_stream = None + self._private_random = np.random.default_rng(seed=seed) self._seed_0 = None - self._w2g = None self._inflate = inflate self._reset = reset self._transform = transform self._goal = None - # if occ_grid is not None: - # # this is the inverse of the matlab code - # if type(occ_grid) is dict: - # self._occ_grid = occ_grid["map"] - # # self._w2g = self._T # TODO - # else: - # self._occ_grid = occ_grid - # # self._w2g = SE2(0, 0, 0) - self._occ_grid = occ_grid - - if inflate > 0: - # Generate a circular structuring element - r = inflate - y, x = np.ogrid[-r: r+1, -r: r+1] - SE = np.square(x) + np.square(y) <= np.square(r) - SE = SE.astype(int) - - # do the inflation using SciPy - self._occ_grid_nav = binary_dilation(self._occ_grid, SE) - else: - self._occ_grid_nav = self._occ_grid + if occgrid is not None: + if not isinstance(occgrid, OccGrid): + occgrid = OccGrid(occgrid) + self._occgrid0 = occgrid # original occgrid for reference + + if inflate > 0: + self._occgrid = occgrid.copy() + self._occgrid.inflate(inflate) + else: + self._occgrid = occgrid if goal is not None: self._goal = np.transpose(goal) - # Simplification of matlab code - self._privaterandom = np.random.default_rng(seed=seed) - - rs = np.random.RandomState() - if seed is not None: - rs = np.random.RandomState(seed) - self._seed_0 = rs.get_state() - self._rand_stream = rs - self._w2g = transform self._spin_count = 0 def __str__(self): s = f"Navigation class: {self.__class__.__name__}" - if self._occ_grid is not None: - s += f"\n Occupancy grid: {self._occ_grid.shape}" + if self._occgrid0 is not None: + s += f"\n Occupancy grid: {self._occgrid0.shape}" if self._goal is not None: s += f"\n Goal: {self.goal}" return s @property - def occ_grid(self): - return self._occ_grid + def occgrid(self): + """ + Occupancy grid - @property - def occ_grid_nav(self): - return self._occ_grid_nav + :return: occupancy grid used for planning + :rtype: OccGrid instance + + This returns the grid that was optionally inflated at constructor time. + """ + return self._occgrid @property def goal(self): + """ + Goal point or configuration for planning + + :return: goal point or configuration + :rtype: ndarray(2) or ndarray(3) + """ return self._goal @goal.setter def goal(self, goal): - if self.is_occupied(goal): + """ + Set goal point or configuration for planning + + :param goal: Set goal point or configuration + :type goal: array_like(2) or array_like(3) + :raises ValueError: if goal point is occupied + """ + if self.isoccupied(goal): raise ValueError("Goal location inside obstacle") - self._goal = base.getvector(goal, 2) + self._goal = base.getvector(goal) + + @property + def start(self): + """ + Start point or configuration for planning + + :return: start point or configuration + :rtype: ndarray(2) or ndarray(3) + """ + return self._start + + @start.setter + def start(self, start): + """ + Set start point or configuration for planning + + :param start: Set start point or configuration + :type start: array_like(2) or array_like(3) + :raises ValueError: if start point is occupied + """ + if self.isoccupied(start): + raise ValueError("Start location inside obstacle") + self._start = base.getvector(start) def select_goal(self): self.plot() @@ -105,14 +124,14 @@ def select_goal(self): self.goal = goal - @property - def start(self): - return self._start - @property def verbose(self): return self._verbose + @verbose.setter + def verbose(self, v): + self._verbose = v + @property def seed(self): return self._seed @@ -122,33 +141,17 @@ def spin_count(self): return self._spin_count @property - def rand_stream(self): - return self._rand_stream + def random(self): + return self._private_random @property def seed_0(self): return self._seed_0 - @property - def w2g(self): - return self._w2g - - @property - def inflate(self): - return self._inflate - - @property - def private(self): - return self._private - @property def reset(self): return self._reset - @property - def transform(self): - return self._transform - # Define abstract classes to be implemented later @abstractmethod def plan(self): @@ -158,7 +161,7 @@ def plan(self): def next(self): pass - def query(self, start, goal=None, animate=False): + def query(self, start, goal=None, animate=False, movie=None): """ ssss @@ -194,14 +197,17 @@ def query(self, start, goal=None, animate=False): % % See also Navigation.navigate_init, Navigation.plot, Navigation.goal. """ - if goal is not None: - self.check_query(start, goal) - else: - self.check_query(start, self.goal) + # make sure start and goal are set and valid + self.check_points(start, goal) + + if movie is not None: + animate = True if animate: self.plot() + movie = MovieWriter(movie) + robot = self._start path = [robot] @@ -216,13 +222,133 @@ def query(self, start, goal=None, animate=False): # are we are done? if robot is None: path.append(self._goal) - return np.array(path) + return np.array(path).astype(int) path.append(robot) - def plot(self, block=False, **kwargs): - self.plot_bg(**kwargs) - self.plot_fg(**kwargs) + def plot(self, path=None, + path_marker=None, path_marker_reverse=None, + start_marker=None, goal_marker=None, + direction=None, background=True, + ax=None, block=False, **kwargs): + """ + Plot vehicle path + + :param path: path, defaults to None + :type p: ndarray(N,2) or ndarray(N,3) + :param path_marker: style for marking points on path + :type path_marker: dict, optional + :param path_marker: style for marking points on path when reversing + :type path_marker: dict, optional + :param start_marker: style for marking start point + :type start_marker: dict, optional + :param goal_marker: style for marking goal point + :type goal_marker: dict, optional + :param direction: direction of travel, defaults to None + :type direction: ndarray(N) with positive value for forward, and + negative value for reverse, optional + :param background: plot occupancy grid if present, default True + :type background: bool, optional + :param ax: axes to plot into + :type ax: matplotlib axes + :param block: block after displaying the plot + :type block: bool, optional + + The path has one row per time step and has 2 or 3 columns for motion in + the :math:`x-y` plane or in :math:`x-y-\theta` configuration space + respectively. If 3 columns are given the plot will be a 3D plot. + + Markers are specified as dicts using matplotlib keywords, for example:: + + planner.plot(path, path_marker=dict(marker='s', color='b')) + + Default values are provided for all markers, start point is a circle and + goal point is a star. + + If the planner supports bi-directional motion then the ``direction`` + option gives the direction for every point on the path. + """ + # create default markers + if path_marker is None: + path_marker = { 'marker': '.', + 'markerfacecolor': 'b', + 'markersize': 12, + } + path_marker_reverse = { 'marker': '.', + 'markerfacecolor': 'r', + 'markersize': 10, + } + if start_marker is None: + start_marker = {'marker': 'o', + 'markeredgecolor': 'w', + 'markerfacecolor': 'y', + 'markersize': 10, + } + if goal_marker is None: + goal_marker = { 'marker': '*', + 'markeredgecolor': 'w', + 'markerfacecolor': 'y', + 'markersize': 16, + } + + # plot occupancy grid background + if background: + self.plot_bg(**kwargs) + + if path is not None: + if not isinstance(path, np.ndarray) or not (path.shape[1] in (2, 3)): + raise ValueError('path must be an Nx2 or Nx3 matrix of points') + ndims = path.shape[1] + elif self.goal is not None: + ndims = len(self.goal) + + ax = base.axes_logic(ax, ndims) + # mark the path + if path is not None: + + if ndims == 2: + # 2D case + if direction is not None: + direction = np.array(direction) + if direction.shape[0] != path.shape[0]: + raise ValueError('direction vector must have same length as path') + ax.plot(path[:, 0], path[:, 1], 'k') + ax.plot(path[direction > 0, 0], path[direction > 0, 1], color='none', **path_marker) + ax.plot(path[direction < 0, 0], path[direction < 0, 1], color='none', **path_marker_reverse) + else: + ax.plot(path[:, 0], path[:, 1], **path_marker) + elif path.shape[1] == 3: + # 3D case + if direction is not None: + direction = np.array(direction) + if direction.shape[0] != path.shape[0]: + raise ValueError('direction vector must have same length as path') + ax.plot(path[:, 0], path[:, 1], path[:, 2], 'k') + ax.plot(path[direction > 0, 0], path[direction > 0, 1], path[direction > 0, 2], color='none', **path_marker) + ax.plot(path[direction < 0, 0], path[direction < 0, 1], path[direction < 0, 2], color='none', **path_marker_reverse) + else: + ax.plot(path[:, 0], path[:, 1], path[:, 2], **path_marker) + + # mark start and goal if requested + if ndims == 2: + if self.start is not None: + ax.plot(self.start[0], self.start[1], zorder=10, **start_marker) + if self.goal is not None: + ax.plot(self.goal[0], self.goal[1], zorder=10, **goal_marker) + + elif ndims == 3: + if self.start is not None: + ax.plot(self.start[0], self.start[1], self.start[2]+0.1, zorder=10, **start_marker) + if self.goal is not None: + plt.plot(self.goal[0], self.goal[1], self.goal[2]+0.1, zorder=10, **goal_marker) + + ax.set_xlabel('x') + ax.set_ylabel('y') + if ndims == 2: + ax.set_aspect('equal') + else: + ax.set_zlabel(r'$\theta$') + plt.show(block=block) @@ -267,39 +393,16 @@ def plot_bg(self, distance=None, color_map='gray', % % See also Navigation.plot, Navigation.plot_fg, brighten. """ + if self._occgrid is None: + return fig, ax = plt.subplots(nrows=1, ncols=1) - if distance is None: - # occupancy grid only - - # create color map for free space + obstacle: - # free space, color index = 1, white, alpha=0 to allow background and grid lines to show - # obstacle, color index = 2, red, alpha=1 - - if self._inflate and inflated: - # 0 background (white, transparent) - # 1 inflated obstacle (pink) - # 2 original obstacle (red) - colors = [(1, 1, 1, 0), (1, 0.75, 0.8, 1), (1, 0, 0, 1)] - image = (self._occ_grid + self._occ_grid_nav) - else: - # 0 background - # 1 obstacle - colors = [(1, 1, 1, 0), (1, 0, 0, 1)] - image = self._occ_grid - - ax.set_facecolor((1, 1, 1)) # create white background - c_map = mpl.colors.ListedColormap(colors) - ax.imshow(image, cmap=c_map, origin='lower', zorder=1) - - ax.grid(True, zorder=0) - - else: + if hasattr(self, 'distancemap'): # distance field with obstacles # find largest finite value - v = distance.flatten() + v = distance.ravel() vmax = max(v[np.isfinite(v)]) # create a copy of greyscale color map @@ -311,105 +414,53 @@ def plot_bg(self, distance=None, color_map='gray', c_map.set_over(color=(0,0,1)) # ex-infs are now blue # display image + norm = mpl.colors.Normalize(vmin=0, vmax=vmax, clip=False) ax.imshow(distance, origin='lower', cmap=c_map, - norm=mpl.colors.Normalize(vmin=0, vmax=vmax, clip=False) + norm=norm, ) ax.grid(True, alpha=0.1, color=(1,1,1)) # add colorbar - scalar_mappable_c_map = cm.ScalarMappable(cmap=c_map) - plt.colorbar(scalar_mappable_c_map) + scalar_mappable_c_map = cm.ScalarMappable(cmap=c_map, norm=norm) + plt.colorbar(scalar_mappable_c_map, label='Distance', shrink=0.7, aspect=20*0.7) - ax.set_xlabel('x (cells)') - ax.set_ylabel('y (cells)') + ax.set_xlabel('X') + ax.set_ylabel('y (cells)') - # lock axis limits to current value - ax.set_xlim(ax.get_xlim()) - ax.set_ylim(ax.get_ylim()) - - plt.draw() - plt.show(block=False) - - - def plot_fg(self, path=None, path_marker=None, start_marker=None, goal_marker=None, **unused_args): - """ - [summary] - - :param p: [description], defaults to None - :type p: [type], optional - :param path_marker: [description], defaults to None - :type path_marker: [type], optional - :param start_marker: [description], defaults to None - :type start_marker: [type], optional - :param goal_marker: [description], defaults to None - :type goal_marker: [type], optional - :param goal: [description], defaults to None - :type goal: [type], optional + else: + # occupancy grid only - %Navigation.plot_fg Visualization foreground - % - % N.plot_fg(OPTIONS) displays the start and goal locations if specified. - % By default the goal is a pentagram and start is a circle. - % - % N.plot_fg(P, OPTIONS) as above but overlays the points along the path (2xM) matrix. - % - % Options:: - % 'pathmarker',M Options to draw a path point - % 'startmarker',M Options to draw the start marker - % 'goalmarker',M Options to draw the goal marker - % - % Notes:: - % - In all cases M is a single string eg. 'r*' or a cell array of MATLAB LineSpec options. - % - Typically used after a call to plot_bg(). - % - % See also Navigation.plot_bg. - """ + # create color map for free space + obstacle: + # free space, color index = 1, white, alpha=0 to allow background and grid lines to show + # obstacle, color index = 2, red, alpha=1 - # create default markers - if path_marker is None: - path_marker = { 'marker': '.', - 'markerfacecolor': 'y', - 'markersize': 12, - } - if start_marker is None: - start_marker = {'marker': 'o', - 'markeredgecolor': 'w', - 'markerfacecolor': 'b', - 'markersize': 10, - } - if goal_marker is None: - goal_marker = { 'marker': '*', - 'markeredgecolor': 'w', - 'markerfacecolor': 'b', - 'markersize': 16, - } + if self._inflate > 0 and inflated: + # 0 background (white, transparent) + # 1 inflated obstacle (pink) + # 2 original obstacle (red) + colors = [(1, 1, 1, 0), (1, 0.75, 0.8, 1), (1, 0, 0, 1)] + image = self.occgrid.grid.astype(int) + self._occgrid0.grid.astype(int) + else: + # 0 background + # 1 obstacle + colors = [(1, 1, 1, 0), (1, 0, 0, 1)] + image = self.occgrid.grid - # mark the path - if path is not None: - if not isinstance(path, np.ndarray) or not (path.shape[1] in (2,3)): - raise ValueError('path must be an Nx2 or Nx3 matrix of points') - if path.shape[1] == 2: - plt.plot(path[:, 0], path[:, 1], **path_marker) - elif path.shape[1] == 3: - plt.plot3(path[:, 0], path[:, 1], path[:, 2], **path_marker) + ax.set_facecolor((1, 1, 1)) # create white background + c_map = mpl.colors.ListedColormap(colors) + self.occgrid.plot(image, cmap=c_map, zorder=1) + ax.grid(True, zorder=0) - # mark start and goal if requested - if self._goal is not None: - if len(self._goal) == 2: - plt.plot(self._goal[0], self._goal[1], **goal_marker) - else: - plt.plot3(self._goal[0], self._goal[1], self._goal[2]+0.1, **goal_marker) - if self._start is not None: - if len(self._start) == 2: - plt.plot(self._start[0], self._start[1], **start_marker) - else: - plt.plot3(self._start[0], self._start[1], self._goal[2]+0.1, **start_marker) + # lock axis limits to current value + ax.set_xlim(ax.get_xlim()) + ax.set_ylim(ax.get_ylim()) plt.draw() + plt.show(block=False) - def check_query(self, start=None, goal=None): + def check_points(self, start=None, goal=None, dim=2): # if start is None: # self.plot() # disp("Select start location") @@ -421,60 +472,33 @@ def check_query(self, start=None, goal=None): # goal = round(plt.ginput(1)) # TODO - self._start = base.getvector(start, 2, dtype=np.int) - self._goal = base.getvector(goal, 2, dtype=np.int) + if start is not None: + self._start = base.getvector(start, dim, dtype=int) + if self.occgrid.isoccupied(self._start[:2]): + raise ValueError("Start location inside obstacle") - if self.is_occupied(self._start): - raise ValueError("Start location inside obstacle") - if self.is_occupied(self.goal): - raise ValueError("Goal location inside obstacle") + if goal is not None: + self._goal = base.getvector(goal, dim, dtype=int) + if self.occgrid.isoccupied(self.goal[:2]): + raise ValueError("Goal location inside obstacle") - def is_occupied(self, p): + def isoccupied(self, p): """ - [summary] + Test if coordinate is occupied - :param p: [description] - :type p: [type] - :return: [description] - :rtype: [type] + :param p: world coordinate (x, y) + :type p: array_like(2) + :return: occupancy status of corresponding grid cell + :rtype: bool + + The world coordinate is rounded to integer grid coordinates and the + occupancy status of that cell is returned. - %Navigation.isoccupied Test if grid cell is occupied - % - % N.isoccupied(POS) is true if there is a valid grid map and the - % coordinates given by the columns of POS (2xN) are occupied. - % - % N.isoccupied(X,Y) as above but the coordinates given separately. - % - % Notes: - % - X and Y are Cartesian rather than MATLAB row-column coordinates. """ - occ = None - pis = None - if self._occ_grid_nav is None: + if self.occgrid is None: return False - - p = base.getvector(p, 2, 'list') - try: - return self._occ_grid_nav[p[1], p[0]] > 0 - except IndexError: - return True # points outside the map are considered occupied - - # if x is not None: - # if np.size(x) == 2: - # x = np.transpose(x) - # assert(np.shape(x, 0) == 2, "RTB:Navigation:isoccupied. P must have 2 rows") - # pos = x - # else: - # assert(np.size(x) == np.size(y), "RTB:Navigation:isoccupied. X and Y must be same length") - # pos = np.array([(np.transpose(x)), np.transpose(y)]) - - # pos = round(self._w2g * pos) - # k = pos[0, :] > 0 & pos[0, :] <= np.shape(self._occ_grid) & pos[1,:] > 0 <= np.shape(self._occ_grid, 1) - - # i = sub2ind(np.shape(self._occ_grid), pos[1, k], pos[0, k]) - # occ = np.ones(1, np.size(pos, 1)) # TODO: this bit normally says 'logic' in matlab... should be fine - # occ[k] = self._occ_grid_nav[i] > 0 - # return occ + else: + return self.occgrid.isoccupied(p) def goal_change(self): pass @@ -482,24 +506,10 @@ def goal_change(self): def navigate_init(self, start): pass - def rand(self, **kwargs): - return self._privaterandom.uniform(**kwargs) - - def randn(self, **kwargs): - return self._privaterandom.normal(**kwargs) - - def randi(self, *pos, **kwargs): - return self._privaterandom.integers(*pos, **kwargs) + def message(self, s): + if self.verbose: + print(fg('yellow'), "Planner:: " + s, attr(0)) - def verbosity(self, v): - self._verbose = v - - def message(self, s, args=None): - if self._verbose: - if args is None: - print("NavigationDebug:: " + s) - else: - print("NavigationDebug:: " + s.format(args)) def spinner(self): spin_chars = "\|/" # TODO: This might break? @@ -532,15 +542,72 @@ def progress_delete(h): plt.clf() +class MovieWriter: -# Sourced from: https://stackoverflow.com/questions/28995146/matlab-ind2sub-equivalent-in-python/28995315#28995315 -def sub2ind(array_shape, rows, cols): - ind = rows*array_shape[1] + cols - ind[ind < 0] = -1 - ind[ind >= array_shape[0]*array_shape[1]] = -1 - return ind + def __init__(self, filename=None, interval=0.1, fig=None): + """ + Save animation as a movie file + + :param filename: name of movie file, or tuple containing filename and + frame interval + :type filename: str or tuple(str, float) + :param interval: frame interval, defaults to 0.1 + :type interval: float, optional + :param fig: figure to record for the movie + :type fig: figure reference + + Example:: + + movie = MovieWriter(filename) + + while ... + movie.add() + + movie.done() -class Error(Exception): - """Base class for other exceptions""" - pass + To avoid extra user-logic, if ``MovieWriter`` is called with ``filename`` equal to None, + then the writer will do nothing when the ``add`` and ``done`` methods are called. + """ + # Set up formatting for the movie files + if filename is None: + self.writer = None + return + + if isinstance(filename, (tuple, list)): + filename, interval = filename + + if os.path.exists(filename): + print("overwriting movie", filename) + else: + print("creating movie", filename) + self.writer = animation.FFMpegWriter( + fps=round(1 / interval), extra_args=["-vcodec", "libx264"] + ) + if fig is None: + fig = plt.gcf() + self.writer.setup(fig, filename) + self.filename = filename + + def add(self): + """ + Add frame to the movie + """ + if self.writer is not None: + self.writer.grab_frame() + + def done(self): + if self.writer is not None: + self.writer.finish() + self.writer = None + +# # Sourced from: https://stackoverflow.com/questions/28995146/matlab-ind2sub-equivalent-in-python/28995315#28995315 +# def sub2ind(array_shape, rows, cols): +# ind = rows*array_shape[1] + cols +# ind[ind < 0] = -1 +# ind[ind >= array_shape[0]*array_shape[1]] = -1 +# return ind + +# class Error(Exception): +# """Base class for other exceptions""" +# pass From 935e953aa26e62d6a96a6910b99ee604ea15ed1a Mon Sep 17 00:00:00 2001 From: jhavl Date: Wed, 16 Jun 2021 15:07:11 +1000 Subject: [PATCH 022/116] model revamp --- .../robots/frankie_arm.xacro | 42 +++++++++++-------- 1 file changed, 24 insertions(+), 18 deletions(-) diff --git a/rtb-data/rtbdata/xacro/franka_description/robots/frankie_arm.xacro b/rtb-data/rtbdata/xacro/franka_description/robots/frankie_arm.xacro index ca0a2c769..0f8ce53cb 100644 --- a/rtb-data/rtbdata/xacro/franka_description/robots/frankie_arm.xacro +++ b/rtb-data/rtbdata/xacro/franka_description/robots/frankie_arm.xacro @@ -15,6 +15,20 @@ + + + + + + + + + + + + + + @@ -23,29 +37,21 @@ - + - + + + + + + + - - - - - - - - - - - - - - - + @@ -96,7 +102,7 @@ - + From 8415634aec274102d070bdca3bac8078f75f68ad Mon Sep 17 00:00:00 2001 From: jhavl Date: Wed, 16 Jun 2021 15:07:59 +1000 Subject: [PATCH 023/116] mdot fixed for variable start links --- roboticstoolbox/robot/Robot.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/roboticstoolbox/robot/Robot.py b/roboticstoolbox/robot/Robot.py index fd55e6ac8..7632917e5 100644 --- a/roboticstoolbox/robot/Robot.py +++ b/roboticstoolbox/robot/Robot.py @@ -938,6 +938,8 @@ def jacobm(self, q=None, J=None, H=None, end=None, start=None, axes="all"): else: verifymatrix(J, (6, self.n)) + n = J.shape[1] + if H is None: H = self.hessian0(J0=J, start=start, end=end) else: @@ -949,9 +951,9 @@ def jacobm(self, q=None, J=None, H=None, end=None, start=None, axes="all"): H = H[axes, :, :] b = np.linalg.inv(J @ np.transpose(J)) - Jm = np.zeros((self.n, 1)) + Jm = np.zeros((n, 1)) - for i in range(self.n): + for i in range(n): c = J @ np.transpose(H[:, :, i]) Jm[i, 0] = manipulability * np.transpose(c.flatten("F")) @ b.flatten("F") From 8c48863a5d1504ce1c522886a1ed5680b0cc77f7 Mon Sep 17 00:00:00 2001 From: jhavl Date: Wed, 16 Jun 2021 15:08:14 +1000 Subject: [PATCH 024/116] fixed for new model --- roboticstoolbox/examples/dual_mobile_robot.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/roboticstoolbox/examples/dual_mobile_robot.py b/roboticstoolbox/examples/dual_mobile_robot.py index 2aed6fd4f..cd4160a42 100644 --- a/roboticstoolbox/examples/dual_mobile_robot.py +++ b/roboticstoolbox/examples/dual_mobile_robot.py @@ -56,7 +56,7 @@ omni.base = omni.fkine(omni.q, end=omni.links[2]) omni.q = omni.qz base_new = frankie.fkine(frankie._q, end=frankie.links[2], fast=True) - base_new[2, 3] -= 0.38 + # base_new[2, 3] -= 0.38 frankie._base.A[:] = base_new frankie.q[:2] = 0 From dce2513b14c9c53645ef19346becdffe97a85fa4 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Thu, 15 Jul 2021 07:17:28 +1000 Subject: [PATCH 025/116] add url variable --- roboticstoolbox/blocks/__init__.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/roboticstoolbox/blocks/__init__.py b/roboticstoolbox/blocks/__init__.py index 2a9d94fa0..1ca1e18d8 100644 --- a/roboticstoolbox/blocks/__init__.py +++ b/roboticstoolbox/blocks/__init__.py @@ -1,3 +1,5 @@ from .arm import * from .mobile import * -from .uav import * \ No newline at end of file +from .uav import * + +url = "https://petercorke.github.io/bdsim/" + __package__ \ No newline at end of file From 7502fe2536702008d3d3117fd7b97f376eb19e18 Mon Sep 17 00:00:00 2001 From: jhavl Date: Fri, 16 Jul 2021 13:07:30 +1000 Subject: [PATCH 026/116] fix frankie gripper --- roboticstoolbox/models/URDF/Frankie.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/roboticstoolbox/models/URDF/Frankie.py b/roboticstoolbox/models/URDF/Frankie.py index d02f799c7..f37934159 100644 --- a/roboticstoolbox/models/URDF/Frankie.py +++ b/roboticstoolbox/models/URDF/Frankie.py @@ -40,7 +40,7 @@ def __init__(self): links, name=name, manufacturer="Franka Emika", - gripper_links=links[11], + gripper_links=links[12], urdf_string=urdf_string, urdf_filepath=urdf_filepath, ) From 68d091c1cc7ddd9169d18eab0c58162d95562cf3 Mon Sep 17 00:00:00 2001 From: John Skinner Date: Mon, 19 Jul 2021 17:36:11 +1000 Subject: [PATCH 027/116] Update the puma560 model. It is now coloured appropriately. --- roboticstoolbox/examples/puma_swift.py | 35 ++++ roboticstoolbox/models/URDF/Puma560.py | 14 +- .../meshes/puma560_link1.dae | 104 +++++++++++ .../meshes/puma560_link2.dae | 104 +++++++++++ .../meshes/puma560_link3.dae | 168 ++++++++++++++++++ .../meshes/puma560_link4.dae | 104 +++++++++++ .../meshes/puma560_link5.dae | 104 +++++++++++ .../meshes/puma560_link6.dae | 136 ++++++++++++++ .../meshes/puma560_link7.dae | 104 +++++++++++ .../urdf/puma560_robot.urdf.xacro | 87 ++++----- 10 files changed, 906 insertions(+), 54 deletions(-) create mode 100644 roboticstoolbox/examples/puma_swift.py create mode 100644 rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_link1.dae create mode 100644 rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_link2.dae create mode 100644 rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_link3.dae create mode 100644 rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_link4.dae create mode 100644 rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_link5.dae create mode 100644 rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_link6.dae create mode 100644 rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_link7.dae diff --git a/roboticstoolbox/examples/puma_swift.py b/roboticstoolbox/examples/puma_swift.py new file mode 100644 index 000000000..4ab307e8f --- /dev/null +++ b/roboticstoolbox/examples/puma_swift.py @@ -0,0 +1,35 @@ +#!/usr/bin/env python +""" +@author Jesse Haviland +""" + +import swift +import roboticstoolbox as rp +import spatialmath as sm +import numpy as np + +env = swift.Swift() +env.launch(realtime=True) + +# Create a puma in the default zero pose +puma = rp.models.Puma560() +puma.q = puma.qz +env.add(puma) + +dt = 0.05 +interp_time = 5 +wait_time = 2 + +# Pass through the reference poses one by one. +# This ignores the robot collisions, and may pass through itself +poses = [puma.qz, puma.rd, puma.ru, puma.lu, puma.ld] +for previous, target in zip(poses[:-1], poses[1:]): + for alpha in np.linspace(0.0, 1.0, int(interp_time / dt)): + puma.q = previous + alpha * (target - previous) + env.step(dt) + for _ in range(int(wait_time / dt)): + puma.q = target + env.step(dt) + +# Uncomment to stop the browser tab from closing +env.hold() diff --git a/roboticstoolbox/models/URDF/Puma560.py b/roboticstoolbox/models/URDF/Puma560.py index e0f039c7b..a75543b3c 100644 --- a/roboticstoolbox/models/URDF/Puma560.py +++ b/roboticstoolbox/models/URDF/Puma560.py @@ -53,9 +53,21 @@ def __init__(self): self.manufacturer = "Unimation" # self.ee_link = self.ets[9] - # zero angles, L shaped pose + # zero angles, upper arm horizontal, lower up straight up self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0])) + # reference pose, arm to the right, elbow up + self.addconfiguration("ru", np.array([-0.0000, 0.7854, 3.1416, -0.0000, 0.7854, 0.0000])) + + # reference pose, arm to the right, elbow up + self.addconfiguration("rd", np.array([-0.0000, -0.8335, 0.0940, -3.1416, 0.8312, 3.1416])) + + # reference pose, arm to the left, elbow up + self.addconfiguration("lu", np.array([2.6486, -3.9270, 0.0940, 2.5326, 0.9743, 0.3734])) + + # reference pose, arm to the left, elbow down + self.addconfiguration("ld", np.array([2.6486, -2.3081, 3.1416, 0.6743, 0.8604, 2.6611])) + # ready pose, arm up self.addconfiguration("qr", np.array([0, pi / 2, -pi / 2, 0, 0, 0])) diff --git a/rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_link1.dae b/rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_link1.dae new file mode 100644 index 000000000..c9906ab43 --- /dev/null +++ b/rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_link1.dae @@ -0,0 +1,104 @@ + + + + + Blender User + Blender 2.93.1 commit date:2021-06-22, commit time:05:57, hash:1b8d33b18c2f + + 2021-07-19T11:02:20 + 2021-07-19T11:02:20 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.627451 0.627451 0.627451 1 + + + 1 + + + 1.45 + + + + + + + + + + + + + + + + + -0.10795 0 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/rtb-data/rtbdata/xacro/puma560_description/urdf/puma560_robot.urdf.xacro b/rtb-data/rtbdata/xacro/puma560_description/urdf/puma560_robot.urdf.xacro index e8a187917..18361e9b8 100644 --- a/rtb-data/rtbdata/xacro/puma560_description/urdf/puma560_robot.urdf.xacro +++ b/rtb-data/rtbdata/xacro/puma560_description/urdf/puma560_robot.urdf.xacro @@ -2,45 +2,32 @@ - + - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + - - + @@ -49,15 +36,14 @@ - - - + + - + @@ -67,15 +53,14 @@ - - - + + - + @@ -85,15 +70,14 @@ - - - + + - + @@ -103,15 +87,14 @@ - - - + + - + @@ -121,15 +104,14 @@ - - - + + - + @@ -139,15 +121,14 @@ - - - + + - + From 8c70ecc60c720b81541aae166fa56b55d4f76cc3 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Tue, 20 Jul 2021 10:55:15 +1000 Subject: [PATCH 028/116] add block input and output tags --- roboticstoolbox/blocks/mobile.py | 150 +++++++++++++++---------------- 1 file changed, 72 insertions(+), 78 deletions(-) diff --git a/roboticstoolbox/blocks/mobile.py b/roboticstoolbox/blocks/mobile.py index 0b7592db7..84b36f7a9 100644 --- a/roboticstoolbox/blocks/mobile.py +++ b/roboticstoolbox/blocks/mobile.py @@ -9,6 +9,7 @@ from bdsim.graphics import GraphicsBlock from spatialmath import base +from roboticstoolbox import Bicycle, Unicycle # ------------------------------------------------------------------------ # @block @@ -44,28 +45,22 @@ def __init__(self, *inputs, x0=None, L=1, vlim=1, slim=1, **kwargs): :return: a BICYCLE block :rtype: Bicycle instance - :INPUT v: velocity - :INPUT γ: steering wheel angle - :OUTPUT x: x-position - :OUTPUT y: y-position - :OUTPUT θ: heading angle - Create a vehicle model with Bicycle kinematics. Bicycle kinematic model with state :math:`[x, y, \theta]`. The block has two input ports: - 1. Vehicle speed (metres/sec). The velocity limit ``vlim`` is - applied to the magnitude of this input. - 2. Steering wheel angle (radians). The steering limit ``slim`` - is applied to the magnitude of this input. + :input v: Vehicle speed (metres/sec). The velocity limit ``vlim`` is + applied to the magnitude of this input. + :input g: Steering wheel angle (radians). The steering limit ``slim`` + is applied to the magnitude of this input. and three output ports: - 1. x position in the world frame (metres) - 2. y positon in the world frame (metres) - 3. heading angle with respect to the world frame (radians) + :output x: position in the world frame (metres) + :output y: positon in the world frame (metres) + :output t: heading angle with respect to the world frame (radians) """ super().__init__(nin=2, nout=3, inputs=inputs, **kwargs) @@ -131,26 +126,23 @@ def __init__(self, *inputs, x0=None, **kwargs): :return: a UNICYCLE block :rtype: Unicycle instance - :input v: velocity - :input ω: steering wheel angle - :output x: x-position - :output y: y-position - :output θ: heading angle Create a vehicle model with Unicycle kinematics. Unicycle kinematic model with state :math:`[x, y, \theta]`. - + The block has two input ports: - 1. Vehicle speed (metres/sec). - 2. Angular velocity (radians/sec). + :input v: Vehicle speed (metres/sec). The velocity limit ``vlim`` is + applied to the magnitude of this input. + :input ω: Angular velocity (radians/sec). The steering limit ``slim`` + is applied to the magnitude of this input. and three output ports: - 1. x position in the world frame (metres) - 2. y positon in the world frame (metres) - 3. heading angle with respect to the world frame (radians) + :output x: position in the world frame (metres) + :output y: positon in the world frame (metres) + :output θ: heading angle with respect to the world frame (radians) """ super().__init__(nin=2, nout=3, inputs=inputs, **kwargs) @@ -212,14 +204,14 @@ def __init__(self, *inputs, R=1, W=1, x0=None, **kwargs): The block has two input ports: - 1. Left-wheel angular velocity (radians/sec). - 2. Right-wheel angular velocity (radians/sec). - + :input ωl: Left-wheel angular velocity (radians/sec). + :input ωr: Right-wheel angular velocity (radians/sec). + and three output ports: - 1. x position in the world frame (metres) - 2. y positon in the world frame (metres) - 3. heading angle with respect to the world frame (radians) + :output x: position in the world frame (metres) + :output y: positon in the world frame (metres) + :output θ: heading angle with respect to the world frame (radians) Note: @@ -321,7 +313,7 @@ def __init__(self, *inputs, path=True, pathstyle=None, shape='triangle', color=" super().__init__(nin=3, inputs=inputs, **kwargs) self.xdata = [] self.ydata = [] - self.type = 'vehicle' + self.type = 'vehicleplot' if init is not None: assert callable(init), 'graphics init function must be callable' self.init = init @@ -355,61 +347,63 @@ def __init__(self, *inputs, path=True, pathstyle=None, shape='triangle', color=" self.vertices = np.array(vertices) - def start(self, **kwargs): + def start(self, state=None, **kwargs): # create the plot super().reset() - if self.bd.options.graphics: - self.fig = self.create_figure() + try: + print('graphics start') + self.fig = self.create_figure(state) + print('fig created') self.ax = self.fig.gca() - if self.square: - self.ax.set_aspect('equal') + print('axes') + except: + print('aaargh') + if self.square: + self.ax.set_aspect('equal') + print('done') - args = [] - kwargs = {} - if self.path: - style = self.pathstyle - if isinstance(style, dict): - kwargs = style - elif isinstance(style, str): - args = [style] - self.line, = self.ax.plot(self.xdata, self.ydata, *args, **kwargs) - poly = Polygon(self.vertices, closed=True, edgecolor=self.color, facecolor=self.fill) - self.vehicle = self.ax.add_patch(poly) + args = [] + kwargs = {} + if self.path: + style = self.pathstyle + if isinstance(style, dict): + kwargs = style + elif isinstance(style, str): + args = [style] + self.line, = self.ax.plot(self.xdata, self.ydata, *args, **kwargs) + poly = Polygon(self.vertices, closed=True, edgecolor=self.color, facecolor=self.fill) + self.vehicle = self.ax.add_patch(poly) - self.ax.grid(True) - self.ax.set_xlabel(self.labels[0]) - self.ax.set_ylabel(self.labels[1]) - self.ax.set_title(self.name) - if self.scale != 'auto': - self.ax.set_xlim(*self.scale[0:2]) - self.ax.set_ylim(*self.scale[2:4]) - if self.init is not None: - self.init(self.ax) - - plt.draw() - plt.show(block=False) + self.ax.grid(True) + self.ax.set_xlabel(self.labels[0]) + self.ax.set_ylabel(self.labels[1]) + self.ax.set_title(self.name) + if self.scale != 'auto': + self.ax.set_xlim(*self.scale[0:2]) + self.ax.set_ylim(*self.scale[2:4]) + if self.init is not None: + self.init(self.ax) + + plt.draw() + plt.show(block=False) - super().start() + super().start() - def step(self): + def step(self, state=None, **kwargs): # inputs are set - if self.bd.options.graphics: - self.xdata.append(self.inputs[0]) - self.ydata.append(self.inputs[1]) - #plt.figure(self.fig.number) - if self.path: - self.line.set_data(self.xdata, self.ydata) - T = base.transl2(self.inputs[0], self.inputs[1]) @ base.trot2(self.inputs[2]) - new = base.h2e(T @ self.vertices_hom) - self.vehicle.set_xy(new.T) - - if self.bd.options.animation: - self.fig.canvas.flush_events() - - if self.scale == 'auto': - self.ax.relim() - self.ax.autoscale_view() - super().step() + self.xdata.append(self.inputs[0]) + self.ydata.append(self.inputs[1]) + #plt.figure(self.fig.number) + if self.path: + self.line.set_data(self.xdata, self.ydata) + T = base.transl2(self.inputs[0], self.inputs[1]) @ base.trot2(self.inputs[2]) + new = base.h2e(T @ self.vertices_hom) + self.vehicle.set_xy(new.T) + + if self.scale == 'auto': + self.ax.relim() + self.ax.autoscale_view() + super().step(state=state) def done(self, block=False, **kwargs): if self.bd.options.graphics: From d7a3d8a076f9d3ac5ebedccf36bf2d64214562d5 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Tue, 20 Jul 2021 11:56:49 +1000 Subject: [PATCH 029/116] added greek unicode chars --- roboticstoolbox/blocks/mobile.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/roboticstoolbox/blocks/mobile.py b/roboticstoolbox/blocks/mobile.py index 84b36f7a9..abfdf46e9 100644 --- a/roboticstoolbox/blocks/mobile.py +++ b/roboticstoolbox/blocks/mobile.py @@ -53,14 +53,14 @@ def __init__(self, *inputs, x0=None, L=1, vlim=1, slim=1, **kwargs): :input v: Vehicle speed (metres/sec). The velocity limit ``vlim`` is applied to the magnitude of this input. - :input g: Steering wheel angle (radians). The steering limit ``slim`` + :input γ: Steering wheel angle (radians). The steering limit ``slim`` is applied to the magnitude of this input. and three output ports: :output x: position in the world frame (metres) :output y: positon in the world frame (metres) - :output t: heading angle with respect to the world frame (radians) + :output θ: heading angle with respect to the world frame (radians) """ super().__init__(nin=2, nout=3, inputs=inputs, **kwargs) From dcfc6d15d637402cc40e1074b8810ba67e3563e6 Mon Sep 17 00:00:00 2001 From: Daniel Petkov Date: Wed, 21 Jul 2021 10:20:04 +1000 Subject: [PATCH 030/116] updates to robotics blocks for bdedit --- roboticstoolbox/blocks/arm.py | 76 ++++++++++++++++---------------- roboticstoolbox/blocks/mobile.py | 18 ++++---- roboticstoolbox/blocks/uav.py | 14 +++--- 3 files changed, 55 insertions(+), 53 deletions(-) diff --git a/roboticstoolbox/blocks/arm.py b/roboticstoolbox/blocks/arm.py index bd0874ccd..b4dbd180f 100644 --- a/roboticstoolbox/blocks/arm.py +++ b/roboticstoolbox/blocks/arm.py @@ -41,10 +41,10 @@ def __init__(self, robot=None, args={}, *inputs, **kwargs): """ :param ``*inputs``: Optional incoming connections :type ``*inputs``: Block or Plug - :param robot: Robot model - :type robot: Robot subclass - :param args: Options for fkine - :type args: dict + :param robot: Robot model, defaults to None + :type robot: Robot subclass, optional + :param args: Options for fkine, defaults to {} + :type args: dict, optional :param ``**kwargs``: common Block options :return: a FORWARD_KINEMATICS block :rtype: Foward_Kinematics instance @@ -95,13 +95,13 @@ def __init__( self, robot=None, q0=None, useprevious=True, ik=None, *inputs, **kwargs ): """ - :param robot: Robot model - :type robot: Robot subclass - :param q0: Initial joint angles - :type q0: array_like(n) - :param useprevious: Use previous IK solution as q0 - :type useprevious: bool - :param ik: Specify an IK function, default is ikine_LM + :param robot: Robot model, defaults to None + :type robot: Robot subclass, optional + :param q0: Initial joint angles, defaults to None + :type q0: array_like(n), optional + :param useprevious: Use previous IK solution as q0, defaults to True + :type useprevious: bool, optional + :param ik: Specify an IK function, defaults to 'ikine_LM' :type ik: callable f(T) :param ``**kwargs``: common Block options :param ``*inputs``: Optional incoming connections @@ -191,14 +191,14 @@ def __init__( :type ``*inputs``: Block or Plug :param robot: Robot model :type robot: Robot subclass - :param frame: Frame to compute Jacobian for: '0' (default) or 'e' - :type frame: str - :param inverse: output inverse of Jacobian - :type inverse: bool - :param pinv: output pseudo-inverse of Jacobian - :type pinv: bool - :param transpose: output transpose of Jacobian - :type transpose: bool + :param frame: Frame to compute Jacobian for, one of: '0' [default], 'e' + :type frame: str, optional + :param inverse: output inverse of Jacobian, defaults to False + :type inverse: bool, optional + :param pinv: output pseudo-inverse of Jacobian, defaults to False + :type pinv: bool, optional + :param transpose: output transpose of Jacobian, defaults to False + :type transpose: bool, optional :param ``**kwargs``: common Block options :return: a JACOBIAN block :rtype: Jacobian instance @@ -563,7 +563,7 @@ def __init__(self, robot, *inputs, gravity=None, **kwargs): :param robot: Robot model :type robot: Robot subclass - :param gravity: Link to compute pose of, defaults to end-effector + :param gravity: Link to compute pose of, defaults to 'end-effector' :type gravity: Link or str :param ``*inputs``: Optional incoming connections :type ``*inputs``: Block or Plug @@ -626,8 +626,8 @@ def __init__(self, robot=None, *inputs, q0=None, backend=None, **kwargs): :type ``*inputs``: Block or Plug :param robot: Robot model :type robot: Robot subclass - :param backend: RTB backend name, default is pyplot - :type backend: str + :param backend: RTB backend name, defaults to 'pyplot' + :type backend: str, optional :param ``**kwargs``: common Block options :return: An ARMPLOT block :rtype: ArmPlot instance @@ -701,14 +701,16 @@ class Traj(FunctionBlock): def __init__(self, y0=0, yf=1, T=None, time=False, traj="lspb", *inputs, **kwargs): """ - :param y0: initial value - :type y0: array_like(m) - :param yf: final value - :type yf: array_like(m) + :param y0: initial value, defaults to 0 + :type y0: array_like(m), optional + :param yf: final value, defaults to 1 + :type yf: array_like(m), optional + :param T: time vector or number of steps, defaults to None + :type T: array_like or int, optional :param time: x is simulation time, defaults to False - :type time: bool - :param traj: trajectory type: 'lspb' [default] or 'tpoly' - :type traj: str + :type time: bool, optional + :param traj: trajectory type, one of: 'lspb' [default], 'tpoly' + :type traj: str, optional :param ``*inputs``: Optional incoming connections :type ``*inputs``: Block or Plug :param ``**kwargs``: common Block options @@ -812,12 +814,12 @@ def __init__(self, q0, qf, qd0=None, qdf=None, T=None, *inputs, **kwargs): :type q0: array_like(n) :param qf: final joint coordinate :type qf: array_like(n) - :param tv: time vector or number of steps - :type tv: array_like or int - :param qd0: initial velocity, defaults to zero + :param T: time vector or number of steps, defaults to None + :type T: array_like or int, optional + :param qd0: initial velocity, defaults to None :type qd0: array_like(n), optional - :param qd1: final velocity, defaults to zero - :type qd1: array_like(n), optional + :param qdf: final velocity, defaults to None + :type qdf: array_like(n), optional :param ``*inputs``: Optional incoming connections :type ``*inputs``: Block or Plug :param ``**kwargs``: common Block options @@ -963,9 +965,9 @@ def __init__( :param yf: final value :type yf: array_like(m) :param time: x is simulation time, defaults to False - :type time: bool - :param traj: trajectory type: 'lspb' [default] or 'tpoly' - :type traj: str + :type time: bool, optional + :param traj: trajectory type, one of: 'lspb' [default], 'tpoly' + :type traj: str, optional :param ``*inputs``: Optional incoming connections :type ``*inputs``: Block or Plug :param ``**kwargs``: common Block options diff --git a/roboticstoolbox/blocks/mobile.py b/roboticstoolbox/blocks/mobile.py index abfdf46e9..c94de02af 100644 --- a/roboticstoolbox/blocks/mobile.py +++ b/roboticstoolbox/blocks/mobile.py @@ -33,7 +33,7 @@ def __init__(self, *inputs, x0=None, L=1, vlim=1, slim=1, **kwargs): r""" :param ``*inputs``: Optional incoming connections :type ``*inputs``: Block or Plug - :param x0: Inital state, defaults to 0 + :param x0: Inital state, defaults to None :type x0: array_like, optional :param L: Wheelbase, defaults to 1 :type L: float, optional @@ -118,7 +118,7 @@ def __init__(self, *inputs, x0=None, **kwargs): r""" :param ``*inputs``: Optional incoming connections :type ``*inputs``: Block or Plug - :param x0: Inital state, defaults to 0 + :param x0: Inital state, defaults to None :type x0: array_like, optional :param ``*inputs``: Optional incoming connections :type ``*inputs``: Block or Plug @@ -184,15 +184,15 @@ class DiffSteer(TransferBlock): """ def __init__(self, *inputs, R=1, W=1, x0=None, **kwargs): - r""" + """ :param ``*inputs``: Optional incoming connections :type ``*inputs``: Block or Plug - :param x0: Inital state, defaults to 0 + :param x0: Inital state, defaults to None :type x0: array_like, optional :param R: Wheel radius, defaults to 1 :type R: float, optional :param W: Wheel separation in lateral direction, defaults to 1 - :type R: float, optional + :type W: float, optional :param ``**kwargs``: common Block options :return: a DIFFSTEER block :rtype: DifSteer instance @@ -270,7 +270,7 @@ def __init__(self, *inputs, path=True, pathstyle=None, shape='triangle', color=" :type path: bool, optional :param pathstyle: linestyle for path, defaults to None :type pathstyle: str or dict, optional - :param shape: vehicle shape: 'triangle' (default) or 'box' + :param shape: vehicle shape, one of: 'triangle' [default], 'box' :type shape: str, optional :param color: vehicle outline color, defaults to "blue" :type color: str, optional @@ -279,9 +279,9 @@ def __init__(self, *inputs, path=True, pathstyle=None, shape='triangle', color=" :param size: length of vehicle, defaults to 1 :type size: float, optional :param scale: x- and y-axis scale, defaults to 'auto' - :type scale: 2- or 4-element sequence - :param labels: axis labels (xlabel, ylabel) - :type labels: 2-element tuple or list + :type scale: array_like(2) or array_like(4), optional + :param labels: axis labels (xlabel, ylabel), defaults to ["X","Y"] + :type labels: array_like(2) or list :param square: Set aspect ratio to 1, defaults to True :type square: bool, optional :param init: initialize graphics, defaults to None diff --git a/roboticstoolbox/blocks/uav.py b/roboticstoolbox/blocks/uav.py index 399331f2f..39efcf11d 100644 --- a/roboticstoolbox/blocks/uav.py +++ b/roboticstoolbox/blocks/uav.py @@ -83,12 +83,12 @@ def __init__(self, model, *inputs, groundcheck=True, speedcheck=True, x0=None, * :type model: dict :param ``*inputs``: Optional incoming connections :type ``*inputs``: Block or Plug - :param groundcheck: Prevent vehicle moving below ground , defaults to True + :param groundcheck: Prevent vehicle moving below ground, defaults to True :type groundcheck: bool :param speedcheck: Check for zero rotor speed, defaults to True :type speedcheck: bool - :param x0: Initial state, defaults to all zeros - :type x0: TYPE, optional + :param x0: Initial state, defaults to None + :type x0: float, optional :param ``**kwargs``: common Block options :return: a MULTIROTOR block :rtype: MultiRotor instance @@ -346,11 +346,11 @@ def __init__(self, model, *inputs, scale=[-2, 2, -2, 2, 10], flapscale=1, projec :type model: dict :param ``*inputs``: Optional incoming connections :type ``*inputs``: Block or Plug - :param scale: dimensions of workspace: xmin, xmax, ymin, ymax, zmin, zmax - :type scale: array_like - :param flapscale: exagerate flapping angle by this factor, default is 1 + :param scale: dimensions of workspace: xmin, xmax, ymin, ymax, zmin, zmax, defaults to [-2,2,-2,2,10] + :type scale: array_like, optional + :param flapscale: exagerate flapping angle by this factor, defaults to 1 :type flapscale: float - :param projection: 3D projection: ortho or perspective, defaults to 'ortho' + :param projection: 3D projection, one of: 'ortho' [default], 'perspective' :type projection: str :param ``**kwargs``: common Block options :return: a MULTIROTOPLOT block From d3b5c12ead5a1e14159561aec6c1083ba69a5f49 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Wed, 21 Jul 2021 11:23:12 +1000 Subject: [PATCH 031/116] add rtb_ prefix to data loading functions to distinguish from same named functions in mvtb --- roboticstoolbox/mobile/animations.py | 4 ++-- roboticstoolbox/robot/DHRobot.py | 4 ++-- roboticstoolbox/robot/ERobot.py | 7 ++++--- roboticstoolbox/tools/__init__.py | 8 ++++---- roboticstoolbox/tools/data.py | 19 ++++++++++++------- roboticstoolbox/tools/urdf/urdf.py | 4 ++-- 6 files changed, 26 insertions(+), 20 deletions(-) diff --git a/roboticstoolbox/mobile/animations.py b/roboticstoolbox/mobile/animations.py index 3477dfc98..6aae9c11c 100644 --- a/roboticstoolbox/mobile/animations.py +++ b/roboticstoolbox/mobile/animations.py @@ -14,7 +14,7 @@ import matplotlib.transforms as mtransforms from spatialmath import SE2, base -from roboticstoolbox import loaddata +from roboticstoolbox import rtb_loaddata class VehicleAnimation(ABC): @@ -241,7 +241,7 @@ def __init__(self, filename, origin=None, scale=1, rotation=0): if '.' not in filename: try: # try the default folder first - image = loaddata(filename + ".png", plt.imread) + image = rtb_loaddata(filename + ".png", plt.imread) except FileNotFoundError: raise ValueError(f"{filename} is not a provided icon") else: diff --git a/roboticstoolbox/robot/DHRobot.py b/roboticstoolbox/robot/DHRobot.py index 0e6bddddf..c0eaf1bca 100644 --- a/roboticstoolbox/robot/DHRobot.py +++ b/roboticstoolbox/robot/DHRobot.py @@ -4,7 +4,7 @@ """ from collections import namedtuple -from roboticstoolbox.tools.data import path_to_datafile +from roboticstoolbox.tools.data import rtb_path_to_datafile import warnings import copy import numpy as np @@ -106,7 +106,7 @@ def __init__(self, links, meshdir=None, **kwargs): # load meshes if required if meshdir is not None: - self.meshdir = path_to_datafile(meshdir) + self.meshdir = rtb_path_to_datafile(meshdir) self.basemesh = self.meshdir / "link0.stl" for j, link in enumerate(self._links, start=1): link.mesh = self.meshdir / "link{:d}.stl".format(j) diff --git a/roboticstoolbox/robot/ERobot.py b/roboticstoolbox/robot/ERobot.py index 397fa9e27..0926e9143 100644 --- a/roboticstoolbox/robot/ERobot.py +++ b/roboticstoolbox/robot/ERobot.py @@ -19,7 +19,7 @@ from roboticstoolbox.tools import URDF from roboticstoolbox.robot.Robot import Robot from roboticstoolbox.robot.Gripper import Gripper -from roboticstoolbox.tools.data import path_to_datafile +from roboticstoolbox.tools.data import rtb_path_to_datafile from pathlib import PurePosixPath from ansitable import ANSITable, Column @@ -1209,7 +1209,7 @@ def URDF_read(file_path, tld=None): """ # get the path to the class that defines the robot - base_path = path_to_datafile("xacro") + base_path = rtb_path_to_datafile("xacro") # print("*** urdf_to_ets_args: ", classpath) # add on relative path to get to the URDF or xacro file # base_path = PurePath(classpath).parent.parent / 'URDF' / 'xacro' @@ -1227,7 +1227,8 @@ def URDF_read(file_path, tld=None): print("error parsing URDF file", file_path) raise e else: # pragma nocover - urdf = URDF.loadstr(open(file_path).read(), file_path) + urdf_string = open(file_path).read() + urdf = URDF.loadstr(urdf_string, file_path) return urdf.elinks, urdf.name, urdf_string, file_path diff --git a/roboticstoolbox/tools/__init__.py b/roboticstoolbox/tools/__init__.py index ee075d19e..7794230fb 100644 --- a/roboticstoolbox/tools/__init__.py +++ b/roboticstoolbox/tools/__init__.py @@ -7,7 +7,7 @@ from roboticstoolbox.tools.numerical import jacobian_numerical, \ hessian_numerical from roboticstoolbox.tools.jsingu import jsingu -from roboticstoolbox.tools.data import loaddata, loadmat, path_to_datafile +from roboticstoolbox.tools.data import rtb_loaddata, rtb_loadmat, rtb_path_to_datafile __all__ = [ @@ -26,7 +26,7 @@ 'jsingu', 'jacobian_numerical', 'hessian_numerical', - 'loaddata', - 'loadmat', - 'path_to_datafile', + 'rtb_loaddata', + 'rtb_loadmat', + 'rtb_path_to_datafile', ] diff --git a/roboticstoolbox/tools/data.py b/roboticstoolbox/tools/data.py index 14f461cac..bd6da4e2f 100644 --- a/roboticstoolbox/tools/data.py +++ b/roboticstoolbox/tools/data.py @@ -4,7 +4,7 @@ -def loadmat(filename): +def rtb_loadmat(filename): """ Load toolbox mat format data file @@ -27,9 +27,9 @@ def loadmat(filename): """ from scipy.io import loadmat - return loaddata(filename, loadmat, squeeze_me=True, struct_as_record=False) + return rtb_loaddata(filename, loadmat, squeeze_me=True, struct_as_record=False) -def loaddata(filename, handler, **kwargs): +def rtb_loaddata(filename, handler, **kwargs): """ Load toolbox data file @@ -44,16 +44,21 @@ def loaddata(filename, handler, **kwargs): data reading function:: handler(abs_file_name, **kwargs) + + For example:: + + data = rtb_loaddata('data/queensland.json', lambda f: json.load(open(f, 'r'))) + .. note:: If the filename has no path component, eg. ``foo.dat``, it will first be looked for in the folder ``roboticstoolbox/data``. :seealso: :func:`path_to_datafile` """ - path = path_to_datafile(filename) + path = rtb_path_to_datafile(filename) return handler(path, **kwargs) -def path_to_datafile(*filename, local=True): +def rtb_path_to_datafile(*filename, local=True): """ Get absolute path to datafile @@ -103,8 +108,8 @@ def path_to_datafile(*filename, local=True): if __name__ == "__main__": - a = loadmat("map1.mat") + a = rtb_loadmat("map1.mat") print(a) - a = loadmat("data/map1.mat") + a = rtb_loadmat("data/map1.mat") print(a) diff --git a/roboticstoolbox/tools/urdf/urdf.py b/roboticstoolbox/tools/urdf/urdf.py index 58f5f1f85..869f6a59f 100644 --- a/roboticstoolbox/tools/urdf/urdf.py +++ b/roboticstoolbox/tools/urdf/urdf.py @@ -12,7 +12,7 @@ import xml.etree.ElementTree as ET import spatialmath as sm from io import BytesIO -from roboticstoolbox.tools.data import path_to_datafile +from roboticstoolbox.tools.data import rtb_path_to_datafile from .utils import (parse_origin, configure_origin) @@ -304,7 +304,7 @@ def filename(self, value): if value.startswith('package://'): value = value.replace('package://', '') - value = path_to_datafile('xacro', value) + value = rtb_path_to_datafile('xacro', value) self._filename = str(value) From 7bd213e441c93286e5415ed568790665baff0f33 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Thu, 22 Jul 2021 14:40:09 +1000 Subject: [PATCH 032/116] Block now has one output, 3-element state vector --- roboticstoolbox/blocks/mobile.py | 24 +++++++++++------------- 1 file changed, 11 insertions(+), 13 deletions(-) diff --git a/roboticstoolbox/blocks/mobile.py b/roboticstoolbox/blocks/mobile.py index c94de02af..eb33faec5 100644 --- a/roboticstoolbox/blocks/mobile.py +++ b/roboticstoolbox/blocks/mobile.py @@ -20,13 +20,13 @@ class Bicycle(TransferBlock): .. table:: :align: left - +------------+---------+---------+ - | inputs | outputs | states | - +------------+---------+---------+ - | 2 | 3 | 3 | - +------------+---------+---------+ - | float | float | | - +------------+---------+---------+ + +------------+------------+---------+ + | inputs | outputs | states | + +------------+------------+---------+ + | 2 | 1 | 3 | + +------------+------------+---------+ + | float | ndarray(3) | | + +------------+------------+---------+ """ def __init__(self, *inputs, x0=None, L=1, vlim=1, slim=1, **kwargs): @@ -56,14 +56,12 @@ def __init__(self, *inputs, x0=None, L=1, vlim=1, slim=1, **kwargs): :input γ: Steering wheel angle (radians). The steering limit ``slim`` is applied to the magnitude of this input. - and three output ports: + and one output port: - :output x: position in the world frame (metres) - :output y: positon in the world frame (metres) - :output θ: heading angle with respect to the world frame (radians) + :output q: state (x, y, θ) """ - super().__init__(nin=2, nout=3, inputs=inputs, **kwargs) + super().__init__(nin=2, nout=1, inputs=inputs, **kwargs) self.nstates = 3 self.vlim = vlim @@ -82,7 +80,7 @@ def __init__(self, *inputs, x0=None, L=1, vlim=1, slim=1, **kwargs): self.state_names(('x', 'y', r'$\theta$')) def output(self, t): - return list(self._x) + return [self._x] # one output which is ndarray(3) def deriv(self): theta = self._x[2] From c4546423984d1ab95b6319369860c85b90062a62 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sun, 25 Jul 2021 11:01:05 +1000 Subject: [PATCH 033/116] sphinx doco for blocks and mobile --- docs/source/arm_superclass.rst | 12 +++- docs/source/blocks.rst | 2 + docs/source/mobile.rst | 1 + docs/source/mobile_planner.rst | 128 +++++++++++++++++++++++++++++++-- 4 files changed, 136 insertions(+), 7 deletions(-) diff --git a/docs/source/arm_superclass.rst b/docs/source/arm_superclass.rst index e60a5f737..6fecf35ce 100644 --- a/docs/source/arm_superclass.rst +++ b/docs/source/arm_superclass.rst @@ -17,9 +17,19 @@ The various models :ref:`E Models` all subclass this class. :show-inheritance: :inherited-members: :special-members: __getitem__ + +Kinematic cache +--------------- + +.. automodule:: roboticstoolbox.robot.KinematicCache + :members: + :undoc-members: + :show-inheritance: + :inherited-members: + :special-members: __init__ Link -------- +---- The ``ERobot`` is defined by a tree of ``ELink`` subclass objects. diff --git a/docs/source/blocks.rst b/docs/source/blocks.rst index 87ec14b13..dc0760c0b 100644 --- a/docs/source/blocks.rst +++ b/docs/source/blocks.rst @@ -6,6 +6,8 @@ bdsim blocks A set of block definitions that provide robotic capability to `bdsim `_. +.. warning:: This capability is still experimental + .. toctree:: :maxdepth: 2 diff --git a/docs/source/mobile.rst b/docs/source/mobile.rst index e929212d8..dfd83e225 100644 --- a/docs/source/mobile.rst +++ b/docs/source/mobile.rst @@ -11,5 +11,6 @@ and state estimation. mobile_vehicle mobile_vehicle_animation + mobile_reactive mobile_planner mobile_EKF diff --git a/docs/source/mobile_planner.rst b/docs/source/mobile_planner.rst index 81dea479e..e97144035 100644 --- a/docs/source/mobile_planner.rst +++ b/docs/source/mobile_planner.rst @@ -1,20 +1,136 @@ -Mobile robot planner --------------------- +Mobile robot path planning +========================== -.. autoclass:: roboticstoolbox.mobile.Bug2 +A set of path planners that all inherit from :class:`Planner`. + +Some planners are based on code from the PathPlanning category of +`PythonRobotics `_ by Atsushi Sakai. + +.. py:module:: roboticstoolbox.mobile + +.. inheritance-diagram:: Bug2Planner DistanceTransformPlanner DstarPlanner DubinsPlanner ReedsSheppPlanner CurvaturePolyPlanner QuinticPolyPlanner + :parts: 1 + :top-classes: roboticstoolbox.mobile.Planner + + +======================== ==================== =================== +Planner Plans in Obstacle avoidance +======================== ==================== =================== +Bug2Planner :math:`\mathbb{R}^2` yes +DistanceTransformPlanner :math:`\mathbb{R}^2` yes +DstarPlanner :math:`\mathbb{R}^2` yes +PRMPlanner :math:`\mathbb{R}^2` yes +LatticePlanner :math:`\mathbb{R}^2` yes +DubinsPlanner :math:`\SE{2}` no +ReedsSheppPlanner :math:`\SE{2}` no +CurvaturePolyPlanner :math:`\SE{2}` no +QuinticPolyPlanner :math:`\SE{2}` no +======================== ==================== =================== + +Grid-based planners +------------------- + + + +Distance transform planner +^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. autoclass:: roboticstoolbox.mobile.DistanceTransformPlanner + :members: plan, query, plot + :undoc-members: + :show-inheritance: + + +D* planner +^^^^^^^^^^ + +.. autoclass:: roboticstoolbox.mobile.DstarPlanner + :members: plan, query, plot + :undoc-members: + :show-inheritance: + +PRM planner +^^^^^^^^^^^ + +.. autoclass:: roboticstoolbox.mobile.PRMPlanner + :members: plan, query, plot + :undoc-members: + :show-inheritance: + +Lattice planner +^^^^^^^^^^^^^^^ + +.. autoclass:: roboticstoolbox.mobile.LatticePlanner :members: :undoc-members: :show-inheritance: :inherited-members: + :exclude-members: isoccupied, validate_point, occgrid, plan, random, message, plot_bg + +Configuration-space planners +---------------------------- -.. autoclass:: roboticstoolbox.mobile.DXform +These planners do not support planning around obstacles, but allow for the +start and goal configuration :math:`(x, y, \theta)` to be specified. + +Dubins path planner +^^^^^^^^^^^^^^^^^^^ + +.. autoclass:: roboticstoolbox.mobile.DubinsPlanner :members: :undoc-members: :show-inheritance: :inherited-members: + :exclude-members: isoccupied, validate_point, occgrid, plan, random, message, plot_bg + + +Reeds-Shepp path planner +^^^^^^^^^^^^^^^^^^^^^^^^ + +.. autoclass:: roboticstoolbox.mobile.ReedsSheppPlanner + :members: + :undoc-members: + :show-inheritance: + :inherited-members: + :exclude-members: isoccupied, validate_point, occgrid, plan, random, message, plot_bg + +Curvature-polynomial planner +^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. autoclass:: roboticstoolbox.mobile.CurvaturePolyPlanner + :members: + :undoc-members: + :show-inheritance: + :inherited-members: + :exclude-members: isoccupied, validate_point, occgrid, plan, random, message, plot_bg + +Quintic-polynomial planner +^^^^^^^^^^^^^^^^^^^^^^^^^^ + +.. autoclass:: roboticstoolbox.mobile.QuinticPolyPlanner + :members: + :undoc-members: + :show-inheritance: + :inherited-members: + :exclude-members: isoccupied, validate_point, occgrid, plan, random, message, plot_bg + + +Supporting classes +------------------ + +Planner superclass +^^^^^^^^^^^^^^^^^^ + +.. autoclass:: roboticstoolbox.mobile.Planner + :members: + :undoc-members: + :show-inheritance: + +Occupancy grid class +^^^^^^^^^^^^^^^^^^^^ -.. autoclass:: roboticstoolbox.mobile.Dstar +.. autoclass:: roboticstoolbox.mobile.OccGrid :members: :undoc-members: :show-inheritance: - :inherited-members: \ No newline at end of file + :special-members: __init__ \ No newline at end of file From d6d5934001ab579337ade55cb579a1d9e26be93b Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sun, 25 Jul 2021 11:03:56 +1000 Subject: [PATCH 034/116] path planners WIP, working for RVC3 draft --- roboticstoolbox/bin/rtbtool | 20 +- roboticstoolbox/blocks/README.md | 3 - roboticstoolbox/examples/tripleangle.py | 2 +- roboticstoolbox/mobile/Bug2Planner.py | 490 ------------- .../mobile/CurvaturePolyPlanner.py | 88 ++- .../mobile/DistanceTransformPlanner.py | 76 +- roboticstoolbox/mobile/DstarPlanner.py | 46 +- roboticstoolbox/mobile/DubinsPlanner.py | 84 ++- roboticstoolbox/mobile/OccGrid.py | 239 ++++-- roboticstoolbox/mobile/PRMPlanner.py | 68 +- roboticstoolbox/mobile/Planner.py | 687 ++++++++++-------- roboticstoolbox/mobile/PoseGraph.py | 612 +++++++--------- roboticstoolbox/mobile/QuinticPolyPlanner.py | 99 ++- roboticstoolbox/mobile/ReedsSheppPlanner.py | 95 ++- roboticstoolbox/mobile/Vehicle.py | 314 +++++--- roboticstoolbox/mobile/__init__.py | 30 +- roboticstoolbox/mobile/drivers.py | 72 +- roboticstoolbox/mobile/landmarkmap.py | 33 +- roboticstoolbox/mobile/sensors.py | 191 +++-- rtb-data/rtbdata/data/house.mat | Bin 6294 -> 6310 bytes tests/test_mobile.py | 244 +++---- 21 files changed, 1894 insertions(+), 1599 deletions(-) delete mode 100644 roboticstoolbox/mobile/Bug2Planner.py diff --git a/roboticstoolbox/bin/rtbtool b/roboticstoolbox/bin/rtbtool index 215229bcb..08b65664f 100755 --- a/roboticstoolbox/bin/rtbtool +++ b/roboticstoolbox/bin/rtbtool @@ -26,7 +26,7 @@ import matplotlib.pyplot as plt # lgtm [py/unused-import] from roboticstoolbox import * # lgtm [py/unused-import] from spatialmath import * # lgtm [py/polluting-import] from spatialgeometry import * # lgtm [py/polluting-import] -from spatialmath.base import * # lgtm [py/polluting-import] +import spatialmath.base as smb from spatialmath.base import sym import matplotlib as mpl from pathlib import Path @@ -57,8 +57,10 @@ parser.add_argument( default="neutral", help="specify terminal color scheme (neutral, lightbg, nocolor, linux), linux is for dark mode", ) -parser.add_argument("--confirmexit", "-x", default=False, help="confirm exit") -parser.add_argument("--prompt", "-p", default="(rtb) >>> ", help="input prompt") +parser.add_argument("--confirmexit", "-x", default=False, + help="confirm exit") +parser.add_argument("--prompt", "-p", default="(rtb) >>> ", + help="input prompt") parser.add_argument( "--resultprefix", "-r", @@ -73,7 +75,12 @@ parser.add_argument( help="do not display the result of assignments", ) parser.add_argument( - "--book", default=False, action="store_true", help="use defaults as per RVC book" + "--book", default=False, action="store_true", + help="use defaults as per RVC book" +) +parser.add_argument( + "--vision", default=False, action="store_true", + help="import vision toolbox (MVTB)" ) parser.add_argument( "--ansi", @@ -115,6 +122,9 @@ if args.book: if args.swift: Robot.default_backend = "swift" +if args.vision: + from machinevisiontoolbox import * + # set matrix printing mode for spatialmath SE3._ansimatrix = args.ansi @@ -182,7 +192,6 @@ class MyPrompt(Prompts): (Token.Prompt, args.resultprefix.format(self.shell.execution_count)) ] - # set configuration options, there are lots, see # https://ipython.readthedocs.io/en/stable/config/options/terminal.html c = Config() @@ -205,6 +214,7 @@ if args.script is not None: code = path.open("r").readlines() if code is None: code = [ + "%precision %.3g", "plt.ion()", ] diff --git a/roboticstoolbox/blocks/README.md b/roboticstoolbox/blocks/README.md index 6d4423c28..73c6c1437 100644 --- a/roboticstoolbox/blocks/README.md +++ b/roboticstoolbox/blocks/README.md @@ -6,9 +6,6 @@ diagram simulation package. If you are familiar with Robotics Toolbox for MATLAB, this is somewhat like the `roblocks` library. -To access these blocks from `bdsim` you need to put this folder onto your -`BDSIMPATH` environment variable. - # Example This is Figure 8.5 from the book [Robotics, Vision & Control, 2nd edition](https://petercorke.com/rvc/home/) diff --git a/roboticstoolbox/examples/tripleangle.py b/roboticstoolbox/examples/tripleangle.py index b5a7a708e..f8f208331 100644 --- a/roboticstoolbox/examples/tripleangle.py +++ b/roboticstoolbox/examples/tripleangle.py @@ -20,7 +20,7 @@ env = swift.Swift() env.launch() -path = rtb.path_to_datafile("data") +path = rtb.rtb_path_to_datafile("data") g1 = Mesh( diff --git a/roboticstoolbox/mobile/Bug2Planner.py b/roboticstoolbox/mobile/Bug2Planner.py deleted file mode 100644 index f2d130853..000000000 --- a/roboticstoolbox/mobile/Bug2Planner.py +++ /dev/null @@ -1,490 +0,0 @@ -""" -Python Bug Planner -@Author: Kristian Gibson -TODO: Comments + Sphynx Docs Structured Text -TODO: Bug-fix, testing - -Not ready for use yet. -""" -from numpy import disp -from scipy import integrate - -from spatialmath.pose2d import SE2 -from spatialmath import base -from spatialmath.base.animate import * -from scipy.ndimage import * -from matplotlib import cm -import matplotlib.pyplot as plt -from matplotlib import animation -from roboticstoolbox.mobile.Planner import Planner - -class Bug2Planner(Planner): - def __init__(self, occ_grid, **kwargs): - - """ - - %Bug2.Bug2 Construct a Bug2 navigation object - % - B = Bug2(MAP, OPTIONS) is a bug2 navigation object, and MAP is an occupancy grid, - a representation of a planar world as a matrix whose elements are 0 (free - space) or 1 (occupied). - % - Options:: - 'goal',G Specify the goal point (1x2) - 'inflate',K Inflate all obstacles by K cells. - % - See also Navigation.Navigation. - - %Navigation.Navigation Create a Navigation object - % - N = Navigation(OCCGRID, OPTIONS) is a Navigation object that holds an - occupancy grid OCCGRID. A number of options can be be passed. - % - Options:: - 'goal',G Specify the goal point (2x1) - 'inflate',K Inflate all obstacles by K cells. - 'private' Use private random number stream. - 'reset' Reset random number stream. - 'verbose' Display debugging information - 'seed',S Set the initial state of the random number stream. S must - be a proper random number generator state such as saved in - the seed0 property of an earlier run. - % - Notes:: - - In the occupancy grid a value of zero means free space and non-zero means - occupied (not driveable). - - Obstacle inflation is performed with a round structuring element (kcircle) - with radius given by the 'inflate' option. - - Inflation requires either MVTB or IPT installed. - - The 'private' option creates a private random number stream for the methods - rand, randn and randi. If not given the global stream is used. - % - See also randstream. - - """ - super().__init__(occ_grid=occ_grid, **kwargs) - - self._h = [] - self._j = 0 - self._step = 1 - self._m_line = None - self._edge = None - self._k = None - - - @property - def h(self): - """[summary] - - Returns: - [type]: [description] - """ - return self._h - - @property - def j(self): - return self._j - - @property - def step(self): - return self._step - - @property - def m_line(self): - return self._m_line - - @property - def edge(self): - return self._edge - - @property - def k(self): - return self._k - - # override query method of base class - def query(self, start=None, goal=None, animate=False, movie=None, trail=True): - """ - Find a path using Bug2 - - :param start: starting position - :type start: array_like(2) - :param goal: goal position - :type goal: array_like(2) - :param animate: show animation of robot moving over the map, - defaults to False - :type animate: bool, optional - :param movie: save animation as a movie, defaults to None. Is either - name of movie or a tuple (filename, frame interval) - :type movie: str or tuple(str, float), optional - :param trail: show the path followed by the robot, defaults to True - :type current: bool, optional - :return: path from ``start`` to ``goal`` - :rtype: ndarray(2,N) - - Compute the path from ``start`` to `goal` assuming the robot is capable - of 8-way motion from its current cell to the next. - - .. note:: - - - ``start`` and `goal` are given as (x,y) coordinates in the grid map, - not as matrix row and column coordinates. - - ``start`` and ``goal`` are tested to ensure they lie in free space - - The Bug2 algorithm is completely reactive, there is no planning so - paths can be very inefficient. - - If the bug does a lot of back tracking it's hard to see the current - position, set ``trail=False`` - - For the ``movie`` option specify a file or a tuple containing the - filename and the frame interval (1/fps) in seconds. - - :seealso: :class:`MovieWriter` - """ - - # make sure start and goal are set and valid - self.check_points(start, goal) - - # compute the m-line - # create homogeneous representation of the line - # line*[x y 1]' = 0 - self._m_line = hom_line(self._start, self._goal) - - if movie is not None: - animate = True - - if animate: - self.plot() - self.plot_m_line() - plt.pause(0.05) - - movie = MovieWriter(movie) - - robot = self._start[:] - self._step = 1 - path = np.r_[self._start] - h = None - - trail_line, = plt.plot(0, 0, 'y.') - trail_head, = plt.plot(0, 0, 'ko') - - # iterate using the next() method until we reach the goal - while True: - if animate: - trail_head.set_data(robot[0], robot[1]) - if trail: - trail_line.set_data(path.T) - - plt.pause(0.001) - # plt.draw() - # plt.show(block=False) - # plt.gcf().canvas.flush_events() - - movie.add() - - # move to next point on path - robot = self.next(robot) - - # # have we been here before, ie. in a loop - # if any([all(robot == x) for x in path]): - # raise RuntimeError('trapped') - - # are we there yet? - if robot is None: - break - else: - path = np.vstack((path, robot)) - - movie.done() - - return path - - def plot_m_line(self, ls=None): - if ls is None: - ls = 'k--' - - x_min, x_max = plt.gca().get_xlim() - y_min, y_max = plt.gca().get_ylim() - if self._m_line[1] == 0: - # handle the case that the line is vertical - plt.plot([self._start[0], self._start[0]], - [y_min, y_max], 'k--') - else: - # regular line - x = np.array([ - [x_min, 1], - [x_max, 1] ]) - y = -x @ np.r_[self._m_line[0], self._m_line[2]] - y = y / self._m_line[1] - plt.plot([x_min, x_max], y, ls, zorder=10) - - def next(self, position): - - l = None - y = None - - if all(self._goal == position): - return None # we have arrived - - if self._step == 1: - # Step 1. Move along the M-line toward the goal - self.message(f"{position}: moving along the M-line (step 1)") - # motion on line toward goal - d = self._goal - position - if abs(d[0]) > abs(d[1]): - # line slope less than 45 deg - dx = 1 if d[0] >= 0 else -1 # np.sign(d[0]) - l = self._m_line - y = -((position[0] + dx) * l[0] + l[2]) / l[1] - dy = int(round(y - position[1])) - else: - # line slope greater than 45 deg - dy = 1 if d[1] >= 0 else -1 # np.sign(d[1]) - l = self._m_line - x = -((position[1] + dy) * l[1] + l[2]) / l[0] - dx = int(round(x - position[0])) - - # detect if next step is an obstacle - if self.is_occupied(position + np.r_[dx, dy]): - self.message(f" {position}: obstacle at {position + np.r_[dx, dy]}") - self.h.append(position) - self._step = 2 # transition to step 2 - self.message(f" {position}: change to step 2") - - # get a list of all the points around the obstacle - self._edge, _ = edgelist(self._occ_grid_nav == 0, position) - self._k = 1 - else: - n = position + np.array([dx, dy]) - - if self._step == 2: - # Step 2. Move around the obstacle until we reach a point - # on the M-line closer than when we started. - - self.message(f"{position}: moving around the obstacle (step 2)") - if self._k <= len(self._edge): - n = self._edge[self._k] # next edge point - else: - # we are at the end of the list of edge points, we - # are back where we started. Step 2.c test. - raise RuntimeError('robot is trapped') - - # are we on the M-line now ? - if abs(np.inner(np.r_[position, 1], self._m_line)) <= 0.5: - self.message(f" {position}: crossed the M-line") - - # are we closer than when we encountered the obstacle? - if base.norm(position - self._goal) < base.norm(self._h[-1] - self._goal): - # self._j += 1 - self._step = 1 # transition to step 1 - self.message(f" {position}: change to step 1") - return n - - # no, keep going around - self._k += 1 - - return n - - def plan(self): - Error('RTB:Bug2:badcall', 'This class has no plan method') - -# Ported from Peter Corke's edgelist function found: -# https://github.com/petercorke/toolbox-common-matlab/blob/master/edgelist.m - -# these are directions of 8-neighbours in a clockwise direction -# fmt: off -_dirs = np.array([ - [-1, 0], - [-1, 1], - [ 0, 1], - [ 1, 1], - [ 1, 0], - [ 1, -1], - [ 0, -1], - [-1, -1], - ]) -# fmt: on -def edgelist(im, p, direction=1): - """ - Find edge of a region - - :param im: binary image - :type im: ndarray(h,w,int) - :param p: initial point - :type p: array_like(2) - :param direction: direction to traverse region, +1 clockwise [default], -1 - counter-clockwise - :type direction: int, optional - :raises ValueError: initial point is not on the edge - :raises RuntimeError: not able to find path to the goal - :return: edge list, direction vector list - :rtype: tuple of lists - - ``edge, dirs = edgelist(im, seed)`` is the boundary/contour/edge of a region - in the binary image ``im``. ``seed=[X,Y]`` is the coordinate of a point on - the edge of the region of interest, but belonging to the region. - - ``edge`` is a list of coordinates (2) of edge pixels of a region in theThe - elements of the edgelist are NumPy ndarray(2). - - ``dirs`` is a list of integers representing the direction of the edge from - the corresponding point in ``edge`` to the next point in ``edge``. The - integers in the range 0 to 7 represent directions: W SW S SE E NW N NW - respectively. - - - Coordinates are given and returned assuming the matrix is an image, so the - indices are always in the form (x,y) or (column,row). - - ``im` is a binary image where 0 is assumed to be background, non-zero - is an object. - - ``p`` must be a point on the edge of the region. - - The initial point is always the first and last element of the returned edgelist. - - 8-direction chain coding can give incorrect results when used with - blobs founds using 4-way connectivty. - - :Reference: - - - METHODS TO ESTIMATE AREAS AND PERIMETERS OF BLOB-LIKE OBJECTS: A COMPARISON - Luren Yang, Fritz Albregtsen, Tor Lgnnestad and Per Grgttum - IAPR Workshop on Machine Vision Applications Dec. 13-15, 1994, Kawasaki - - """ - - if direction > 0: - neighbours = np.arange(start=0, stop=8, step=1) - else: - neighbours = np.arange(start=7, stop=-1, step=-1) - - try: - pix0 = im[p[1], p[0]] # color of pixel we start at - except: - raise ValueError('specified coordinate is not within image') - - p = base.getvector(p, 2, dtype=np.int) - q = adjacent_point(im, p, pix0) - - # find an adjacent point outside the blob - if q is None: - raise ValueError('no neighbour outside the blob') - - d = None - e = [p] # initialize the edge list - dir = [] # initialize the direction list - p0 = None - - while True: - - # find which direction is Q - dq = q - p - for kq in range(0, 8): - # get index of neighbour's direction in range [1,8] - if np.all(dq == _dirs[kq]): - break - - # now test for directions relative to Q - for j in neighbours: - # get index of neighbour's direction in range [1,8] - k = (j + kq) % 8 - # if k > 7: - # k = k - 7 - - - # compute coordinate of the k'th neighbour - nk = p + _dirs[k] - - try: - if im[nk[1], nk[0]] == pix0: - # if this neighbour is in the blob it is the next edge pixel - p = nk - break - except: - raise ValueError("Something went wrong calculating edgelist") - - q = nk - - dir.append(k) - # check if we are back where we started - if p0 is None: - p0 = p # make a note of where we started - else: - if all(p == p0): - break - - # keep going, add this point to the edgelist - e.append(p) - - - return e, dir - -# Ported from Peter Corke's adjacent_point function found: -# https://github.com/petercorke/toolbox-common-matlab/blob/master/edgelist.m - -def adjacent_point(im, seed, pix0): - """Find adjacent point - - :param im: occupancy grid - :type im: ndarray(m,n) - :param seed: initial point - :type seed: ndarray(2) - :param pix0: value of occupancy grid at ``seed`` coordinate - :type pix0: int - :return: coordinate of a neighbour - :rtype: ndarray(2) or None - - Is a neighbouring point of the coordinate ``seed`` that is not within the - region containing the coordinate ``seed``, ie. it is a neighbour but - outside. - """ - p = None - - for d in _dirs: - p = seed + d - try: - if im[p[1], p[0]] != pix0: - return p - except: - pass - - return None - - -# Implementation of Peter Corke's matlab homline function from: -# https://github.com/petercorke/spatialmath-matlab/blob/master/homline.m -def hom_line(p1, p2): - line = np.cross(np.r_[p1[0], p1[1], 1], np.r_[p2[0], p2[1], 1]) - - # normalize so that the result of x*l' is the pixel distance - # from the line - return line / np.linalg.norm(line[0:2]) - -# # Sourced from: https://stackoverflow.com/questions/28995146/matlab-ind2sub-equivalent-in-python/28995315#28995315 -# def sub2ind(array_shape, rows, cols): -# ind = rows*array_shape[1] + cols -# ind[ind < 0] = -1 -# ind[ind >= array_shape[0]*array_shape[1]] = -1 -# return ind - - -# def ind2sub(array_shape, ind): -# ind[ind < 0] = -1 -# ind[ind >= array_shape[0]*array_shape[1]] = -1 -# rows = (ind.astype('int') / array_shape[1]) -# cols = ind array_shape[1] -# return rows, cols - -# def col_norm(x): -# y = np.array([]) -# if x.ndim > 1: -# x = np.column_stack(x) -# for vector in x: -# y = np.append(y, np.linalg.norm(vector)) -# else: -# y = np.linalg.norm(x) -# return y - -if __name__ == "__main__": - - from roboticstoolbox import loadmat - - vars = loadmat("../data/map1.mat") - map = vars['map'] - - bug = Bug2(map) - # bug.plan() - path = bug.query([20, 10], [50, 35]) \ No newline at end of file diff --git a/roboticstoolbox/mobile/CurvaturePolyPlanner.py b/roboticstoolbox/mobile/CurvaturePolyPlanner.py index 03026b4d1..9b5b73323 100644 --- a/roboticstoolbox/mobile/CurvaturePolyPlanner.py +++ b/roboticstoolbox/mobile/CurvaturePolyPlanner.py @@ -9,13 +9,14 @@ def solvepath(poly, s_f, x0=[0, 0, 0], **kwargs): - + # poly is 4 coeffs of curvature polynomial + # x0 is initial state of the vehicle def dotfunc(t, x, poly): theta = x[2] k = poly[0] * t ** 3 + poly[1] * t ** 2 + poly[2] * t + poly[3] return math.cos(theta), math.sin(theta), k - sol = scipy.integrate.solve_ivp(dotfunc, [0, s_f], start, args=(poly,), **kwargs) + sol = scipy.integrate.solve_ivp(dotfunc, [0, s_f], x0, args=(poly,), **kwargs) return sol.y def costfunc(unknowns, start, goal): @@ -23,12 +24,79 @@ def costfunc(unknowns, start, goal): # p[0:4] is polynomial # p[4] is s_f path = solvepath(poly=unknowns[:4], s_f=unknowns[4], x0=start) - return np.linalg.norm(path[:, -1] - np.r_[goal]) + e = np.linalg.norm(path[:, -1] - np.r_[goal]) + print(e, path[:, -1], np.r_[goal]) + return e +class CurvaturePolyPlanner(Planner): + r""" + Curvature polynomial planner -class CurvaturePolyPlanner(Planner): + :return: curvature polynomial path planner + :rtype: CurvaturePolyPlanner instance + + ================== ======================== + Feature Capability + ================== ======================== + Plan Configuration space + Obstacle avoidance No + Curvature Continuous + Motion Forwards only + ================== ======================== + + Creates a planner that finds the path between two configurations in the + plane using forward motion only. The path is a continuous cubic polynomial + in curvature: + + .. math:: + + \kappa(s) = \kappa_0 + as + b s^2 + c s^3, 0 \le s \le s_f + + where :math:`\kappa_0` is the initial path curvature. This is integrated along the path + + .. math:: + + \theta(s) &= \theta_0 + \kappa_0 s + \frac{a}{2}s^2 + \frac{b}{3}s^3 + \frac{c}{4}s^4 \\ + x(s) &= x_0 + \int_0^s \cos \theta(t) dt \\ + y(s) &= y_0 + \int_0^s \sin \theta(t) dt + + where the initial configuration is :math:`(x_0, y_0, \theta_0)` and the final + configuration is :math:`(x_{s_f}, y_{s_f}, \theta_{s_f})`. + + Numerical optimization is used to find the parameters path length + :math:`s_f` and the polynomial coefficients :math:`(\kappa_0, a, b, c)`. + + :reference: Mobile Robotics, Cambridge 2013. Alonzo Kelly + + :seealso: :class:`Planner` + """ + + def __init__(self): + super().__init__(ndims=3) def query(self, start, goal): + r""" + Find a curvature polynomial path + + :param start: start configuration :math:`(x, y, \theta)` + :type start: array_like(3), optional + :param goal: goal configuration :math:`(x, y, \theta)` + :type goal: array_like(3), optional + :return: path and status + :rtype: ndarray(N,3), namedtuple + + The returned status value has elements: + + ========== =================================================== + Element Description + ========== =================================================== + ``length`` the length of the path, :math:`s_f` + ``poly`` the polynomial coefficients :math:`(\kappa_0, a, b, c)` + + ========== =================================================== + + :seealso: :meth:`Planner.query` + """ goal = np.r_[goal] start = np.r_[start] self._start = start @@ -36,12 +104,14 @@ def query(self, start, goal): delta = goal[:2] - start[:2] d = np.linalg.norm(delta) - theta = math.atan2(delta[1], delta[0]) - sol = scipy.optimize.minimize(costfunc, [0, 0, 0, 1, theta, d], args=(start, goal,)) + # theta = math.atan2(delta[1], delta[0]) + sol = scipy.optimize.minimize(costfunc, [0, 0, 1, 0, d], + bounds=[(None, None), (None, None), (None, None), (None, None), (d, None)], + args=(start, goal,)) - path = solvepath(sol.x[:4], sol.x[4], dense_output=True, max_step = 1e-2) + path = solvepath(sol.x[:4], s_f=sol.x[4], x0=start, dense_output=True, max_step = 1e-2) - status = namedtuple('CurvaturePolyStatus', ['s_f', 'poly'])(sol.x[5], sol.x[:5]) + status = namedtuple('CurvaturePolyStatus', ['length', 'poly'])(sol.x[4], sol.x[:4]) return path.T, status @@ -58,6 +128,8 @@ def query(self, start, goal): planner = CurvaturePolyPlanner() path, status = planner.query(start, goal) + print('start', path[0,:]) + print('goal', path[-1, :]) print(status) planner.plot(path, block=True) diff --git a/roboticstoolbox/mobile/DistanceTransformPlanner.py b/roboticstoolbox/mobile/DistanceTransformPlanner.py index 6cb6a5293..c0cf95a87 100644 --- a/roboticstoolbox/mobile/DistanceTransformPlanner.py +++ b/roboticstoolbox/mobile/DistanceTransformPlanner.py @@ -13,29 +13,58 @@ from spatialmath.pose2d import SE2 from spatialmath import base from scipy.ndimage import * +import matplotlib.pyplot as plt from matplotlib import cm from roboticstoolbox.mobile.Planner import Planner class DistanceTransformPlanner(Planner): - def __init__(self, occ_grid=None, metric="euclidean", distance_map=None, **kwargs): + r""" + Distance transform path planner + + :param occgrid: occupancy grid + :type curvature: OccGrid or ndarray(w,h) + :param metric: distane metric, one of: "euclidean" [default], "manhattan" + :type metric: str optional + :param Planner: distance transform path planner + :type Planner: DistanceTransformPlanner instance + + ================== ======================== + Feature Capability + ================== ======================== + Plan Cartesian space + Obstacle avoidance Yes + Curvature Discontinuous + Motion Forwards only + ================== ======================== + + Also known as wavefront, grassfire or brushfire planning algorithm. + + Creates a planner that finds the path between two points in the + plane using forward motion. The path comprises a set of points in + adjacent cells. + + :author: Peter Corke_ + :seealso: :class:`Planner` + """ + def __init__(self, occgrid=None, metric="euclidean", **kwargs): - super().__init__(occ_grid=occ_grid, **kwargs) + super().__init__(occgrid=occgrid, ndims=2, **kwargs) self._metric = metric - self._distance_map = None + self._distancemap = None @property def metric(self): return self._metric @property - def distance_map(self): - return self._distance_map + def distancemap(self): + return self._distancemap def __str__(self): s = super().__str__() s += f"\n Distance metric: {self._metric}" - if self._distance_map is not None: + if self.distancemap is not None: s += ", Distance map: computed " else: s += ", Distance map: empty " @@ -43,7 +72,7 @@ def __str__(self): return s def goal_change(self, goal): - self._distance_map = np.array([]) + self._distancemap = np.array([]) def plan(self, goal=None, animate=False): # show = None @@ -58,13 +87,13 @@ def plan(self, goal=None, animate=False): if self._goal is None: raise ValueError('No goal specified here or in constructor') - self._distance_map = distancexform(self.occ_grid_nav, + self._distancemap = distancexform(self.occgrid.grid, goal=self._goal, metric=self._metric, animate=animate) # Use plot from parent class - def next(self, robot): - if self._distance_map is None: + def next(self, position): + if self.distancemap is None: Error("No distance map computed, you need to plan.") directions = np.array([ @@ -79,15 +108,15 @@ def next(self, robot): [ 1, 1], ], dtype=int) - x = robot[0] - y = robot[1] + x = int(position[0]) + y = int(position[1]) min_dist = np.inf for d in directions: try: - if self._distance_map[y + d[0], x + d[1]] < min_dist: + if self._distancemap[y + d[0], x + d[1]] < min_dist: min_dir = d - min_dist = self.distance_map[y + d[0], x + d[1]] + min_dist = self._distancemap[y + d[0], x + d[1]] except: # come here if the neighbouring cell is outside the map bounds raise RuntimeError(f"Unexpected error finding next min dist at {d}") @@ -108,20 +137,18 @@ def plot_3d(self, p=None, ls=None): fig = plt.figure() ax = fig.gca(projection='3d') - distance = self._distance_map + distance = self._distancemap X, Y = np.meshgrid(np.arange(distance.shape[1]), np.arange(distance.shape[0])) surf = ax.plot_surface(X, Y, distance, #cmap='gray', linewidth=1, antialiased=False) if p is not None: - # k = sub2ind(np.shape(self._distance_map), p[:, 1], p[:, 0]) + # k = sub2ind(np.shape(self._distancemap), p[:, 1], p[:, 0]) height = distance[p[:,1], p[:,0]] ax.plot(p[:, 0], p[:, 1], height) plt.show() - def plot(self, **kwargs): - super().plot(distance=self._distance_map, **kwargs) # Sourced from: https://stackoverflow.com/questions/28995146/matlab-ind2sub-equivalent-in-python/28995315#28995315 def sub2ind(array_shape, rows, cols): @@ -279,15 +306,14 @@ def grassfire_step(G, D): # print(dx) - from roboticstoolbox import DXform - from scipy.io import loadmat + from roboticstoolbox import DistanceTransformPlanner, loadmat - vars = loadmat("/Users/corkep/code/robotics-toolbox-python/data/house.mat", squeeze_me=True, struct_as_record=False) - house = vars['house'] - place = vars['place'] + house = rtb_loadmat('data/house.mat') + floorplan = house['floorplan'] + places = house['places'] - dx = DXform(house) + dx = DistanceTransformPlanner(floorplan) print(dx) dx.goal = [1,2] - dx.plan(place.kitchen) + dx.plan(places.kitchen) dx.plot() \ No newline at end of file diff --git a/roboticstoolbox/mobile/DstarPlanner.py b/roboticstoolbox/mobile/DstarPlanner.py index 2d2a971d8..bf06385ac 100644 --- a/roboticstoolbox/mobile/DstarPlanner.py +++ b/roboticstoolbox/mobile/DstarPlanner.py @@ -16,11 +16,37 @@ from enum import IntEnum from roboticstoolbox.mobile.Planner import Planner -class State(IntEnum): +class _State(IntEnum): NEW = 0 OPEN = 1 CLOSED = 2 class DstarPlanner(Planner): + r""" + D* path planner + + :param occgrid: occupancy grid + :type curvature: OccGrid or ndarray(w,h) + :param Planner: D* path planner + :type Planner: DstarPlanner instance + + ================== ======================== + Feature Capability + ================== ======================== + Plan Cartesian space + Obstacle avoidance Yes + Curvature Discontinuous + Motion Forwards only + ================== ======================== + + Also known as wavefront, grassfire or brushfire planning algorithm. + + Creates a planner that finds the path between two points in the + plane using forward motion. The path comprises a set of points in + adjacent cells. + + :author: Peter Corke_ + :seealso: :class:`Planner` + """ def __init__(self, occ_grid=None, reset=False, **kwargs): self._g = None @@ -108,6 +134,19 @@ def next(self, current): return x[1], x[0] def plan(self, goal=None, animate=False, progress=True): + r""" + Plan D* path + + :param goal: goal position :math:`(x, y)` or configuration :math:`(x, y, \theta)`, defaults to None + :type goal: array_like(2) or array_like(3), optional + :param animate: animate the planning algorithm iterations, defaults to False + :type animate: bool, optional + :param progress: show progress bar, defaults to True + :type progress: bool, optional + + The implementation depends on the particular planner. Some may have + no planning phase. The plan may also depend on just the start or goal. + """ if goal is not None: self._goal = np.array(goal).astype(int) self.reset() @@ -152,6 +191,7 @@ def set_cost(self, cost_map): self._valid_plan = False def modify_cost(self, xy, new_cost): + # xy is [xmin xmax ymin ymax] if np.all(np.shape[xy] == np.array([2, 2])) and np.size(new_cost) == 1: for xx in range(xy[0, 0], xy[0, 1]): for yy in range(xy[1, 0], xy[1, 1]): @@ -330,12 +370,12 @@ def ind2sub(array_shape, ind): if __name__ == "__main__": - from roboticstoolbox import DStar, path_to_datafile + from roboticstoolbox import DStarPlanner, path_to_datafile from scipy.io import loadmat path = path_to_datafile("data/map1.mat") vars = loadmat(path, squeeze_me=True, struct_as_record=False) map = vars['map'] - ds = DStar(map, verbose=True) + ds = DStarPlanner(map, verbose=True) ds = ds.plan([50, 35]) path = ds.query([20, 10]) diff --git a/roboticstoolbox/mobile/DubinsPlanner.py b/roboticstoolbox/mobile/DubinsPlanner.py index c23316da0..7b601a438 100644 --- a/roboticstoolbox/mobile/DubinsPlanner.py +++ b/roboticstoolbox/mobile/DubinsPlanner.py @@ -26,6 +26,7 @@ import matplotlib.pyplot as plt import numpy as np from spatialmath import * +from spatialmath import base def left_straight_left(alpha, beta, d): sa = math.sin(alpha) @@ -303,19 +304,80 @@ def path_planning(start, goal, curvature, step_size=0.1): path = np.c_[x_list, y_list, yaw_list] return path, length, mode, lengths +# ============================================================================ class DubinsPlanner(Planner): + r""" + Dubins path planner + + :param curvature: maximum path curvature, defaults to 1.0 + :type curvature: float, optional + :param stepsize: spacing between points on the path, defaults to 0.1 + :type stepsize: float, optional + :return: Dubins path planner + :rtype: DubinsPlanner instance + + ================== ======================== + Feature Capability + ================== ======================== + Plan Configuration space + Obstacle avoidance No + Curvature Discontinuous + Motion Forwards only + ================== ======================== + + Creates a planner that finds the path between two configurations in the + plane using forward motion only. The path comprises upto 3 segments that are + straight lines or arcs with :math:`\pm` ``curvature``. + + :reference: On Curves of Minimal Length with a Constraint on Average + Curvature, and with Prescribed Initial and Terminal Positions and + Tangents, Dubins, L.E. (July 1957), American Journal of Mathematics. + 79(3): 497–516. + :author: Atsushi Sakai `PythonRobotics `_ + :seealso: :class:`Planner` + """ + def __init__(self, curvature=1, stepsize=0.1, **kwargs): + + super().__init__(ndims=3, **kwargs) + self._curvature = curvature + self._stepsize = stepsize + + def query(self, start, goal, **kwargs): + r""" + Find a Dubins path + + :param start: start configuration :math:`(x, y, \theta)` + :type start: array_like(3), optional + :param goal: goal configuration :math:`(x, y, \theta)` + :type goal: array_like(3), optional + :return: path and status + :rtype: ndarray(N,3), namedtuple + + The returned status value has elements: + + + +-------------+-----------------------------------------------------+ + | Element | Description | + +-------------+-----------------------------------------------------+ + |``segments`` | a list containing the type of each path segment as | + | | a single letter code: either "L", "R" or "S" for | + | | left turn, right turn or straight line respectively.| + +-------------+-----------------------------------------------------+ + |``lengths`` | the length of each path segment. The sign of the | + | |length indicates the direction of travel. | + +-------------+-----------------------------------------------------+ + + :seealso: :meth:`Planner.query` + """ + super().query(start=start, goal=goal, next=False, **kwargs) - def __init__(self, curvature=1, step_size=0.1): - super().__init__() - self.curvature = curvature - self.step_size = step_size + path, length, mode, lengths = path_planning( + start=self.start, goal=self.goal, + curvature=self._curvature, step_size=self._stepsize) - def query(self, start, goal): - self._start = start - self._goal = goal - path, length, mode, lengths = path_planning(start, goal, c=self.curvature, step_size=self.step_size) - status = namedtuple('DubinsStatus', ['segments', 'lengths'])(mode, lengths) - return path, status + status = namedtuple('DubinsStatus', ['segments', 'length', 'seglengths']) + + return path, status(mode, sum(lengths), lengths) if __name__ == '__main__': from math import pi @@ -331,7 +393,7 @@ def query(self, start, goal): print(path) print(status) - dubins.plot(path=path[:, :2]) + dubins.plot(path, twod=True) plt.show(block=True) # plt.plot(path_x, path_y, label="final course " + "".join(mode)) diff --git a/roboticstoolbox/mobile/OccGrid.py b/roboticstoolbox/mobile/OccGrid.py index 3ff0edce8..971f52b23 100644 --- a/roboticstoolbox/mobile/OccGrid.py +++ b/roboticstoolbox/mobile/OccGrid.py @@ -2,10 +2,12 @@ import matplotlib.pyplot as plt from spatialmath import base import scipy.ndimage as sp +from abc import ABC +class BaseOccupancyGrid(ABC): -class OccGrid: - - def __init__(self, grid, size=1, origin=(0, 0), name=None): + def __init__(self, grid=None, origin=(0, 0), + workspace=None, + value=0, cellsize=1, name=None): """ Create an occupancy grid instance @@ -16,26 +18,42 @@ def __init__(self, grid, size=1, origin=(0, 0), name=None): :param origin: world coordinates of the grid element [0,0], defaults to (0, 0) :type origin: array_like(2), optional - The array is kept internally as a bool array, True if occupied, corresponding - to input values > 0. + The array is kept internally as a bool array, True if occupied, + corresponding to input values > 0. + + This object supports a user-defined coordinate system and grid size. + World coordinates are converted to grid coordinates to lookup the + occupancy status. """ - self._size = size - self._origin = base.getvector(origin, 2) - self._grid = grid.astype(bool) + if grid is not None: + self._grid = grid + self._origin = base.getvector(origin, 2) + + elif workspace is not None: + dx = workspace[1] - workspace[0] + dy = workspace[3] - workspace[2] + self._grid = np.full(np.floor(np.r_[dx, dy] / cellsize).astype(int) + 1, value) + self._origin = np.r_[workspace[0], workspace[2]] + + self._cellsize = cellsize + self._name = name def copy(self): - return self.__class__(self._grid.copy(), self._size, self._origin, self._name) + """ + Copy an occupancy grid + + :return: copy of the ocupancy grid + :rtype: OccGrid + """ + return self.__class__(self._grid.copy(), cellsize=self._cellsize, origin=self._origin, name=self._name) def __str__(self): - s = "OccupancyGrid" + s = self.__class__.__name__ if self._name is not None: s += f"[{self._name}]" s += f": {self._grid.shape[1]} x {self._grid.shape[0]}" - ncells = np.prod(self._grid.shape) - nobs = self._grid.sum() - s += f", {nobs/ncells*100:.1f}% occupied" - s += f", cell size={self._size}" + s += f", cell size={self._cellsize}" s += f", x: {self.xmin} - {self.xmax}, y: {self.ymin} - {self.ymax}" return s @@ -46,6 +64,9 @@ def grid(self): :return: binary occupancy grid :rtype: ndarray(N,M) of bool + + If :meth:`inflate` has been called, this will return the inflated + occupancy grid. """ return self._grid @@ -54,7 +75,7 @@ def xmin(self): """ Minimum x-coordinate of this grid - :return: minimum x-coordinate + :return: minimum world x-coordinate :rtype: float """ return self._origin[0] @@ -64,17 +85,17 @@ def xmax(self): """ Maximum x-coordinate of this grid - :return: maximum x-coordinate + :return: maximum world x-coordinate :rtype: float """ - return (self._grid.shape[1] -1 ) * self._size + self._origin[0] + return (self._grid.shape[1] -1 ) * self._cellsize + self._origin[0] @property def ymin(self): """ Minimum y-coordinate of this grid - :return: minimum y-coordinate + :return: minimum world y-coordinate :rtype: float """ return self._origin[1] @@ -84,10 +105,10 @@ def ymax(self): """ Maximum y-coordinate of this grid - :return: maximum y-coordinate + :return: maximum world y-coordinate :rtype: float """ - return (self._grid.shape[0] -1 ) * self._size + self._origin[1] + return (self._grid.shape[0] -1 ) * self._cellsize + self._origin[1] @property def shape(self): @@ -99,6 +120,29 @@ def shape(self): """ return self._grid.shape + + @property + def maxdim(self): + """ + Maximum dimension of grid in world coordinates + + :return: maximum side length of the occupancy grid + :rtype: float + """ + return max(self.grid.shape) * self._cellsize + + @property + def workspace(self): + """ + Bounds of the occupancy grid + + :return: workspace bounds [xmin, xmax, ymin, ymax] + :rtype: ndarray(4) + + Returns the bounds of the occupancy grid. + """ + return np.r_[self.xmin, self.xmax, self.ymin, self.ymax] + @property def name(self): """ @@ -127,9 +171,12 @@ def g2w(self, p): :type p: array_like(2) :return: world coordinate (x, y) :rtype: ndarray(2) + + The grid cell size and offset are used to convert occupancy grid + coordinate ``p`` to a world coordinate. """ p = base.getvector(p, 2) - return p * self._size + self._origin + return p * self._cellsize + self._origin def w2g(self, p): """ @@ -140,9 +187,77 @@ def w2g(self, p): :return: grid coordinate (column, row) :rtype: ndarray(2) - The grid coordinate is rounded and cast to integer value. + The grid cell size and offset are used to convert ``p`` to an occupancy + grid coordinate. The grid coordinate is rounded and cast to integer + value. No check is made on the validity of the coordinate. """ - return (np.round(p - self._origin) / self._size).astype(int) + return (np.round((p - self._origin) / self._cellsize)).astype(int) + + + def plot(self, map=None, ax=None, block=False, **kwargs): + """ + Plot the occupancy grid + + :param map: array which is plotted instead of the grid, must be same + size as the occupancy grid,defaults to None + :type map: ndarray(N,M), optional + :param ax: matplotlib axes to plot into, defaults to None + :type ax: Axes2D, optional + :param block: block until plot is dismissed, defaults to False + :type block: bool, optional + :param kwargs: arguments passed to ``imshow`` + + The grid is plotted as an image but with axes in world coordinates. + + The grid is a NumPy boolean array which has values 0 (false=unoccupied) + and 1 (true=occupied). Passing a `cmap` option to imshow can be used + to control the displayed color of free space and obstacles. + + """ + + ax = base.axes_logic(ax, 2) + extent = self.workspace + if map is None: + map = self._grid + + ax.imshow(map, extent=extent, origin='lower', interpolation='none', **kwargs) + ax.set_xlabel('x') + ax.set_ylabel('y') + plt.show(block=block) + + + def line_w(self, p1, p2): + + gp1 = self.w2g(p1) + gp2 = self.w2g(p2) + + return line(gp1, gp2) + + def line(self, p1, p2): + + x, y = base.bresenham(p1, p2, array=self.grid) + z = np.ravel_multi_index(np.vstack((y, x)), self.grid.shape) + return z + + @property + def ravel(self): + return self._grid.reshape(-1) + +class BinaryOccupancyGrid(BaseOccupancyGrid): + + def __init__(self, grid=None, **kwargs): + + if grid is not None: + grid = grid.astype(bool) + super().__init__(grid=grid, **kwargs) + + def __str__(self): + s = super().__str__() + + ncells = np.prod(self._grid.shape) + nobs = self._grid.sum() + s += f", {nobs/ncells*100:.1f}% occupied" + return s def isoccupied(self, p): """ @@ -153,8 +268,10 @@ def isoccupied(self, p): :return: occupancy status of corresponding grid cell :rtype: bool - The world coordinate is rounded to integer grid coordinates and the - occupancy status of that cell is returned. + The grid cell size and offset are used to convert ``p`` to an occupancy + grid coordinate. The grid coordinate is rounded and cast to integer + value. If the coordinate is outside the bounds of the occupancy grid + it is considered to be occupied. :seealso: :meth:`w2g` """ @@ -164,18 +281,6 @@ def isoccupied(self, p): except IndexError: return True - def plot(self, map=None, ax=None, block=False, **kwargs): - - ax = base.axes_logic(ax, 2) - extent = [self.xmin, self.xmax, self.ymin, self.ymax] - if map is None: - ax.imshow(self._grid, extent=extent, origin='lower', **kwargs) - else: - ax.imshow(map, extent=extent, origin='lower', **kwargs) - ax.set_xlabel('X') - ax.set_ylabel('Y') - plt.show(block=block) - def inflate(self, radius): """ Inflate obstales @@ -184,33 +289,63 @@ def inflate(self, radius): :type radius: float A circular structuring element is created and used to dilate the - occupancy grid. + stored occupancy grid. + + Successive calls to ``inflate`` will compound the inflation. :seealso: :func:`scipy.ndimage.binary_dilation` """ # Generate a circular structuring element - r = round(radius / self._size) + r = round(radius / self._cellsize) Y, X = np.meshgrid(np.arange(-r, r+1), np.arange(-r, r+1)) SE = X**2 + Y**2 <= r**2 SE = SE.astype(int) # do the inflation using SciPy self._grid = sp.binary_dilation(self._grid, SE) +class OccupancyGrid(BaseOccupancyGrid): + def __str__(self): + s = super().__str__() + + g = self._grid + s += f", dtype {g.dtype}" + s += f", min {g.min()}, max {g.max()}, mean {g.mean()}" + return s if __name__ == "__main__": - g = np.zeros((100, 100)) - g[20:30, 50:80] = 1 + # g = np.zeros((100, 100)) + # g[20:30, 50:80] = 1 + + # og = OccGrid(g, size=0.1, origin=(2,4),name='bob') + # print(og) + # print(og.xmin, og.xmax, og.ymin, og.ymax) + # print(og.isoccupied((8.5, 6.5))) + # print(og.isoccupied((6, 6))) + # print(og.isoccupied((500, 500))) + # og.plot(block=False) + # og2 = og.copy() + # print(og2) + # og2.inflate(0.5) + # plt.figure() + # og2.plot(block=True) + + g = np.zeros((10,10)) + g[2:3, 4:5] = 1 + og = BinaryOccupancyGrid(g) + print(og) + + r = og.ravel + print(r[24]) + + og = BinaryOccupancyGrid(workspace=[2,3,4,5], cellsize=0.2) + print(og) + + og = BinaryOccupancyGrid(workspace=[2,3,4,5], cellsize=0.2, value=True) + print(og) - og = OccGrid(g, size=0.1, origin=(2,4),name='bob') + og = OccupancyGrid(workspace=[2,3,4,5], cellsize=0.2, value=3) print(og) - print(og.xmin, og.xmax, og.ymin, og.ymax) - print(og.isoccupied((8.5, 6.5))) - print(og.isoccupied((6, 6))) - print(og.isoccupied((500, 500))) - og.plot(block=False) - og2 = og.copy() - print(og2) - og2.inflate(0.5) - plt.figure() - og2.plot(block=True) \ No newline at end of file + + og = OccupancyGrid(workspace=[2,3,4,5], cellsize=0.2, value=3.0) + print(og) \ No newline at end of file diff --git a/roboticstoolbox/mobile/PRMPlanner.py b/roboticstoolbox/mobile/PRMPlanner.py index 60c4cee37..b79dbcdb8 100644 --- a/roboticstoolbox/mobile/PRMPlanner.py +++ b/roboticstoolbox/mobile/PRMPlanner.py @@ -14,20 +14,46 @@ from spatialmath.pose2d import SE2 from spatialmath.base import animate from scipy.ndimage import * -from matplotlib import cm +from matplotlib import cm, pyplot as plt from roboticstoolbox.mobile.Planner import Planner from pgraph import UGraph class PRMPlanner(Planner): - def __init__(self, - private=False, reset=False, verbose=None, - transform=SE2(), npoints=100, dist_thresh=None, **kwargs): - - super().__init__(**kwargs) + r""" + Distance transform path planner + + :param occgrid: occupancy grid + :type curvature: OccGrid or ndarray(w,h) + :param npoints: number of random points, defaults to 100 + :type npoints: int, optional + :param dist_thresh: distance threshold, a new point is only added to the + roadmap if it is closer than this distance to an existing vertex, + defaults to None + :type dist_thresh: float, optional + :param Planner: probabilistic roadmap path planner + :type Planner: PRMPlanner instance + + ================== ======================== + Feature Capability + ================== ======================== + Plan Cartesian space + Obstacle avoidance Yes + Curvature Discontinuous + Motion Forwards only + ================== ======================== + + Creates a planner that finds the path between two points in the + plane using forward motion. The path comprises a set of way points. + + :author: Peter Corke_ + :seealso: :class:`Planner` + """ + def __init__(self, occ_grid=None, npoints=100, dist_thresh=None, **kwargs): + super().__init__(ndims=2, **kwargs) if dist_thresh is None: - self._dist_thresh = 0.3 * max(self.occgrid.shape) + self._dist_thresh = 0.3 * self.occgrid.maxdim self._npoints = npoints self._npoints0 = npoints @@ -117,7 +143,7 @@ def create_roadmap(self, animate=None): if not np.empty(movie): a.add() - def test_path(self, p1, p2, npoints = 10): + def test_path(self, p1, p2, npoints = 100): dir = p2 - p1 for s in np.linspace(0, 1, npoints): @@ -126,6 +152,19 @@ def test_path(self, p1, p2, npoints = 10): return True def plan(self, npoints=None, dist_thresh=None, animate=None): + """ + Plan PRM path + + :param npoints: number of random points, defaults to ``npoints`` given + to constructor + :type npoints: int, optional + :param dist_thresh: distance threshold, defaults to ``dist_thresh`` given + to constructor + :type dist_thresh: float, optional + :param animate: animate the planning algorithm iterations, defaults to False + :type animate: bool, optional + """ + self.message('create the graph') if npoints is None: @@ -140,11 +179,11 @@ def plan(self, npoints=None, dist_thresh=None, animate=None): self._v_path = np.array([]) self.create_roadmap(animate) - def query(self, start, goal): + def query(self, start, goal, **kwargs): if self.graph.n == 0: Error('RTB:PRM:noplan:query: no plan: run the planner') - self.check_points(start, goal) + super().query(start=start, goal=goal, next=False, **kwargs) # find vertices closest to start and goal vstart, _ = self.graph.closest(self.start) @@ -200,6 +239,14 @@ def next(self, p): self._local_pathh = self._local_path[1:len(self._local_path), :] return n + def plot(self, *args, vertex=None, edge=None, **kwargs): + super().plot(*args, **kwargs) + if vertex is None: + vertex=dict(markersize=4) + if edge is None: + edge=dict(linewidth=0.5) + + self.graph.plot(text=False, vertex=vertex, edge=edge) # def char(self): # s = "\ngraph size: " + self._npoints # s = s + "\nndist thresh: " + self._dist_thresh @@ -276,6 +323,7 @@ def next(self, p): if __name__ == "__main__": + import matplotlib.pyplot as plt # start and goal position start = (10, 10) diff --git a/roboticstoolbox/mobile/Planner.py b/roboticstoolbox/mobile/Planner.py index ab209916e..2228f99f7 100644 --- a/roboticstoolbox/mobile/Planner.py +++ b/roboticstoolbox/mobile/Planner.py @@ -13,30 +13,62 @@ from matplotlib import cm from abc import ABC, abstractmethod import matplotlib as mpl +import matplotlib.pyplot as plt import copy -from roboticstoolbox.mobile.OccGrid import OccGrid +from roboticstoolbox.mobile.OccGrid import BinaryOccupancyGrid from colored import fg, attr class Planner: + r""" + Mobile robot motion planner (superclass) + + :param occgrid: occupancy grid, defaults to None + :type occgrid: :class:`OccGrid` instance of ndarray(N,M), optional + :param start: start position :math:`(x, y)` or configuration :math:`(x, y, \theta)`, defaults to None + :type start: array_like(2) or array_like(3), optional + :param goal: goal position :math:`(x, y)` or configuration :math:`(x, y, \theta)`, defaults to None + :type goal: array_like(2) or array_like(3), optional + :param inflate: obstacle inflation, defaults to 0 + :type inflate: float, optional + :param ndims: dimensionality of the planning, either 2 for :math:`\mathbb{R}^2` or + 3 for :math:`\SE{2}` + :param ndims: int, optional + :param verbose: verbosity, defaults to False + :type verbose: bool, optional + :param msgcolor: color for message channel printing + :type msgcolor: str, defaults to yellow + :param seed: seed provided to private random number generator, defaults to None + :type seed: int, optional + + Superclass for all mobile robot motion planners. Key functionality + includes: + + - encapsulates an occupancy grid and optionally inflates it + - encapsulates a private random number generator with specifiable seed + - encapsulates state such as start, goal, and the plan + - provides a message channel for diagnostic output + + :seealso: :class:`OccGrid` + """ + + def __init__(self, occgrid=None, inflate=0, ndims=None, + verbose=False, msgcolor='yellow', seed=None, **unused): - def __init__(self, occgrid=None, goal=None, inflate=0, - reset=False, verbose=False, seed=None, - transform=SE2()): self._occgrid = None - self._start = None + if ndims is None: + raise ValueError('ndims must be specified') + self._ndims = ndims self._verbose = verbose + self._msgcolor = msgcolor self._seed = seed - self._spin_count = None self._private_random = np.random.default_rng(seed=seed) - self._seed_0 = None self._inflate = inflate - self._reset = reset - self._transform = transform + self._start = None self._goal = None if occgrid is not None: - if not isinstance(occgrid, OccGrid): - occgrid = OccGrid(occgrid) + if not isinstance(occgrid, BinaryOccupancyGrid): + occgrid = BinaryOccupancyGrid(occgrid) self._occgrid0 = occgrid # original occgrid for reference if inflate > 0: @@ -45,16 +77,18 @@ def __init__(self, occgrid=None, goal=None, inflate=0, else: self._occgrid = occgrid - if goal is not None: - self._goal = np.transpose(goal) - - - self._spin_count = 0 - def __str__(self): - s = f"Navigation class: {self.__class__.__name__}" + """ + Compact representation of the planner + + :return: pretty printed representation + :rtype: str + """ + s = f"{self.__class__.__name__}: " if self._occgrid0 is not None: - s += f"\n Occupancy grid: {self._occgrid0.shape}" + s += str(self.occgrid) + if self._start is not None: + s += f"\n Start: {self.start}" if self._goal is not None: s += f"\n Goal: {self.goal}" return s @@ -65,208 +99,284 @@ def occgrid(self): Occupancy grid :return: occupancy grid used for planning - :rtype: OccGrid instance + :rtype: :class:`OccGrid` instance or None + + Returns the grid that was optionally inflated at constructor time. - This returns the grid that was optionally inflated at constructor time. + :seealso: :class:`OccGrid` """ return self._occgrid @property - def goal(self): + def start(self): + r""" + Start point or configuration used for planning + + :return: start point :math:`(x, y)` or configuration :math:`(x, y, \theta)` + :rtype: ndarray(2) or ndarray(3) """ - Goal point or configuration for planning + return self._start + + @start.setter + def start(self, start): + r""" + Set start point or configuration for planning - :return: goal point or configuration + :param start: Set start :math:`(x, y)` or configuration :math:`(x, y, \theta)` + :type start: array_like(2) or array_like(3) + :raises ValueError: if start point is occupied + """ + if start is not None: + if self.isoccupied(start): + raise ValueError("Start location inside obstacle") + self._start = base.getvector(start) + + @property + def goal(self): + r""" + Goal point or configuration used for planning + + :return: goal point :math:`(x, y)` or configuration :math:`(x, y, \theta)` :rtype: ndarray(2) or ndarray(3) """ return self._goal @goal.setter def goal(self, goal): - """ + r""" Set goal point or configuration for planning - :param goal: Set goal point or configuration + :param goal: Set goal :math:`(x, y)` or configuration :math:`(x, y, \theta)` :type goal: array_like(2) or array_like(3) :raises ValueError: if goal point is occupied """ - if self.isoccupied(goal): - raise ValueError("Goal location inside obstacle") - self._goal = base.getvector(goal) + if goal is not None: + if self.isoccupied(goal): + raise ValueError("Goal location inside obstacle") + self._goal = base.getvector(goal) - @property - def start(self): + def isoccupied(self, p): """ - Start point or configuration for planning + Test if point is occupied - :return: start point or configuration - :rtype: ndarray(2) or ndarray(3) - """ - return self._start - - @start.setter - def start(self, start): - """ - Set start point or configuration for planning + :param p: world coordinate (x, y) + :type p: array_like(2) + :return: occupancy status of corresponding grid cell + :rtype: bool - :param start: Set start point or configuration - :type start: array_like(2) or array_like(3) - :raises ValueError: if start point is occupied - """ - if self.isoccupied(start): - raise ValueError("Start location inside obstacle") - self._start = base.getvector(start) + The world coordinate is transformed and the status of the occupancy + grid cell is returned. If the point lies outside the bounds of + the occupancy grid return True (obstacle) - def select_goal(self): - self.plot() - print("Select goal location") - goal = round(plt.ginput(1)) + If there is no occupancy grid this function always returns False (free). - self.goal = goal + :seealso: :meth:`OccGrid.isoccupied` + """ + if self.occgrid is None: + return False + else: + return self.occgrid.isoccupied(p) @property def verbose(self): + """ + Get verbosity + + :return: verbosity + :rtype: bool + + If ``verbosity`` print more diagnostic messages to the planner's + message channel. + """ return self._verbose @verbose.setter def verbose(self, v): - self._verbose = v + """ + Set verbosity - @property - def seed(self): - return self._seed + :param v: verbosity + :type v: bool - @property - def spin_count(self): - return self._spin_count + If ``verbosity`` print more diagnostic messages to the planner's + message channel. + """ + self._verbose = v @property def random(self): - return self._private_random + """ + Private random number generator - @property - def seed_0(self): - return self._seed_0 + :return: random number generator + :rtype: NumPy Generator + + For example:: + + planner.random(size, dtype) + planner.integers(low, high, size, dtype) + planner.uniform(0, 5) + + :seealso: `Random Generator `_ + """ + return self._private_random - @property - def reset(self): - return self._reset # Define abstract classes to be implemented later @abstractmethod def plan(self): - pass + r""" + Plan path (abstract superclass) - @abstractmethod - def next(self): + :param start: start position :math:`(x, y)` or configuration :math:`(x, y, \theta)`, defaults to None + :type start: array_like(2) or array_like(3), optional + :param goal: goal position :math:`(x, y)` or configuration :math:`(x, y, \theta)`, defaults to None + :type goal: array_like(2) or array_like(3), optional + + The implementation depends on the particular planner. Some may have + no planning phase. The plan may also depend on just the start or goal. + """ pass - def query(self, start, goal=None, animate=False, movie=None): + def validate_endpoint(self, p, dtype=None): + if p is not None: + p = base.getvector(p, self._ndims, dtype=dtype) + if self.isoccupied(p): + raise ValueError("Point is inside obstacle") + return p + + def query(self, start=None, goal=None, dtype=None, next=True, animate=False, movie=None): """ - ssss + Find a path from start to goal using plan (superclass) - :param start: [description] - :type start: [type] - :param goal: [description], defaults to None - :type goal: [type], optional - :param animate: [description], defaults to False + :param start: start position :math:`(x, y)` or configuration :math:`(x, y, \theta)`, defaults to None + :type start: array_like(2) or array_like(3), optional + :param goal: goal position :math:`(x, y)` or configuration :math:`(x, y, \theta)`, defaults to None + :type goal: array_like(2) or array_like(3), optional + :param animate: show the vehicle path, defaults to False :type animate: bool, optional - :return: [description] - :rtype: [type] - - %Navigation.query Find a path from start to goal using plan - % - % N.query(START, OPTIONS) animates the robot moving from START (2x1) to the goal (which is a - % property of the object) using a previously computed plan. - % - % X = N.query(START, OPTIONS) returns the path (Mx2) from START to the goal (which is a property of - % the object). - % - % The method performs the following steps: - % - Initialize navigation, invoke method N.navigate_init() - % - Visualize the environment, invoke method N.plot() - % - Iterate on the next() method of the subclass until the goal is - % achieved. - % - % Options:: - % 'animate' Show the computed path as a series of green dots. - % - % Notes:: - % - If START given as [] then the user is prompted to click a point on the map. - % - % - % See also Navigation.navigate_init, Navigation.plot, Navigation.goal. + :return: path from start to goal, one point :math:`(x, y)` or configuration :math:`(x, y, \theta)` per row + :rtype: ndarray(N,2) or ndarray(N,3) + + Find a path from ``start`` to ``goal`` using a previously computed plan. + + The method performs the following steps: + - Initialize navigation, invoke method N.navigate_init() + - Visualize the environment, invoke method N.plot() + - Iterate on the ``next()`` method of the subclass until the ``goal`` is + achieved. """ # make sure start and goal are set and valid - self.check_points(start, goal) + self.start = self.validate_endpoint(start, dtype=dtype) + self.goal = self.validate_endpoint(goal, dtype=dtype) - if movie is not None: - animate = True + # if movie is not None: + # animate = True - if animate: - self.plot() + if next: + if animate: + self.plot() - movie = MovieWriter(movie) + # movie = MovieWriter(movie) - robot = self._start - path = [robot] + robot = self._start + path = [robot] - while True: - if animate: - plt.plot(robot[0], robot[1], 'y.', 12) - plt.pause(0.05) + while True: + if animate: + plt.plot(robot[0], robot[1], 'y.', 12) + plt.pause(0.05) - # get next point on the path - robot = self.next(robot) + # get next point on the path + robot = self.next(robot) - # are we are done? - if robot is None: - path.append(self._goal) - return np.array(path).astype(int) + # are we are done? + if robot is None: + path.append(self._goal) + return np.array(path).astype(int) - path.append(robot) + path.append(robot) - def plot(self, path=None, - path_marker=None, path_marker_reverse=None, - start_marker=None, goal_marker=None, + def plot(self, path=None, direction=None, background=True, + twod=False, unwrap=True, + path_marker=None, path_marker_reverse=None, + start_marker=None, goal_marker=None, + qstart_marker=None, qgoal_marker=None, + start=None, goal=None, ax=None, block=False, **kwargs): - """ + r""" Plot vehicle path :param path: path, defaults to None :type p: ndarray(N,2) or ndarray(N,3) - :param path_marker: style for marking points on path + :param direction: travel direction associated with each point on path, is either >0 or <0, defaults to None + :type direction: ndarray(N,), optional + :param twod: for configuration space paths force a 2D plot but + start and goal style will be given by ``qstart_marker`` and ``qgoal_marker``, defaults to False + :type twod: bool, optional + :param unwrap: for configuration space plot unwrap :math:`\theta` so + there are no discontinuities at :math:`\pm \pi`, defaults to True + :type unwrap: bool, optional + :param background: plot occupancy grid if present, default True + :type background: bool, optional + :param path_marker: style for marking points on path when travelling forward :type path_marker: dict, optional - :param path_marker: style for marking points on path when reversing + :param path_marker: style for marking points on path when travelling backward :type path_marker: dict, optional :param start_marker: style for marking start point :type start_marker: dict, optional :param goal_marker: style for marking goal point :type goal_marker: dict, optional - :param direction: direction of travel, defaults to None - :type direction: ndarray(N) with positive value for forward, and - negative value for reverse, optional - :param background: plot occupancy grid if present, default True - :type background: bool, optional + :param qstart_marker: style for marking start configuration in 2D plane + :type qstart_marker: dict, optional + :param qgoal_marker: style for marking goal configuration in 2D plane + :type qgoal_marker: dict, optional + :param start: start position :math:`(x, y)` or configuration :math:`(x, y, \theta)`, defaults to value used for ``plan/query`` + :type start: array_like(2) or array_like(3), optional + :param goal: goal position :math:`(x, y)` or configuration :math:`(x, y, \theta)`, defaults to value used for ``plan/query`` + :type goal: array_like(2) or array_like(3), optional :param ax: axes to plot into :type ax: matplotlib axes :param block: block after displaying the plot :type block: bool, optional - The path has one row per time step and has 2 or 3 columns for motion in - the :math:`x-y` plane or in :math:`x-y-\theta` configuration space - respectively. If 3 columns are given the plot will be a 3D plot. + The path has one row per time step and either 2 or 3 columns: + + - 2 columns describes motion in the :math:`x-y` plane and a 2D plot is created + - 3 columns describes motion in the :math:`x-y-\theta` configuration space and + a 3D plot is created unless ``twod`` is True in which case motion in + the :math:`x-y` plane is shown. - Markers are specified as dicts using matplotlib keywords, for example:: + Markers are specified as dicts using Matplotlib keywords, for example:: planner.plot(path, path_marker=dict(marker='s', color='b')) - Default values are provided for all markers, start point is a circle and - goal point is a star. + Default values are provided for all markers: + + - forward motion is a blue dot, + - backward motion is a red dot, + - the start point is a circle, and + - the goal point is a star. + + If ``twod`` is True then direction-indicating markers are used to + display start and goal configuration. These are also given as dicts but + have two items: ``'shape'`` which is the shape of the polygonal marker + and is either ``'triangle'`` or ``'car'``. The second item ``'args'`` is + passed to :func:`base.plot_poly` and Matplotlib. If the planner supports bi-directional motion then the ``direction`` - option gives the direction for every point on the path. + option gives the direction for each point on the path. + + If ``background`` is True then the background of the plot is either or + both of: + + - the occupancy grid + - the distance field of the planner + + Additional arguments are passed through to :meth:`plot_bg` + + :seealso: :meth:`plot_bg` :func:`base.plot_poly` """ # create default markers if path_marker is None: @@ -283,29 +393,45 @@ def plot(self, path=None, 'markeredgecolor': 'w', 'markerfacecolor': 'y', 'markersize': 10, + 'zorder': 10, } if goal_marker is None: goal_marker = { 'marker': '*', 'markeredgecolor': 'w', 'markerfacecolor': 'y', 'markersize': 16, + 'zorder': 10, } + if qstart_marker is None: + qstart_marker = {'shape': 'triangle', + 'args': { + 'linewidth': 2, + 'color': 'darkgrey', + } + } + if qgoal_marker is None: + qgoal_marker = {'shape': 'triangle', + 'args': { + 'filled': True, + 'color': 'darkgrey' + } + } + + ndims = self._ndims + if twod: + if path is not None: + path0 = path + path = path[:, :2] + ndims = 2 + + ax = base.axes_logic(ax, ndims) # plot occupancy grid background if background: - self.plot_bg(**kwargs) + self.plot_bg(ax=ax, **kwargs) - if path is not None: - if not isinstance(path, np.ndarray) or not (path.shape[1] in (2, 3)): - raise ValueError('path must be an Nx2 or Nx3 matrix of points') - ndims = path.shape[1] - elif self.goal is not None: - ndims = len(self.goal) - - ax = base.axes_logic(ax, ndims) # mark the path if path is not None: - if ndims == 2: # 2D case if direction is not None: @@ -317,30 +443,64 @@ def plot(self, path=None, ax.plot(path[direction < 0, 0], path[direction < 0, 1], color='none', **path_marker_reverse) else: ax.plot(path[:, 0], path[:, 1], **path_marker) - elif path.shape[1] == 3: + elif ndims == 3: # 3D case if direction is not None: direction = np.array(direction) if direction.shape[0] != path.shape[0]: raise ValueError('direction vector must have same length as path') - ax.plot(path[:, 0], path[:, 1], path[:, 2], 'k') - ax.plot(path[direction > 0, 0], path[direction > 0, 1], path[direction > 0, 2], color='none', **path_marker) - ax.plot(path[direction < 0, 0], path[direction < 0, 1], path[direction < 0, 2], color='none', **path_marker_reverse) + theta = path[:, 2] + if unwrap: + theta = np.unwrap(path[:, 2]) + ax.plot(path[:, 0], path[:, 1], theta, 'k') + ax.plot(path[direction > 0, 0], path[direction > 0, 1], theta[direction > 0], color='none', **path_marker) + ax.plot(path[direction < 0, 0], path[direction < 0, 1], theta[direction < 0], color='none', **path_marker_reverse) else: - ax.plot(path[:, 0], path[:, 1], path[:, 2], **path_marker) + theta = path[:, 2] + if unwrap: + theta = np.unwrap(path[:, 2]) + ax.plot(path[:, 0], path[:, 1], theta, **path_marker) # mark start and goal if requested - if ndims == 2: - if self.start is not None: - ax.plot(self.start[0], self.start[1], zorder=10, **start_marker) - if self.goal is not None: - ax.plot(self.goal[0], self.goal[1], zorder=10, **goal_marker) + if start is not None: + start = self.validate_endpoint(start) + else: + start = self.start + if goal is not None: + self.goal = self.validate_endpoint(goal) + else: + goal = self.goal + + if ndims == 2 and not twod: + # proper 2d plot + if start is not None: + ax.plot(start[0], start[1], **start_marker) + if goal is not None: + ax.plot(goal[0], goal[1], **goal_marker) + + elif ndims == 2 and twod: + # 2d projection of 3d plot, show start/goal configuration + scale = base.axes_get_scale(ax) / 10 + + if start is not None: + poly = self._qmarker(qstart_marker['shape']) * scale + base.plot_poly(poly, pose=SE2(start), **qstart_marker['args']) + if goal is not None: + poly = self._qmarker(qgoal_marker['shape']) * scale + base.plot_poly(poly, pose=SE2(goal), **qgoal_marker['args']) elif ndims == 3: - if self.start is not None: - ax.plot(self.start[0], self.start[1], self.start[2]+0.1, zorder=10, **start_marker) - if self.goal is not None: - plt.plot(self.goal[0], self.goal[1], self.goal[2]+0.1, zorder=10, **goal_marker) + # 3d plot + + if start is not None: + ax.plot(start[0], start[1], start[2], **start_marker) + if goal is not None: + + if path is not None and unwrap: + theta = theta[-1] + else: + theta = goal[2] + plt.plot(goal[0], goal[1], theta, **goal_marker) ax.set_xlabel('x') ax.set_ylabel('y') @@ -351,62 +511,68 @@ def plot(self, path=None, plt.show(block=block) - - def plot_bg(self, distance=None, color_map='gray', - inflated=True, path_marker=None, **unused_args): + def _qmarker(self, shape): + h = 0.3 + t = 0.8 # start of head taper + c = 0.5 # centre x coordinate + w = 1 # width in x direction + if shape == 'car': + return np.array([ + [-c, h], + [t - c, h], + [w - c, 0], + [t - c, -h], + [-c, -h], + ]).T + elif shape == 'triangle': + return np.array([ + [-c, h], + [ w, 0], + [-c, -h], + [-c, h], + ]).T + + def plot_bg(self, distance=None, cmap='gray', + ax=None, inflated=True, **unused): """ - [summary] - - :param p: [description], defaults to None - :type p: [type], optional - :param distance: [description], defaults to None - :type distance: [type], optional - :param color_map: [description], defaults to cm.get_cmap('bone') - :type color_map: [type], optional - :param beta: [description], defaults to 0.2 - :type beta: float, optional - :param inflated: [description], defaults to False - :type inflated: bool, optional - - %Navigation.plot Visualization background - % - % N.plot_bg(OPTIONS) displays the occupancy grid with occupied cells shown as - % red and an optional distance field. - % - % N.plot_bg(P,OPTIONS) as above but overlays the points along the path (2xM) matrix. - % - % Options:: - % 'distance',D Display a distance field D behind the obstacle map. D is - % a matrix of the same size as the occupancy grid. - % 'colormap',@f Specify a colormap for the distance field as a function handle, eg. @hsv - % 'beta',B Brighten the distance field by factor B. - % 'inflated' Show the inflated occupancy grid rather than original - % 'pathmarker',M Options to draw a path point - % 'startmarker',M Options to draw the start marker - % 'goalmarker',M Options to draw the goal marker - % - % Notes:: - % - The distance field at a point encodes its distance from the goal, small - % distance is dark, a large distance is bright. Obstacles are encoded as - % red. - % - Beta value -1= array_shape[0]*array_shape[1]] = -1 -# return ind - -# class Error(Exception): -# """Base class for other exceptions""" -# pass - diff --git a/roboticstoolbox/mobile/PoseGraph.py b/roboticstoolbox/mobile/PoseGraph.py index 3be7b02b2..698b1f7c6 100644 --- a/roboticstoolbox/mobile/PoseGraph.py +++ b/roboticstoolbox/mobile/PoseGraph.py @@ -9,6 +9,74 @@ import zipfile import time import math +from pathlib import Path +from progress.bar import FillingCirclesBar +class PGVertex(pgraph.UVertex): + + nvertices = 0 + + def __init__(self, type, **kwargs): + super().__init__(**kwargs) + self.type = type + self.index = PGVertex.nvertices + PGVertex.nvertices += 1 +class PGEdge(pgraph.Edge): + def __init__(self, v1, v2, mean, info): + super().__init__(v1, v2) + self.mean = mean + self.info = info + + def linear_factors(self): + #computes the Taylor expansion of the error function of the k_th edge + #vmeans: vertices positions + #eids: edge ids + #emeans: edge means + # k: edge number + # e: e_k(x) + # A: d e_k(x) / d(x_i) + # B: d e_k(x) / d(x_j) + v = self.endpoints + v_i = v[0].coord + v_j = v[1].coord + z_ij = self.mean + + # compute the homoeneous transforms of the previous solutions + zt_ij = base.trot2(z_ij[2], t=z_ij[0:2]) + vt_i = base.trot2(v_i[2], t=v_i[0:2]) + vt_j = base.trot2(v_j[2], t=v_j[0:2]) + + # compute the displacement between x_i and x_j + f_ij = base.trinv2(vt_i) @ vt_j + + # this below is too long to explain, to understand it derive it by hand + theta_i = v_i[2] + ti = v_i[0:2] + tj = v_j[0:2] + dt_ij = tj - ti + + si = np.sin(theta_i) + ci = np.cos(theta_i) + + # fmt: off + A = np.array([ + [-ci, -si, [-si, ci] @ dt_ij], + [ si, -ci, [-ci, -si] @ dt_ij], + [ 0, 0, -1 ], + ]) + B = np.array([ + [ ci, si, 0], + [ -si, ci, 0], + [ 0, 0, 1 ], + ]) + # fmt: on + ztinv = base.trinv2(zt_ij) + T = ztinv @ f_ij + e = base.tr2xyt(T) + ztinv[0:2,2] = 0 + A = ztinv @ A + B = ztinv @ B + + return e, A, B class PoseGraph: @@ -30,17 +98,16 @@ def __init__(self, filename, laser=False, verbose=False): self.graph = pgraph.UGraph(verbose=verbose) - path = rtb.path_to_datafile(filename) + path = Path(rtb.path_to_datafile(filename)) - if filename.endswith('.zip'): + if path.suffix == '.zip': zf = zipfile.ZipFile(path, 'r') opener = zf.open - filename = filename[:-4] + path = path.stem else: opener = open - filename = path - with opener(filename, 'r') as f: + with opener(path, 'r') as f: toroformat = False nlaser = 0 @@ -52,7 +119,7 @@ def __init__(self, filename, laser=False, verbose=False): # we keep an array self. = vindex(gi) to map g2o vertex index to PGraph vertex index - vindex = {} + self.vindex = {} firstlaser = True for line in f: # for zip file, we get data as bytes not str @@ -63,116 +130,117 @@ def __init__(self, filename, laser=False, verbose=False): if line.startswith('#'): continue - tokens = line.split(' ') + tokens = line.split() # g2o format records if tokens[0] == 'VERTEX_SE2': - v = self.graph.add_vertex([float(x) for x in tokens[2:5]]) - id = int(tokens[1]) - vindex[id] = v - v.id = id + coord = np.array([float(x) for x in tokens[2:5]]) + id = tokens[1] + + v = PGVertex('vertex', coord=coord, name=id) + self.graph.add_vertex(v) - v.type = 'vertex' - elif tokens[0] == 'VERTEX_XY': - v = self.graph.add_vertex([float(x) for x in tokens[2:4]]) - id = int(tokens[1]) - vindex[id] = v - v.id = id - v.type = 'landmark' + coord = np.array([float(x) for x in tokens[2:4]]) + id = tokens[1] + + v = PGVertex('landmark', coord=coord, name=id) + self.graph.add_vertex(v) elif tokens[0] == 'EDGE_SE2': - v1 = vindex[int(tokens[1])] - v2 = vindex[int(tokens[2])] - - # create the edge - e = self.graph.add_edge(v1, v2) + v1 = tokens[1] + v2 = tokens[2] # create the edge data as a structure # X Y T # 3 4 5 - e.mean = np.array([float(x) for x in tokens[3:6]]) + mean = np.array([float(x) for x in tokens[3:6]]) # IXX IXY IXT IYY IYT ITT # 6 7 8 9 10 11 - info = np.array([float(x) for x in tokens[6:12]]) - e.info = np.reshape(info[g2o], (3,3)) - + d = np.array([float(x) for x in tokens[6:12]]) + info = d[g2o].reshape((3,3)) + + # create the edge + v1 = self.graph[v1] + v2 = self.graph[v2] + e = PGEdge(v1, v2, mean, info) + v1.connect(v2, edge=e) + ## TORO format records + # https://openslam-org.github.io/toro.html elif tokens[0] == 'VERTEX2': toroformat = True - v = self.graph.add_vertex([float(x) for x in tokens[2:5]]) - id = int(tokens[1]) - vindex[id] = v - v.id = id - v.type = 'vertex' + + coord = np.array([float(x) for x in tokens[2:5]]) + id = tokens[1] + + v = PGVertex('vertex', coord=coord, name=id) + self.graph.add_vertex(v) elif tokens[0] == 'EDGE2': toroformat = True - v1 = vindex[int(tokens[1])] - v2 = vindex[int(tokens[2])] - - # create the edge - e = self.graph.add_edge(v1, v2) + + v1 = tokens[1] + v2 = tokens[2] # create the edge data as a structure # X Y T # 3 4 5 - e.mean = [float(x) for x in tokens[3:6]] + mean = np.array([float(x) for x in tokens[3:6]]) - # IXX IXY IXT IYY IYT ITT + # IXX IXY IYY ITT IXT IYT # 6 7 8 9 10 11 - info = np.array([float(x) for x in tokens[6:12]]) - e.info = np.reshape(info[toro], (3,3)) + d = np.array([float(x) for x in tokens[6:12]]) + info = d[g2o].reshape((3,3)) + + # create the edge + v1 = self.graph[v1] + v2 = self.graph[v2] + e = PGEdge(v1, v2, mean, info) + v1.connect(v2, edge=e) elif tokens[0] == 'ROBOTLASER1': if not laser: continue - # laser records are associated with the immediately preceding VERTEX record - + # laser records are associated with the immediately + # preceding VERTEX record + # # not quite sure what all the fields are # 1 ? # 2 min scan angle # 3 scan range # 4 angular increment # 5 maximum range possible - # 6 ? - # 7 ? + # ? # 8 N = number of beams # 9 to 9+N laser range data - # 9+N+1 ? - # 9+N+2 ? - # 9+N+3 ? - # 9+N+4 ? - # 9+N+5 ? - # 9+N+6 ? - # 9+N+7 ? - # 9+N+8 ? - # 9+N+9 ? - # 9+N+10 ? - # 9+N+11 ? + # ? # 9+N+12 timestamp (*nix timestamp) # 9+N+13 laser type (str) - # 9+N+14 ? + if firstlaser: nbeams = int(tokens[8]) lasermeta = tokens[2:6] firstlaser = False - v = self.graph.add_vertex() + # add attributes to the most recent vertex created v.theta = np.arange(0, nbeams) * float(tokens[4]) + float(tokens[2]) v.range = np.array([float(x) for x in tokens[9:nbeams+9]]) v.time = float(tokens[21+nbeams]) + self.vindex[v.index] = v nlaser+= 1 else: raise RuntimeError(f"Unexpected line {line} in {filename}") if toroformat: - print(f"loaded TORO/LAGO format file: {self.graph.n} nodes, {self.graph.ne} edges") + filetype = "TORO/LAGO" else: - print(f"loaded g2o format file: {self.graph.n} nodes, {self.graph.ne} edges") + filetype = "g2o" + print(f"loaded {filetype} format file: {self.graph.n} nodes, {self.graph.ne} edges") + if nlaser > 0: lasermeta = [float(x) for x in lasermeta] @@ -183,7 +251,6 @@ def __init__(self, filename, laser=False, verbose=False): fov = np.degrees([self._angmin, self._angmax]) print(f" {nlaser} laser scans: {nbeams} beams, fov {fov[0]:.1f}° to {fov[1]:.1f}°, max range {self._maxrange}") - self.vindex = vindex def scan(self, i): v = self.vindex[i] @@ -195,7 +262,7 @@ def scanxy(self, i): x = range * np.cos(theta) y = range * np.sin(theta) - return np.c_[x,y] + return np.c_[x, y].T def plot_scan(self, n): n = base.getvector(n) @@ -216,51 +283,48 @@ def plot(self, **kwargs): plt.ylabel('y') plt.grid(True) - def scanmap(self, centre=(75,50), ngrid=3000, cellsize=0.1, maxrange=None): - - self._centre = centre - self._cellsize = cellsize - self._ngrid = ngrid + def scanmap(self, occgrid, maxrange=None): + # note about maxrange timing - # h = waitbar(0, 'rendering a map') - - world = np.zeros((ngrid, ngrid), np.int32) - for i in range(0, self.graph.n): - - # if i % 20 == 0: - # waitbar(i/self.graph.n, h) + bar = FillingCirclesBar('Converting', max=self.graph.n, + suffix = '%(percent).1f%% - %(eta)ds') + + grid1d = occgrid.ravel + for i in range(0, self.graph.n, 5): xy = self.scanxy(i) - r,theta = self.scan(i) + r, theta = self.scan(i) if maxrange is not None: - xy = np.delete(xy, r > maxrange, axis=0) + toofar = np.where(r > maxrange)[0] + xy = np.delete(xy, toofar, axis=1) xyt = self.vindex[i].coord - xy = SE2(xyt) * xy.T + xy = SE2(xyt) * xy # start of each ray - p1 = self.w2g(xyt[0:2]) + p1 = occgrid.w2g(xyt[:2]) - for end in xy.T: - - # end of each ray - p2 = self.w2g(end[0:2]) - - # all cells along the ray - x, y = bresenham(p1, p2) + for p2 in occgrid.w2g(xy.T): + # all cells along the ray try: - # decrement cells along the ray, these are free space - world[y[:-1],x[:-1]] = world[y[:-1],x[:-1]] - 1 - # increment target cell - world[y[-1],x[-1]] = world[y[-1],x[-1]] + 1 - except IndexError: + k = occgrid.line(p1, p2) + except ValueError: # silently ignore rays to points outside the grid map - pass + continue + + # increment cells along the ray, these are free space + grid1d[k[:-1]] += 1 + # decrement target cell + grid1d[k[-1]] -= 1 + + bar.next() - return world + grid1d[grid1d < 0] = -1 + grid1d[grid1d > 0] = 1 + bar.finish() - def w2g(self, w): + def w2g(self, w): return np.round((w - self._centre) / self._cellsize) + self._ngrid / 2 def g2w(self, g): @@ -281,51 +345,6 @@ def plot_occgrid(self, w, block=True): plt.ylabel('y') plt.show(block=block) -def bresenham(p1, p2): - - # ensure all values are integer - x1 = round(p1[0]); y1 = round(p1[1]) - x2 = round(p2[0]); y2 = round(p2[1]) - - # compute the vertical and horizontal change - dx = abs(x2 - x1) - dy = abs(y2 - y1) - steep = dy > dx - - if steep: - # if slope > 1 swap the deltas - dx, dy = dy, dx - - # The main algorithm goes here. - if dy == 0: - q = np.zeros((dx+1,1), np.int64) - else: - q = np.arange(np.floor(dx / 2), -dy * (dx + 1) + np.floor(dx / 2), -dy) - q = np.r_[0, np.diff(np.mod(q, dx)) >= 0] - - if steep: - if y1 <= y2: - y = np.arange(y1, y2 + 1) - else: - y = np.arange(y1, y2 - 1, -1) - - if x1 <= x2: - x = x1 + np.cumsum(q) - else: - x = x1 - np.cumsum(q) - else: - if x1 <= x2: - x = np.arange(x1, x2 + 1) - else: - x = np.arange(x1, x2 - 1, -1) - - if y1 <= y2: - y = y1 + np.cumsum(q) - else: - y = y1 - np.cumsum(q) - - return x, y - # This source code is part of the graph optimization package # deveoped for the lectures of robotics2 at the University of Freiburg. @@ -361,8 +380,8 @@ def bresenham(p1, p2): # PURPOSE. -# %ls-slam.m -# %this file is released under the creative common license +# ls-slam.m +# this file is released under the creative common license # solves a graph-based slam problem via least squares # vmeans: matrix containing the column vectors of the poses of the vertices @@ -375,217 +394,126 @@ def bresenham(p1, p2): # n: number of iterations # newmeans: matrix containing the column vectors of the updated vertices positions -def optimize(self, iterations = 10, animate = False, retain = False): - - - g2 = PGraph(self.graph) # deep copy - - eprev = math.inf - for i in range(iterations): - if animate: - if not retain: - plt.clf() - g2.plot() - plt.pause(0.5) - - vmeans, energy = linearize_and_solve(g2) - g2.setcoord(vmeans) - - if energy >= eprev: - break - eprev = energy - - self.graph = g2 - - return g2 - - -#computes the taylor expansion of the error function of the k_th edge -#vmeans: vertices positions -#eids: edge ids -#emeans: edge means -#k: edge number -#e: e_k(x) -#A: d e_k(x) / d(x_i) -#B: d e_k(x) / d(x_j) -#function [e, A, B] = linear_factors(vmeans, eids, emeans, k) -def linear_factors(self, edge): - # extract the ids of the vertices connected by the kth edge - # id_i = eids(1,k) - # id_j = eids(2,k) - # extract the poses of the vertices and the mean of the edge - # v_i = vmeans(:,id_i) - # v_j = vmeans(:,id_j) - # z_ij = emeans(:,k) - - v = g.vertices(edge) - v_i = g.coord(v(1)) - v_j = g.coord(v(2)) - z_ij = g.edata(edge).mean - - # compute the homoeneous transforms of the previous solutions - zt_ij = base.trot2(z_ij[2], t=z_ij[0:2]) - vt_i = base.trot2(v_i[2], t=v_i[0:2]) - vt_j = base.trot2(v_j[2], t=v_j[0:2]) - - # compute the displacement between x_i and x_j - - f_ij = base.trinv2(vt_i @ vt_j) - - # this below is too long to explain, to understand it derive it by hand - theta_i = v_i[3] - ti = v_i[0:2,0] - tj = v_j[0:2,0] - dt_ij = tj - ti - - si = sin(theta_i) - ci = cos(theta_i) - - A = np.array([ - [-ci, -si, [-si, ci] @ dt_ij], - [ si, -ci, [-ci, -si] @ dt_ij], - [ 0, 0, -1 ], - ]) - B = np.array([ - [ ci, si, 0], - [ -si, ci, 0], - [ 0, 0, 1 ], - ]) - - ztinv = base.trinv2(zt_ij) - T = ztinv @ f_ij - e = tr2xyt(T) - ztinv[0:2,2] = 0 - A = ztinv @ A - B = ztinv @ B - - return e, A, B - - - -# linearizes and solves one time the ls-slam problem specified by the input -# vmeans: vertices positions at the linearization point -# eids: edge ids -# emeans: edge means -# einfs: edge information matrices -# newmeans: new solution computed from the initial guess in vmeans -def linearize_and_solve(self): - t0 = time.time() - print('solving') - - # H and b are respectively the system matrix and the system vector - H = np.zeros((self.n * 3, self.n * 3)) - b = zeros(g.n * 3,1) - # this loop constructs the global system by accumulating in H and b the contributions - # of all edges (see lecture) - fprintf('.') - - etotal = 0 - for edge in self.edges: + def optimize(self, iterations = 10, animate = False, retain = False, **kwargs): - e, A, B = self.linear_factors(edge) - omega = g.edata(edge).info - # compute the blocks of H^k - - # not quite sure whey SE3 is being transposed, what does that mean? - b_i = -A.T @ omega @ e - b_j = -B.T @ omega @ e - H_ii = A.T @ omega @ A - H_ij = A.T @ omega @ B - H_jj = B.T @ omega @ B + eprev = math.inf + for i in range(iterations): + if animate: + if not retain: + plt.clf() + self.graph.plot(**kwargs) + plt.pause(0.5) + + energy = self.linearize_and_solve() + + if energy >= eprev: + break + eprev = energy + + # linearizes and solves one time the ls-slam problem specified by the input + # vmeans: vertices positions at the linearization point + # eids: edge ids + # emeans: edge means + # einfs: edge information matrices + # newmeans: new solution computed from the initial guess in vmeans + def linearize_and_solve(self): + t0 = time.time() + + g = self.graph - v = g.vertices(edge) + # H and b are respectively the system matrix and the system vector + H = np.zeros((g.n * 3, g.n * 3)) + b = np.zeros((g.n * 3, 1)) + # this loop constructs the global system by accumulating in H and b the contributions + # of all edges (see lecture) - i = v[0]; j = v[1] - - islice = slice(i*3, (i+1)*3) - jslice = slice(j*3, (j+1)*3) - - # accumulate the blocks in H and b - - H[islice, islice] += Hii - H[jslice, jslice] += Hjj - H[islice, jslice] += Hij - H[jslice, islice] += Hij.T - - b[islice,0] += b_i - b[jslice,0] += b_j + etotal = 0 + for edge in g.edges(): + e, A, B = edge.linear_factors() + omega = edge.info + + # compute the blocks of H^k + bi = -A.T @ omega @ e + bj = -B.T @ omega @ e + Hii = A.T @ omega @ A + Hij = A.T @ omega @ B + Hjj = B.T @ omega @ B + + v = edge.endpoints + i = v[0].index + j = v[1].index - etotal = etotal + np.inner(e, e) - printf('.', end=None) + islice = slice(i*3, (i+1)*3) + jslice = slice(j*3, (j+1)*3) - - # %note that the system (H b) is obtained only from - # %relative constraints. H is not full rank. - # %we solve the problem by anchoring the position of - # %the the first vertex. - # %this can be expressed by adding the equation - # deltax(1:3,1) = 0 - # which is equivalent to the following - - H[0:3,0:3] += np.eye(3) - - SH = sp.bsr_sparse(H) - print('.', end=None) - deltax = sp.spsolve(SH, b) # SH \ b - print('.', end=None) - - # split the increments in nice 3x1 vectors and sum them up to the original matrix - newmeans = self.coord() + np.reshape(deltax, (3, self.n)) - - # normalize the angles between -PI and PI - # for (i = 1:size(newmeans,2)) - # s = sin(newmeans(3,i)) - # c = cos(newmeans(3,i)) - # newmeans(3,i) = atan2(s,c) - newmeans[3,:] = base.angdiff(newmeans[3,:]) + # accumulate the blocks in H and b + H[islice, islice] += Hii + H[jslice, jslice] += Hjj + H[islice, jslice] += Hij + H[jslice, islice] += Hij.T - dt = time.time() - t0 - print(f"done in {dt:0.2f} sec. Total cost {etotal}") + b[islice,0] += bi + b[jslice,0] += bj + etotal += np.inner(e, e) - return newmeans, energy + # note that the system (H b) is obtained only from + # relative constraints. H is not full rank. + # we solve the problem by anchoring the position of + # the the first vertex. + # this can be expressed by adding the equation + # deltax(1:3,1) = 0 + # which is equivalent to the following -# This source code is part of the graph optimization package -# deveoped for the lectures of robotics2 at the University of Freiburg. -# -# Copyright (c) 2007 Giorgio Grisetti, Gian Diego Tipaldi -# -# It is licences under the Common Creative License, -# Attribution-NonCommercial-ShareAlike 3.0 -# -# You are free: -# - to Share - to copy, distribute and transmit the work -# - to Remix - to adapt the work -# -# Under the following conditions: -# -# - Attribution. You must attribute the work in the manner specified -# by the author or licensor (but not in any way that suggests that -# they endorse you or your use of the work). -# -# - Noncommercial. You may not use this work for commercial purposes. -# -# - Share Alike. If you alter, transform, or build upon this work, -# you may distribute the resulting work only under the same or -# similar license to this one. -# -# Any of the above conditions can be waived if you get permission -# from the copyright holder. Nothing in this license impairs or -# restricts the author's moral rights. -# -# This software 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. - - - -# #computes the pose vector v from an homogeneous transform A -# function v = t2v(A) -# v(1:2, 1) = A(1:2,3) -# v(3,1) = atan2(A(2,1),A(1,1)) -# end + H[0:3, 0:3] += np.eye(3) + + SH = sp.sparse.csr_matrix(H) + deltax = sp.sparse.linalg.spsolve(SH, b) # SH \ b + + # split the increments in nice 3x1 vectors and sum them up to the original matrix + for vertex in g: + i = vertex.index * 3 + vertex.coord += deltax[i: i+3] + # normalize the angles between -PI and PI + vertex.coord[2] = base.angdiff(vertex.coord[2]) + + dt = time.time() - t0 + print(f"done in {dt*1e3:0.2f} msec. Total cost {etotal:g}") + + return etotal + + # This source code is part of the graph optimization package + # deveoped for the lectures of robotics2 at the University of Freiburg. + # + # Copyright (c) 2007 Giorgio Grisetti, Gian Diego Tipaldi + # + # It is licences under the Common Creative License, + # Attribution-NonCommercial-ShareAlike 3.0 + # + # You are free: + # - to Share - to copy, distribute and transmit the work + # - to Remix - to adapt the work + # + # Under the following conditions: + # + # - Attribution. You must attribute the work in the manner specified + # by the author or licensor (but not in any way that suggests that + # they endorse you or your use of the work). + # + # - Noncommercial. You may not use this work for commercial purposes. + # + # - Share Alike. If you alter, transform, or build upon this work, + # you may distribute the resulting work only under the same or + # similar license to this one. + # + # Any of the above conditions can be waived if you get permission + # from the copyright holder. Nothing in this license impairs or + # restricts the author's moral rights. + # + # This software 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. if __name__ == "__main__": diff --git a/roboticstoolbox/mobile/QuinticPolyPlanner.py b/roboticstoolbox/mobile/QuinticPolyPlanner.py index 3fa18a527..f9d0fef0e 100644 --- a/roboticstoolbox/mobile/QuinticPolyPlanner.py +++ b/roboticstoolbox/mobile/QuinticPolyPlanner.py @@ -31,13 +31,12 @@ from roboticstoolbox.mobile.Planner import Planner # parameter -MAX_T = 100.0 # maximum time to the goal [s] -MIN_T = 5.0 # minimum time to the goal[s] + show_animation = True -class QuinticPolynomial: +class _QuinticPolynomial: def __init__(self, xs, vxs, axs, xe, vxe, axe, time): # calc coefficient of quintic polynomial @@ -81,7 +80,7 @@ def calc_third_derivative(self, t): return xt -def quintic_polynomials_planner(sx, sy, syaw, sv, sa, gx, gy, gyaw, gv, ga, max_accel, max_jerk, dt): +def quintic_polynomials_planner(sx, sy, syaw, sv, sa, gx, gy, gyaw, gv, ga, max_accel, max_jerk, dt, MIN_T, MAX_T): """ quintic polynomial planner @@ -121,8 +120,8 @@ def quintic_polynomials_planner(sx, sy, syaw, sv, sa, gx, gy, gyaw, gv, ga, max_ time, rx, ry, ryaw, rv, ra, rj = [], [], [], [], [], [], [] for T in np.arange(MIN_T, MAX_T, MIN_T): - xqp = QuinticPolynomial(sx, vxs, axs, gx, vxg, axg, T) - yqp = QuinticPolynomial(sy, vys, ays, gy, vyg, ayg, T) + xqp = _QuinticPolynomial(sx, vxs, axs, gx, vxg, axg, T) + yqp = _QuinticPolynomial(sy, vys, ays, gy, vyg, ayg, T) time, rx, ry, ryaw, rv, ra, rj = [], [], [], [], [], [], [] @@ -160,10 +159,62 @@ def quintic_polynomials_planner(sx, sy, syaw, sv, sa, gx, gy, gyaw, gv, ga, max_ class QuinticPolyPlanner(Planner): - + r""" + Quintic polynomial path planner + + :param dt: time step, defaults to 0.1 + :type dt: float, optional + :param start_vel: initial velocity, defaults to 0 + :type start_vel: float, optional + :param start_acc: initial acceleration, defaults to 0 + :type start_acc: float, optional + :param goal_vel: goal velocity, defaults to 0 + :type goal_vel: float, optional + :param goal_acc: goal acceleration, defaults to 0 + :type goal_acc: float, optional + :param max_acc: [description], defaults to 1 + :type max_acc: int, optional + :param max_jerk: maximum jerk, defaults to 0.5 + :type min_t: float, optional + :param min_t: minimum path time, defaults to 5 + :type max_t: float, optional + :param max_t: maximum path time, defaults to 100 + :type max_jerk: float, optional + :return: Quintic polynomial path planner + :rtype: QuinticPolyPlanner instance + + ================== ======================== + Feature Capability + ================== ======================== + Plan Configuration space + Obstacle avoidance No + Curvature Continuous + Motion Forwards only + ================== ======================== + + Creates a planner that finds the path between two configurations in the + plane using forward motion only. The path is a continuous quintic polynomial + for x and y + + .. math:: + + x(t) &= a_0 + a_1 t + a_2 t^2 + a_3 t^3 + a_4 t^4 + a_5 t^5 \\ + y(t) &= b_0 + b_1 t + b_2 t^2 + b_3 t^3 + b_4 t^4 + b_5 t^5 + + :reference: "Local Path Planning And Motion Control For AGV In + Positioning", Takahashi, T. Hongo, Y. Ninomiya and G. + Sugimoto; Proceedings. IEEE/RSJ International Workshop on + Intelligent Robots and Systems (IROS '89) doi: 10.1109/IROS.1989.637936 + + .. note:: The path time is searched in the interval [``min_t``, `max_t`] in steps + of ``min_t``. + + :seealso: :class:`Planner` + """ def __init__(self, dt=0.1, start_vel=0, start_acc=0, goal_vel=0, goal_acc=0, - max_acc=1, max_jerk=0.5): - super().__init__() + max_acc=1, max_jerk=0.5, min_t=5, max_t=100): + + super().__init__(ndims=3) self.dt = dt self.start_vel = start_vel self.start_acc = start_acc @@ -171,16 +222,41 @@ def __init__(self, dt=0.1, start_vel=0, start_acc=0, goal_vel=0, goal_acc=0, self.goal_acc = goal_acc self.max_acc = max_acc self.max_jerk = max_jerk + self.min_t = min_t + self.max_t = max_t def query(self, start, goal): + r""" + Find a quintic polynomial path + + :param start: start configuration :math:`(x, y, \theta)` + :type start: array_like(3), optional + :param goal: goal configuration :math:`(x, y, \theta)` + :type goal: array_like(3), optional + :return: path and status + :rtype: ndarray(N,3), namedtuple + + The returned status value has elements: + + ========== =================================================== + Element Description + ========== =================================================== + ``t`` time to execute the path + ``vel`` velocity profile along the path + ``accel`` acceleration profile along the path + ``jerk`` jerk profile along the path + ========== =================================================== + + :seealso: :meth:`Planner.query` + """ self._start = start self._goal = goal time, path, v, a, j = quintic_polynomials_planner( start[0], start[1], start[2], self.start_vel, self.start_acc, goal[0], goal[1], goal[2], self.start_vel, self.start_acc, - self.max_acc, self.max_jerk, dt=self.dt) + self.max_acc, self.max_jerk, dt=self.dt, MIN_T=self.min_t, MAX_T=self.max_t) status = namedtuple('QuinticPolyStatus', ['t', 'vel', 'acc', 'jerk'])( time, v, a, j) @@ -196,9 +272,8 @@ def query(self, start, goal): quintic = QuinticPolyPlanner(start_vel=1) path, status = quintic.query(start, goal) - print(path) print(status) - quintic.plot(path=path[:, :2]) + quintic.plot(path) plt.figure() plt.subplot(311) diff --git a/roboticstoolbox/mobile/ReedsSheppPlanner.py b/roboticstoolbox/mobile/ReedsSheppPlanner.py index 2c82a0bc5..26f6c45f6 100644 --- a/roboticstoolbox/mobile/ReedsSheppPlanner.py +++ b/roboticstoolbox/mobile/ReedsSheppPlanner.py @@ -25,6 +25,7 @@ import matplotlib.pyplot as plt import numpy as np from spatialmath import * +from spatialmath import base class Path: @@ -372,23 +373,88 @@ def reeds_shepp_path_planning(start, goal, maxc, step_size): return bpath +# ============================================================================ class ReedsSheppPlanner(Planner): - - def __init__(self, curvature=1, stepsize=0.1): - super().__init__() - self.curvature = curvature - self.stepsize = stepsize - - def query(self, start, goal): - self.start = start - self.goal = goal - bpath = reeds_shepp_path_planning(start, goal, self.curvature, self.stepsize) + r""" + Reeds-Shepp path planner + + :param curvature: maximum path curvature, defaults to 1.0 + :type curvature: float, optional + :param stepsize: spacing between points on the path, defaults to 0.1 + :type stepsize: float, optional + :param Planner: Reeds-Shepp path planner + :type Planner: ReedsSheppPlanner instance + + ================== ======================== + Feature Capability + ================== ======================== + Plan Configuration space + Obstacle avoidance No + Curvature Discontinuous + Motion Bidirectional + ================== ======================== + + Creates a planner that finds the path between two configurations in the + plane using forward and backward motion. The path comprises upto 3 segments + that are straight lines or arcs with :math:`\pm` ``curvature``. + + :reference: Optimal paths for a car that goes both forwards and backwards, + Reeds, J.A. and L.A. Shepp, Pacific J. Math., 145 (1990), + pp. 367–393. + + :author: Atsushi Sakai `PythonRobotics `_ + :seealso: :class:`Planner` + """ + def __init__(self, curvature=1, stepsize=0.1, **kwargs): + super().__init__(ndims=3, **kwargs) + self._curvature = curvature + self._stepsize = stepsize + + def query(self, start, goal, **kwargs): + r""" + Find Reeds-Shepp path + + :param start: start configuration :math:`(x, y, \theta)` + :type start: array_like(3), optional + :param goal: goal configuration :math:`(x, y, \theta)` + :type goal: array_like(3), optional + :return: path and status + :rtype: ndarray(N,3), namedtuple + + The returned status value has elements: + + +-------------+-----------------------------------------------------+ + | Element | Description | + +-------------+-----------------------------------------------------+ + |``segments`` | a list containing the type of each path segment as | + | | a single letter code: either "L", "R" or "S" for | + | | left turn, right turn or straight line respectively.| + +-------------+-----------------------------------------------------+ + |``lengths`` | the length of each path segment. The sign of the | + | |length indicates the direction of travel. | + +-------------+-----------------------------------------------------+ + |``direction``| the direction of motion at each point on the path | + +-------------+-----------------------------------------------------+ + + .. note:: The direction of turning is reversed when travelling + backwards. + + :seealso: :meth:`Planner.query` + """ + super().query(start=start, goal=goal, next=False, **kwargs) + + bpath = reeds_shepp_path_planning( + start=self.start, goal=self.goal, + maxc=self._curvature, step_size=self._stepsize) path = np.c_[bpath.x, bpath.y, bpath.yaw] - status = namedtuple('ReedsSheppStatus', ['segments', 'lengths', 'direction'])(bpath.ctypes, bpath.lengths, bpath.directions) - return path, status + status = namedtuple('ReedsSheppStatus', + ['segments', 'length', 'seglengths', 'direction']) + + return path, status(bpath.ctypes, sum([abs(l) for l in bpath.lengths]), + bpath.lengths, bpath.directions) if __name__ == '__main__': @@ -401,8 +467,9 @@ def query(self, start, goal): start = (0, 0, 0) goal = (0, 0, pi) - reedsshepp = ReedsShepp(curvature=1.0, stepsize=0.1) + reedsshepp = ReedsSheppPlanner(curvature=1.0, stepsize=0.1) path, status = reedsshepp.query(start, goal) + print(status) # px, py, pyaw, mode, clen = reeds_shepp_path_planning( # start_x, start_y, start_yaw, end_x, end_y, end_yaw, curvature, step_size) @@ -420,5 +487,5 @@ def query(self, start, goal): # plt.axis("equal") # plt.show(block=True) - reedsshepp.plot_fg(path=path, direction=status.direction) + reedsshepp.plot(path=path, direction=status.direction, twod=True) plt.show(block=True) \ No newline at end of file diff --git a/roboticstoolbox/mobile/Vehicle.py b/roboticstoolbox/mobile/Vehicle.py index 8210fdab1..3eef8ba31 100644 --- a/roboticstoolbox/mobile/Vehicle.py +++ b/roboticstoolbox/mobile/Vehicle.py @@ -14,13 +14,13 @@ import matplotlib.transforms as mtransforms from spatialmath import SE2, base -from roboticstoolbox import loaddata from roboticstoolbox.mobile.drivers import VehicleDriver +from roboticstoolbox.mobile.animations import VehiclePolygon class Vehicle(ABC): def __init__(self, covar=None, speed_max=np.inf, accel_max=np.inf, x0=None, dt=0.1, - control=None, animation=None, verbose=False, dim=10): + control=None, seed=0, animation=None, verbose=False, plot=False, workspace=None): r""" Superclass for vehicle kinematic models @@ -40,7 +40,7 @@ def __init__(self, covar=None, speed_max=np.inf, accel_max=np.inf, x0=None, dt=0 :type animation: VehicleAnimation subclass, optional :param verbose: print lots of info, defaults to False :type verbose: bool, optional - :param dim: dimensions of 2D plot area, defaults to (-10:10) x (-10:10), + :param workspace: dimensions of 2D plot area, defaults to (-10:10) x (-10:10), see :func:`~spatialmath.base.animate.plotvol2` :type dims: float, array_like(2), , array_like(4) @@ -53,8 +53,6 @@ def __init__(self, covar=None, speed_max=np.inf, accel_max=np.inf, x0=None, dt=0 :seealso: :func:`Bicycle`, :func:`Unicycle` """ - if covar is None: - covar = np.zeros((2,2)) self._V = covar self._dt = dt if x0 is None: @@ -65,15 +63,20 @@ def __init__(self, covar=None, speed_max=np.inf, accel_max=np.inf, x0=None, dt=0 raise ValueError('x0 must be length 2 or 3') self._x0 = x0 self._x = x0 - + + self._random = np.random.default_rng(seed) + self._seed = seed self._speed_max = speed_max self._accel_max = accel_max self._v_prev = 0 - self._vehicle_plot = None + if isinstance(animation, str): + animation = VehiclePolygon(animation) + self._animation = animation + self._ax = None + if control is not None: self.add_driver(control) - self._animation = animation self._dt = dt self._t = 0 @@ -82,10 +85,10 @@ def __init__(self, covar=None, speed_max=np.inf, accel_max=np.inf, x0=None, dt=0 self._verbose = verbose self._plot = False - self._dim = dim - - self._x_hist = np.empty((0,len(x0))) - + if workspace: + self._workspace = base.expand_dims(workspace) + else: + self._workspace = None def __str__(self): """ String representation of vehicle (superclass method) @@ -94,9 +97,22 @@ def __str__(self): :rtype: str """ s = f"{self.__class__.__name__}: " - s += f"x = {self._x}" + s += f"x = {base.array2str(self._x)}" return s + @property + def workspace(self): + """ + Size of robot workspace + + :return: workspace bounds [xmin, xmax, ymin, ymax] + :rtype: ndarray(4) + + Returns the bounds of the workspace as specified by constructor + option ``workspace`` + """ + return self._workspace + @property def x(self): """ @@ -124,6 +140,46 @@ def x0(self): """ return self._x0 + @property + def x0(self, x0): + """ + Set vehicle initial state/configuration (superclass method) + + :param x0: Vehicle state :math:`(x, y, \theta)` + :type x0: array_like(3) + + The state is set to this value at the beginning of each simulation + run. + + Set by ``Vehicle`` subclass constructor. + + :seealso: :func:`run` + """ + self._x0 = base.getvector(x0, 3) + + @property + def random(self): + """ + Get private random number generator + + :return: NumPy random number generator + :rtype: Generator + + Has methods including: + + - ``integers(low, high, size, endpoint)`` + - ``random(size)`` + - ``uniform`` + - ``normal(mean, std, size)`` + - ``multivariate_normal(mean, covar, size)`` + + The generator is initialized with the seed provided at constructor + time every time ``init`` is called. + + :seealso: :meth:`init` + """ + return self._random + @property def x_hist(self): """ @@ -137,7 +193,7 @@ def x_hist(self): :seealso: :func:`run` """ - return self._x_hist + return np.array(self._x_hist) @property def speed_max(self): @@ -275,7 +331,7 @@ def add_driver(self, driver): driver._veh = self - def run(self, N=1000, x0=None, control=None, animation=None, plot=True): + def run(self, T=10, x0=None, control=None): """ Simulate motion of vehicle (superclass method) @@ -308,36 +364,25 @@ def run(self, N=1000, x0=None, control=None, animation=None, plot=True): :seealso: :func:`init`, :func:`step`, :func:`control` """ - self.init(plot=plot, control=control, animation=animation, x0=x0) - - for i in range(N): + self.init(control=control, x0=x0) + + for i in range(round(T / self.dt)): self.step() - # do the graphics - if self._plot: - if self._animation: - self._animation.update(self._x) - if self._timer is not None: - self._timer.set_text(f"t = {self._t:.2f}") - plt.pause(self._dt) - # check for user requested stop if self._stopsim: print('USER REEQUESTED STOP AT time', self._t) break - return self._x_hist + return self.x_hist - def init(self, x0=None, animation=None, plot=False, control=None): + def init(self, x0=None, control=None): """ Initialize for simulation (superclass method) :param x0: Initial state, defaults to value given to Vehicle constructor :type x0: array_like(3) or array_like(2) - :param animation: vehicle animation object, defaults to None - :type animation: VehicleAnimation subclass, optional - :param plot: Enable plotting, defaults to False - :type plot: bool, optional + Performs the following initializations: @@ -356,35 +401,32 @@ def init(self, x0=None, animation=None, plot=False, control=None): else: self._x = self._x0 - self._x_hist = np.empty((0,3)) + self._x_hist = [] + + if self._seed is not None: + self._random = np.random.default_rng(self._seed) if control is not None: self._control = control + + if self._control is not None: + self._control.init() self._t = 0 # initialize the graphics - self._plot = plot - if plot: + if self._animation is not None: - if animation is None: - animation = self._animation # get default animation if set - else: - # use default animation - animation = VehiclePolygon("car") - self._animation = animation - - # setu[ the plot] - plt.clf() - - self._ax = base.plotvol2(self._dim) + # setup the plot + self._ax = base.plotvol2(self._workspace) - plt.xlabel('x') - plt.ylabel('y') + self._ax.set_xlabel('x') + self._ax.set_ylabel('y') self._ax.set_aspect('equal') - self._ax.figure.canvas.set_window_title(f"Robotics Toolbox for Python (Figure {self._ax.figure.number})") + self._ax.figure.canvas.set_window_title( + f"Robotics Toolbox for Python (Figure {self._ax.figure.number})") - animation.add() # add vehicle animation to axis + self._animation.add(ax=self._ax) # add vehicle animation to axis self._timer = plt.figtext(0.85, 0.95, '') # display time counter # initialize the driver @@ -437,13 +479,22 @@ def step(self, u1=None, u2=None): # update state vector self._x += xd - self._x_hist = np.vstack((self._x_hist, self._x)) + self._x_hist.append(tuple(self._x)) + + # print('VEH', u, self.x) # odometry comes from change in state vector odo = np.r_[np.linalg.norm(xd[0:2]), xd[2]] if self._V is not None: - odo += linalg.sqrtm(self._V) @ np.random.randn(2) + odo += self.random.multivariate_normal((0, 0), self._V) + + # do the graphics + if self._animation: + self._animation.update(self._x) + if self._timer is not None: + self._timer.set_text(f"t = {self._t:.2f}") + plt.pause(self._dt) self._t += self._dt @@ -451,6 +502,7 @@ def step(self, u1=None, u2=None): if self._verbose: print(f"{self._t:8.2f}: u=({u[0]:8.2f}, {u[1]:8.2f}), x=({self._x[0]:8.2f}, {self._x[1]:8.2f}, {self._x[2]:8.2f})") + return odo @@ -542,13 +594,13 @@ def plot(self, x=None, shape='box', block=False, size=True, **kwargs): vertices = np.array(vertices).T base.plot_poly(SE2(x) * vertices, close=True, **kwargs) - def plot_x_y(self, block=True, **kwargs): - xyt = self._x_hist - plt.plot(xyt[:,0], xyt[:, 1], **kwargs) + def plot_xy(self, *args, block=False, **kwargs): + xyt = self.x_hist + plt.plot(xyt[:, 0], xyt[:, 1], *args, **kwargs) plt.show(block=block) - def plot_xyt_t(self, block=True, **kwargs): - xyt = self._x_hist + def plot_xyt(self, block=False, **kwargs): + xyt = self.x_hist t = np.arange(0, xyt.shape[0] * self._dt, self._dt) plt.plot(xyt[:,0], xyt[:, :], **kwargs) plt.legend(['x', 'y', '$\\theta$']) @@ -656,7 +708,7 @@ def __init__(self, def __str__(self): s = super().__str__() - s += f"\n L={self._l}, steer_max={self._steer_max}, speed_max={self._speed_max}, accel_max={self._accel_max}" + s += f"\n L={self._l}, steer_max={self._steer_max:g}, speed_max={self._speed_max:g}, accel_max={self._accel_max:g}" return s @property @@ -671,16 +723,32 @@ def l(self): @property def radius_min(self): + """ + Vehicle turning radius + + :return: radius of minimum possible turning circle + :rtype: float + + :seealso: :meth:`curvature_max` + """ return self.l / np.tan(self.steer_max) @property def curvature_max(self): + """ + Vehicle maximum path curature + + :return: maximum curvature + :rtype: float + + :seealso: :meth:`radius_min` + """ return 1.0 / self.radius_min @property def steer_max(self): """ - Vehicle maximum steering wheel angle + Vehicle maximum steered wheel angle :return: maximum angle :rtype: float @@ -688,7 +756,7 @@ def steer_max(self): return self._steer_max - def f(self, x, odo, w=None): + def f(self, x, odo, v=None): r""" Predict next state based on odometry @@ -696,15 +764,19 @@ def f(self, x, odo, w=None): :type x: array_like(3) :param odo: vehicle odometry :math:`(\delta_d, \delta_\theta)` :type odo: array_like(2) - :param w: [description], defaults to (0,0) - :type w: array_like(2), optional + :param v: additive odometry noise, defaults to (0,0) + :type v: array_like(2), optional :return: predicted vehicle state :rtype: ndarray(3) Returns the predicted next state based on current state and odometry - value. ``w`` is a random variable that represents additive + value. ``v`` is a random variable that represents additive odometry noise for simulation purposes. + .. math:: + + f: \vec{x}_k, \vec{d}, \vec{v} \mapsto \vec{x}_{k+1} + Example: .. runblock:: pycon @@ -714,21 +786,30 @@ def f(self, x, odo, w=None): >>> bike.f([0,0,0], [0.2, 0.1]) .. note:: This is the state update equation used for EKF localization. + + :seealso: :meth:`Fx` :meth:`Fv` """ - x = base.getvector(x, 3) odo = base.getvector(odo, 2) - dd = odo[0] - dth = odo[1] - thp = x[2] + if isinstance(x, np.ndarray) and x.ndim == 2: + # x is Nx3 set of vehicle states, do vectorized form + # used by particle filter + dd, dth = odo + theta = x[:, 2] + return np.array(x) + np.c_[dd * np.cos(theta), dd * np.sin(theta), np.full(theta.shape, dth)] + # TODO: v for this case? + else: + # x is a vector + x = base.getvector(x, 3) + dd, dth = odo + theta = x[2] - if w is not None: - w = base.getvector(w, 2) - dd += w[0] - dth += w[1] + if v is not None: + v = base.getvector(v, 2) + dd += v[0] + dth += v[1] - # TODO not sure when vectorized version is needed - return x + np.r_[dd * np.cos(thp), dd * np.sin(thp), dth] + return np.array(x) + np.r_[dd * np.cos(theta), dd * np.sin(theta), dth] def Fx(self, x, odo): r""" @@ -746,15 +827,16 @@ def Fx(self, x, odo): :seealso: :func:`Bicycle.f`, :func:`Bicycle.Fv` """ - dd = odo[0] - dth = odo[1] - thp = x[2] + dth + dd, dth = odo + theta = x[2] + # fmt: off J = np.array([ - [1, 0, -dd * sin(thp)], - [0, 1, dd * cos(thp)], + [1, 0, -dd * sin(theta)], + [0, 1, dd * cos(theta)], [0, 0, 1], ]) + # fmt: on return J def Fv(self, x, odo): @@ -773,17 +855,17 @@ def Fv(self, x, odo): :seealso: :func:`Bicycle.f`, :func:`Bicycle.Fx` """ + dd, dth = odo + theta = x[2] - dd = odo[0] - dth = odo[1] - thp = x[2] - - + # fmt: off J = np.array([ - [cos(thp), 0], - [sin(thp), 0], + [cos(theta), 0], + [sin(theta), 0], [0, 1], ]) + # fmt: on + return J def deriv(self, x, u): r""" @@ -848,15 +930,51 @@ def __str__(self): s += f"\n W={self._w}, steer_max={self._steer_max}, vel_max={self._vel_max}, accel_max={self.accel_max}" return s - def f(self, x=None, odo=None, w=None): + def f(self, x=None, odo=None, v=None): + r""" + Predict next state based on odometry + + :param x: vehicle state :math:`(x, y, \theta)` + :type x: array_like(3) + :param odo: vehicle odometry :math:`(\delta_d, \delta_\theta)` + :type odo: array_like(2) + :param v: additive odometry noise, defaults to (0,0) + :type v: array_like(2), optional + :return: predicted vehicle state + :rtype: ndarray(3) + + Returns the predicted next state based on current state and odometry + value. ``v`` is a random variable that represents additive + odometry noise for simulation purposes. + + .. math:: + + f: \vec{x}_k, \vec{d}, \vec{v} \mapsto \vec{x}_{k+1} + + Example: + + .. runblock:: pycon + + >>> from roboticstoolbox import Unicycle + >>> unic = Unicycle() # default bicycle model + >>> unic.f([0,0,0], [0.2, 0.1]) + + .. note:: This is the state update equation used for EKF localization. + + :seealso: :meth:`Fx` :meth:`Fv` + """ - if w is None: - w = np.array([0, 0]) + # x is a vector + x = base.getvector(x, 3) + dd, dth = odo + theta = x[2] - dd = odo[0] + w[0] - dth = odo[1] + w[1] - thp = x[:, 2] - x_next = x + [dd * np.cos(thp), dd * np.sin(thp), np.ones(np.size(x, 0)*dth)] + if v is not None: + v = base.getvector(v, 2) + dd += v[0] + dth += v[1] + + x_next = x + [dd * np.cos(theta), dd * np.sin(theta), np.ones(np.size(x, 0)*dth)] return x_next @@ -878,11 +996,11 @@ def Fx(self, x, odo): """ dd = odo[0] dth = odo[1] - thp = x[2] + dth + theta = x[2] + dth J = np.array([ - [1, 0, -dd * sin(thp)], - [0, 1, dd * cos(thp)], + [1, 0, -dd * sin(theta)], + [0, 1, dd * cos(theta)], [0, 0, 1], ]) return J @@ -906,12 +1024,12 @@ def Fv(self, x, odo): dd = odo[0] dth = odo[1] - thp = x[2] + theta = x[2] J = np.array([ - [cos(thp), 0], - [sin(thp), 0], + [cos(theta), 0], + [sin(theta), 0], [0, 1], ]) diff --git a/roboticstoolbox/mobile/__init__.py b/roboticstoolbox/mobile/__init__.py index 524cf33b2..a8304c086 100644 --- a/roboticstoolbox/mobile/__init__.py +++ b/roboticstoolbox/mobile/__init__.py @@ -1,24 +1,40 @@ +# motion models from roboticstoolbox.mobile.Vehicle import Vehicle, Bicycle, Unicycle -from roboticstoolbox.mobile.Bug2Planner import Bug2Planner + +# planners +from roboticstoolbox.mobile.Bug2 import Bug2 from roboticstoolbox.mobile.DistanceTransformPlanner import DistanceTransformPlanner from roboticstoolbox.mobile.DstarPlanner import DstarPlanner +from roboticstoolbox.mobile.PRMPlanner import PRMPlanner +#from roboticstoolbox.mobile.LatticePlanner import LatticePlanner + from roboticstoolbox.mobile.DubinsPlanner import DubinsPlanner from roboticstoolbox.mobile.ReedsSheppPlanner import ReedsSheppPlanner - +from roboticstoolbox.mobile.LatticePlanner import LatticePlanner +from roboticstoolbox.mobile.CurvaturePolyPlanner import CurvaturePolyPlanner +from roboticstoolbox.mobile.QuinticPolyPlanner import QuinticPolyPlanner +from roboticstoolbox.mobile.PRMPlanner import PRMPlanner +from roboticstoolbox.mobile.Planner import Planner +from roboticstoolbox.mobile.OccGrid import BinaryOccupancyGrid, OccupancyGrid + +# localization and state estimation from roboticstoolbox.mobile.landmarkmap import LandmarkMap from roboticstoolbox.mobile.sensors import RangeBearingSensor from roboticstoolbox.mobile.drivers import * from roboticstoolbox.mobile.animations import * from roboticstoolbox.mobile.PoseGraph import * +from roboticstoolbox.mobile.EKF import EKF +from roboticstoolbox.mobile.ParticleFilter import ParticleFilter __all__ = [ 'Vehicle', 'Bicycle', 'Unicycle', - 'Bug2Planner', + 'Bug2', 'DistanceTransformPlanner', 'DstarPlanner', 'DubinsPlanner', + 'LatticePlanner', 'ReedsSheppPlanner', 'CurvaturePolyPlanner', 'PRMPlanner', @@ -31,8 +47,16 @@ 'LandmarkMap', 'RangeBearingSensor', 'PoseGraph', + 'BinaryOccupancyGrid', + 'OccupancyGrid', + 'Planner', + 'EKF', + 'ParticleFilter', ] +# 'LatticePlanner', + + # __doc__ = """ # The Robotics Toolbox for Python # Based on the Matlab version diff --git a/roboticstoolbox/mobile/drivers.py b/roboticstoolbox/mobile/drivers.py index fafbaa314..eeb223b16 100644 --- a/roboticstoolbox/mobile/drivers.py +++ b/roboticstoolbox/mobile/drivers.py @@ -81,12 +81,12 @@ class RandomPath(VehicleDriver): """ - def __init__(self, dim, speed=1, dthresh=0.05, seed=None, headinggain=1, goalmarkerstyle=None): + def __init__(self, workspace, speed=1, dthresh=0.05, seed=0, headinggain=0.3, goalmarkerstyle=None): """ Driving agent for random path - :param dim: dimension of workspace, see spatialmath.plotvol2 - :type dim: scalar, array_like(2), array_like(4) + :param workspace: dimension of workspace, see spatialmath.plotvol2 + :type workspace: scalar, array_like(2), array_like(4) :param speed: forward speed, defaults to 1 :type speed: float, optional :param dthresh: distance threshold, defaults to 0.05 @@ -121,10 +121,10 @@ def __init__(self, dim, speed=1, dthresh=0.05, seed=None, headinggain=1, goalmar # TODO options to specify region, maybe accept a Map object? - self._dim = base.expand_dims(dim) - + self._workspace = base.expand_dims(workspace) + self._speed = speed - self._dthresh = dthresh * np.diff(self._dim[0:2]) + self._dthresh = dthresh * np.diff(self._workspace[0:2]) self._goal_marker = None if goalmarkerstyle is None: self._goal_marker_style = { @@ -137,12 +137,13 @@ def __init__(self, dim, speed=1, dthresh=0.05, seed=None, headinggain=1, goalmar self._headinggain = headinggain self._d_prev = np.inf - self._rand = np.random.default_rng(seed) + self._random = np.random.default_rng(seed) + self._seed = seed self.verbose = True self._goal = None self._dthresh = dthresh * max( - self._dim[1] - self._dim[0], - self._dim[3] - self._dim[2] + self._workspace[1] - self._workspace[0], + self._workspace[3] - self._workspace[2] ) self._veh = None @@ -154,10 +155,46 @@ def __str__(self): % a compact human readable format. """ s = 'RandomPath driver object\n' - s += f" X {self._dim[0]} : {self._dim[1]}; Y {self._dim[0]} : {self._dim[1]}, dthresh={self._dthresh}\n" + s += f" X {self._workspace[0]} : {self._workspace[1]}; Y {self._workspace[0]} : {self._workspace[1]}, dthresh={self._dthresh}\n" s += f" current goal={self._goal}" return s + + @property + def random(self): + """ + Get private random number generator + + :return: NumPy random number generator + :rtype: Generator + + Has methods including: + - ``integers(low, high, size, endpoint)`` + - ``random(size)`` + - ``uniform`` + - ``normal(mean, std, size)`` + - ``multivariate_normal(mean, covar, size)`` + + The generator is initialized with the seed provided at constructor + time every time ``init`` is called. + + :seealso: :meth:`init` + """ + return self._random + + @property + def workspace(self): + """ + Size of robot driving workspace + + :return: workspace bounds [xmin, xmax, ymin, ymax] + :rtype: ndarray(4) + + Returns the bounds of the workspace as specified by constructor + option ``workspace`` + """ + return self._workspace + @property def vehicle(self): return self._veh @@ -186,6 +223,9 @@ def init(self, ax=None): % % See also RANDSTREAM. """ + if self._seed is not None: + self._random = np.random.default_rng(self._seed) + self._goal = None # delete(driver.h_goal); % delete the goal # driver.h_goal = []; @@ -207,11 +247,11 @@ def demand(self): # if nearly at goal point, choose the next one d = np.linalg.norm(self._veh._x[0:2] - self._goal) - if d < self._dthresh: + if d < self._dthresh or abs(d - self._d_prev) < 1e-3: self._new_goal() # elif d > 2 * self._d_prev: # self.choose_goal() - # self._d_prev = d + self._d_prev = d speed = self._speed @@ -229,11 +269,11 @@ def _new_goal(self): # choose a uniform random goal within inner 80% of driving area while True: - r = self._rand.uniform(0.1, 0.9) - gx = self._dim[0:2] @ np.r_[r, 1-r] + r = self.random.uniform(0.1, 0.9) + gx = self._workspace[0:2] @ np.r_[r, 1-r] - r = self._rand.uniform(0.1, 0.9) - gy = self._dim[2:4] @ np.r_[r, 1-r] + r = self.random.uniform(0.1, 0.9) + gy = self._workspace[2:4] @ np.r_[r, 1-r] self._goal = np.r_[gx, gy] diff --git a/roboticstoolbox/mobile/landmarkmap.py b/roboticstoolbox/mobile/landmarkmap.py index 9d8039508..5d18316fb 100644 --- a/roboticstoolbox/mobile/landmarkmap.py +++ b/roboticstoolbox/mobile/landmarkmap.py @@ -52,7 +52,7 @@ class LandmarkMap: # end - def __init__(self, nlandmarks, dim=10, verbose=True, seed=None): + def __init__(self, nlandmarks, workspace=10, verbose=True, seed=0): """ Create a map of point landmark landmarks % @@ -67,11 +67,11 @@ def __init__(self, nlandmarks, dim=10, verbose=True, seed=None): """ self._nlandmarks = nlandmarks - self._dim = base.expand_dims(dim) + self._workspace = base.expand_dims(workspace) random = np.random.default_rng(seed) - x = random.uniform(self._dim[0], self._dim[1], nlandmarks) - y = random.uniform(self._dim[2], self._dim[3], nlandmarks) + x = random.uniform(self._workspace[0], self._workspace[1], nlandmarks) + y = random.uniform(self._workspace[2], self._workspace[3], nlandmarks) self._map = np.c_[x, y].T self._verbose = verbose @@ -80,9 +80,12 @@ def __init__(self, nlandmarks, dim=10, verbose=True, seed=None): def __str__(self): # s = M.char() is a string showing map parameters in # a compact human readable format. - s = f"LandmarkMap object with {self._nlandmarks} landmarks, dim=" + str(self._dim) + s = f"LandmarkMap object with {self._nlandmarks} landmarks, dim=" + str(self._workspace) return s + def __len__(self): + return self.nlandmarks + @property def nlandmarks(self): return self._nlandmarks @@ -95,10 +98,24 @@ def x(self): def y(self): return self._map[1,:] + @property def xy(self): return self._map + @property + def workspace(self): + """ + Size of map workspace + + :return: workspace bounds [xmin, xmax, ymin, ymax] + :rtype: ndarray(4) + + Returns the bounds of the workspace as specified by constructor + option ``workspace`` + """ + return self._workspace + def landmark(self, k): """ Get k'th landmarks from map @@ -121,7 +138,7 @@ def plot(self, block=False, **kwargs): # Notes:: # - The plot is left with HOLD ON. """ - ax = base.plotvol2(self._dim) + ax = base.plotvol2(self._workspace) ax.set_aspect('equal') ax.set_xlabel('x') @@ -130,8 +147,8 @@ def plot(self, block=False, **kwargs): if len(kwargs) == 0: kwargs = { 'linewidth': 0, - 'marker': 'P', - 'color': 'k', + 'marker': 'x', + 'color': 'b', } plt.plot(self._map[0,:], self._map[1,:], **kwargs) diff --git a/roboticstoolbox/mobile/sensors.py b/roboticstoolbox/mobile/sensors.py index 711ed8bda..af5c2cc59 100644 --- a/roboticstoolbox/mobile/sensors.py +++ b/roboticstoolbox/mobile/sensors.py @@ -5,7 +5,7 @@ import matplotlib.pyplot as plt from spatialmath import base import roboticstoolbox as rtb - +from collections.abc import Iterable """ Sensor Sensor superclass @@ -46,7 +46,7 @@ class Sensor(ABC): # delay - def __init__(self, robot, map, every=1, fail=[], animate=False, delay=0.1, verbose=False): + def __init__(self, robot, map, every=1, fail=[], animate=False, delay=0.1, seed=0, verbose=False): """Sensor.Sensor Sensor object constructor % # S = Sensor(VEHICLE, MAP, OPTIONS) is a sensor mounted on a vehicle @@ -75,7 +75,8 @@ def __init__(self, robot, map, every=1, fail=[], animate=False, delay=0.1, verbo self._animate = animate - self._rand = np.random.default_rng() + self._random = np.random.default_rng(seed) + self._seed = seed def __str__(self): @@ -101,11 +102,33 @@ def map(self): def sensor(self): return self._sensor + @property + def random(self): + """ + Get private random number generator + + :return: NumPy random number generator + :rtype: Generator + + Has methods including: + - ``integers(low, high, size, endpoint)`` + - ``random(size)`` + - ``uniform`` + - ``normal(mean, std, size)`` + - ``multivariate_normal(mean, covar, size)`` + + The generator is initialized with the seed provided at constructor + time every time ``init`` is called. + + :seealso: :meth:`init` + """ + return self._random + @property def verbose(self): return self._verbose - def plot(s, jf): + def plot(s, lm_id): """Sensor.plot Plot sensor reading % # self.plot(J) draws a line from the robot to the J'th map feature. @@ -126,10 +149,10 @@ def plot(s, jf): # # there is a sensor line animate it - # if jf == 0 + # if lm_id == 0 # set(h, 'Visible', 'off') # else - # xi = self.self.map(:,jf) + # xi = self.self.map(:,lm_id) # set(h, 'Visible', 'on', 'XData', [self.robot.x[0], xi[0]], 'YData', [self.robot.x[1], xi[1]]) # end # pause(self.delay) @@ -137,8 +160,6 @@ def plot(s, jf): # drawnow pass - - """RangeBearingSensor Range and bearing sensor class A concrete subclass of the Sensor class that implements a range and bearing @@ -199,6 +220,7 @@ def __init__(self, robot, map, covar=None, range=None, angle=None, + plot=False, **kwargs): """RangeBearingSensor.RangeBearingSensor Range and bearing sensor constructor % @@ -240,27 +262,42 @@ def __init__(self, robot, map, else: self._covar = covar self._W = self._covar - + if range is None: self._r_range = None - elif len(range) == 1: + elif isinstance(range, Iterable): + self._r_range = base.getvector(range, 2) + else: self._r_range = [0, range] - elif len(range) == 2: - self._r_range = range if angle is None: self._theta_range = None - elif len(angle) == 1: + elif isinstance(angle, Iterable): + self._theta_range = base.getvector(angle, 2) + else: self._theta_range = [-angle, angle] - elif len(angle) == 2: - self._theta_range = angle + self._plot = plot self._landmarklog = [] + def __str__(self): + s = super().__str__() + s += f"\n W = {base.array2str(self._W)}\n" + + s += f" sampled every {self._every} samples\n" + if self._r_range is not None: + s += f" range: {self._r_range[0]} to {self._r_range[0]}\n" + if self._theta_range is not None: + s += f" angle: {self._theta_range[0]} to {self._theta_range[0]}\n" + return s.rstrip() def init(self): self._landmarklog = [] - self._count = 1 + self._count = 0 + if self._seed is not None: + self._random = np.random.default_rng(self._seed) + if self._plot: + self.map.plot() def selectFeature(self): return self.randstream.randi(self._sensor.nlandmarks) @@ -298,7 +335,7 @@ def reading(self): # check conditions for NOT returning a value z = [] - jf = 0 + lm_id = 0 # sample interval if self._count % self._every != 0: return (None, None) @@ -335,7 +372,7 @@ def reading(self): # if range and bearing angle limits are in place look for # any landmarks that match criteria - # get range/bearing to all landmarks, one per row + # get range/bearing to all landmarks z = self.h(self.robot.x) zk = [(z, k) for k, z in enumerate(z)] # a list of tuples, each tuple is ((range, bearing), k) @@ -346,32 +383,43 @@ def reading(self): if self._theta_range is not None: # find all within angular range as well zk = filter(lambda zk: self._theta_range[0] <= zk[0][1] <= self._theta_range[1], zk) - + + zk = list(zk) if len(zk) > 1: # more than 1 in range, pick a random one - i = self._rand.integers(len(zk)) + i = self.random.integers(len(zk)) z = zk[i][0] - jf = zk[i][1] + lm_id = zk[i][1] + if self.verbose: + print(f"Sensor:: feature {lm_id}: ({z[0]}, {z[1]})") + elif len(zk) == 1: + # just 1 reading + z = zk[0][0] + lm_id = zk[0][1] if self.verbose: - print(f"Sensor:: feature {jf}: ({z[0]}, {z[1]})") + print(f"Sensor:: feature {lm_id}: ({z[0]}, {z[1]})") else: if self.verbose: print('Sensor:: no features\n') + self._landmarklog.append(lm_id) return (None, None) # compute the range and bearing from robot to feature - # z = self.h(self.robot.x, jf) + # z = self.h(self.robot.x, lm_id) if self._animate: - self.plot(jf) + self.plot(lm_id) # add the reading to the landmark log - self._landmarklog.append(jf) + self._landmarklog.append(lm_id) + + # add noise with covariance W + z += self.random.multivariate_normal((0, 0), self._W) - return z + return z, lm_id - def h(self, xv, jf=None): + def h(self, xv, lm_id=None): """ Landmark range and bearing % @@ -392,37 +440,44 @@ def h(self, xv, jf=None): # See also RangeBearingSensor.reading, RangeBearingSensor.Hx, RangeBearingSensor.Hw, RangeBearingSensor.Hp. """ # get the landmarks, one per row - if jf is None: + + if isinstance(xv, np.ndarray) and xv.ndim == 2: + # x is Nx3 set of vehicle states, do vectorized form + # used by particle filter + x = xv[:, 0] + y = xv[:, 1] + t = xv[:, 2] + else: + x, y, t = xv + + if lm_id is None: # self.h(XV) all landmarks - dx = self.map.x - xv[0] - dy = self.map.y - xv[1] - elif base.isinteger(jf): + dx = self.map.x - x + dy = self.map.y - y + elif base.isinteger(lm_id): # self.h(XV, JF) - xlm = self.map.landmark(jf) - dx = xlm[0] - xv[0] - dy = xlm[1] - xv[1] + xlm = self.map.landmark(lm_id) + dx = xlm[0] - x + dy = xlm[1] - y else: # self.h(XV, XF) - xlm = base.getvector(jf, 2) - dx = xlm[0] - xv[0] - dy = xlm[1] - xv[1] + xlm = base.getvector(lm_id, 2) + dx = xlm[0] - x + dy = xlm[1] - y # compute range and bearing (Vectorized code) z = np.c_[ np.sqrt(dx**2 + dy**2), - base.angdiff(np.arctan2(dy, dx), xv[2]) + base.angdiff(np.arctan2(dy, dx), t) ] # range & bearing as columns - # add noise with covariance W - z += self._rand.normal(size=z.shape) @ sp.linalg.sqrtm(self._W) - - if z.shape[0] == 1: + if z.ndim == 1 and z.shape[0] == 1: return z[0] else: return z - def Hx(self, xv, jf): + def Hx(self, xv, lm_id): """ Jacobian dh/dx % @@ -433,21 +488,23 @@ def Hx(self, xv, jf): % # See also RangeBearingSensor.h. """ - if base.isinteger(jf): + if base.isinteger(lm_id): # landmark index provided - xf = self.sensor.landmark(jf) + xf = self.map.landmark(lm_id) else: # assume it is a coordinate - xf = base.getvector(jf, 2) + xf = base.getvector(lm_id, 2) Delta = xf - xv[0:2] r = base.norm(Delta) + # fmt: off return np.array([ [-Delta[0] / r, -Delta[1] / r, 0], [ Delta[1] / r**2, -Delta[0] / r**2, -1], ]) + # fmt: on - def Hp(self, xv, jf): + def Hp(self, xv, lm_id): """ Jacobian dh/dp % @@ -458,19 +515,22 @@ def Hp(self, xv, jf): % # See also RangeBearingSensor.h. """ - if base.isinteger(jf): - xf = self.map.landmark(jf) + if base.isinteger(lm_id): + xf = self.map.landmark(lm_id) else: - xf = jf + xf = lm_id + xv = base.getvector(xv, 3) Delta = xf - xv[0:2] r = base.norm(Delta) + # fmt: off return np.array([ - [ Delta([0]) / r, Delta([1]) / r], - [-Delta([1]) / r**2, Delta([0]) / r**2], + [ Delta[0] / r, Delta[1] / r], + [-Delta[1] / r**2, Delta[0] / r**2], ]) + # fmt: on - def Hw(self, xv, jf): + def Hw(self, xv, lm_id): """ Jacobian dh/dw % @@ -493,10 +553,12 @@ def g(self, xv, z): range = z[0] bearing = z[1] + xv[2] # bearing angle in vehicle frame + # fmt: off return np.r_[ xv[0] + range * cos(bearing), xv[1] + range * sin(bearing) ] + # fmt: on def Gx(self, xv, z): """RangeBearingSensor.Gxv Jacobian dg/dx @@ -507,13 +569,14 @@ def Gx(self, xv, z): # See also RangeBearingSensor.g. """ theta = xv[2] - r = z[0] - bearing = z[1] + r, bearing = z + # fmt: off return np.array([ [1, 0, -r*sin(theta + bearing)], [0, 1, r*cos(theta + bearing)], ]) + # fmt: on def Gz(self, xv, z): """ @@ -525,23 +588,15 @@ def Gz(self, xv, z): # See also RangeBearingSensor.g. """ theta = xv[2] - r = z[0] - bearing = z[1] + r, bearing = z + # fmt: off return np.array([ - [cos(theta + bearing), -r*sin(theta + bearing)], - [sin(theta + bearing), r*cos(theta + bearing)], + [cos(theta + bearing), -r * sin(theta + bearing)], + [sin(theta + bearing), r * cos(theta + bearing)], ]) + # fmt: on - def __str__(self): - s = super().__str__() - s += f"\n W = {self._W.tolist()}\n" - s += f" sampled every {self._every} samples\n" - if self._r_range is not None: - s += f" range: {self._r_range[0]} to {self._r_range[0]}\n" - if self._theta_range is not None: - s += f" angle: {self._theta_range[0]} to {self._theta_range[0]}\n" - return s.rstrip() if __name__ == "__main__": diff --git a/rtb-data/rtbdata/data/house.mat b/rtb-data/rtbdata/data/house.mat index 2f7f17f9e8547cf2470e4b461b5eed1241c6168e..8b83c67681d6bc9ae50fc952a9bc82e9ea801ad4 100644 GIT binary patch delta 5725 zcmYjU2{@GP*PpRW;=$OTv1KfwEHh)v64}NY1{FeMOCecOLXCB@46kLfW#6@^M3$0e 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zSdf68)k|hUcSa6MqhIFsuVXZ@yF2bg3zK3dEMJ7aHm@7#mmtJt~QZ)Id!b@Deuzzx%qiT)#aUHf36RF(tYrNXNs zqVM&@aZ)||9^xUEn<5-shhkJa51-50&S+ury})9SY6r5~pRYgii>K7dG~tqn050g; zX9Y}d`bx$iOC2OzBpEd_axQ98rlKZis6JJ9&@}HxxVK@R+S$kE2k){C8(HhbV{VL? zuUM8^4Au>Z Date: Sun, 25 Jul 2021 11:05:17 +1000 Subject: [PATCH 035/116] use unicode characters --- roboticstoolbox/robot/DHLink.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/roboticstoolbox/robot/DHLink.py b/roboticstoolbox/robot/DHLink.py index 317bd40fa..767ed6970 100644 --- a/roboticstoolbox/robot/DHLink.py +++ b/roboticstoolbox/robot/DHLink.py @@ -183,12 +183,12 @@ def __str__(self): qvar = f"q{self.id}" cls = self.__class__.__name__ if self.isrevolute: - s = f"{cls}: theta={qvar}{offset}, d={self.d}, " \ - f"a={self.a}, alpha={self.alpha}" + s = f"{cls}: θ={qvar}{offset}, d={self.d}, " \ + f"a={self.a}, ⍺={self.alpha}" elif self.isprismatic: s = f"{cls}: theta={self.theta}, d={qvar}{offset}, " \ f" a={self.a}, " \ - f"alpha={self.alpha}" + f"⍺={self.alpha}" return s def __repr__(self): @@ -197,9 +197,9 @@ def __repr__(self): if self.isrevolute: self._format(args, "d") else: - self._format(args, "theta") + self._format(args, "theta", "θ") self._format(args, "a") - self._format(args, "alpha") + self._format(args, "alpha", "⍺") args.extend(super()._params()) return name + "(" + ", ".join(args) + ")" From 75bad124ffe480025ffb67335004d0ec58eb5af9 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sun, 25 Jul 2021 11:07:31 +1000 Subject: [PATCH 036/116] return 2d matrix for single joint config, else a 3d array with first index being trajectory index --- roboticstoolbox/robot/Dynamics.py | 127 +++++++++++++++++++----------- 1 file changed, 82 insertions(+), 45 deletions(-) diff --git a/roboticstoolbox/robot/Dynamics.py b/roboticstoolbox/robot/Dynamics.py index 5fddd7c25..450a62c80 100644 --- a/roboticstoolbox/robot/Dynamics.py +++ b/roboticstoolbox/robot/Dynamics.py @@ -854,7 +854,8 @@ def gravload(self, q=None, gravity=None): else: return taug - def inertia_x(self, q=None, pinv=False, analytical="rpy-xyz"): + def inertia_x(self, q=None, pinv=False, analytical="rpy-xyz", + Ji=None): r""" Operational space inertia matrix @@ -915,23 +916,34 @@ def inertia_x(self, q=None, pinv=False, analytical="rpy-xyz"): if q.shape[1] != 6: pinv = True - Mt = np.zeros((q.shape[0], 6, 6)) - - for k, qk in enumerate(q): - Ja = self.jacob0(qk, analytical=analytical) - if pinv: - Ji = np.linalg.pinv(Ja) - else: - Ji = np.linalg.inv(Ja) - M = self.inertia(qk) - Mt[k, :, :] = Ji.T @ M @ Ji - if q.shape[0] == 1: - return Mt[0, :, :] + # single q case + if Ji is None: + Ja = self.jacob0(q[0, :], analytical=analytical) + if pinv: + Ji = np.linalg.pinv(Ja) + else: + Ji = np.linalg.inv(Ja) + M = self.inertia(q[0, :]) + return Ji.T @ M @ Ji + else: + # trajectory case + Mt = np.zeros((q.shape[0], 6, 6)) + + for k, qk in enumerate(q): + Ja = self.jacob0(qk, analytical=analytical) + if pinv: + Ji = np.linalg.pinv(Ja) + else: + Ji = np.linalg.inv(Ja) + M = self.inertia(qk) + Mt[k, :, :] = Ji.T @ M @ Ji + return Mt - def coriolis_x(self, q, qd, pinv=False, analytical="rpy-xyz"): + def coriolis_x(self, q, qd, pinv=False, analytical="rpy-xyz", + J=None, Ji=None, Jd=None, C=None, Mx=None): r""" Operational space Coriolis and centripetal term @@ -1005,30 +1017,45 @@ def coriolis_x(self, q, qd, pinv=False, analytical="rpy-xyz"): if n != 6: pinv = True - Ct = np.zeros((q.shape[0], 6, 6)) + if q.shape[0] == 1: + # single q case + if Ji is None: + Ja = self.jacob0(q[0, :], analytical=analytical) + if pinv: + Ji = np.linalg.pinv(Ja) + else: + Ji = np.linalg.inv(Ja) + if C is None: + C = self.coriolis(q[0, :], qd[0, :]) + if Mx is None: + Mx = self.inertia_x(q[0, :]) + if Jd is None: + Jd = self.jacob_dot(q[0, :], qd[0, :], J0=Ja) + return Ji.T @ (C - Mx @ Jd) @ Ji + else: + # trajectory case + Ct = np.zeros((q.shape[0], 6, 6)) - for k, (qk, qdk) in enumerate(zip(q, qd)): - J = self.jacob0(qk) - T = rot2jac(self.fkine(qk).A, representation=analytical) - Ja = T @ J + for k, (qk, qdk) in enumerate(zip(q, qd)): + J = self.jacob0(qk) + T = rot2jac(self.fkine(qk).A, representation=analytical) + Ja = T @ J - C = self.coriolis(qk, qdk) - Mx = self.inertia_x(qk) - Jd = self.jacob_dot(qk, qdk, J0=J) - # A = 1 + C = self.coriolis(qk, qdk) + Mx = self.inertia_x(qk) + Jd = self.jacob_dot(qk, qdk, J0=J) + # A = 1 - if pinv: - Ji = np.linalg.pinv(Ja) - else: - Ji = np.linalg.inv(Ja) - Ct[k, :, :] = Ji.T @ (C - Mx @ Jd) @ Ji + if pinv: + Ji = np.linalg.pinv(Ja) + else: + Ji = np.linalg.inv(Ja) + Ct[k, :, :] = Ji.T @ (C - Mx @ Jd) @ Ji - if q.shape[0] == 1: - return Ct[0, :, :] - else: return Ct - def gravload_x(self, q=None, gravity=None, pinv=False, analytical="rpy-xyz"): + def gravload_x(self, q=None, gravity=None, pinv=False, analytical="rpy-xyz", + Ji=None): """ Operational space gravity load @@ -1100,22 +1127,32 @@ def gravload_x(self, q=None, gravity=None, pinv=False, analytical="rpy-xyz"): # else: # gravity = getvector(gravity, 3) - taug = np.zeros((q.shape[0], self.n)) - # z = np.zeros(self.n) + if q.shape[0] == 1: + # single q case + if Ji is None: + Ja = self.jacob0(q[0, :], analytical=analytical) + if pinv: + Ji = np.linalg.pinv(Ja) + else: + Ji = np.linalg.inv(Ja) + G = self.gravload(q[0, :]) + return Ji.T @ G - for k, qk in enumerate(q): - Ja = self.jacob0(qk, analytical=analytical) - G = self.gravload(qk) - if pinv: - Ji = np.linalg.pinv(Ja) - else: - Ji = np.linalg.inv(Ja) + else: + # trajectory case + taug = np.zeros((q.shape[0], self.n)) + # z = np.zeros(self.n) + + for k, qk in enumerate(q): + Ja = self.jacob0(qk, analytical=analytical) + G = self.gravload(qk) + if pinv: + Ji = np.linalg.pinv(Ja) + else: + Ji = np.linalg.inv(Ja) - taug[k, :] = Ji.T @ G + taug[k, :] = Ji.T @ G - if q.shape[0] == 1: - return taug[0, :] - else: return taug def accel_x(self, q, xd, wrench, gravity=None, pinv=False, analytical="rpy-xyz"): From e67e283eaa76769fcf4f3dea28a9ccacdf857cd2 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sun, 25 Jul 2021 11:08:23 +1000 Subject: [PATCH 037/116] tell black to leave formatting alone --- roboticstoolbox/robot/ETS.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/roboticstoolbox/robot/ETS.py b/roboticstoolbox/robot/ETS.py index 8f09b79f4..41c2d34c7 100644 --- a/roboticstoolbox/robot/ETS.py +++ b/roboticstoolbox/robot/ETS.py @@ -1132,12 +1132,14 @@ def tx(cls, eta=None, **kwargs): # this method is 3x faster than using lambda x: transl(x, 0, 0) def axis_func(eta): + # fmt: off return np.array([ [1, 0, 0, eta], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1] ]) + # fmt: on return cls(axis='tx', axis_func=axis_func, eta=eta, **kwargs) @@ -1165,12 +1167,14 @@ def ty(cls, eta=None, **kwargs): :SymPy: supported """ def axis_func(eta): + # fmt: off return np.array([ [1, 0, 0, 0], [0, 1, 0, eta], [0, 0, 1, 0], [0, 0, 0, 1] ]) + # fmt: on return cls(axis='ty', eta=eta, axis_func=axis_func, **kwargs) @@ -1200,12 +1204,14 @@ def tz(cls, eta=None, **kwargs): :SymPy: supported """ def axis_func(eta): + # fmt: off return np.array([ [1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, eta], [0, 0, 0, 1] ]) + # fmt: on return cls(axis='tz', axis_func=axis_func, eta=eta, **kwargs) From d35722667cf0f9c93cea1009fa175f629ea15f03 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sun, 25 Jul 2021 11:11:53 +1000 Subject: [PATCH 038/116] hide flip status if not flipped --- roboticstoolbox/robot/Link.py | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/roboticstoolbox/robot/Link.py b/roboticstoolbox/robot/Link.py index c8031f245..87984d93f 100644 --- a/roboticstoolbox/robot/Link.py +++ b/roboticstoolbox/robot/Link.py @@ -282,13 +282,18 @@ def format(l, fmt, val): # noqa return dyn - def _format(self, l, name, ignorevalue=0, indices=None): # noqa # pragma nocover + def _format(self, l, name, symbol=None, ignorevalue=None, indices=None): # noqa # pragma nocover + # if value == ignorevalue then don't display it + v = getattr(self, name) s = None if v is None: return if isscalar(v) and v != ignorevalue: - s = f"{name}={v:.3g}" + if symbol is not None: + s = f"{symbol}={v:.3g}" + else: + s = f"{name}={v:.3g}" elif isinstance(v, np.ndarray): if np.linalg.norm(v, ord=np.inf) > 0: if indices is not None: @@ -301,7 +306,7 @@ def _format(self, l, name, ignorevalue=0, indices=None): # noqa # pragma nocov def _params(self): # pragma nocover l = [] # noqa self._format(l, "name") - self._format(l, "flip", False) + self._format(l, "flip", ignorevalue=False) self._format(l, "qlim") self._format(l, "m") self._format(l, "r") From 8d98101e6c593862673534dc8e69b0a4d50b00f3 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sun, 25 Jul 2021 11:12:03 +1000 Subject: [PATCH 039/116] doco --- roboticstoolbox/robot/KinematicCache.py | 98 ++++++++++++++++++++++++- 1 file changed, 95 insertions(+), 3 deletions(-) diff --git a/roboticstoolbox/robot/KinematicCache.py b/roboticstoolbox/robot/KinematicCache.py index 3f08e5815..db74f86cb 100644 --- a/roboticstoolbox/robot/KinematicCache.py +++ b/roboticstoolbox/robot/KinematicCache.py @@ -7,6 +7,46 @@ class KinematicCache: + """ + Kinematic cache + + Many robot kinematic (and dynamic operations) have dependencies. For + example, computing the world-frame Jacobian requires the + forward kinematics, computing operational space acceleration requires + the Jacobian. To optimize computation time it becomes difficult to keep + track of all the dependencies. + + The ``KinematicCache`` acts as a proxy for a ``Robot`` subclass object + and implements a subset of its methods, just those that concerned with, or + using kinematics. + + For everycall a hash is computed for ``q`` and relevant arguments such as + ``end`` and the value of kinematic operation is looked up in the cache. If + it is not in the cache it will be computed and added to the cache. + + For example:: + + robot = models.ETS.Panda() + kc = KinematicCache(robot) + + q = robot.qr + T = kc.fkine(q) + J = kc.jacob0(q) + Ix = kc.inertia_x(q) + J = kc.jacob0(q) + + The ``fkine`` method will be a cache miss and the forward kinematics will be + computed. The ``jacob0`` method will be a cache miss but the required + forward kinematics are in the cache and will be used. The ``inertia_x`` + method will be a cache miss but the required Jacobian is in the cache and + will be used. The final ``jacob0`` method will be a cache hit and the + previously computed value will be returned. + + The cost of computing the hash is small compared to the cost of the + kinematic operations and not having to keep track of saved values makes code + cleaner. + + """ def __init__(self, robot, cachesize=16): """ Create kinematic cache instance @@ -50,14 +90,14 @@ def cache(self): :rtype: str The cache dictionary is displayed. Oldest entries are first. - The display:: + For example, the display:: fkine_all : 0x59913cdb1a5be5c0, (None,) fkine : 0xb9cd1db3d2a255e0, (None,) fkine_all : 0xb9cd1db3d2a255e0, (None,) fkine : 0x639cf014e2baaafb, (None,) - shows the kinematic function, the joint configuration has, and any + shows the kinematic function, the joint configuration hash, and any additional arguments. """ s = "" @@ -274,7 +314,7 @@ def jacobe_inv(self, q, end=None, analytical=None): self._dict[key] = np.linalg.inv(J) return self._dict[key] - def jacobe_pinv(self, q, end=None): + def jacobe_pinv(self, q, end=None, analytical=None): """ Cached end-effector-frame Jacobian pseudo inverse @@ -296,6 +336,58 @@ def jacobe_pinv(self, q, end=None): self._dict[key] = np.linalg.pinv(J) return self._dict[key] + def coriolis(self, q, qd): + key = ("coriolis", self._qhash(q), self._qhash(qd)) + if key not in self._dict: + # cache miss, compute it + C = self.coriolis(q, qd) + self._dict[key] = self._robot.coriolis_x(q, qd) + return self._dict[key] + + def inertia_x(self, q, pinv=False, analytical="rpy-xyz"): + key = ("inertia_x", self._qhash(q), pinv, analytical) + if key not in self._dict: + # cache miss, compute it + + # get Jacobian inv or pinv from cache + if pinv: + Ji = self.jacobe0_pinv(analytical=analytical) + else: + Ji = self.jacobe0_inv(analytical=analytical) + self._dict[key] = self._robot.inertia_x(q, Ji=Ji) + return self._dict[key] + + def coriolis_x(self, q, qd, pinv=False, analytical="rpy-xyz"): + key = ("coriolis_x", self._qhash(q), self._qhash(qd), pinv, analytical) + if key not in self._dict: + # cache miss, compute it + + # get Jacobian inv or pinv from cache + if pinv: + Ji = self.jacobe0_pinv(analytical=analytical) + else: + Ji = self.jacobe0_inv(analytical=analytical) + # get inertia, Jacobian dot and Coriolis from cache + Mx = self.inertia_x(q, pinv=pinv, analytical=analytical) + Jd = self.jacob_dot(q, J0=self.jacob0(q, analytical=analytical)) + C = self.coriolis(q, qd) + self._dict[key] = self._robot.coriolis_x(q, qd, pinv, analytical, + J, Ji, Jd, C, Mx) + return self._dict[key] + + def gravload_x(self, q, pinv=False, analytical="rpy-xyz"): + key = ("gravload_x", self._qhash(q), pinv, analytical) + if key not in self._dict: + # cache miss, compute it + + # get Jacobian inv or pinv from cache + if pinv: + Ji = self.jacobe0_pinv(analytical=analytical) + else: + Ji = self.jacobe0_inv(analytical=analytical) + self._dict[key] = self._robot.gravload_x(q, Ji=Ji) + return self._dict[key] + if __name__ == "__main__": q = np.r_[1, 2, 3, 4, 5, 6, 7] From 4ef5d0a6a416ed0c9a720373b1276f4874c1d00e Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sun, 25 Jul 2021 11:12:19 +1000 Subject: [PATCH 040/116] update logic for which backend to use --- roboticstoolbox/robot/Robot.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/roboticstoolbox/robot/Robot.py b/roboticstoolbox/robot/Robot.py index 7632917e5..20e9c0da6 100644 --- a/roboticstoolbox/robot/Robot.py +++ b/roboticstoolbox/robot/Robot.py @@ -1255,8 +1255,11 @@ def _get_graphical_backend(self, backend=None): default = "pyplot" elif isinstance(self, rtb.ERobot2): default = "pyplot2" - elif isinstance(self, rtb.ERobot) and self.hasgeometry: - default = "swift" + elif isinstance(self, rtb.ERobot): + if self.hasgeometry: + default = "swift" + else: + default = "pyplot" if backend is not None: backend = backend.lower() From 78b88d4eee4209a6942b3988256cd47e8293da64 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sun, 25 Jul 2021 11:12:37 +1000 Subject: [PATCH 041/116] reflect change to RTB data file finder --- roboticstoolbox/tools/urdf/tests/test_urdf.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/roboticstoolbox/tools/urdf/tests/test_urdf.py b/roboticstoolbox/tools/urdf/tests/test_urdf.py index 0797c86b9..e11a0981e 100644 --- a/roboticstoolbox/tools/urdf/tests/test_urdf.py +++ b/roboticstoolbox/tools/urdf/tests/test_urdf.py @@ -10,7 +10,7 @@ import numpy as np import numpy.testing as nt -from roboticstoolbox.tools.data import path_to_datafile +from roboticstoolbox.tools.data import rtb_path_to_datafile class TestURDF(unittest.TestCase): @@ -18,10 +18,10 @@ class TestURDF(unittest.TestCase): def test_urdf_visuals(self): urdf_string = xacro.main( - path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa + rtb_path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa urdf = URDF.loadstr( urdf_string, - path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa + rtb_path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa urdf.links[0].visuals[0].name = "Lonk" self.assertTrue(urdf.links[0].visuals[0].name == "Lonk") @@ -78,10 +78,10 @@ def test_urdf_load(self): def test_urdf_collisions(self): urdf_string = xacro.main( - path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa + rtb_path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa urdf = URDF.loadstr( urdf_string, - path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa + rtb_path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa urdf.links[0].collisions[0].name = "Lonk" self.assertTrue(urdf.links[0].collisions[0].name == "Lonk") @@ -99,10 +99,10 @@ def test_urdf_collisions(self): def test_urdf_dynamics(self): urdf_string = xacro.main( - path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa + rtb_path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa urdf = URDF.loadstr( urdf_string, - path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa + rtb_path_to_datafile("xacro/franka_description/robots/panda_arm_hand.urdf.xacro")) # noqa self.assertEqual(urdf.joints[0].limit.effort, 87.0) self.assertEqual(urdf.joints[0].limit.velocity, 2.175) From 8aaf7928a5afbbb4c4588b5217c4a982113236c0 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sun, 25 Jul 2021 11:12:56 +1000 Subject: [PATCH 042/116] return number of points in trajectory --- roboticstoolbox/tools/trajectory.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/roboticstoolbox/tools/trajectory.py b/roboticstoolbox/tools/trajectory.py index a2d99e502..6e1a7fe27 100644 --- a/roboticstoolbox/tools/trajectory.py +++ b/roboticstoolbox/tools/trajectory.py @@ -69,7 +69,7 @@ def __len__(self): :return: number of steps in the trajectory :rtype: int """ - return len(self.t) + return self.s.shape[0] @property def q(self): From d40f9bb2adf61922035c71e493b590d73ecf5222 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sun, 25 Jul 2021 11:14:18 +1000 Subject: [PATCH 043/116] integrate with spatialgeometry put RTB in title of figures --- .../backends/PyPlot/EllipsePlot.py | 41 +++++++++ roboticstoolbox/backends/PyPlot/PyPlot.py | 84 +++++++++---------- roboticstoolbox/backends/PyPlot/PyPlot2.py | 2 + 3 files changed, 84 insertions(+), 43 deletions(-) diff --git a/roboticstoolbox/backends/PyPlot/EllipsePlot.py b/roboticstoolbox/backends/PyPlot/EllipsePlot.py index d4056c79d..e9be599f3 100644 --- a/roboticstoolbox/backends/PyPlot/EllipsePlot.py +++ b/roboticstoolbox/backends/PyPlot/EllipsePlot.py @@ -9,6 +9,47 @@ import matplotlib.pyplot as plt +class ShapePlot(): + + def __init__(self, shape, wireframe=True, **kwargs): + + self.shape = shape # reference to the spatialgeom shape + self.wireframe = wireframe + self.args = kwargs + self.mpl = None + + def plot(self): + if ax is None: + ax = self.ax + + if ax is None: + fig = plt.figure() + ax = plt.axes(projection="3d") + self.ax = ax + + self.draw() + + def draw(self, ax=None): + # TODO only remove and redraw if base has changed + if self.mpl is not None: + self.mpl.remove() + + if self.shape.stype == 'box': + # scale + self.mpl = base.plot_cuboid(sides=self.shape.scale, + pose=self.shape.base, ax=ax) + + elif self.shape.stype == 'sphere': + print(self.shape.base.t) + self.mpl = base.plot_sphere(self.shape.radius, pose=self.shape.base, ax=ax) + + elif self.shape.stype == 'cylinder': + # radius, length + pass + + def make(self): + pass + class EllipsePlot: def __init__(self, robot, q, etype, opt="trans", centre=[0, 0, 0], scale=1): diff --git a/roboticstoolbox/backends/PyPlot/PyPlot.py b/roboticstoolbox/backends/PyPlot/PyPlot.py index b7a5d9ac2..ae2c6b266 100644 --- a/roboticstoolbox/backends/PyPlot/PyPlot.py +++ b/roboticstoolbox/backends/PyPlot/PyPlot.py @@ -8,8 +8,9 @@ from roboticstoolbox.backends.Connector import Connector from roboticstoolbox.backends.PyPlot.RobotPlot import RobotPlot -from roboticstoolbox.backends.PyPlot.EllipsePlot import EllipsePlot +from roboticstoolbox.backends.PyPlot.EllipsePlot import EllipsePlot, ShapePlot from spatialmath.base.argcheck import getvector +from spatialgeometry import Shape # from roboticstoolbox.tools import Ticker _mpl = False @@ -65,6 +66,7 @@ def __init__(self): super(PyPlot, self).__init__() self.robots = [] self.ellipses = [] + self.shapes = [] if not _mpl: # pragma nocover raise ImportError( @@ -109,6 +111,7 @@ def launch(self, name=None, fig=None, limits=None, **kwargs): self.ax = self.fig.add_subplot( 111, projection='3d', proj_type=projection) self.ax.set_facecolor('white') + self.ax.figure.canvas.set_window_title(f"Robotics Toolbox for Python (Figure {self.ax.figure.number})") self.ax.set_xbound(-0.5, 0.5) self.ax.set_ybound(-0.5, 0.5) @@ -169,12 +172,36 @@ def step(self, dt=0.05): super().step() - self._step_robots(dt) + # update the robot's state + for rpl in self.robots: + robot = rpl.robot + + if rpl.readonly or robot.control_type == 'p': + pass # pragma: no cover + elif robot.control_type == 'v': + for i in range(robot.n): + robot.q[i] += robot.qd[i] * (dt) + elif robot.control_type == 'a': # pragma: no cover + pass + else: # pragma: no cover + raise ValueError( + 'Invalid robot.control_type. ' + 'Must be one of \'p\', \'v\', or \'a\'') # plt.ioff() - self._draw_ellipses() - self._draw_robots() + # update all ellipses + for ellipse in self.ellipses: + ellipse.draw() + + # update all shapes + for shape in self.shapes: + shape.draw() + + # update all robots + for robot in self.robots: + robot.draw() + self._set_axes_equal() # update time and display it on plot @@ -192,8 +219,6 @@ def step(self, dt=0.05): plt.draw() plt.pause(dt) - self._update_robots() - def reset(self): """ Reset the graphical scene @@ -284,18 +309,24 @@ def add( elif isinstance(ob, EllipsePlot): ob.ax = self.ax self.ellipses.append(ob) - self.ellipses[len(self.ellipses) - 1].draw() + self.ellipses[-1].draw() id = len(self.ellipses) - plt.draw() + elif isinstance(ob, Shape): + # recreate the shape using matplotlib + self.shapes.append(ShapePlot(ob)) + self.shapes[-1].draw(ax=self.ax) + id = len(self.shapes) + + plt.draw() # matplotlib refresh plt.show(block=False) self._set_axes_equal() return id - def remove(self): + def remove(self, id): """ - Remove a robot to the graphical scene + Remove a robot or shape from the graphical scene :param id: The id of the robot to remove. Can be either the DHLink or GraphicalRobot @@ -361,40 +392,7 @@ def getframe(self): # Private methods # - def _step_robots(self, dt): - - for rpl in self.robots: - robot = rpl.robot - - if rpl.readonly or robot.control_type == 'p': - pass # pragma: no cover - - elif robot.control_type == 'v': - - for i in range(robot.n): - robot.q[i] += robot.qd[i] * (dt) - - elif robot.control_type == 'a': # pragma: no cover - pass - - else: # pragma: no cover - # Should be impossible to reach - raise ValueError( - 'Invalid robot.control_type. ' - 'Must be one of \'p\', \'v\', or \'a\'') - - def _update_robots(self): - pass - - def _draw_robots(self): - - for i in range(len(self.robots)): - self.robots[i].draw() - - def _draw_ellipses(self): - for i in range(len(self.ellipses)): - self.ellipses[i].draw() # def _plot_handler(self, sig, frame): # try: diff --git a/roboticstoolbox/backends/PyPlot/PyPlot2.py b/roboticstoolbox/backends/PyPlot/PyPlot2.py index 8ee092227..e76f53c67 100644 --- a/roboticstoolbox/backends/PyPlot/PyPlot2.py +++ b/roboticstoolbox/backends/PyPlot/PyPlot2.py @@ -8,6 +8,7 @@ from roboticstoolbox.backends.Connector import Connector from roboticstoolbox.backends.PyPlot.RobotPlot2 import RobotPlot2 from roboticstoolbox.backends.PyPlot.EllipsePlot import EllipsePlot +import time _mpl = False @@ -67,6 +68,7 @@ def launch(self, name=None, limits=None, **kwargs): # Create a 2D axes self.ax = self.fig.add_subplot(1, 1, 1) self.ax.set_facecolor('white') + plt.get_current_fig_manager().set_window_title(f"Robotics Toolbox for Python (Figure {self.ax.figure.number})") self.ax.set_xbound(-0.5, 0.5) self.ax.set_ybound(-0.5, 0.5) From 5cf1349209cfe4eefd5c347328caff3da35639c4 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 26 Jul 2021 08:57:43 +1000 Subject: [PATCH 044/116] commented mobile code --- roboticstoolbox/mobile/__init__.py | 65 +- tests/test_mobile.py | 962 ++++++++++++++--------------- 2 files changed, 513 insertions(+), 514 deletions(-) diff --git a/roboticstoolbox/mobile/__init__.py b/roboticstoolbox/mobile/__init__.py index a8304c086..00763176b 100644 --- a/roboticstoolbox/mobile/__init__.py +++ b/roboticstoolbox/mobile/__init__.py @@ -2,15 +2,17 @@ from roboticstoolbox.mobile.Vehicle import Vehicle, Bicycle, Unicycle # planners -from roboticstoolbox.mobile.Bug2 import Bug2 +# from roboticstoolbox.mobile.Bug2 import Bug2 from roboticstoolbox.mobile.DistanceTransformPlanner import DistanceTransformPlanner from roboticstoolbox.mobile.DstarPlanner import DstarPlanner from roboticstoolbox.mobile.PRMPlanner import PRMPlanner -#from roboticstoolbox.mobile.LatticePlanner import LatticePlanner + +# from roboticstoolbox.mobile.LatticePlanner import LatticePlanner from roboticstoolbox.mobile.DubinsPlanner import DubinsPlanner from roboticstoolbox.mobile.ReedsSheppPlanner import ReedsSheppPlanner -from roboticstoolbox.mobile.LatticePlanner import LatticePlanner + +# from roboticstoolbox.mobile.LatticePlanner import LatticePlanner from roboticstoolbox.mobile.CurvaturePolyPlanner import CurvaturePolyPlanner from roboticstoolbox.mobile.QuinticPolyPlanner import QuinticPolyPlanner from roboticstoolbox.mobile.PRMPlanner import PRMPlanner @@ -22,36 +24,37 @@ from roboticstoolbox.mobile.sensors import RangeBearingSensor from roboticstoolbox.mobile.drivers import * from roboticstoolbox.mobile.animations import * -from roboticstoolbox.mobile.PoseGraph import * -from roboticstoolbox.mobile.EKF import EKF -from roboticstoolbox.mobile.ParticleFilter import ParticleFilter + +# from roboticstoolbox.mobile.PoseGraph import * +# from roboticstoolbox.mobile.EKF import EKF +# from roboticstoolbox.mobile.ParticleFilter import ParticleFilter __all__ = [ - 'Vehicle', - 'Bicycle', - 'Unicycle', - 'Bug2', - 'DistanceTransformPlanner', - 'DstarPlanner', - 'DubinsPlanner', - 'LatticePlanner', - 'ReedsSheppPlanner', - 'CurvaturePolyPlanner', - 'PRMPlanner', - 'VehicleMarker', - 'VehiclePolygon', - 'VehicleIcon', - 'VehicleDriver', - 'RandomPath', - 'PurePursuit', - 'LandmarkMap', - 'RangeBearingSensor', - 'PoseGraph', - 'BinaryOccupancyGrid', - 'OccupancyGrid', - 'Planner', - 'EKF', - 'ParticleFilter', + "Vehicle", + "Bicycle", + "Unicycle", + # "Bug2", + "DistanceTransformPlanner", + "DstarPlanner", + "DubinsPlanner", + # "LatticePlanner", + "ReedsSheppPlanner", + "CurvaturePolyPlanner", + "PRMPlanner", + "VehicleMarker", + "VehiclePolygon", + "VehicleIcon", + "VehicleDriver", + "RandomPath", + "PurePursuit", + "LandmarkMap", + "RangeBearingSensor", + # "PoseGraph", + "BinaryOccupancyGrid", + "OccupancyGrid", + "Planner", + # "EKF", + # "ParticleFilter", ] # 'LatticePlanner', diff --git a/tests/test_mobile.py b/tests/test_mobile.py index de52329af..b30dd937e 100644 --- a/tests/test_mobile.py +++ b/tests/test_mobile.py @@ -1,534 +1,530 @@ +# """ +# Created on 28 December 2020 +# @author: Peter Corke +# """ -""" -Created on 28 December 2020 -@author: Peter Corke -""" - -import numpy.testing as nt -import roboticstoolbox as rtb -import numpy as np -import spatialmath.base as sm -import unittest - -from roboticstoolbox import Bug2, DistanceTransformPlanner, rtb_loadmat -from roboticstoolbox.mobile.Bug2 import edgelist -from roboticstoolbox.mobile.landmarkmap import * -from roboticstoolbox.mobile.drivers import * -from roboticstoolbox.mobile.sensors import * -from roboticstoolbox.mobile.Vehicle import * - -# ======================================================================== # - -class TestNavigation(unittest.TestCase): - - def test_edgelist(self): - im = np.array([ - [0, 0, 0, 0, 0, 0, 0, 0], - [0, 0, 0, 0, 0, 0, 0, 0], - [0, 0, 0, 1, 1, 1, 0, 0], - [0, 0, 0, 1, 1, 1, 0, 0], - [0, 0, 1, 1, 1, 1, 0, 0], - [0, 0, 0, 1, 1, 1, 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], - ]) - - seeds = [(2, 4), (3, 5), (5, 5), (3, 4), (1, 4), (2, 5), (3, 6), (1, 5)] - for seed in seeds: - # clockwise - edge, _ = edgelist(im, seed) - for e in edge: - self.assertEqual( im[e[1],e[0]], im[seed[1], seed[0]] ) - - # counter clockwise - edge, _ = edgelist(im, seed, -1); - for e in edge: - self.assertEqual( im[e[1],e[0]], im[seed[1], seed[0]] ) - - - def test_map(self): - map = np.zeros((10,10)) - map[2,3] = 1 - - nav = Bug2(map) # we can't instantiate Navigation because it's abstract - - ## test isoccupied method - self.assertTrue( nav.is_occupied([3,2]) ) - self.assertFalse( nav.is_occupied([3,3]) ) - - - # out of bound - self.assertTrue( nav.is_occupied([20, 20]) ) - - - ## test inflation option - nav = Bug2(map, inflate=1); - self.assertTrue( nav.is_occupied([3,2]) ) - self.assertTrue( nav.is_occupied([3,3]) ) - self.assertFalse( nav.is_occupied([3,4]) ) - - - - -# ======================================================================== # - -class RangeBearingSensorTest(unittest.TestCase): - - def setUp(self): - self.veh = rtb.Bicycle() - self.map = rtb.LandmarkMap(20) - self.rs = RangeBearingSensor(self.veh, self.map) - - def test_init(self): - - self.assertIsInstance(self.rs.map, rtb.LandmarkMap) - self.assertIsInstance(self.rs.robot, rtb.Vehicle) - - self.assertIsInstance(str(self.rs), str) - - def test_reading(self): - - z, lm_id = self.rs.reading() - self.assertIsInstance(z, np.ndarray) - self.assertEqual(z.shape, (2,)) - - # test missing samples - rs = RangeBearingSensor(self.veh, self.map, every=2) - - z, lm_id = rs.reading() - self.assertIsInstance(z, np.ndarray) - self.assertEqual(z.shape, (2,)) - - z, lm_id = rs.reading() - self.assertEqual(z, None) - - z, lm_id = rs.reading() - self.assertIsInstance(z, np.ndarray) - self.assertEqual(z.shape, (2,)) - - def test_h(self): - xv = np.r_[2, 3, 0.5] - p = np.r_[3,4] - z = self.rs.h(xv, 10) - self.assertIsInstance(z, np.ndarray) - self.assertEqual(z.shape, (2,)) - self.assertAlmostEqual(z[0], - np.linalg.norm(self.rs.map.landmark(10) - xv[:2])) - theta = z[1] + xv[2] - nt.assert_almost_equal(self.rs.map.landmark(10), - xv[:2] + z[0] * np.r_[np.cos(theta), np.sin(theta)]) - - z = self.rs.h(xv, [3,4]) - self.assertIsInstance(z, np.ndarray) - self.assertEqual(z.shape, (2,)) - self.assertAlmostEqual(z[0], - np.linalg.norm(p - xv[:2])) - theta = z[1] + 0.5 - nt.assert_almost_equal([3, 4], - xv[:2] + z[0] * np.r_[np.cos(theta), np.sin(theta)]) - - # all landmarks - z = self.rs.h(xv) - self.assertIsInstance(z, np.ndarray) - self.assertEqual(z.shape, (20,2)) - for k in range(20): - nt.assert_almost_equal(z[k, :], self.rs.h(xv, k)) - - # if vehicle at landmark 10 range=bearing=0 - x = np.r_[self.map.landmark(10), 0] - z = self.rs.h(x, 10) - self.assertEqual(tuple(z), (0, 0)) - - def test_H_jacobians(self): - xv = np.r_[1, 2, pi/4] - p = np.r_[5, 7] - id = 10 - - nt.assert_almost_equal( - self.rs.Hx(xv, id), - base.numjac(lambda x: self.rs.h(x, id), xv), - decimal=4) - - nt.assert_almost_equal( - self.rs.Hp(xv, p), - base.numjac(lambda p: self.rs.h(xv, p), p), - decimal=4) +# import numpy.testing as nt +# import roboticstoolbox as rtb +# import numpy as np +# import spatialmath.base as sm +# import unittest - xv = [1, 2, pi/4] - p = [5, 7] - id = 10 +# from roboticstoolbox import Bug2, DistanceTransformPlanner, rtb_loadmat +# from roboticstoolbox.mobile.Bug2 import edgelist +# from roboticstoolbox.mobile.landmarkmap import * +# from roboticstoolbox.mobile.drivers import * +# from roboticstoolbox.mobile.sensors import * +# from roboticstoolbox.mobile.Vehicle import * - nt.assert_almost_equal( - self.rs.Hx(xv, id), - base.numjac(lambda x: self.rs.h(x, id), xv), - decimal=4) +# # ======================================================================== # - nt.assert_almost_equal( - self.rs.Hp(xv, p), - base.numjac(lambda p: self.rs.h(xv, p), p), - decimal=4) +# class TestNavigation(unittest.TestCase): - def test_g(self): - xv = np.r_[1, 2, pi/4] - p = np.r_[5, 7] +# def test_edgelist(self): +# im = np.array([ +# [0, 0, 0, 0, 0, 0, 0, 0], +# [0, 0, 0, 0, 0, 0, 0, 0], +# [0, 0, 0, 1, 1, 1, 0, 0], +# [0, 0, 0, 1, 1, 1, 0, 0], +# [0, 0, 1, 1, 1, 1, 0, 0], +# [0, 0, 0, 1, 1, 1, 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], +# ]) + +# seeds = [(2, 4), (3, 5), (5, 5), (3, 4), (1, 4), (2, 5), (3, 6), (1, 5)] +# for seed in seeds: +# # clockwise +# edge, _ = edgelist(im, seed) +# for e in edge: +# self.assertEqual( im[e[1],e[0]], im[seed[1], seed[0]] ) + +# # counter clockwise +# edge, _ = edgelist(im, seed, -1); +# for e in edge: +# self.assertEqual( im[e[1],e[0]], im[seed[1], seed[0]] ) + + +# def test_map(self): +# map = np.zeros((10,10)) +# map[2,3] = 1 + +# nav = Bug2(map) # we can't instantiate Navigation because it's abstract + +# ## test isoccupied method +# self.assertTrue( nav.is_occupied([3,2]) ) +# self.assertFalse( nav.is_occupied([3,3]) ) + + +# # out of bound +# self.assertTrue( nav.is_occupied([20, 20]) ) + + +# ## test inflation option +# nav = Bug2(map, inflate=1); +# self.assertTrue( nav.is_occupied([3,2]) ) +# self.assertTrue( nav.is_occupied([3,3]) ) +# self.assertFalse( nav.is_occupied([3,4]) ) + + +# # ======================================================================== # + +# class RangeBearingSensorTest(unittest.TestCase): + +# def setUp(self): +# self.veh = rtb.Bicycle() +# self.map = rtb.LandmarkMap(20) +# self.rs = RangeBearingSensor(self.veh, self.map) + +# def test_init(self): + +# self.assertIsInstance(self.rs.map, rtb.LandmarkMap) +# self.assertIsInstance(self.rs.robot, rtb.Vehicle) + +# self.assertIsInstance(str(self.rs), str) + +# def test_reading(self): + +# z, lm_id = self.rs.reading() +# self.assertIsInstance(z, np.ndarray) +# self.assertEqual(z.shape, (2,)) + +# # test missing samples +# rs = RangeBearingSensor(self.veh, self.map, every=2) + +# z, lm_id = rs.reading() +# self.assertIsInstance(z, np.ndarray) +# self.assertEqual(z.shape, (2,)) + +# z, lm_id = rs.reading() +# self.assertEqual(z, None) + +# z, lm_id = rs.reading() +# self.assertIsInstance(z, np.ndarray) +# self.assertEqual(z.shape, (2,)) - z = self.rs.h(xv, p) - nt.assert_almost_equal(p, self.rs.g(xv, z)) +# def test_h(self): +# xv = np.r_[2, 3, 0.5] +# p = np.r_[3,4] +# z = self.rs.h(xv, 10) +# self.assertIsInstance(z, np.ndarray) +# self.assertEqual(z.shape, (2,)) +# self.assertAlmostEqual(z[0], +# np.linalg.norm(self.rs.map.landmark(10) - xv[:2])) +# theta = z[1] + xv[2] +# nt.assert_almost_equal(self.rs.map.landmark(10), +# xv[:2] + z[0] * np.r_[np.cos(theta), np.sin(theta)]) - def test_G_jacobians(self): - xv = np.r_[1, 2, pi/4] - p = np.r_[5, 7] +# z = self.rs.h(xv, [3,4]) +# self.assertIsInstance(z, np.ndarray) +# self.assertEqual(z.shape, (2,)) +# self.assertAlmostEqual(z[0], +# np.linalg.norm(p - xv[:2])) +# theta = z[1] + 0.5 +# nt.assert_almost_equal([3, 4], +# xv[:2] + z[0] * np.r_[np.cos(theta), np.sin(theta)]) - z = self.rs.h(xv, p) +# # all landmarks +# z = self.rs.h(xv) +# self.assertIsInstance(z, np.ndarray) +# self.assertEqual(z.shape, (20,2)) +# for k in range(20): +# nt.assert_almost_equal(z[k, :], self.rs.h(xv, k)) - nt.assert_almost_equal( - self.rs.Gx(xv, z), - base.numjac(lambda x: self.rs.g(x, z), xv), - decimal=4) +# # if vehicle at landmark 10 range=bearing=0 +# x = np.r_[self.map.landmark(10), 0] +# z = self.rs.h(x, 10) +# self.assertEqual(tuple(z), (0, 0)) - nt.assert_almost_equal( - self.rs.Gz(xv, z), - base.numjac(lambda z: self.rs.g(xv, z), z), - decimal=4) +# def test_H_jacobians(self): +# xv = np.r_[1, 2, pi/4] +# p = np.r_[5, 7] +# id = 10 - def test_plot(self): +# nt.assert_almost_equal( +# self.rs.Hx(xv, id), +# base.numjac(lambda x: self.rs.h(x, id), xv), +# decimal=4) - # map = LandmarkMap(20) - # map.plot(block=False) - pass +# nt.assert_almost_equal( +# self.rs.Hp(xv, p), +# base.numjac(lambda p: self.rs.h(xv, p), p), +# decimal=4) -# ======================================================================== # +# xv = [1, 2, pi/4] +# p = [5, 7] +# id = 10 -class LandMarkTest(unittest.TestCase): - - def test_init(self): +# nt.assert_almost_equal( +# self.rs.Hx(xv, id), +# base.numjac(lambda x: self.rs.h(x, id), xv), +# decimal=4) - map = LandmarkMap(20) +# nt.assert_almost_equal( +# self.rs.Hp(xv, p), +# base.numjac(lambda p: self.rs.h(xv, p), p), +# decimal=4) - self.assertEqual(map.nlandmarks, 20) - - lm = map.landmark(0) - self.assertIsInstance(lm, np.ndarray) - self.assertTrue(lm.shape, (2,)) +# def test_g(self): +# xv = np.r_[1, 2, pi/4] +# p = np.r_[5, 7] - self.assertIsInstance(str(lm), str) +# z = self.rs.h(xv, p) +# nt.assert_almost_equal(p, self.rs.g(xv, z)) - self.assertEqual(map.x.shape, (20,)) - self.assertEqual(map.y.shape, (20,)) - self.assertEqual(map.xy.shape, (2,20)) +# def test_G_jacobians(self): +# xv = np.r_[1, 2, pi/4] +# p = np.r_[5, 7] - def test_range(self): - map = LandmarkMap(1000, dim=[-10, 10, 100, 200]) +# z = self.rs.h(xv, p) - self.assertTrue(map._map.shape, (2,1000)) +# nt.assert_almost_equal( +# self.rs.Gx(xv, z), +# base.numjac(lambda x: self.rs.g(x, z), xv), +# decimal=4) - x = map.x - y = map.y - self.assertTrue(all([-10 <= a <= 10 for a in x])) - self.assertTrue(all([100 <= a <= 200 for a in y])) +# nt.assert_almost_equal( +# self.rs.Gz(xv, z), +# base.numjac(lambda z: self.rs.g(xv, z), z), +# decimal=4) - def test_plot(self): +# def test_plot(self): - map = LandmarkMap(20) - map.plot(block=False) +# # map = LandmarkMap(20) +# # map.plot(block=False) +# pass -# ======================================================================== # +# # ======================================================================== # -class DriversTest(unittest.TestCase): - - def test_init(self): +# class LandMarkTest(unittest.TestCase): - rp = rtb.RandomPath(10) +# def test_init(self): - self.assertIsInstance(str(rp), str) +# map = LandmarkMap(20) - rp.init() +# self.assertEqual(map.nlandmarks, 20) - veh = rtb.Bicycle() +# lm = map.landmark(0) +# self.assertIsInstance(lm, np.ndarray) +# self.assertTrue(lm.shape, (2,)) - veh.control = rp +# self.assertIsInstance(str(lm), str) - self.assertIs(veh.control, rp) - self.assertIs(rp.vehicle, veh) +# self.assertEqual(map.x.shape, (20,)) +# self.assertEqual(map.y.shape, (20,)) +# self.assertEqual(map.xy.shape, (2,20)) - u = rp.demand() - self.assertIsInstance(u, np.ndarray) - self.assertTrue(u.shape, (2,)) +# def test_range(self): +# map = LandmarkMap(1000, dim=[-10, 10, 100, 200]) -class TestBicycle(unittest.TestCase): +# self.assertTrue(map._map.shape, (2,1000)) - # def test_deriv(self): - # xv = np.r_[1, 2, pi/4] +# x = map.x +# y = map.y +# self.assertTrue(all([-10 <= a <= 10 for a in x])) +# self.assertTrue(all([100 <= a <= 200 for a in y])) - # veh = Bicycle() +# def test_plot(self): - # u = [1, 0.2] - # nt.assert_almost_equal( - # veh.deriv(xv, ), - # base.numjac(lambda p: veh(xv, p), p), - # decimal=4) +# map = LandmarkMap(20) +# map.plot(block=False) - def test_jacobians(self): - xv = np.r_[1, 2, pi/4] - odo = np.r_[0.1, 0.2] - veh = Bicycle() +# # ======================================================================== # - nt.assert_almost_equal( - veh.Fx(xv, odo), - base.numjac(lambda x: veh.f(x, odo), xv), - decimal=4) +# class DriversTest(unittest.TestCase): - nt.assert_almost_equal( - veh.Fv(xv, odo), - base.numjac(lambda d: veh.f(xv, d), odo), - decimal=4) +# def test_init(self): +# rp = rtb.RandomPath(10) -# function setupOnce(testCase) -# testCase.TestData.Duration = 50; -# end +# self.assertIsInstance(str(rp), str) -# function Vehicle_test(tc) -# %% -# randinit -# V = diag([0.005, 0.5*pi/180].^2); +# rp.init() -# v = Bicycle('covar', V); -# v.add_driver( RandomPath(10) ); +# veh = rtb.Bicycle() -# v.run(tc.TestData.Duration); -# v.plot_xy(); -# s = v.char(); +# veh.control = rp -# J = v.Fx(v.x, [.1 .2]); -# J = v.Fv(v.x, [.1 .2]); -# end +# self.assertIs(veh.control, rp) +# self.assertIs(rp.vehicle, veh) -# function DeadReckoning_test(tc) -# %% -# randinit -# V = diag([0.005, 0.5*pi/180].^2); -# P0 = diag([0.005, 0.005, 0.001].^2); +# u = rp.demand() +# self.assertIsInstance(u, np.ndarray) +# self.assertTrue(u.shape, (2,)) -# v = Bicycle('covar', V); -# v.add_driver( RandomPath(10) ); -# s = char(v); +# class TestBicycle(unittest.TestCase): -# ekf = EKF(v, V, P0); -# ekf.run(tc.TestData.Duration); +# # def test_deriv(self): +# # xv = np.r_[1, 2, pi/4] -# clf -# ekf.plot_xy -# hold on -# v.plot_xy('r') -# grid on -# xyzlabel +# # veh = Bicycle() -# ekf.plot_ellipse('g') -# ekf.plot_P() -# end +# # u = [1, 0.2] +# # nt.assert_almost_equal( +# # veh.deriv(xv, ), +# # base.numjac(lambda p: veh(xv, p), p), +# # decimal=4) -# function MapLocalization_test(tc) -# %% -# randinit -# W = diag([0.1, 1*pi/180].^2); -# P0 = diag([0.005, 0.005, 0.001].^2); -# V = diag([0.005, 0.5*pi/180].^2); - -# map = LandmarkMap(20); -# map = LandmarkMap(20, 'verbose'); -# map = LandmarkMap(20, 10, 'verbose'); -# map = LandmarkMap(20, 10); -# s = char(map); - -# veh = Bicycle('covar', V); -# veh.add_driver( RandomPath(10) ); -# sensor = RangeBearingSensor(veh, map, 'covar', W); -# sensor.interval = 5; -# ekf = EKF(veh, W, P0, sensor, W, map); - -# ekf.run(tc.TestData.Duration); - -# clf -# map.plot() -# veh.plot_xy('b'); -# ekf.plot_xy('r'); -# ekf.plot_ellipse('k') -# grid on -# xyzlabel - -# clf -# ekf.plot_P() -# end - -# function Mapping_test(tc) -# %% -# randinit -# W = diag([0.1, 1*pi/180].^2); -# V = diag([0.005, 0.5*pi/180].^2); - -# map = LandmarkMap(20, 10); - -# veh = Bicycle('covar', V); -# veh.add_driver( RandomPath(10) ); - -# sensor = RangeBearingSensor(veh, map, 'covar', W); -# sensor.interval = 5; - -# ekf = EKF(veh, [], [], sensor, W, []); -# ekf.run(tc.TestData.Duration); - - -# clf -# map.plot() -# veh.plot_xy('b'); -# ekf.plot_map('g'); -# grid on -# xyzlabel - -# %% -# verifyEqual(tc, numcols(ekf.landmarks), 20); - -# end - -# function SLAM_test(tc) -# %% -# randinit -# W = diag([0.1, 1*pi/180].^2); -# P0 = diag([0.005, 0.005, 0.001].^2); -# V = diag([0.005, 0.5*pi/180].^2); - -# map = LandmarkMap(20, 10); - -# veh = Bicycle(V); -# veh.add_driver( RandomPath(10) ); - -# sensor = RangeBearingSensor(veh, map, 'covar', W); -# sensor.interval = 1; - -# ekf = EKF(veh, V, P0, sensor, W, []); -# ekf -# ekf.verbose = false; -# ekf.run(tc.TestData.Duration); - - -# clf -# map.plot() -# veh.plot_xy('b'); -# ekf.plot_xy('r'); -# ekf.plot_ellipse('k') -# grid on -# xyzlabel - -# clf -# ekf.plot_P() - -# clf -# map.plot(); -# ekf.plot_map('g'); - -# %% -# verifyEqual(tc, numcols(ekf.landmarks), 20); - -# end - -# function ParticleFilter_test(tc) -# %% -# randinit -# map = LandmarkMap(20); - -# W = diag([0.1, 1*pi/180].^2); -# v = Bicycle('covar', W); -# v.add_driver( RandomPath(10) ); -# V = diag([0.005, 0.5*pi/180].^2); -# sensor = RangeBearingSensor(v, map, 'covar', V); - -# Q = diag([0.1, 0.1, 1*pi/180]).^2; -# L = diag([0.1 0.1]); -# pf = ParticleFilter(v, sensor, Q, L, 1000); -# pf -# pf.run(tc.TestData.Duration); - -# plot(pf.std) -# xlabel('time step') -# ylabel('standard deviation') -# legend('x', 'y', '\theta') -# grid - -# clf -# pf.plot_pdf(); -# clf -# pf.plot_xy(); -# end - -# function posegraph_test(tc) -# pg = PoseGraph('pg1.g2o') -# self.assertClass(pg, 'PoseGraph'); -# self.assertEqual(pg.graph.n, 4); - -# clf -# pg.plot() -# pg.optimize('animate') -# close all - -# pg = PoseGraph('killian-small.toro') -# self.assertClass(pg, 'PoseGraph'); -# self.assertEqual(pg.graph.n, 1941); - -# pg = PoseGraph('killian.g2o', 'laser') -# self.assertClass(pg, 'PoseGraph'); -# self.assertEqual(pg.graph.n, 3873); - -# [r,theta] = pg.scan(1); -# self.assertClass(r, 'double'); -# self.assertLength(r, 180); -# self.assertClass(theta, 'double'); -# self.assertLength(theta, 180); - -# [x,y] = pg.scan(1); -# self.assertClass(x, 'double'); -# self.assertLength(x, 180); -# self.assertClass(y, 'double'); -# self.assertLength(y, 180); - -# pose = pg.pose(1); -# self.assertClass(pose, 'double'); -# self.assertSize(pose, [3 1]); - -# t = pg.time(1); -# self.assertClass(t, 'double'); -# self.assertSize(t, [1 1]); - -# w = pg.scanmap('ngrid', 3000); -# self.assertClass(w, 'int32'); -# self.assertSize(w, [3000 3000]); - -# tc.assumeTrue(exist('idisp', 'file')); %REMINDER -# clf -# pg.plot_occgrid(w); -# close all - -# end - -# function makemap_test(tc) -# tc.assumeTrue(false); %REMINDER - -# end - -# function chi2inv_test(tc) -# self.assertEqual( chi2inv_rtb(0,2), 0); -# self.assertEqual( chi2inv_rtb(1,2), Inf); -# self.assertEqual( chi2inv_rtb(3,2), NaN); - -# self.assertError( @() chi2inv_rtb(1,1), 'RTB:chi2inv_rtb:badarg'); - -# end -# - - - -if __name__ == '__main__': # pragma nocover - unittest.main() - # pytest.main(['tests/test_SerialLink.py']) \ No newline at end of file +# def test_jacobians(self): +# xv = np.r_[1, 2, pi/4] +# odo = np.r_[0.1, 0.2] +# veh = Bicycle() + +# nt.assert_almost_equal( +# veh.Fx(xv, odo), +# base.numjac(lambda x: veh.f(x, odo), xv), +# decimal=4) + +# nt.assert_almost_equal( +# veh.Fv(xv, odo), +# base.numjac(lambda d: veh.f(xv, d), odo), +# decimal=4) + + +# # function setupOnce(testCase) +# # testCase.TestData.Duration = 50; +# # end + +# # function Vehicle_test(tc) +# # %% +# # randinit +# # V = diag([0.005, 0.5*pi/180].^2); + +# # v = Bicycle('covar', V); +# # v.add_driver( RandomPath(10) ); + +# # v.run(tc.TestData.Duration); +# # v.plot_xy(); +# # s = v.char(); + +# # J = v.Fx(v.x, [.1 .2]); +# # J = v.Fv(v.x, [.1 .2]); +# # end + +# # function DeadReckoning_test(tc) +# # %% +# # randinit +# # V = diag([0.005, 0.5*pi/180].^2); +# # P0 = diag([0.005, 0.005, 0.001].^2); + +# # v = Bicycle('covar', V); +# # v.add_driver( RandomPath(10) ); +# # s = char(v); + +# # ekf = EKF(v, V, P0); +# # ekf.run(tc.TestData.Duration); + +# # clf +# # ekf.plot_xy +# # hold on +# # v.plot_xy('r') +# # grid on +# # xyzlabel + +# # ekf.plot_ellipse('g') +# # ekf.plot_P() +# # end + +# # function MapLocalization_test(tc) +# # %% +# # randinit +# # W = diag([0.1, 1*pi/180].^2); +# # P0 = diag([0.005, 0.005, 0.001].^2); +# # V = diag([0.005, 0.5*pi/180].^2); + +# # map = LandmarkMap(20); +# # map = LandmarkMap(20, 'verbose'); +# # map = LandmarkMap(20, 10, 'verbose'); +# # map = LandmarkMap(20, 10); +# # s = char(map); + +# # veh = Bicycle('covar', V); +# # veh.add_driver( RandomPath(10) ); +# # sensor = RangeBearingSensor(veh, map, 'covar', W); +# # sensor.interval = 5; +# # ekf = EKF(veh, W, P0, sensor, W, map); + +# # ekf.run(tc.TestData.Duration); + +# # clf +# # map.plot() +# # veh.plot_xy('b'); +# # ekf.plot_xy('r'); +# # ekf.plot_ellipse('k') +# # grid on +# # xyzlabel + +# # clf +# # ekf.plot_P() +# # end + +# # function Mapping_test(tc) +# # %% +# # randinit +# # W = diag([0.1, 1*pi/180].^2); +# # V = diag([0.005, 0.5*pi/180].^2); + +# # map = LandmarkMap(20, 10); + +# # veh = Bicycle('covar', V); +# # veh.add_driver( RandomPath(10) ); + +# # sensor = RangeBearingSensor(veh, map, 'covar', W); +# # sensor.interval = 5; + +# # ekf = EKF(veh, [], [], sensor, W, []); +# # ekf.run(tc.TestData.Duration); + + +# # clf +# # map.plot() +# # veh.plot_xy('b'); +# # ekf.plot_map('g'); +# # grid on +# # xyzlabel + +# # %% +# # verifyEqual(tc, numcols(ekf.landmarks), 20); + +# # end + +# # function SLAM_test(tc) +# # %% +# # randinit +# # W = diag([0.1, 1*pi/180].^2); +# # P0 = diag([0.005, 0.005, 0.001].^2); +# # V = diag([0.005, 0.5*pi/180].^2); + +# # map = LandmarkMap(20, 10); + +# # veh = Bicycle(V); +# # veh.add_driver( RandomPath(10) ); + +# # sensor = RangeBearingSensor(veh, map, 'covar', W); +# # sensor.interval = 1; + +# # ekf = EKF(veh, V, P0, sensor, W, []); +# # ekf +# # ekf.verbose = false; +# # ekf.run(tc.TestData.Duration); + + +# # clf +# # map.plot() +# # veh.plot_xy('b'); +# # ekf.plot_xy('r'); +# # ekf.plot_ellipse('k') +# # grid on +# # xyzlabel + +# # clf +# # ekf.plot_P() + +# # clf +# # map.plot(); +# # ekf.plot_map('g'); + +# # %% +# # verifyEqual(tc, numcols(ekf.landmarks), 20); + +# # end + +# # function ParticleFilter_test(tc) +# # %% +# # randinit +# # map = LandmarkMap(20); + +# # W = diag([0.1, 1*pi/180].^2); +# # v = Bicycle('covar', W); +# # v.add_driver( RandomPath(10) ); +# # V = diag([0.005, 0.5*pi/180].^2); +# # sensor = RangeBearingSensor(v, map, 'covar', V); + +# # Q = diag([0.1, 0.1, 1*pi/180]).^2; +# # L = diag([0.1 0.1]); +# # pf = ParticleFilter(v, sensor, Q, L, 1000); +# # pf +# # pf.run(tc.TestData.Duration); + +# # plot(pf.std) +# # xlabel('time step') +# # ylabel('standard deviation') +# # legend('x', 'y', '\theta') +# # grid + +# # clf +# # pf.plot_pdf(); +# # clf +# # pf.plot_xy(); +# # end + +# # function posegraph_test(tc) +# # pg = PoseGraph('pg1.g2o') +# # self.assertClass(pg, 'PoseGraph'); +# # self.assertEqual(pg.graph.n, 4); + +# # clf +# # pg.plot() +# # pg.optimize('animate') +# # close all + +# # pg = PoseGraph('killian-small.toro') +# # self.assertClass(pg, 'PoseGraph'); +# # self.assertEqual(pg.graph.n, 1941); + +# # pg = PoseGraph('killian.g2o', 'laser') +# # self.assertClass(pg, 'PoseGraph'); +# # self.assertEqual(pg.graph.n, 3873); + +# # [r,theta] = pg.scan(1); +# # self.assertClass(r, 'double'); +# # self.assertLength(r, 180); +# # self.assertClass(theta, 'double'); +# # self.assertLength(theta, 180); + +# # [x,y] = pg.scan(1); +# # self.assertClass(x, 'double'); +# # self.assertLength(x, 180); +# # self.assertClass(y, 'double'); +# # self.assertLength(y, 180); + +# # pose = pg.pose(1); +# # self.assertClass(pose, 'double'); +# # self.assertSize(pose, [3 1]); + +# # t = pg.time(1); +# # self.assertClass(t, 'double'); +# # self.assertSize(t, [1 1]); + +# # w = pg.scanmap('ngrid', 3000); +# # self.assertClass(w, 'int32'); +# # self.assertSize(w, [3000 3000]); + +# # tc.assumeTrue(exist('idisp', 'file')); %REMINDER +# # clf +# # pg.plot_occgrid(w); +# # close all + +# # end + +# # function makemap_test(tc) +# # tc.assumeTrue(false); %REMINDER + +# # end + +# # function chi2inv_test(tc) +# # self.assertEqual( chi2inv_rtb(0,2), 0); +# # self.assertEqual( chi2inv_rtb(1,2), Inf); +# # self.assertEqual( chi2inv_rtb(3,2), NaN); + +# # self.assertError( @() chi2inv_rtb(1,1), 'RTB:chi2inv_rtb:badarg'); + +# # end +# # + + +# if __name__ == '__main__': # pragma nocover +# unittest.main() +# # pytest.main(['tests/test_SerialLink.py']) From 1dff610361e657db82f29ec23835c4f36d96edf8 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 26 Jul 2021 12:02:58 +1000 Subject: [PATCH 045/116] robot opacity options --- roboticstoolbox/robot/ERobot.py | 24 ++++++++++++++---------- 1 file changed, 14 insertions(+), 10 deletions(-) diff --git a/roboticstoolbox/robot/ERobot.py b/roboticstoolbox/robot/ERobot.py index 0926e9143..b3d8e2584 100644 --- a/roboticstoolbox/robot/ERobot.py +++ b/roboticstoolbox/robot/ERobot.py @@ -1104,7 +1104,7 @@ def _reset_cache(self): # path.reverse() # return path - def _to_dict(self, show_robot=True, show_collision=False): + def _to_dict(self, robot_alpha=1.0, collision_alpha=0.0): self._set_link_fk(self.q) @@ -1112,46 +1112,50 @@ def _to_dict(self, show_robot=True, show_collision=False): for link in self.links: - if show_robot: + if robot_alpha > 0: for gi in link.geometry: + gi.set_alpha(robot_alpha) ob.append(gi.to_dict()) - if show_collision: + if collision_alpha > 0: for gi in link.collision: + gi.set_alpha(collision_alpha) ob.append(gi.to_dict()) # Do the grippers now for gripper in self.grippers: for link in gripper.links: - if show_robot: + if robot_alpha > 0: for gi in link.geometry: + gi.set_alpha(robot_alpha) ob.append(gi.to_dict()) - if show_collision: + if collision_alpha > 0: for gi in link.collision: + gi.set_alpha(collision_alpha) ob.append(gi.to_dict()) return ob - def _fk_dict(self, show_robot=True, show_collision=False): + def _fk_dict(self, robot_alpha=1.0, collision_alpha=0.0): ob = [] # Do the robot for link in self.links: - if show_robot: + if robot_alpha > 0: for gi in link.geometry: ob.append(gi.fk_dict()) - if show_collision: + if collision_alpha > 0: for gi in link.collision: ob.append(gi.fk_dict()) # Do the grippers now for gripper in self.grippers: for link in gripper.links: - if show_robot: + if robot_alpha > 0: for gi in link.geometry: ob.append(gi.fk_dict()) - if show_collision: + if collision_alpha > 0: for gi in link.collision: ob.append(gi.fk_dict()) From f30685e46bbab2ef3eefed6885ea8a856ccdd835 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 26 Jul 2021 12:08:47 +1000 Subject: [PATCH 046/116] rename box to cuboid --- roboticstoolbox/tools/urdf/urdf.py | 689 +++++++++++------------ tests/test_ELink.py | 36 +- tests/test_ERobot.py | 848 ++++++++++++++++++++--------- 3 files changed, 920 insertions(+), 653 deletions(-) diff --git a/roboticstoolbox/tools/urdf/urdf.py b/roboticstoolbox/tools/urdf/urdf.py index 869f6a59f..c9b12124d 100644 --- a/roboticstoolbox/tools/urdf/urdf.py +++ b/roboticstoolbox/tools/urdf/urdf.py @@ -15,7 +15,7 @@ from roboticstoolbox.tools.data import rtb_path_to_datafile -from .utils import (parse_origin, configure_origin) +from .utils import parse_origin, configure_origin class URDFType(object): @@ -37,9 +37,10 @@ class URDFType(object): - ``_TAG`` - This is a string that represents the XML tag for the node containing this type of object. """ - _ATTRIBS = {} # Map from attrib name to (type, required) + + _ATTRIBS = {} # Map from attrib name to (type, required) _ELEMENTS = {} # Map from element name to (type, required, multiple) - _TAG = '' # XML tag for this element + _TAG = "" # XML tag for this element def __init__(self): # pragma nocover pass @@ -59,7 +60,7 @@ def _parse_attrib(cls, val_type, val): The parsed attribute. """ if val_type == np.ndarray: - val = np.fromstring(val, sep=' ') + val = np.fromstring(val, sep=" ") else: val = val_type(val) return val @@ -84,10 +85,10 @@ def _parse_simple_attribs(cls, node): if r: try: v = cls._parse_attrib(t, node.attrib[a]) - except Exception: # pragma nocover + except Exception: # pragma nocover raise ValueError( - 'Missing required attribute {} when parsing an object ' - 'of type {}'.format(a, cls.__name__) + "Missing required attribute {} when parsing an object " + "of type {}".format(a, cls.__name__) ) else: v = None @@ -122,12 +123,10 @@ def _parse_simple_elements(cls, node, path): v = t._from_xml(v, path) else: vs = node.findall(t._TAG) - if len(vs) == 0 and r: # pragma nocover + if len(vs) == 0 and r: # pragma nocover raise ValueError( - 'Missing required subelement(s) of type {} when ' - 'parsing an object of type {}'.format( - t.__name__, cls.__name__ - ) + "Missing required subelement(s) of type {} when " + "parsing an object of type {}".format(t.__name__, cls.__name__) ) v = [t._from_xml(n, path) for n in vs] kwargs[a] = v @@ -185,18 +184,15 @@ class Box(URDFType): The length, width, and height of the box in meters. """ - _ATTRIBS = { - 'size': (np.ndarray, True) - } - _TAG = 'box' + _ATTRIBS = {"size": (np.ndarray, True)} + _TAG = "box" def __init__(self, size): self.size = size @property def size(self): - """(3,) float : The length, width, and height of the box in meters. - """ + """(3,) float : The length, width, and height of the box in meters.""" return self._size @size.setter @@ -215,10 +211,10 @@ class Cylinder(URDFType): """ _ATTRIBS = { - 'radius': (float, True), - 'length': (float, True), + "radius": (float, True), + "length": (float, True), } - _TAG = 'cylinder' + _TAG = "cylinder" def __init__(self, radius, length): self.radius = radius @@ -226,8 +222,7 @@ def __init__(self, radius, length): @property def radius(self): - """float : The radius of the cylinder in meters. - """ + """float : The radius of the cylinder in meters.""" return self._radius @radius.setter @@ -236,8 +231,7 @@ def radius(self, value): @property def length(self): - """float : The length of the cylinder in meters. - """ + """float : The length of the cylinder in meters.""" return self._length @length.setter @@ -252,18 +246,18 @@ class Sphere(URDFType): radius : float The radius of the sphere in meters. """ + _ATTRIBS = { - 'radius': (float, True), + "radius": (float, True), } - _TAG = 'sphere' + _TAG = "sphere" def __init__(self, radius): self.radius = radius @property def radius(self): - """float : The radius of the sphere in meters. - """ + """float : The radius of the sphere in meters.""" return self._radius @radius.setter @@ -282,11 +276,9 @@ class Mesh(URDFType): The scaling value for the mesh along the XYZ axes. If ``None``, assumes no scale is applied. """ - _ATTRIBS = { - 'filename': (str, True), - 'scale': (np.ndarray, False) - } - _TAG = 'mesh' + + _ATTRIBS = {"filename": (str, True), "scale": (np.ndarray, False)} + _TAG = "mesh" def __init__(self, filename, scale=None): self.filename = filename @@ -294,24 +286,22 @@ def __init__(self, filename, scale=None): @property def filename(self): - """str : The path to the mesh file for this object. - """ + """str : The path to the mesh file for this object.""" return self._filename @filename.setter def filename(self, value): - if value.startswith('package://'): - value = value.replace('package://', '') + if value.startswith("package://"): + value = value.replace("package://", "") - value = rtb_path_to_datafile('xacro', value) + value = rtb_path_to_datafile("xacro", value) self._filename = str(value) @property def scale(self): - """(3,) float : A scaling for the mesh along its local XYZ axes. - """ + """(3,) float : A scaling for the mesh along its local XYZ axes.""" return self._scale @scale.setter @@ -337,11 +327,10 @@ class Material(URDFType): texture : :class:`.Texture`, optional A texture for the material. """ - _ATTRIBS = { - 'name': (str, True) - } + + _ATTRIBS = {"name": (str, True)} _ELEMENTS = {} - _TAG = 'material' + _TAG = "material" def __init__(self, name, color=None, texture=None): @@ -357,11 +346,10 @@ def _from_xml(cls, node, path): # pragma nocover kwargs = cls._parse(node, path) # Extract the color -- it's weirdly an attribute of a subelement - color = node.find('color') + color = node.find("color") if color is not None: - color = np.fromstring( - color.attrib['rgba'], sep=' ', dtype=np.float64) - kwargs['color'] = color + color = np.fromstring(color.attrib["rgba"], sep=" ", dtype=np.float64) + kwargs["color"] = color return Material(**kwargs) @@ -383,21 +371,22 @@ class Geometry(URDFType): """ _ELEMENTS = { - 'box': (Box, False, False), - 'cylinder': (Cylinder, False, False), - 'sphere': (Sphere, False, False), - 'mesh': (Mesh, False, False), + "box": (Box, False, False), + "cylinder": (Cylinder, False, False), + "sphere": (Sphere, False, False), + "mesh": (Mesh, False, False), } - _TAG = 'geometry' + _TAG = "geometry" def __init__(self, box=None, cylinder=None, sphere=None, mesh=None): - if (box is None and cylinder is None and - sphere is None and mesh is None): # pragma nocover - raise ValueError('At least one geometry element must be set') + if ( + box is None and cylinder is None and sphere is None and mesh is None + ): # pragma nocover + raise ValueError("At least one geometry element must be set") if box is not None: self.box = box - self.ob = gm.Box(box.size) + self.ob = gm.Cuboid(box.size) if cylinder is not None: self.cylinder = cylinder @@ -413,54 +402,50 @@ def __init__(self, box=None, cylinder=None, sphere=None, mesh=None): @property def box(self): - """:class:`.Box` : Box geometry. - """ + """:class:`.Box` : Box geometry.""" return self._box @box.setter def box(self, value): - if value is not None and not isinstance(value, Box): # pragma nocover - raise TypeError('Expected Box type') + if value is not None and not isinstance(value, Box): # pragma nocover + raise TypeError("Expected Box type") self._box = value @property def cylinder(self): - """:class:`.Cylinder` : Cylinder geometry. - """ + """:class:`.Cylinder` : Cylinder geometry.""" return self._cylinder @cylinder.setter def cylinder(self, value): if value is not None and not isinstance(value, Cylinder): - raise TypeError('Expected Cylinder type') # pragma nocover + raise TypeError("Expected Cylinder type") # pragma nocover self._cylinder = value @property def sphere(self): - """:class:`.Sphere` : Spherical geometry. - """ + """:class:`.Sphere` : Spherical geometry.""" return self._sphere @sphere.setter def sphere(self, value): if value is not None and not isinstance(value, Sphere): - raise TypeError('Expected Sphere type') # pragma nocover + raise TypeError("Expected Sphere type") # pragma nocover self._sphere = value @property def mesh(self): - """:class:`.Mesh` : Mesh geometry. - """ + """:class:`.Mesh` : Mesh geometry.""" return self._mesh @mesh.setter def mesh(self, value): if value is not None and not isinstance(value, Mesh): - raise TypeError('Expected Mesh type') # pragma nocover + raise TypeError("Expected Mesh type") # pragma nocover self._mesh = value @property - def geometry(self): # pragma nocover + def geometry(self): # pragma nocover """:class:`.Box`, :class:`.Cylinder`, :class:`.Sphere`, or :class:`.Mesh` : The valid geometry element. """ @@ -488,13 +473,11 @@ class Collision(URDFType): Defaults to identity. """ - _ATTRIBS = { - 'name': (str, False) - } + _ATTRIBS = {"name": (str, False)} _ELEMENTS = { - 'geometry': (Geometry, True, False), + "geometry": (Geometry, True, False), } - _TAG = 'collision' + _TAG = "collision" def __init__(self, name, origin, geometry): self.geometry = geometry @@ -504,20 +487,18 @@ def __init__(self, name, origin, geometry): @property def geometry(self): - """:class:`.Geometry` : The geometry of this element. - """ + """:class:`.Geometry` : The geometry of this element.""" return self._geometry @geometry.setter def geometry(self, value): - if not isinstance(value, Geometry): # pragma nocover - raise TypeError('Must set geometry with Geometry object') + if not isinstance(value, Geometry): # pragma nocover + raise TypeError("Must set geometry with Geometry object") self._geometry = value @property def name(self): - """str : The name of this collision element. - """ + """str : The name of this collision element.""" return self._name @name.setter @@ -528,8 +509,7 @@ def name(self, value): @property def origin(self): - """(4,4) float : The pose of this element relative to the link frame. - """ + """(4,4) float : The pose of this element relative to the link frame.""" return self._origin @origin.setter @@ -539,7 +519,7 @@ def origin(self, value): @classmethod def _from_xml(cls, node, path): kwargs = cls._parse(node, path) - kwargs['origin'], _ = parse_origin(node) + kwargs["origin"], _ = parse_origin(node) return Collision(**kwargs) @@ -557,14 +537,13 @@ class Visual(URDFType): material : :class:`.Material`, optional The material of the element. """ - _ATTRIBS = { - 'name': (str, False) - } + + _ATTRIBS = {"name": (str, False)} _ELEMENTS = { - 'geometry': (Geometry, True, False), - 'material': (Material, False, False) + "geometry": (Geometry, True, False), + "material": (Material, False, False), } - _TAG = 'visual' + _TAG = "visual" def __init__(self, geometry, name=None, origin=None, material=None): self.geometry = geometry @@ -583,20 +562,18 @@ def __init__(self, geometry, name=None, origin=None, material=None): @property def geometry(self): - """:class:`.Geometry` : The geometry of this element. - """ + """:class:`.Geometry` : The geometry of this element.""" return self._geometry @geometry.setter def geometry(self, value): - if not isinstance(value, Geometry): # pragma nocover - raise TypeError('Must set geometry with Geometry object') + if not isinstance(value, Geometry): # pragma nocover + raise TypeError("Must set geometry with Geometry object") self._geometry = value @property def name(self): - """str : The name of this visual element. - """ + """str : The name of this visual element.""" return self._name @name.setter @@ -607,8 +584,7 @@ def name(self, value): @property def origin(self): - """(4,4) float : The pose of this element relative to the link frame. - """ + """(4,4) float : The pose of this element relative to the link frame.""" return self._origin @origin.setter @@ -618,7 +594,7 @@ def origin(self, value): @classmethod def _from_xml(cls, node, path): kwargs = cls._parse(node, path) - kwargs['origin'], _ = parse_origin(node) + kwargs["origin"], _ = parse_origin(node) return Visual(**kwargs) @@ -634,7 +610,8 @@ class Inertial(URDFType): The pose of the inertials relative to the link frame. Defaults to identity if not specified. """ - _TAG = 'inertial' + + _TAG = "inertial" def __init__(self, mass=None, inertia=None, origin=None): self._mass = mass @@ -643,8 +620,7 @@ def __init__(self, mass=None, inertia=None, origin=None): @property def mass(self): - """float : The mass of the link in kilograms. - """ + """float : The mass of the link in kilograms.""" return self._mass @mass.setter @@ -653,21 +629,19 @@ def mass(self, value): @property def inertia(self): - """(3,3) float : The 3x3 symmetric rotational inertia matrix. - """ + """(3,3) float : The 3x3 symmetric rotational inertia matrix.""" return self._inertia @inertia.setter def inertia(self, value): value = np.asanyarray(value).astype(np.float64) if not np.allclose(value, value.T): # pragma nocover - raise ValueError('Inertia must be a symmetric matrix') + raise ValueError("Inertia must be a symmetric matrix") self._inertia = value @property def origin(self): - """(4,4) float : The pose of the inertials relative to the link frame. - """ + """(4,4) float : The pose of the inertials relative to the link frame.""" return self._origin @origin.setter @@ -677,19 +651,15 @@ def origin(self, value): @classmethod def _from_xml(cls, node, path): origin, _ = parse_origin(node) - mass = float(node.find('mass').attrib['value']) - n = node.find('inertia') - xx = float(n.attrib['ixx']) - xy = float(n.attrib['ixy']) - xz = float(n.attrib['ixz']) - yy = float(n.attrib['iyy']) - yz = float(n.attrib['iyz']) - zz = float(n.attrib['izz']) - inertia = np.array([ - [xx, xy, xz], - [xy, yy, yz], - [xz, yz, zz] - ], dtype=np.float64) + mass = float(node.find("mass").attrib["value"]) + n = node.find("inertia") + xx = float(n.attrib["ixx"]) + xy = float(n.attrib["ixy"]) + xz = float(n.attrib["ixz"]) + yy = float(n.attrib["iyy"]) + yz = float(n.attrib["iyz"]) + zz = float(n.attrib["izz"]) + inertia = np.array([[xx, xy, xz], [xy, yy, yz], [xz, yz, zz]], dtype=np.float64) return Inertial(mass=mass, inertia=inertia, origin=origin) @@ -709,11 +679,9 @@ class JointCalibration(URDFType): # pragma nocover When the joint moves in a positive direction, this position will trigger a falling edge. """ - _ATTRIBS = { - 'rising': (float, False), - 'falling': (float, False) - } - _TAG = 'calibration' + + _ATTRIBS = {"rising": (float, False), "falling": (float, False)} + _TAG = "calibration" def __init__(self, rising=None, falling=None): self.rising = rising @@ -721,8 +689,7 @@ def __init__(self, rising=None, falling=None): @property def rising(self): - """float : description. - """ + """float : description.""" return self._rising @rising.setter @@ -733,8 +700,7 @@ def rising(self, value): @property def falling(self): - """float : description. - """ + """float : description.""" return self._falling @falling.setter @@ -743,7 +709,7 @@ def falling(self, value): value = float(value) self._falling = value - def copy(self, prefix='', scale=None): + def copy(self, prefix="", scale=None): """Create a deep copy of the visual with the prefix applied to all names. Parameters ---------- @@ -771,20 +737,20 @@ class JointDynamics(URDFType): The static friction value of the joint (N for prismatic joints, Nm for revolute). """ + _ATTRIBS = { - 'damping': (float, False), - 'friction': (float, False), + "damping": (float, False), + "friction": (float, False), } - _TAG = 'dynamics' + _TAG = "dynamics" def __init__(self, damping, friction): self.damping = damping self.friction = friction @property - def damping(self): # pragma nocover - """float : The damping value of the joint. - """ + def damping(self): # pragma nocover + """float : The damping value of the joint.""" return self._damping @damping.setter @@ -795,8 +761,7 @@ def damping(self, value): @property def friction(self): - """float : The static friction value of the joint. - """ + """float : The static friction value of the joint.""" return self._friction @friction.setter @@ -822,12 +787,12 @@ class JointLimit(URDFType): """ _ATTRIBS = { - 'effort': (float, True), - 'velocity': (float, True), - 'lower': (float, False), - 'upper': (float, False), + "effort": (float, True), + "velocity": (float, True), + "lower": (float, False), + "upper": (float, False), } - _TAG = 'limit' + _TAG = "limit" def __init__(self, effort, velocity, lower=None, upper=None): self.effort = effort @@ -837,8 +802,7 @@ def __init__(self, effort, velocity, lower=None, upper=None): @property def effort(self): - """float : The maximum joint effort. - """ + """float : The maximum joint effort.""" return self._effort @effort.setter @@ -847,8 +811,7 @@ def effort(self, value): @property def velocity(self): - """float : The maximum joint velocity. - """ + """float : The maximum joint velocity.""" return self._velocity @velocity.setter @@ -857,8 +820,7 @@ def velocity(self, value): @property def lower(self): - """float : The lower joint limit. - """ + """float : The lower joint limit.""" return self._lower @lower.setter @@ -869,8 +831,7 @@ def lower(self, value): @property def upper(self): - """float : The upper joint limit. - """ + """float : The upper joint limit.""" return self._upper @upper.setter @@ -894,12 +855,13 @@ class JointMimic(URDFType): # pragma nocover offset : float, optional The joint configuration offset. Defaults to 0.0. """ + _ATTRIBS = { - 'joint': (str, True), - 'multiplier': (float, False), - 'offset': (float, False), + "joint": (str, True), + "multiplier": (float, False), + "offset": (float, False), } - _TAG = 'mimic' + _TAG = "mimic" def __init__(self, joint, multiplier=None, offset=None): self.joint = joint @@ -908,8 +870,7 @@ def __init__(self, joint, multiplier=None, offset=None): @property def joint(self): - """float : The name of the joint to mimic. - """ + """float : The name of the joint to mimic.""" return self._joint @joint.setter @@ -918,8 +879,7 @@ def joint(self, value): @property def multiplier(self): - """float : The multiplier for the joint configuration. - """ + """float : The multiplier for the joint configuration.""" return self._multiplier @multiplier.setter @@ -932,8 +892,7 @@ def multiplier(self, value): @property def offset(self): - """float : The offset for the joint configuration - """ + """float : The offset for the joint configuration""" return self._offset @offset.setter @@ -962,16 +921,18 @@ class SafetyController(URDFType): # pragma nocover The upper joint boundary where the safety controller kicks in. Defaults to 0.0. """ + _ATTRIBS = { - 'k_velocity': (float, True), - 'k_position': (float, False), - 'soft_lower_limit': (float, False), - 'soft_upper_limit': (float, False), + "k_velocity": (float, True), + "k_position": (float, False), + "soft_lower_limit": (float, False), + "soft_upper_limit": (float, False), } - _TAG = 'safety_controller' + _TAG = "safety_controller" - def __init__(self, k_velocity, k_position=None, soft_lower_limit=None, - soft_upper_limit=None): + def __init__( + self, k_velocity, k_position=None, soft_lower_limit=None, soft_upper_limit=None + ): self.k_velocity = k_velocity self.k_position = k_position self.soft_lower_limit = soft_lower_limit @@ -979,8 +940,7 @@ def __init__(self, k_velocity, k_position=None, soft_lower_limit=None, @property def soft_lower_limit(self): - """float : The soft lower limit where the safety controller kicks in. - """ + """float : The soft lower limit where the safety controller kicks in.""" return self._soft_lower_limit @soft_lower_limit.setter @@ -993,8 +953,7 @@ def soft_lower_limit(self, value): @property def soft_upper_limit(self): - """float : The soft upper limit where the safety controller kicks in. - """ + """float : The soft upper limit where the safety controller kicks in.""" return self._soft_upper_limit @soft_upper_limit.setter @@ -1007,8 +966,7 @@ def soft_upper_limit(self, value): @property def k_position(self): - """float : A relation between the position and velocity limits. - """ + """float : A relation between the position and velocity limits.""" return self._k_position @k_position.setter @@ -1021,8 +979,7 @@ def k_position(self, value): @property def k_velocity(self): - """float : A relation between the effort and velocity limits. - """ + """float : A relation between the effort and velocity limits.""" return self._k_velocity @k_velocity.setter @@ -1047,21 +1004,20 @@ class Actuator(URDFType): hardwareInterfaces : list of str, optional The supported hardware interfaces to the actuator. """ + _ATTRIBS = { - 'name': (str, True), + "name": (str, True), } - _TAG = 'actuator' + _TAG = "actuator" - def __init__(self, name, mechanicalReduction=None, - hardwareInterfaces=None): + def __init__(self, name, mechanicalReduction=None, hardwareInterfaces=None): self.name = name self.mechanicalReduction = mechanicalReduction self.hardwareInterfaces = hardwareInterfaces @property def name(self): # pragma nocover - """str : The name of this actuator. - """ + """str : The name of this actuator.""" return self._name @name.setter @@ -1069,9 +1025,8 @@ def name(self, value): self._name = str(value) @property - def mechanicalReduction(self): # pragma nocover - """str : A specifier for the type of mechanical reduction. - """ + def mechanicalReduction(self): # pragma nocover + """str : A specifier for the type of mechanical reduction.""" return self._mechanicalReduction @mechanicalReduction.setter @@ -1081,13 +1036,12 @@ def mechanicalReduction(self, value): self._mechanicalReduction = value @property - def hardwareInterfaces(self): # pragma nocover - """list of str : The supported hardware interfaces. - """ + def hardwareInterfaces(self): # pragma nocover + """list of str : The supported hardware interfaces.""" return self._hardwareInterfaces @hardwareInterfaces.setter - def hardwareInterfaces(self, value): # pragma nocover + def hardwareInterfaces(self, value): # pragma nocover if value is None: value = [] else: @@ -1097,16 +1051,16 @@ def hardwareInterfaces(self, value): # pragma nocover self._hardwareInterfaces = value @classmethod - def _from_xml(cls, node, path): # pragma nocover + def _from_xml(cls, node, path): # pragma nocover kwargs = cls._parse(node, path) - mr = node.find('mechanicalReduction') + mr = node.find("mechanicalReduction") if mr is not None: mr = float(mr.text) - kwargs['mechanicalReduction'] = mr - hi = node.findall('hardwareInterface') + kwargs["mechanicalReduction"] = mr + hi = node.findall("hardwareInterface") if len(hi) > 0: hi = [h.text for h in hi] - kwargs['hardwareInterfaces'] = hi + kwargs["hardwareInterfaces"] = hi return Actuator(**kwargs) @@ -1119,19 +1073,19 @@ class TransmissionJoint(URDFType): hardwareInterfaces : list of str, optional The supported hardware interfaces to the actuator. """ + _ATTRIBS = { - 'name': (str, True), + "name": (str, True), } - _TAG = 'joint' + _TAG = "joint" def __init__(self, name, hardwareInterfaces): self.name = name self.hardwareInterfaces = hardwareInterfaces @property - def name(self): # pragma nocover - """str : The name of this transmission joint. - """ + def name(self): # pragma nocover + """str : The name of this transmission joint.""" return self._name @name.setter @@ -1139,13 +1093,12 @@ def name(self, value): self._name = str(value) @property - def hardwareInterfaces(self): # pragma nocover - """list of str : The supported hardware interfaces. - """ + def hardwareInterfaces(self): # pragma nocover + """list of str : The supported hardware interfaces.""" return self._hardwareInterfaces @hardwareInterfaces.setter - def hardwareInterfaces(self, value): # pragma nocover + def hardwareInterfaces(self, value): # pragma nocover if value is None: value = [] else: @@ -1157,10 +1110,10 @@ def hardwareInterfaces(self, value): # pragma nocover @classmethod def _from_xml(cls, node, path): kwargs = cls._parse(node, path) - hi = node.findall('hardwareInterface') + hi = node.findall("hardwareInterface") if len(hi) > 0: hi = [h.text for h in hi] - kwargs['hardwareInterfaces'] = hi + kwargs["hardwareInterfaces"] = hi return TransmissionJoint(**kwargs) @@ -1183,14 +1136,15 @@ class Transmission(URDFType): actuators : list of :class:`.Actuator` The actuators connected to this transmission. """ + _ATTRIBS = { - 'name': (str, True), + "name": (str, True), } _ELEMENTS = { - 'joints': (TransmissionJoint, True, True), - 'actuators': (Actuator, True, True), + "joints": (TransmissionJoint, True, True), + "actuators": (Actuator, True, True), } - _TAG = 'transmission' + _TAG = "transmission" def __init__(self, name, trans_type, joints=None, actuators=None): self.name = name @@ -1200,8 +1154,7 @@ def __init__(self, name, trans_type, joints=None, actuators=None): @property def name(self): - """str : The name of this transmission. - """ + """str : The name of this transmission.""" return self._name @name.setter @@ -1209,9 +1162,8 @@ def name(self, value): self._name = str(value) @property - def trans_type(self): # pragma nocover - """str : The type of this transmission. - """ + def trans_type(self): # pragma nocover + """str : The type of this transmission.""" return self._trans_type @trans_type.setter @@ -1219,51 +1171,46 @@ def trans_type(self, value): self._trans_type = str(value) @property - def joints(self): # pragma nocover + def joints(self): # pragma nocover """:class:`.TransmissionJoint` : The joints the transmission is connected to. """ return self._joints @joints.setter - def joints(self, value): # pragma nocover + def joints(self, value): # pragma nocover if value is None: value = [] else: value = list(value) for v in value: if not isinstance(v, TransmissionJoint): - raise TypeError( - 'Joints expects a list of TransmissionJoint' - ) + raise TypeError("Joints expects a list of TransmissionJoint") self._joints = value @property - def actuators(self): # pragma nocover - """:class:`.Actuator` : The actuators the transmission is connected to. - """ + def actuators(self): # pragma nocover + """:class:`.Actuator` : The actuators the transmission is connected to.""" return self._actuators @actuators.setter - def actuators(self, value): # pragma nocover + def actuators(self, value): # pragma nocover if value is None: value = [] else: value = list(value) for v in value: if not isinstance(v, Actuator): - raise TypeError( - 'Actuators expects a list of Actuator' - ) + raise TypeError("Actuators expects a list of Actuator") self._actuators = value @classmethod def _from_xml(cls, node, path): kwargs = cls._parse(node, path) - if node.find('type') is not None: - kwargs['trans_type'] = node.find('type').text + if node.find("type") is not None: + kwargs["trans_type"] = node.find("type").text else: - kwargs['trans_type'] = ' ' # pragma nocover + kwargs["trans_type"] = " " # pragma nocover return Transmission(**kwargs) @@ -1309,23 +1256,35 @@ class Joint(URDFType): mimic : :class:`JointMimic`, optional Joint mimicry information. """ - TYPES = ['fixed', 'prismatic', 'revolute', - 'continuous', 'floating', 'planar'] + + TYPES = ["fixed", "prismatic", "revolute", "continuous", "floating", "planar"] _ATTRIBS = { - 'name': (str, True), + "name": (str, True), } _ELEMENTS = { - 'dynamics': (JointDynamics, False, False), - 'limit': (JointLimit, False, False), - 'mimic': (JointMimic, False, False), - 'safety_controller': (SafetyController, False, False), - 'calibration': (JointCalibration, False, False), + "dynamics": (JointDynamics, False, False), + "limit": (JointLimit, False, False), + "mimic": (JointMimic, False, False), + "safety_controller": (SafetyController, False, False), + "calibration": (JointCalibration, False, False), } - _TAG = 'joint' - - def __init__(self, name, joint_type, parent, child, axis=None, origin=None, - limit=None, dynamics=None, safety_controller=None, - calibration=None, mimic=None, rpy=None): + _TAG = "joint" + + def __init__( + self, + name, + joint_type, + parent, + child, + axis=None, + origin=None, + limit=None, + dynamics=None, + safety_controller=None, + calibration=None, + mimic=None, + rpy=None, + ): self.name = name self.parent = parent self.child = child @@ -1341,8 +1300,7 @@ def __init__(self, name, joint_type, parent, child, axis=None, origin=None, @property def name(self): - """str : Name for this joint. - """ + """str : Name for this joint.""" return self._name @name.setter @@ -1351,21 +1309,19 @@ def name(self, value): @property def joint_type(self): - """str : The type of this joint. - """ + """str : The type of this joint.""" return self._joint_type @joint_type.setter def joint_type(self, value): value = str(value) - if value not in Joint.TYPES: # pragma nocover - raise ValueError('Unsupported joint type {}'.format(value)) + if value not in Joint.TYPES: # pragma nocover + raise ValueError("Unsupported joint type {}".format(value)) self._joint_type = value @property def parent(self): - """str : The name of the parent link. - """ + """str : The name of the parent link.""" return self._parent @parent.setter @@ -1374,8 +1330,7 @@ def parent(self, value): @property def child(self): - """str : The name of the child link. - """ + """str : The name of the child link.""" return self._child @child.setter @@ -1384,8 +1339,7 @@ def child(self, value): @property def axis(self): - """(3,) float : The joint axis in the joint frame. - """ + """(3,) float : The joint axis in the joint frame.""" return self._axis @axis.setter @@ -1394,8 +1348,8 @@ def axis(self, value): value = np.array([1.0, 0.0, 0.0], dtype=np.float64) else: value = np.asanyarray(value, dtype=np.float64) - if value.shape != (3,): # pragma nocover - raise ValueError('Invalid shape for axis, should be (3,)') + if value.shape != (3,): # pragma nocover + raise ValueError("Invalid shape for axis, should be (3,)") norm = np.linalg.norm(value) if norm != 0: @@ -1423,73 +1377,69 @@ def rpy(self, value): @property def limit(self): - """:class:`.JointLimit` : The limits for this joint. - """ + """:class:`.JointLimit` : The limits for this joint.""" return self._limit @limit.setter def limit(self, value): if value is None: - if self.joint_type in ['prismatic', 'revolute']: # pragma nocover - raise ValueError('Require joint limit for prismatic and ' - 'revolute joints') - elif not isinstance(value, JointLimit): # pragma nocover - raise TypeError('Expected JointLimit type') + if self.joint_type in ["prismatic", "revolute"]: # pragma nocover + raise ValueError( + "Require joint limit for prismatic and " "revolute joints" + ) + elif not isinstance(value, JointLimit): # pragma nocover + raise TypeError("Expected JointLimit type") self._limit = value @property def dynamics(self): - """:class:`.JointDynamics` : The dynamics for this joint. - """ + """:class:`.JointDynamics` : The dynamics for this joint.""" return self._dynamics @dynamics.setter def dynamics(self, value): if value is not None: - if not isinstance(value, JointDynamics): # pragma nocover - raise TypeError('Expected JointDynamics type') + if not isinstance(value, JointDynamics): # pragma nocover + raise TypeError("Expected JointDynamics type") self._dynamics = value @property - def safety_controller(self): # pragma nocover - """:class:`.SafetyController` : The safety controller for this joint. - """ + def safety_controller(self): # pragma nocover + """:class:`.SafetyController` : The safety controller for this joint.""" return self._safety_controller @safety_controller.setter def safety_controller(self, value): if value is not None: - if not isinstance(value, SafetyController): # pragma nocover - raise TypeError('Expected SafetyController type') + if not isinstance(value, SafetyController): # pragma nocover + raise TypeError("Expected SafetyController type") self._safety_controller = value @property - def calibration(self): # pragma nocover - """:class:`.JointCalibration` : The calibration for this joint. - """ + def calibration(self): # pragma nocover + """:class:`.JointCalibration` : The calibration for this joint.""" return self._calibration @calibration.setter def calibration(self, value): if value is not None: - if not isinstance(value, JointCalibration): # pragma nocover - raise TypeError('Expected JointCalibration type') + if not isinstance(value, JointCalibration): # pragma nocover + raise TypeError("Expected JointCalibration type") self._calibration = value @property - def mimic(self): # pragma nocover - """:class:`.JointMimic` : The mimic for this joint. - """ + def mimic(self): # pragma nocover + """:class:`.JointMimic` : The mimic for this joint.""" return self._mimic @mimic.setter def mimic(self, value): if value is not None: - if not isinstance(value, JointMimic): # pragma nocover - raise TypeError('Expected JointMimic type') + if not isinstance(value, JointMimic): # pragma nocover + raise TypeError("Expected JointMimic type") self._mimic = value - def is_valid(self, cfg): # pragma nocover + def is_valid(self, cfg): # pragma nocover """Check if the provided configuration value is valid for this joint. Parameters ---------- @@ -1500,7 +1450,7 @@ def is_valid(self, cfg): # pragma nocover is_valid : bool True if the configuration is valid, and False otherwise. """ - if self.joint_type not in ['fixed', 'revolute']: + if self.joint_type not in ["fixed", "revolute"]: return True if self.joint_limit is None: return True @@ -1511,19 +1461,19 @@ def is_valid(self, cfg): # pragma nocover lower = self.limit.lower if self.limit.upper is not None: upper = self.limit.upper - return (cfg >= lower and cfg <= upper) + return cfg >= lower and cfg <= upper @classmethod def _from_xml(cls, node, path): kwargs = cls._parse(node, path) - kwargs['joint_type'] = str(node.attrib['type']) - kwargs['parent'] = node.find('parent').attrib['link'] - kwargs['child'] = node.find('child').attrib['link'] - axis = node.find('axis') + kwargs["joint_type"] = str(node.attrib["type"]) + kwargs["parent"] = node.find("parent").attrib["link"] + kwargs["child"] = node.find("child").attrib["link"] + axis = node.find("axis") if axis is not None: - axis = np.fromstring(axis.attrib['xyz'], sep=' ') - kwargs['axis'] = axis - kwargs['origin'], kwargs['rpy'] = parse_origin(node) + axis = np.fromstring(axis.attrib["xyz"], sep=" ") + kwargs["axis"] = axis + kwargs["origin"], kwargs["rpy"] = parse_origin(node) return Joint(**kwargs) @@ -1542,14 +1492,14 @@ class Link(URDFType): """ _ATTRIBS = { - 'name': (str, True), + "name": (str, True), } _ELEMENTS = { - 'inertial': (Inertial, False, False), - 'visuals': (Visual, False, True), - 'collisions': (Collision, False, True), + "inertial": (Inertial, False, False), + "visuals": (Visual, False, True), + "collisions": (Collision, False, True), } - _TAG = 'link' + _TAG = "link" def __init__(self, name, inertial, visuals, collisions): self.name = name @@ -1559,8 +1509,7 @@ def __init__(self, name, inertial, visuals, collisions): @property def name(self): - """str : The name of this link. - """ + """str : The name of this link.""" return self._name @name.setter @@ -1569,14 +1518,13 @@ def name(self, value): @property def inertial(self): - """:class:`.Inertial` : Inertial properties of the link. - """ + """:class:`.Inertial` : Inertial properties of the link.""" return self._inertial @inertial.setter def inertial(self, value): if value is not None and not isinstance(value, Inertial): - raise TypeError('Expected Inertial object') # pragma nocover + raise TypeError("Expected Inertial object") # pragma nocover # Set default inertial if value is None: value = Inertial() @@ -1584,36 +1532,34 @@ def inertial(self, value): @property def visuals(self): - """list of :class:`.Visual` : The visual properties of this link. - """ + """list of :class:`.Visual` : The visual properties of this link.""" return self._visuals @visuals.setter def visuals(self, value): - if value is None: # pragma nocover + if value is None: # pragma nocover value = [] else: value = list(value) for v in value: - if not isinstance(v, Visual): # pragma nocover - raise ValueError('Expected list of Visual objects') + if not isinstance(v, Visual): # pragma nocover + raise ValueError("Expected list of Visual objects") self._visuals = value @property def collisions(self): - """list of :class:`.Collision` : The collision properties of this link. - """ + """list of :class:`.Collision` : The collision properties of this link.""" return self._collisions @collisions.setter def collisions(self, value): - if value is None: # pragma nocover + if value is None: # pragma nocover value = [] else: value = list(value) for v in value: - if not isinstance(v, Collision): # pragma nocover - raise ValueError('Expected list of Collision objects') + if not isinstance(v, Collision): # pragma nocover + raise ValueError("Expected list of Collision objects") self._collisions = value @@ -1637,23 +1583,30 @@ class URDF(URDFType): other_xml : str, optional A string containing any extra XML for extensions. """ + _ATTRIBS = { - 'name': (str, True), + "name": (str, True), } _ELEMENTS = { - 'links': (Link, True, True), - 'joints': (Joint, False, True), - 'transmissions': (Transmission, False, True), - 'materials': (Material, False, True), + "links": (Link, True, True), + "joints": (Joint, False, True), + "transmissions": (Transmission, False, True), + "materials": (Material, False, True), } - _TAG = 'robot' - - def __init__(self, name, links, joints=None, - transmissions=None, materials=None, - other_xml=None): - if joints is None: # pragma nocover + _TAG = "robot" + + def __init__( + self, + name, + links, + joints=None, + transmissions=None, + materials=None, + other_xml=None, + ): + if joints is None: # pragma nocover joints = [] - if transmissions is None: # pragma nocover + if transmissions is None: # pragma nocover transmissions = [] if materials is None: materials = [] @@ -1677,18 +1630,22 @@ def __init__(self, name, links, joints=None, for x in self._materials: if x.name in self._material_map: - raise ValueError('Two materials with name {} ' - 'found'.format(x.name)) + raise ValueError("Two materials with name {} " "found".format(x.name)) self._material_map[x.name] = x # check for duplicate names - if len(self._links) > len(set([x.name for x in self._links])): # pragma nocover # noqa - raise ValueError('Duplicate link names') - if len(self._joints) > len(set([x.name for x in self._joints])): # pragma nocover # noqa - raise ValueError('Duplicate joint names') + if len(self._links) > len( + set([x.name for x in self._links]) + ): # pragma nocover # noqa + raise ValueError("Duplicate link names") + if len(self._joints) > len( + set([x.name for x in self._joints]) + ): # pragma nocover # noqa + raise ValueError("Duplicate joint names") if len(self._transmissions) > len( - set([x.name for x in self._transmissions])): # pragma nocover # noqa - raise ValueError('Duplicate transmission names') + set([x.name for x in self._transmissions]) + ): # pragma nocover # noqa + raise ValueError("Duplicate transmission names") elinks = [] elinkdict = {} @@ -1696,27 +1653,29 @@ def __init__(self, name, links, joints=None, # build the list of links in URDF file order for link in self._links: - elink = rtb.ELink(name=link.name, + elink = rtb.ELink( + name=link.name, m=link.inertial.mass, - r=link.inertial.origin[:3, 3] if link.inertial.origin is not None else None, - I=link.inertial.inertia + r=link.inertial.origin[:3, 3] + if link.inertial.origin is not None + else None, + I=link.inertial.inertia, ) elinks.append(elink) elinkdict[link.name] = elink # add the inertial parameters - # add the visuals to visual list try: elink.geometry = [v.geometry.ob for v in link.visuals] - except AttributeError: # pragma nocover + except AttributeError: # pragma nocover pass # add collision objects to collision object list try: elink.collision = [col.geometry.ob for col in link.collisions] - except AttributeError: # pragma nocover + except AttributeError: # pragma nocover pass # connect the links using joint info @@ -1737,7 +1696,7 @@ def __init__(self, name, links, joints=None, childlink._init_Ts() # variable part of link transform - if joint.joint_type in ('revolute', 'continuous'): # pragma nocover # noqa + if joint.joint_type in ("revolute", "continuous"): # pragma nocover # noqa if joint.axis[0] == 1: var = rtb.ETS.rx() elif joint.axis[0] == -1: @@ -1750,7 +1709,7 @@ def __init__(self, name, links, joints=None, var = rtb.ETS.rz() elif joint.axis[2] == -1: var = rtb.ETS.rz(flip=True) - elif joint.joint_type == 'prismatic': # pragma nocover + elif joint.joint_type == "prismatic": # pragma nocover if joint.axis[0] == 1: var = rtb.ETS.tx() elif joint.axis[0] == -1: @@ -1763,7 +1722,7 @@ def __init__(self, name, links, joints=None, var = rtb.ETS.tz() elif joint.axis[2] == -1: var = rtb.ETS.tz(flip=True) - elif joint.joint_type == 'fixed': + elif joint.joint_type == "fixed": var = None childlink.v = var @@ -1787,7 +1746,7 @@ def __init__(self, name, links, joints=None, # joint gear ratio # TODO, not sure if t.joint.name is a thing - for t in self.transmissions: # pragma nocover + for t in self.transmissions: # pragma nocover if t.name == joint.name: childlink.G = t.actuators[0].mechanicalReduction @@ -1798,8 +1757,7 @@ def __init__(self, name, links, joints=None, @property def name(self): - """str : The name of the URDF. - """ + """str : The name of the URDF.""" return self._name @name.setter @@ -1816,7 +1774,7 @@ def links(self): return copy.copy(self._links) @property - def link_map(self): # pragma nocover + def link_map(self): # pragma nocover """dict : Map from link names to the links themselves. This returns a copy of the link map which cannot be edited directly. If you want to add or remove links, use @@ -1834,7 +1792,7 @@ def joints(self): return copy.copy(self._joints) @property - def joint_map(self): # pragma nocover + def joint_map(self): # pragma nocover """dict : Map from joint names to the joints themselves. This returns a copy of the joint map which cannot be edited directly. If you want to add or remove joints, use @@ -1852,7 +1810,7 @@ def transmissions(self): return copy.copy(self._transmissions) @property - def transmission_map(self): # pragma nocover + def transmission_map(self): # pragma nocover """dict : Map from transmission names to the transmissions themselves. This returns a copy of the transmission map which cannot be edited directly. If you want to add or remove transmissions, use @@ -1861,9 +1819,8 @@ def transmission_map(self): # pragma nocover return copy.copy(self._transmission_map) @property - def other_xml(self): # pragma nocover - """str : Any extra XML that belongs with the URDF. - """ + def other_xml(self): # pragma nocover + """str : Any extra XML that belongs with the URDF.""" return self._other_xml @other_xml.setter @@ -1871,7 +1828,7 @@ def other_xml(self, value): self._other_xml = value @property - def actuated_joints(self): # pragma nocover + def actuated_joints(self): # pragma nocover """list of :class:`.Joint` : The joints that are independently actuated. This excludes mimic joints and fixed joints. The joints are listed @@ -1880,8 +1837,7 @@ def actuated_joints(self): # pragma nocover return self._actuated_joints def _merge_materials(self): - """Merge the top-level material set with the link materials. - """ + """Merge the top-level material set with the link materials.""" for link in self.links: for v in link.visuals: if v.material is None: @@ -1894,7 +1850,7 @@ def _merge_materials(self): self._material_map[v.material.name] = v.material @staticmethod - def load(file_obj): # pragma nocover + def load(file_obj): # pragma nocover """Load a URDF from a file. Parameters ---------- @@ -1914,7 +1870,7 @@ def load(file_obj): # pragma nocover tree = ET.parse(file_obj, parser=parser) path, _ = os.path.split(file_obj) else: - raise ValueError('{} is not a file'.format(file_obj)) + raise ValueError("{} is not a file".format(file_obj)) else: parser = ET.XMLParser() tree = ET.parse(file_obj, parser=parser) @@ -1941,11 +1897,11 @@ def loadstr(str_obj, file_obj): if isinstance(str_obj, str): if os.path.isfile(file_obj): parser = ET.XMLParser() - bytes_obj = BytesIO(bytes(str_obj, 'utf-8')) + bytes_obj = BytesIO(bytes(str_obj, "utf-8")) tree = ET.parse(bytes_obj, parser=parser) path, _ = os.path.split(file_obj) - else: # pragma nocover + else: # pragma nocover parser = ET.XMLParser() tree = ET.parse(file_obj, parser=parser) path, _ = os.path.split(file_obj.name) @@ -1958,21 +1914,20 @@ def _validate_transmissions(self): Checks for the following: - Transmission joints have valid joint names. """ - for t in self.transmissions: # pragma nocover + for t in self.transmissions: # pragma nocover for joint in t.joints: if joint.name not in self._joint_map: - raise ValueError('Transmission {} has invalid joint name ' - '{}'.format(t.name, joint.name)) + raise ValueError( + "Transmission {} has invalid joint name " + "{}".format(t.name, joint.name) + ) @classmethod def _from_xml(cls, node, path): - valid_tags = set([ - 'joint', 'link', 'transmission', - 'material' - ]) + valid_tags = set(["joint", "link", "transmission", "material"]) kwargs = cls._parse(node, path) - extra_xml_node = ET.Element('extra') + extra_xml_node = ET.Element("extra") for child in node: if child.tag not in valid_tags: extra_xml_node.append(child) diff --git a/tests/test_ELink.py b/tests/test_ELink.py index b67085d71..14ba814a2 100644 --- a/tests/test_ELink.py +++ b/tests/test_ELink.py @@ -13,7 +13,6 @@ class TestELink(unittest.TestCase): - def test_str_ets(self): rx = rp.ETS.rx(1.543) ry = rp.ETS.ry(1.543) @@ -21,7 +20,7 @@ def test_str_ets(self): l0 = rp.ELink(rx * ry * tz) - ans = 'ELink[Rx(88.41°) ⊕ Ry(88.41°) ⊕ tz(1)] ' + ans = "ELink[Rx(88.41°) ⊕ Ry(88.41°) ⊕ tz(1)] " self.assertEqual(str(l0), ans) @@ -89,17 +88,9 @@ def test_I(self): l1 = rp.ELink(I=[0, 1, 2, 3, 4, 5]) l2 = rp.ELink(I=np.eye(3)) - I0 = np.array([ - [1, 0, 0], - [0, 2, 0], - [0, 0, 3] - ]) + I0 = np.array([[1, 0, 0], [0, 2, 0], [0, 0, 3]]) - I1 = np.array([ - [0, 3, 5], - [3, 1, 4], - [5, 4, 2] - ]) + I1 = np.array([[0, 3, 5], [3, 1, 4], [5, 4, 2]]) I2 = np.eye(3) @@ -137,8 +128,8 @@ def test_nofriction(self): def test_dyn(self): l0 = rp.ELink( - Tc=[0.4, -0.43], G=-62.61, qlim=[-2.79, 2.79], - I=np.diag([0, 0.35, 0])) + Tc=[0.4, -0.43], G=-62.61, qlim=[-2.79, 2.79], I=np.diag([0, 0.35, 0]) + ) s0 = l0.dyn() @@ -153,7 +144,8 @@ def test_dyn(self): B = 0 Tc = 0.4(+) -0.43(-) G = -63 -qlim = -2.8 to 2.8""") +qlim = -2.8 to 2.8""", + ) def test_properties(self): l0 = rp.ELink() @@ -190,7 +182,7 @@ def test_collision(self): def test_collision_fail(self): l0 = rp.ELink() - col = gm.Box([1, 1, 1]) + col = gm.Cuboid([1, 1, 1]) l0.collision = col with self.assertRaises(TypeError): @@ -201,7 +193,7 @@ def test_collision_fail(self): def test_geometry_fail(self): l0 = rp.ELink() - col = gm.Box([1, 1, 1]) + col = gm.Cuboid([1, 1, 1]) l0.geometry = col l0.geometry = [col, col] @@ -212,8 +204,8 @@ def test_geometry_fail(self): l0.geometry = 1 def test_dist(self): - s0 = gm.Box([1, 1, 1], base=sm.SE3(0, 0, 0)) - s1 = gm.Box([1, 1, 1], base=sm.SE3(3, 0, 0)) + s0 = gm.Cuboid([1, 1, 1], base=sm.SE3(0, 0, 0)) + s1 = gm.Cuboid([1, 1, 1], base=sm.SE3(3, 0, 0)) p = rp.models.Panda() link = p.links[3] @@ -226,8 +218,8 @@ def test_dist(self): self.assertAlmostEqual(d2, None) def test_collided(self): - s0 = gm.Box([1, 1, 1], base=sm.SE3(0, 0, 0)) - s1 = gm.Box([1, 1, 1], base=sm.SE3(3, 0, 0)) + s0 = gm.Cuboid([1, 1, 1], base=sm.SE3(0, 0, 0)) + s1 = gm.Cuboid([1, 1, 1], base=sm.SE3(3, 0, 0)) p = rp.models.Panda() link = p.links[3] c0 = link.collided(s0) @@ -237,6 +229,6 @@ def test_collided(self): self.assertFalse(c1) -if __name__ == '__main__': +if __name__ == "__main__": unittest.main() diff --git a/tests/test_ERobot.py b/tests/test_ERobot.py index 7ecf2518a..2628f3b09 100644 --- a/tests/test_ERobot.py +++ b/tests/test_ERobot.py @@ -16,18 +16,23 @@ class TestERobot(unittest.TestCase): - def test_init(self): ets = tb.ETS.rz() - robot = ERobot(ets, name='myname', manufacturer='I made it', - comment='other stuff') - self.assertEqual(robot.name, 'myname') - self.assertEqual(robot.manufacturer, 'I made it') - self.assertEqual(robot.comment, 'other stuff') + robot = ERobot( + ets, name="myname", manufacturer="I made it", comment="other stuff" + ) + self.assertEqual(robot.name, "myname") + self.assertEqual(robot.manufacturer, "I made it") + self.assertEqual(robot.comment, "other stuff") def test_init_ets(self): - ets = rtb.ETS.tx(-0.0825) * rtb.ETS.rz() * rtb.ETS.tx(-0.0825) \ - * rtb.ETS.tz() * rtb.ETS.tx(0.1) + ets = ( + rtb.ETS.tx(-0.0825) + * rtb.ETS.rz() + * rtb.ETS.tx(-0.0825) + * rtb.ETS.tz() + * rtb.ETS.tx(0.1) + ) robot = ERobot(ets) self.assertEqual(robot.n, 2) @@ -45,10 +50,9 @@ def test_init_ets(self): self.assertEqual(robot[2].children, []) def test_init_elink(self): - link1 = ELink(ETS.rx(), name='link1') - link2 = ELink(ETS.tx(1) * ETS.ty(-0.5) * ETS.tz(), - name='link2', parent=link1) - link3 = ELink(ETS.tx(1), name='ee_1', parent=link2) + link1 = ELink(ETS.rx(), name="link1") + link2 = ELink(ETS.tx(1) * ETS.ty(-0.5) * ETS.tz(), name="link2", parent=link1) + link3 = ELink(ETS.tx(1), name="ee_1", parent=link2) robot = ERobot([link1, link2, link3]) self.assertEqual(robot.n, 2) self.assertIsInstance(robot[0], ELink) @@ -68,10 +72,9 @@ def test_init_elink(self): self.assertEqual(robot[1].children, [robot[2]]) self.assertEqual(robot[2].children, []) - link1 = ELink(ETS.rx(), name='link1') - link2 = ELink(ETS.tx(1) * ETS.ty(-0.5) * ETS.tz(), - name='link2', parent='link1') - link3 = ELink(ETS.tx(1), name='ee_1', parent='link2') + link1 = ELink(ETS.rx(), name="link1") + link2 = ELink(ETS.tx(1) * ETS.ty(-0.5) * ETS.tz(), name="link2", parent="link1") + link3 = ELink(ETS.tx(1), name="ee_1", parent="link2") robot = ERobot([link1, link2, link3]) self.assertEqual(robot.n, 2) self.assertIsInstance(robot[0], ELink) @@ -90,9 +93,9 @@ def test_init_elink(self): def test_init_elink_autoparent(self): links = [ - ELink(ETS.rx(), name='link1'), - ELink(ETS.tx(1) * ETS.ty(-0.5) * ETS.tz(), name='link2'), - ELink(ETS.tx(1), name='ee_1') + ELink(ETS.rx(), name="link1"), + ELink(ETS.tx(1) * ETS.ty(-0.5) * ETS.tz(), name="link2"), + ELink(ETS.tx(1), name="ee_1"), ] robot = ERobot(links) self.assertEqual(robot.n, 2) @@ -110,15 +113,17 @@ def test_init_elink_autoparent(self): self.assertEqual(robot[2].children, []) def test_init_elink_branched(self): - robot = ERobot([ - ELink(ETS.rz(), name='link1'), - ELink(ETS.tx(1) * ETS.ty(-0.5) * ETS.rz(), - name='link2', parent='link1'), - ELink(ETS.tx(1), name='ee_1', parent='link2'), - ELink(ETS.tx(1) * ETS.ty(0.5) * ETS.rz(), - name='link3', parent='link1'), - ELink(ETS.tx(1), name='ee_2', parent='link3') - ]) + robot = ERobot( + [ + ELink(ETS.rz(), name="link1"), + ELink( + ETS.tx(1) * ETS.ty(-0.5) * ETS.rz(), name="link2", parent="link1" + ), + ELink(ETS.tx(1), name="ee_1", parent="link2"), + ELink(ETS.tx(1) * ETS.ty(0.5) * ETS.rz(), name="link3", parent="link1"), + ELink(ETS.tx(1), name="ee_2", parent="link3"), + ] + ) self.assertEqual(robot.n, 3) for i in range(5): self.assertIsInstance(robot[i], ELink) @@ -180,8 +185,7 @@ def test_panda(self): nt.assert_array_almost_equal(panda.qr, qr) nt.assert_array_almost_equal(panda.qz, qz) - nt.assert_array_almost_equal( - panda.gravity, np.r_[0, 0, -9.81]) + nt.assert_array_almost_equal(panda.gravity, np.r_[0, 0, -9.81]) def test_q(self): panda = rtb.models.ETS.Panda() @@ -207,8 +211,8 @@ def test_getters(self): def test_control_type(self): panda = rtb.models.ETS.Panda() - panda.control_type = 'v' - self.assertEqual(panda.control_type, 'v') + panda.control_type = "v" + self.assertEqual(panda.control_type, "v") def test_base(self): panda = rtb.models.ETS.Panda() @@ -250,31 +254,35 @@ def test_fkine(self): q2 = [1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9] q3 = np.expand_dims(q1, 0) - ans = np.array([ - [-0.50827907, -0.57904589, 0.63746234, 0.44682295], - [0.83014553, -0.52639462, 0.18375824, 0.16168396], - [0.22915229, 0.62258699, 0.74824773, 0.96798113], - [0., 0., 0., 1.] - ]) + ans = np.array( + [ + [-0.50827907, -0.57904589, 0.63746234, 0.44682295], + [0.83014553, -0.52639462, 0.18375824, 0.16168396], + [0.22915229, 0.62258699, 0.74824773, 0.96798113], + [0.0, 0.0, 0.0, 1.0], + ] + ) panda.q = q1 # nt.assert_array_almost_equal(panda.fkine().A, ans) nt.assert_array_almost_equal(panda.fkine(q2).A, ans) nt.assert_array_almost_equal(panda.fkine(q3).A, ans) nt.assert_array_almost_equal(panda.fkine(q3).A, ans) - self.assertRaises(TypeError, panda.fkine, 'Wfgsrth') + self.assertRaises(TypeError, panda.fkine, "Wfgsrth") def test_fkine_traj(self): panda = rtb.models.ETS.Panda() q = np.array([1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9]) qq = np.r_[q, q, q, q] - ans = np.array([ - [-0.50827907, -0.57904589, 0.63746234, 0.44682295], - [0.83014553, -0.52639462, 0.18375824, 0.16168396], - [0.22915229, 0.62258699, 0.74824773, 0.96798113], - [0., 0., 0., 1.] - ]) + ans = np.array( + [ + [-0.50827907, -0.57904589, 0.63746234, 0.44682295], + [0.83014553, -0.52639462, 0.18375824, 0.16168396], + [0.22915229, 0.62258699, 0.74824773, 0.96798113], + [0.0, 0.0, 0.0, 1.0], + ] + ) TT = panda.fkine(qq) nt.assert_array_almost_equal(TT[0].A, ans) @@ -297,15 +305,21 @@ def test_fkine_all(self): nt.assert_array_almost_equal(T[2].A, SE2(1, 0).A) nt.assert_array_almost_equal(T[3].A, SE2(2, 0).A) - robot = ERobot2([ - ELink2(ETS2.r(), name='link1'), - ELink2(ETS2.tx(1.2) * ETS2.ty(-0.5) * - ETS2.r(), name='link2', parent='link1'), - ELink2(ETS2.tx(1), name='ee_1', parent='link2'), - ELink2(ETS2.tx(0.6) * ETS2.ty(0.5) * ETS2.r(), - name='link3', parent='link1'), - ELink2(ETS2.tx(1), name='ee_2', parent='link3') - ]) + robot = ERobot2( + [ + ELink2(ETS2.r(), name="link1"), + ELink2( + ETS2.tx(1.2) * ETS2.ty(-0.5) * ETS2.r(), + name="link2", + parent="link1", + ), + ELink2(ETS2.tx(1), name="ee_1", parent="link2"), + ELink2( + ETS2.tx(0.6) * ETS2.ty(0.5) * ETS2.r(), name="link3", parent="link1" + ), + ELink2(ETS2.tx(1), name="ee_2", parent="link3"), + ] + ) T = robot.fkine_all([0, 0, 0]) self.assertIsInstance(T, SE2) self.assertEqual(len(T), 6) @@ -324,33 +338,71 @@ def test_jacob0(self): q3 = np.expand_dims(q1, 0) q4 = np.expand_dims(q1, 1) - ans = np.array([ - [-1.61683957e-01, 1.07925929e-01, -3.41453006e-02, - 3.35029257e-01, -1.07195463e-02, 1.03187865e-01, - 0.00000000e+00], - [4.46822947e-01, 6.25741987e-01, 4.16474664e-01, - -8.04745724e-02, 7.78257566e-02, -1.17720983e-02, - 0.00000000e+00], - [0.00000000e+00, -2.35276631e-01, -8.20187641e-02, - -5.14076923e-01, -9.98040745e-03, -2.02626953e-01, - 0.00000000e+00], - [1.29458954e-16, -9.85449730e-01, 3.37672585e-02, - -6.16735653e-02, 6.68449878e-01, -1.35361558e-01, - 6.37462344e-01], - [9.07021273e-18, 1.69967143e-01, 1.95778638e-01, - 9.79165111e-01, 1.84470262e-01, 9.82748279e-01, - 1.83758244e-01], - [1.00000000e+00, -2.26036604e-17, 9.80066578e-01, - -1.93473657e-01, 7.20517510e-01, -1.26028049e-01, - 7.48247732e-01] - ]) + ans = np.array( + [ + [ + -1.61683957e-01, + 1.07925929e-01, + -3.41453006e-02, + 3.35029257e-01, + -1.07195463e-02, + 1.03187865e-01, + 0.00000000e00, + ], + [ + 4.46822947e-01, + 6.25741987e-01, + 4.16474664e-01, + -8.04745724e-02, + 7.78257566e-02, + -1.17720983e-02, + 0.00000000e00, + ], + [ + 0.00000000e00, + -2.35276631e-01, + -8.20187641e-02, + -5.14076923e-01, + -9.98040745e-03, + -2.02626953e-01, + 0.00000000e00, + ], + [ + 1.29458954e-16, + -9.85449730e-01, + 3.37672585e-02, + -6.16735653e-02, + 6.68449878e-01, + -1.35361558e-01, + 6.37462344e-01, + ], + [ + 9.07021273e-18, + 1.69967143e-01, + 1.95778638e-01, + 9.79165111e-01, + 1.84470262e-01, + 9.82748279e-01, + 1.83758244e-01, + ], + [ + 1.00000000e00, + -2.26036604e-17, + 9.80066578e-01, + -1.93473657e-01, + 7.20517510e-01, + -1.26028049e-01, + 7.48247732e-01, + ], + ] + ) panda.q = q1 # nt.assert_array_almost_equal(panda.jacob0(), ans) nt.assert_array_almost_equal(panda.jacob0(q2), ans) nt.assert_array_almost_equal(panda.jacob0(q3), ans) nt.assert_array_almost_equal(panda.jacob0(q4), ans) - self.assertRaises(TypeError, panda.jacob0, 'Wfgsrth') + self.assertRaises(TypeError, panda.jacob0, "Wfgsrth") def test_hessian0(self): panda = rtb.models.ETS.Panda() @@ -359,146 +411,400 @@ def test_hessian0(self): q3 = np.expand_dims(q1, 0) q4 = np.expand_dims(q1, 1) - ans = np.array([ - [ - [-4.46822947e-01, -6.25741987e-01, -4.16474664e-01, - 8.04745724e-02, -7.78257566e-02, 1.17720983e-02, - 0.00000000e+00], - [-6.25741987e-01, -3.99892968e-02, -1.39404950e-02, - -8.73761859e-02, -1.69634134e-03, -3.44399243e-02, - 0.00000000e+00], - [-4.16474664e-01, -1.39404950e-02, -4.24230421e-01, - -2.17748413e-02, -7.82283735e-02, -2.81325889e-02, - 0.00000000e+00], - [8.04745724e-02, -8.73761859e-02, -2.17748413e-02, - -5.18935898e-01, 5.28476698e-03, -2.00682834e-01, - 0.00000000e+00], - [-7.78257566e-02, -1.69634134e-03, -7.82283735e-02, - 5.28476698e-03, -5.79159088e-02, -2.88966443e-02, - 0.00000000e+00], - [1.17720983e-02, -3.44399243e-02, -2.81325889e-02, - -2.00682834e-01, -2.88966443e-02, -2.00614904e-01, - 0.00000000e+00], - [0.00000000e+00, 0.00000000e+00, 0.00000000e+00, - 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, - 0.00000000e+00] - ], - [ - [-1.61683957e-01, 1.07925929e-01, -3.41453006e-02, - 3.35029257e-01, -1.07195463e-02, 1.03187865e-01, - 0.00000000e+00], - [1.07925929e-01, -2.31853293e-01, -8.08253690e-02, - -5.06596965e-01, -9.83518983e-03, -1.99678676e-01, - 0.00000000e+00], - [-3.41453006e-02, -8.08253690e-02, -3.06951191e-02, - 3.45709946e-01, -1.01688580e-02, 1.07973135e-01, - 0.00000000e+00], - [3.35029257e-01, -5.06596965e-01, 3.45709946e-01, - -9.65242924e-02, 1.45842251e-03, -3.24608603e-02, - 0.00000000e+00], - [-1.07195463e-02, -9.83518983e-03, -1.01688580e-02, - 1.45842251e-03, -1.05221866e-03, 2.09794626e-01, - 0.00000000e+00], - [1.03187865e-01, -1.99678676e-01, 1.07973135e-01, - -3.24608603e-02, 2.09794626e-01, -4.04324654e-02, - 0.00000000e+00], - [0.00000000e+00, 0.00000000e+00, 0.00000000e+00, - 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, - 0.00000000e+00] - ], + ans = np.array( [ - [0.00000000e+00, 0.00000000e+00, 0.00000000e+00, - 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, - 0.00000000e+00], - [0.00000000e+00, -6.34981134e-01, -4.04611266e-01, - 2.23596800e-02, -7.48714002e-02, -5.93773551e-03, - 0.00000000e+00], - [0.00000000e+00, -4.04611266e-01, 2.07481281e-02, - -6.83089775e-02, 4.72662062e-03, -2.05994912e-02, - 0.00000000e+00], - [0.00000000e+00, 2.23596800e-02, -6.83089775e-02, - -3.23085806e-01, 5.69641385e-03, -1.00311930e-01, - 0.00000000e+00], - [0.00000000e+00, -7.48714002e-02, 4.72662062e-03, - 5.69641385e-03, 5.40000550e-02, -2.69041502e-02, - 0.00000000e+00], - [0.00000000e+00, -5.93773551e-03, -2.05994912e-02, - -1.00311930e-01, -2.69041502e-02, -9.98142073e-02, - 0.00000000e+00], - [0.00000000e+00, 0.00000000e+00, 0.00000000e+00, - 0.00000000e+00, 0.00000000e+00, 0.00000000e+00, - 0.00000000e+00] - ], - [ - [-9.07021273e-18, -2.77555756e-17, -2.77555756e-17, - -1.11022302e-16, -2.77555756e-17, 0.00000000e+00, - -2.77555756e-17], - [-1.69967143e-01, -1.97756387e-17, 4.11786040e-17, - -1.48932398e-16, -5.07612940e-17, -8.38219650e-17, - -4.90138154e-17], - [-1.95778638e-01, 1.66579116e-01, -1.38777878e-17, - 1.04083409e-17, -1.38777878e-17, 3.46944695e-18, - 0.00000000e+00], - [-9.79165111e-01, -3.28841647e-02, -9.97525009e-01, - -4.16333634e-17, -1.14491749e-16, 1.38777878e-17, - -6.24500451e-17], - [-1.84470262e-01, 1.22464303e-01, -3.97312016e-02, - 7.41195745e-01, -2.77555756e-17, 1.12757026e-16, - 2.77555756e-17], - [-9.82748279e-01, -2.14206274e-02, -9.87832342e-01, - 6.67336352e-02, -7.31335770e-01, 2.08166817e-17, - -6.07153217e-17], - [-1.83758244e-01, 1.27177529e-01, -3.36043908e-02, - 7.68210453e-01, 5.62842325e-03, 7.58497864e-01, - 0.00000000e+00] - ], - [ - [1.29458954e-16, -1.11022302e-16, 8.67361738e-17, - -4.16333634e-17, 5.55111512e-17, 2.77555756e-17, - 5.55111512e-17], - [-9.85449730e-01, -6.36381327e-17, -1.02735399e-16, - -1.83043043e-17, -5.63484308e-17, 8.08886307e-18, - 1.07112702e-18], - [3.37672585e-02, 9.65806345e-01, 8.32667268e-17, - -2.55871713e-17, 1.07552856e-16, 2.08166817e-17, - -5.20417043e-18], - [-6.16735653e-02, -1.90658563e-01, -5.39111251e-02, - -6.59194921e-17, -2.77555756e-17, 2.38524478e-17, - -4.16333634e-17], - [6.68449878e-01, 7.10033786e-01, 6.30795483e-01, - -8.48905588e-02, 0.00000000e+00, 3.46944695e-17, - 2.77555756e-17], - [-1.35361558e-01, -1.24194307e-01, -1.28407717e-01, - 1.84162966e-02, -1.32869389e-02, 2.77555756e-17, - -2.08166817e-17], - [6.37462344e-01, 7.37360525e-01, 5.99489263e-01, - -7.71850655e-02, -4.08633244e-02, 2.09458434e-02, - 0.00000000e+00] - ], - [ - [0.00000000e+00, -6.59521910e-17, -1.31033786e-16, - -1.92457571e-16, 1.54134782e-17, -7.69804929e-17, - 1.11140361e-17], - [0.00000000e+00, -2.77555756e-17, 7.15573434e-17, - 1.65666092e-16, 1.38777878e-17, -8.67361738e-18, - 3.46944695e-17], - [0.00000000e+00, -1.98669331e-01, 8.67361738e-18, - -1.46584134e-16, 6.02816408e-17, -3.12250226e-17, - 6.11490025e-17], - [0.00000000e+00, -9.54435515e-01, 4.51380881e-02, - 1.38777878e-17, 1.08420217e-16, 3.46944695e-18, - 6.24500451e-17], - [0.00000000e+00, -2.95400686e-01, -1.24639152e-01, - -6.65899738e-01, -4.85722573e-17, -5.20417043e-18, - -5.55111512e-17], - [0.00000000e+00, -9.45442009e-01, 5.96856167e-02, - 7.19317248e-02, 6.81888149e-01, -2.77555756e-17, - 1.04083409e-17], - [0.00000000e+00, -2.89432165e-01, -1.18596498e-01, - -6.35513913e-01, 5.24032975e-03, -6.51338823e-01, - 0.00000000e+00] + [ + [ + -4.46822947e-01, + -6.25741987e-01, + -4.16474664e-01, + 8.04745724e-02, + -7.78257566e-02, + 1.17720983e-02, + 0.00000000e00, + ], + [ + -6.25741987e-01, + -3.99892968e-02, + -1.39404950e-02, + -8.73761859e-02, + -1.69634134e-03, + -3.44399243e-02, + 0.00000000e00, + ], + [ + -4.16474664e-01, + -1.39404950e-02, + -4.24230421e-01, + -2.17748413e-02, + -7.82283735e-02, + -2.81325889e-02, + 0.00000000e00, + ], + [ + 8.04745724e-02, + -8.73761859e-02, + -2.17748413e-02, + -5.18935898e-01, + 5.28476698e-03, + -2.00682834e-01, + 0.00000000e00, + ], + [ + -7.78257566e-02, + -1.69634134e-03, + -7.82283735e-02, + 5.28476698e-03, + -5.79159088e-02, + -2.88966443e-02, + 0.00000000e00, + ], + [ + 1.17720983e-02, + -3.44399243e-02, + -2.81325889e-02, + -2.00682834e-01, + -2.88966443e-02, + -2.00614904e-01, + 0.00000000e00, + ], + [ 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nt.assert_array_almost_equal(panda.hessian0(), ans) @@ -506,14 +812,12 @@ def test_hessian0(self): nt.assert_array_almost_equal(panda.hessian0(q3), ans) nt.assert_array_almost_equal(panda.hessian0(q4), ans) nt.assert_array_almost_equal(panda.hessian0(J0=panda.jacob0(q1)), ans) - nt.assert_array_almost_equal(panda.hessian0( - q1, J0=panda.jacob0(q1)), ans) + nt.assert_array_almost_equal(panda.hessian0(q1, J0=panda.jacob0(q1)), ans) # self.assertRaises(ValueError, panda.hessian0) self.assertRaises(ValueError, panda.hessian0, [1, 3]) - self.assertRaises(TypeError, panda.hessian0, 'Wfgsrth') - self.assertRaises( - ValueError, panda.hessian0, [1, 3], np.array([1, 5])) - self.assertRaises(TypeError, panda.hessian0, [1, 3], 'qwe') + self.assertRaises(TypeError, panda.hessian0, "Wfgsrth") + self.assertRaises(ValueError, panda.hessian0, [1, 3], np.array([1, 5])) + self.assertRaises(TypeError, panda.hessian0, [1, 3], "qwe") def test_manipulability(self): panda = rtb.models.ETS.Panda() @@ -525,9 +829,8 @@ def test_manipulability(self): panda.q = q1 nt.assert_array_almost_equal(panda.manipulability(q2), ans) # self.assertRaises(ValueError, panda.manipulability) - self.assertRaises(TypeError, panda.manipulability, 'Wfgsrth') - self.assertRaises( - ValueError, panda.manipulability, [1, 3]) + self.assertRaises(TypeError, panda.manipulability, "Wfgsrth") + self.assertRaises(ValueError, panda.manipulability, [1, 3]) def test_jacobm(self): panda = rtb.models.ETS.Panda() @@ -536,15 +839,17 @@ def test_jacobm(self): q3 = np.expand_dims(q1, 0) q4 = np.expand_dims(q1, 1) - ans = np.array([ - [1.27080875e-17], - [2.38242538e-02], - [6.61029519e-03], - [8.18202121e-03], - [7.74546204e-04], - [-1.10885380e-02], - [0.00000000e+00] - ]) + ans = np.array( + [ + [1.27080875e-17], + [2.38242538e-02], + [6.61029519e-03], + [8.18202121e-03], + [7.74546204e-04], + [-1.10885380e-02], + [0.00000000e00], + ] + ) panda.q = q1 nt.assert_array_almost_equal(panda.jacobm(), ans) @@ -553,14 +858,13 @@ def test_jacobm(self): nt.assert_array_almost_equal(panda.jacobm(q4), ans) nt.assert_array_almost_equal(panda.jacobm(J=panda.jacob0(q1)), ans) # self.assertRaises(ValueError, panda.jacobm) - self.assertRaises(TypeError, panda.jacobm, 'Wfgsrth') + self.assertRaises(TypeError, panda.jacobm, "Wfgsrth") self.assertRaises(ValueError, panda.jacobm, [1, 3], np.array([1, 5])) - self.assertRaises(TypeError, panda.jacobm, [1, 3], 'qwe') - self.assertRaises( - TypeError, panda.jacobm, [1, 3], panda.jacob0(q1), [1, 2, 3]) + self.assertRaises(TypeError, panda.jacobm, [1, 3], "qwe") + self.assertRaises(TypeError, panda.jacobm, [1, 3], panda.jacob0(q1), [1, 2, 3]) self.assertRaises( - ValueError, panda.jacobm, [1, 3], panda.jacob0(q1), - np.array([1, 2, 3])) + ValueError, panda.jacobm, [1, 3], panda.jacob0(q1), np.array([1, 2, 3]) + ) # def test_jacobev(self): # pdh = rtb.models.DH.Panda() @@ -601,7 +905,7 @@ def test_init(self): def test_dict(self): panda = rtb.models.Panda() - panda.grippers[0].links[0].collision.append(gm.Box([1, 1, 1])) + panda.grippers[0].links[0].collision.append(gm.Cuboid([1, 1, 1])) panda._to_dict() wx = rtb.models.wx250s() @@ -609,13 +913,12 @@ def test_dict(self): def test_fkdict(self): panda = rtb.models.Panda() - panda.grippers[0].links[0].collision.append(gm.Box([1, 1, 1])) + panda.grippers[0].links[0].collision.append(gm.Cuboid([1, 1, 1])) panda._fk_dict() def test_elinks(self): panda = rtb.models.Panda() - self.assertEqual( - panda.elinks[0], panda.link_dict[panda.elinks[0].name]) + self.assertEqual(panda.elinks[0], panda.link_dict[panda.elinks[0].name]) def test_base_link_setter(self): panda = rtb.models.Panda() @@ -653,16 +956,30 @@ def test_complex(self): r = ERobot([l0, l1, l2, l3, l4, l5]) q = [1, 2, 3, 1, 2, 3] - ans = np.array([ - [-0., 0.08752679, -0.74761985, 0.41198225, 0.05872664, 0.90929743], - [1.46443609, 2.80993063, 0.52675075, -0.68124272, -0.64287284, - 0.35017549], - [-1.04432, -1.80423571, -2.20308833, 0.60512725, -0.76371834, - -0.2248451], - [1., 0., 0.90929743, 0., 0., 0.], - [0., 0.54030231, 0.35017549, 0., 0., 0.], - [0., 0.84147098, -0.2248451, 0., 0., 0.] - ]) + ans = np.array( + [ + [-0.0, 0.08752679, -0.74761985, 0.41198225, 0.05872664, 0.90929743], + [ + 1.46443609, + 2.80993063, + 0.52675075, + -0.68124272, + -0.64287284, + 0.35017549, + ], + [ + -1.04432, + -1.80423571, + -2.20308833, + 0.60512725, + -0.76371834, + -0.2248451, + ], + [1.0, 0.0, 0.90929743, 0.0, 0.0, 0.0], + [0.0, 0.54030231, 0.35017549, 0.0, 0.0, 0.0], + [0.0, 0.84147098, -0.2248451, 0.0, 0.0, 0.0], + ] + ) nt.assert_array_almost_equal(r.jacob0(q), ans) @@ -704,10 +1021,10 @@ def test_complex(self): def test_control_type2(self): panda = rtb.models.ETS.Panda() - panda.control_type = 'p' + panda.control_type = "p" with self.assertRaises(ValueError): - panda.control_type = 'z' + panda.control_type = "z" # def test_plot_vellipse(self): # panda = rtb.models.ETS.Panda() @@ -779,8 +1096,8 @@ def test_control_type2(self): # e2.close() def test_dist(self): - s0 = gm.Box([1, 1, 1], base=sm.SE3(0, 0, 0)) - s1 = gm.Box([1, 1, 1], base=sm.SE3(3, 0, 0)) + s0 = gm.Cuboid([1, 1, 1], base=sm.SE3(0, 0, 0)) + s1 = gm.Cuboid([1, 1, 1], base=sm.SE3(3, 0, 0)) p = rtb.models.Panda() d0, _, _ = p.closest_point(p.q, s0) @@ -792,8 +1109,8 @@ def test_dist(self): self.assertAlmostEqual(d2, None) def test_collided(self): - s0 = gm.Box([1, 1, 1], base=sm.SE3(0, 0, 0)) - s1 = gm.Box([1, 1, 1], base=sm.SE3(3, 0, 0)) + s0 = gm.Cuboid([1, 1, 1], base=sm.SE3(0, 0, 0)) + s1 = gm.Cuboid([1, 1, 1], base=sm.SE3(3, 0, 0)) p = rtb.models.Panda() c0 = p.collided(p.q, s0) @@ -806,9 +1123,8 @@ def test_invdyn(self): # create a 2 link robot # Example from Spong etal. 2nd edition, p. 260 E = rtb.ETS - l1 = ELink(ets=E.ry(), m=1, r=[0.5, 0, 0], name='l1') - l2 = ELink( - ets=E.tx(1) * E.ry(), m=1, r=[0.5, 0, 0], parent=l1, name='l2') + l1 = ELink(ets=E.ry(), m=1, r=[0.5, 0, 0], name="l1") + l2 = ELink(ets=E.tx(1) * E.ry(), m=1, r=[0.5, 0, 0], parent=l1, name="l2") robot = ERobot([l1, l2], name="simple 2 link") z = np.zeros(robot.n) @@ -878,14 +1194,17 @@ def test_teach(self): def test_plot_with_vellipse(self): robot = rtb.models.ETS.Planar2() - e = robot.plot(robot.qz, block=False, name=True, vellipse=True, limits=[1, 2, 1, 2]) + e = robot.plot( + robot.qz, block=False, name=True, vellipse=True, limits=[1, 2, 1, 2] + ) e.step() e.close() - def test_plot_with_fellipse(self): robot = rtb.models.ETS.Planar2() - e = robot.plot(robot.qz, block=False, name=True, dellipse=True, limits=[1, 2, 1, 2]) + e = robot.plot( + robot.qz, block=False, name=True, dellipse=True, limits=[1, 2, 1, 2] + ) e.step() e.close() @@ -905,6 +1224,7 @@ def test_plot_with_fellipse(self): # e.close() -if __name__ == '__main__': # pragma nocover + +if __name__ == "__main__": # pragma nocover unittest.main() From e6fe0e5019818772738128ddba908d1dc69deeee Mon Sep 17 00:00:00 2001 From: John Skinner Date: Mon, 26 Jul 2021 15:58:09 +1000 Subject: [PATCH 047/116] Add simplified collision meshes for the Puma560. The demo still does not collision detect, but only because I don't know how that is supposed to work. --- roboticstoolbox/examples/puma_swift.py | 2 +- .../meshes/puma560_collision1.dae | 101 +++++++++++++++++ .../meshes/puma560_collision2.dae | 104 ++++++++++++++++++ .../meshes/puma560_collision3.dae | 101 +++++++++++++++++ .../meshes/puma560_collision4.dae | 101 +++++++++++++++++ .../meshes/puma560_collision5.dae | 101 +++++++++++++++++ .../meshes/puma560_collision6.dae | 101 +++++++++++++++++ .../urdf/puma560_robot.urdf.xacro | 49 ++++++++- 8 files changed, 657 insertions(+), 3 deletions(-) create mode 100644 rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_collision1.dae create mode 100644 rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_collision2.dae create mode 100644 rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_collision3.dae create mode 100644 rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_collision4.dae create mode 100644 rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_collision5.dae create mode 100644 rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_collision6.dae diff --git a/roboticstoolbox/examples/puma_swift.py b/roboticstoolbox/examples/puma_swift.py index 4ab307e8f..8ae14f8fb 100644 --- a/roboticstoolbox/examples/puma_swift.py +++ b/roboticstoolbox/examples/puma_swift.py @@ -14,7 +14,7 @@ # Create a puma in the default zero pose puma = rp.models.Puma560() puma.q = puma.qz -env.add(puma) +env.add(puma, show_robot=True, show_collision=False) dt = 0.05 interp_time = 5 diff --git a/rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_collision1.dae b/rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_collision1.dae new file mode 100644 index 000000000..e541c9802 --- /dev/null +++ b/rtb-data/rtbdata/xacro/puma560_description/meshes/puma560_collision1.dae @@ -0,0 +1,101 @@ + + + + + Blender User + Blender 2.93.1 commit date:2021-06-22, commit time:05:57, hash:1b8d33b18c2f 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+ + + + + + + + 1 0 0 0 0 0 1 0 0 -1 0 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/rtb-data/rtbdata/xacro/puma560_description/urdf/puma560_robot.urdf.xacro b/rtb-data/rtbdata/xacro/puma560_description/urdf/puma560_robot.urdf.xacro index 18361e9b8..d3744bd7c 100644 --- a/rtb-data/rtbdata/xacro/puma560_description/urdf/puma560_robot.urdf.xacro +++ b/rtb-data/rtbdata/xacro/puma560_description/urdf/puma560_robot.urdf.xacro @@ -4,6 +4,9 @@ + + + @@ -28,7 +31,13 @@ - + + + + + + + @@ -38,6 +47,12 @@ + + + + + + @@ -55,6 +70,12 @@ + + + + + + @@ -72,6 +93,12 @@ + + + + + + @@ -89,6 +116,12 @@ + + + + + + @@ -106,6 +139,12 @@ + + + + + + @@ -121,8 +160,14 @@ - + + + + + + + From 031cb4114647bc383f5a81059334ca652f9a6690 Mon Sep 17 00:00:00 2001 From: John Skinner Date: Mon, 26 Jul 2021 16:00:12 +1000 Subject: [PATCH 048/116] Take credit. --- roboticstoolbox/examples/puma_swift.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/roboticstoolbox/examples/puma_swift.py b/roboticstoolbox/examples/puma_swift.py index 8ae14f8fb..388b035d1 100644 --- a/roboticstoolbox/examples/puma_swift.py +++ b/roboticstoolbox/examples/puma_swift.py @@ -1,6 +1,6 @@ #!/usr/bin/env python """ -@author Jesse Haviland +@author John Skinner """ import swift From 0b40253faa904cf169956ac9b2dbef2e26ac98a0 Mon Sep 17 00:00:00 2001 From: John Skinner Date: Mon, 26 Jul 2021 16:13:46 +1000 Subject: [PATCH 049/116] Add a comment explaining the xacro parameters. --- .../xacro/puma560_description/urdf/puma560_robot.urdf.xacro | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/rtb-data/rtbdata/xacro/puma560_description/urdf/puma560_robot.urdf.xacro b/rtb-data/rtbdata/xacro/puma560_description/urdf/puma560_robot.urdf.xacro index d3744bd7c..3ba7fe01d 100644 --- a/rtb-data/rtbdata/xacro/puma560_description/urdf/puma560_robot.urdf.xacro +++ b/rtb-data/rtbdata/xacro/puma560_description/urdf/puma560_robot.urdf.xacro @@ -10,6 +10,12 @@ + From 05b4f17fec9be8e6e1034540c9a4b2e5ff42a445 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 26 Jul 2021 18:50:24 +1000 Subject: [PATCH 050/116] new modules for mobile robotics --- roboticstoolbox/mobile/Bug2.py | 430 +++++++++++ roboticstoolbox/mobile/EKF.py | 918 +++++++++++++++++++++++ roboticstoolbox/mobile/ParticleFilter.py | 492 ++++++++++++ 3 files changed, 1840 insertions(+) create mode 100644 roboticstoolbox/mobile/Bug2.py create mode 100644 roboticstoolbox/mobile/EKF.py create mode 100644 roboticstoolbox/mobile/ParticleFilter.py diff --git a/roboticstoolbox/mobile/Bug2.py b/roboticstoolbox/mobile/Bug2.py new file mode 100644 index 000000000..8bbfe45fa --- /dev/null +++ b/roboticstoolbox/mobile/Bug2.py @@ -0,0 +1,430 @@ +""" +Python Bug Planner +@Author: Kristian Gibson +@Author: Peter Corke +""" +from numpy import disp +from scipy import integrate + +from spatialmath.pose2d import SE2 +from spatialmath import base +from spatialmath.base.animate import * +from scipy.ndimage import * +from matplotlib import cm +import matplotlib.pyplot as plt +from matplotlib import animation +from roboticstoolbox.mobile.Planner import Planner + +class Bug2(Planner): + """ + Construct a Bug2 reactive navigator + + :param occgrid: occupancy grid + :type occgrid: :class:`OccGrid` instance or ndarray(N,M) + :param kwargs: common arguments for :class:`Planner` superclass + :return: Planner subclass implementing Bug2 algorithm + :rtype: Bug2Planner instance + + Creates a planner object which be used to return a path from start + to goal. + + .. note:: This is not strictly a planner since it is entirely reactive. + Therefore, paths can be very inefficient. + + :reference: Path-Planning Strategies for a Point Mobile Automaton Moving + Amidst Unknown Obstacles of Arbitrary Shape, Lumelsky and Stepanov, + Algorithmica (1987)2, pp.403-430 + + :author: Kristian Gibson and Peter Corke + :seealso: :class:`Planner` + """ + def __init__(self, **kwargs): + + super().__init__(ndims=2, **kwargs) + + self._h = [] + self._j = 0 + self._step = 1 + self._m_line = None + self._edge = None + self._k = None + + @property + def h(self): + """[summary] + + Returns: + [type]: [description] + """ + return self._h + + + @property + def step(self): + return self._step + + @property + def m_line(self): + return self._m_line + + # override query method of base class + def run(self, start=None, goal=None, animate=False, trail=True, movie=None, **kwargs): + """ + Find a path using Bug2 reactive navigation algorithm + + :param start: starting position + :type start: array_like(2) + :param goal: goal position + :type goal: array_like(2) + :param animate: show animation of robot moving over the map, + defaults to False + :type animate: bool, optional + :param movie: save animation as a movie, defaults to None. Is either + name of movie or a tuple (filename, frame interval) + :type movie: str or tuple(str, float), optional + :param trail: show the path followed by the robot, defaults to True + :type current: bool, optional + :return: path from ``start`` to ``goal`` + :rtype: ndarray(2,N) + + Compute the path from ``start`` to `goal` assuming the robot is capable + of 8-way motion from its current cell to the next. + + .. note:: ``start`` and `goal` are given as (x,y) coordinates in the + occupancy grid map, not as matrix row and column coordinates. + + :seealso: :meth:`Bug2.plot` + """ + + # make sure start and goal are set and valid + # super().query(start=start, goal=goal, dtype=np.int, **kwargs) + # make sure start and goal are set and valid + self.start = self.validate_endpoint(start, dtype=int) + self.goal = self.validate_endpoint(goal, dtype=int) + + # compute the m-line + # create homogeneous representation of the line + # line*[x y 1]' = 0 + self._m_line = hom_line(self.start, self.goal) + + if movie is not None: + animate = True + + if animate: + self.plot() + self.plot_m_line() + plt.pause(0.05) + + # movie = MovieWriter(movie) + + robot = self.start + self._step = 1 + path = robot + h = None + + trail_line, = plt.plot(0, 0, 'y.') + trail_head, = plt.plot(0, 0, 'ko', zorder=10) + + # iterate using the next() method until we reach the goal + while True: + if animate: + trail_head.set_data(robot[0], robot[1]) + if trail: + trail_line.set_data(path.T) + + plt.pause(0.001) + # plt.draw() + # plt.show(block=False) + # plt.gcf().canvas.flush_events() + + # movie.add() + + # move to next point on path + robot = self.next(robot) + + # # have we been here before, ie. in a loop + # if any([all(robot == x) for x in path]): + # raise RuntimeError('trapped') + + # are we there yet? + if robot is None: + break + else: + path = np.vstack((path, robot)) + + # movie.done() + + return path + + def plot_m_line(self, ls=None): + if ls is None: + ls = 'k--' + + x_min, x_max = plt.gca().get_xlim() + y_min, y_max = plt.gca().get_ylim() + if self._m_line[1] == 0: + # handle the case that the line is vertical + plt.plot([self._start[0], self._start[0]], + [y_min, y_max], 'k--') + else: + # regular line + x = np.array([ + [x_min, 1], + [x_max, 1] ]) + y = -x @ np.r_[self._m_line[0], self._m_line[2]] + y = y / self._m_line[1] + plt.plot([x_min, x_max], y, ls, zorder=10) + + def next(self, position): + + l = None + y = None + + if all(self._goal == position): + return None # we have arrived + + if self._step == 1: + # Step 1. Move along the M-line toward the goal + self.message(f"{position}: moving along the M-line (step 1)") + # motion on line toward goal + d = self._goal - position + if abs(d[0]) > abs(d[1]): + # line slope less than 45 deg + dx = 1 if d[0] >= 0 else -1 # np.sign(d[0]) + l = self._m_line + y = -((position[0] + dx) * l[0] + l[2]) / l[1] + dy = int(round(y - position[1])) + else: + # line slope greater than 45 deg + dy = 1 if d[1] >= 0 else -1 # np.sign(d[1]) + l = self._m_line + x = -((position[1] + dy) * l[1] + l[2]) / l[0] + dx = int(round(x - position[0])) + + # detect if next step is an obstacle + if self.isoccupied(position + np.r_[dx, dy]): + self.message(f" {position}: obstacle at {position + np.r_[dx, dy]}") + self.h.append(position) + self._step = 2 # transition to step 2 + self.message(f" {position}: change to step 2") + + # get a list of all the points around the obstacle + self._edge, _ = edgelist(self.occgrid.grid == 0, position) + self._k = 0 + else: + n = position + np.array([dx, dy]) + + if self._step == 2: + # Step 2. Move around the obstacle until we reach a point + # on the M-line closer than when we started. + + self.message(f"{position}: moving around the obstacle (step 2)") + if self._k < len(self._edge): + n = self._edge[self._k] # next edge point + else: + # we are at the end of the list of edge points, we + # are back where we started. Step 2.c test. + plt.show(block=True) + raise RuntimeError('robot is trapped') + + # are we on the M-line now ? + if abs(np.inner(np.r_[position, 1], self._m_line)) <= 0.5: + self.message(f" {position}: crossed the M-line") + + # are we closer than when we encountered the obstacle? + if base.norm(position - self._goal) < base.norm(self._h[-1] - self._goal): + # self._j += 1 + self._step = 1 # transition to step 1 + self.message(f" {position}: change to step 1") + return n + + # no, keep going around + self._k += 1 + + return n + + def query(self): + raise NotImplementedError('This class has no query method') + + def plan(self): + raise NotImplementedError('This class has no plan method') + +# Ported from Peter Corke's edgelist function found: +# https://github.com/petercorke/toolbox-common-matlab/blob/master/edgelist.m + +# these are directions of 8-neighbours in a clockwise direction +# fmt: off +_dirs = np.array([ + [-1, 0], + [-1, 1], + [ 0, 1], + [ 1, 1], + [ 1, 0], + [ 1, -1], + [ 0, -1], + [-1, -1], + ]) +# fmt: on +def edgelist(im, p, direction=1): + """ + Find edge of a region + + :param im: binary image + :type im: ndarray(h,w,int) + :param p: initial point + :type p: array_like(2) + :param direction: direction to traverse region, +1 clockwise [default], -1 + counter-clockwise + :type direction: int, optional + :raises ValueError: initial point is not on the edge + :raises RuntimeError: not able to find path to the goal + :return: edge list, direction vector list + :rtype: tuple of lists + + ``edge, dirs = edgelist(im, seed)`` is the boundary/contour/edge of a region + in the binary image ``im``. ``seed=[X,Y]`` is the coordinate of a point on + the edge of the region of interest, but belonging to the region. + + ``edge`` is a list of coordinates (2) of edge pixels of a region in theThe + elements of the edgelist are NumPy ndarray(2). + + ``dirs`` is a list of integers representing the direction of the edge from + the corresponding point in ``edge`` to the next point in ``edge``. The + integers in the range 0 to 7 represent directions: W SW S SE E NW N NW + respectively. + + - Coordinates are given and returned assuming the matrix is an image, so the + indices are always in the form (x,y) or (column,row). + - ``im` is a binary image where 0 is assumed to be background, non-zero + is an object. + - ``p`` must be a point on the edge of the region. + - The initial point is always the first and last element of the returned edgelist. + - 8-direction chain coding can give incorrect results when used with + blobs founds using 4-way connectivty. + + :Reference: + + - METHODS TO ESTIMATE AREAS AND PERIMETERS OF BLOB-LIKE OBJECTS: A COMPARISON + Luren Yang, Fritz Albregtsen, Tor Lgnnestad and Per Grgttum + IAPR Workshop on Machine Vision Applications Dec. 13-15, 1994, Kawasaki + + """ + p = base.getvector(p, 2, dtype=np.int) + + if direction > 0: + neighbours = np.arange(start=0, stop=8, step=1) + else: + neighbours = np.arange(start=7, stop=-1, step=-1) + + try: + pix0 = im[p[1], p[0]] # color of pixel we start at + except: + raise ValueError('specified coordinate is not within image') + + + q = adjacent_point(im, p, pix0) + + # find an adjacent point outside the blob + if q is None: + raise ValueError('no neighbour outside the blob') + + d = None + e = [p] # initialize the edge list + dir = [] # initialize the direction list + p0 = None + + while True: + + # find which direction is Q + dq = q - p + for kq in range(0, 8): + # get index of neighbour's direction in range [1,8] + if np.all(dq == _dirs[kq]): + break + + # now test for directions relative to Q + for j in neighbours: + # get index of neighbour's direction in range [1,8] + k = (j + kq) % 8 + # if k > 7: + # k = k - 7 + + + # compute coordinate of the k'th neighbour + nk = p + _dirs[k] + + try: + if im[nk[1], nk[0]] == pix0: + # if this neighbour is in the blob it is the next edge pixel + p = nk + break + except: + raise ValueError("Something went wrong calculating edgelist") + + q = nk + + dir.append(k) + # check if we are back where we started + if p0 is None: + p0 = p # make a note of where we started + else: + if all(p == p0): + break + + # keep going, add this point to the edgelist + e.append(p) + + return e, dir + +# Ported from Peter Corke's adjacent_point function found: +# https://github.com/petercorke/toolbox-common-matlab/blob/master/edgelist.m + +def adjacent_point(im, seed, pix0): + """Find adjacent point + + :param im: occupancy grid + :type im: ndarray(m,n) + :param seed: initial point + :type seed: ndarray(2) + :param pix0: value of occupancy grid at ``seed`` coordinate + :type pix0: int + :return: coordinate of a neighbour + :rtype: ndarray(2) or None + + Is a neighbouring point of the coordinate ``seed`` that is not within the + region containing the coordinate ``seed``, ie. it is a neighbour but + outside. + """ + p = None + + for d in _dirs: + p = seed + d + try: + if im[p[1], p[0]] != pix0: + return p + except: + pass + + return None + + +# Implementation of Peter Corke's matlab homline function from: +# https://github.com/petercorke/spatialmath-matlab/blob/master/homline.m +def hom_line(p1, p2): + line = np.cross(np.r_[p1[0], p1[1], 1], np.r_[p2[0], p2[1], 1]) + + # normalize so that the result of x*l' is the pixel distance + # from the line + return line / np.linalg.norm(line[0:2]) + + +if __name__ == "__main__": + + from roboticstoolbox import loadmat + + vars = loadmat("data/map1.mat") + map = vars['map'] + + bug = Bug2Planner(occgrid=map) + # bug.plan() + path = bug.query([20, 10], [50, 35], animate=True) diff --git a/roboticstoolbox/mobile/EKF.py b/roboticstoolbox/mobile/EKF.py new file mode 100644 index 000000000..7d50d181d --- /dev/null +++ b/roboticstoolbox/mobile/EKF.py @@ -0,0 +1,918 @@ +""" +Python EKF Planner +@Author: Kristian Gibson +TODO: Comments + Sphynx Docs Structured Text +TODO: Bug-fix, testing, change remaining matlab placeholders +TODO: Replace vargin with parameters + +Not ready for use yet. +""" +from collections import namedtuple +import numpy as np +from math import pi +from scipy import integrate, randn +from scipy.linalg import sqrtm, block_diag +from scipy.stats.distributions import chi2 +import matplotlib.pyplot as plt + +from spatialmath.base.animate import Animate +from spatialmath import base +from roboticstoolbox.mobile import Vehicle +from roboticstoolbox.mobile.landmarkmap import LandmarkMap +from roboticstoolbox.mobile.sensors import Sensor + + +class EKF: + def __init__(self, robot=None, sensor=None, map=None, + P0=None, x_est=None, joseph=True, + landmarks=None, + verbose=False, history=True, dim=None): + + if robot is not None: + if not isinstance(robot, tuple) or len(robot) != 2 \ + or not isinstance(robot[0], Vehicle): + raise TypeError('robot must be tuple (vehicle, V_est)') + self._robot = robot[0] # reference to the robot vehicle + self._V_est = robot[1] # estimate of vehicle state covariance V + + if sensor is not None: + if not isinstance(sensor, tuple) or len(sensor) != 2 \ + or not isinstance(sensor[0], Sensor): + raise TypeError('sensor must be tuple (sensor, W_est)') + self.sensor = sensor[0] # reference to the sensor + self._W_est = sensor[1] # estimate of sensor covariance W + else: + self._sensor = None + self._W_est = None + + if map is not None and not isinstance(map, LandmarkMap): + raise TypeError('map must be LandmarkMap instance') + self._ekf_map = map # prior map for localization + + self._P0 = P0 # initial system covariance + + self._x_est = x_est # estimated state + self._landmarks = landmarks # ekf_map state + + self._est_vehicle = False + self._est_ekf_map = False + if self._V_est is not None: + # estimating vehicle pose by: + # - DR if sensor is None + # - localization if sensor is not None and map is not None + self._est_vehicle = True + + # perfect vehicle case + if map is None and sensor is not None: + # estimating ekf_map + self._est_ekf_map = True + self._joseph = joseph # flag: use Joseph form to compute p + + self._verbose = verbose + + self._keep_history = history # keep history + self._htuple = namedtuple("EKFlog", "t xest odo P innov S K") + + if dim is None: + # TODO get world size from landmark map, else + # TODO unpack this value from len 1,2,4 + pass + self._dim = dim # robot workspace dimensions for animation + + # self.robot.init() + + # # clear the history + # self._history = [] + + if self.V_est is None: + # perfect vehicle case + + self._est_vehicle = False + self._x_est = None + self._P_est = None + else: + # noisy odometry case + if self.V_est.shape != (2, 2): + raise ValueError('vehicle state covariance V_est must be 2x2') + self._x_est = self.robot.x + self._P_est = P0 + self._est_vehicle = True + + if self.W_est is not None: + if self.W_est.shape != (2, 2): + raise ValueError('sensor covariance W_est must be 2x2') + + # if np.any(self._sensor): + # self._landmarks = None*np.zeros(2, self._sensor.ekf_map.nlandmarks) + + # # check types for passed objects + # if np.any(self._map) and not isinstance(self._map, 'LandmarkMap'): + # raise ValueError('expecting LandmarkMap object') + + # if np.any(sensor) and not isinstance(sensor, 'Sensor'): + # raise ValueError('expecting Sensor object') + + self.init() + + def __str__(self): + s = f"EKF object: {len(self._x_est)} states" + + def indent(s, n=2): + spaces = ' ' * n + return s.replace('\n', '\n' + spaces) + + estimating = [] + if self._est_vehicle is not None: + estimating.append('vehicle pose') + if self._est_ekf_map is not None: + estimating.append('map') + if len(estimating) > 0: + s += ', estimating: ' + ", ".join(estimating) + if self.robot is not None: + s += indent("\nrobot: " + str(self.robot)) + if self.V_est is not None: + s += indent('\nV_est: ' + np.array2string(self.V_est.ravel(), precision=3)) + + if self.sensor is not None: + s += indent("\nsensor: " + str(self.sensor)) + if self.W_est is not None: + s += indent('\nW_est: ' + np.array2string(self.W_est.ravel(), precision=3)) + + return s + + @property + def x_est(self): + return self._x_est + + @property + def P_est(self): + return self._P_est + + @property + def P0(self): + return self._P0 + + @property + def landmarks(self): + return self._landmarks + + @property + def V_est(self): + return self._V_est + + @property + def W_est(self): + return self._W_est + + @property + def robot(self): + return self._robot + + @property + def sensor(self): + return self._sensor + + @property + def est_vehicle(self): + return self._est_vehicle + + @property + def est_ekf_map(self): + return self._est_ekf_map + + @property + def joseph(self): + return self._joseph + + @property + def verbose(self): + return self._verbose + + @property + def p0(self): + return self._p0 + + @property + def ekf_map(self): + return self._ekf_map + + @property + def history(self): + return self._history + + @property + def workspace(self): + """ + Size of robot workspace + + :return: workspace bounds [xmin, xmax, ymin, ymax] + :rtype: ndarray(4) + + Returns the bounds of the workspace as specified by constructor + option ``workspace`` + """ + return self._workspace + + + def init(self): + #EKF.init Reset the filter + # + # E.init() resets the filter state and clears landmarks and history. + self.robot.init() + if self.sensor is not None: + self.sensor.init() + + #clear the history + self._history = [] + + if self._V_est is None: + # perfect vehicle case + self._estVehicle = False + self._x_est = np.empty((0,)) + self._P_est = np.empty((0, 0)) + else: + # noisy odometry case + self._x_est = self.robot.x + self._P_est = self.P0 + self._estVehicle = True + + if self.sensor is not None: + self._landmarks = np.zeros((2, len(self.sensor.map)), dtype=int) + + def run(self, T, plot=True, movie=np.array([])): + self.init() + if plot: + if self.sensor is not None: + self.sensor.map.plot() + elif self._dim is not None: + if not Iterable(self._dim): + d = self._dim + plt.axis([-d, d, -d, d]) + elif len(self._dim) == 2: + w = self._dim[1] + h = self._dim(2) + plt.axis([-w, w, -h, h]) + elif len(self._dim) == 4: + plt.axis(self._dim) + else: + plot = False + + plt.xlabel('X') + plt.ylabel('Y') + + # anim = Animate(movie) + for k in range(round(T / self.robot.dt)): + if plot: + self.robot.plot() + self.step() + # anim.add() + + # anim.close() + + + # TODO: Make the following methods private. + def step(self, z_pred=None): + + odo = self.robot.step() + + # ================================================================= + # P R E D I C T I O N + # ================================================================= + if self._est_vehicle: + # split the state vector and covariance into chunks for + # vehicle and map + xv_est = self._x_est[:3] + xm_est = self._x_est[3:] + Pvv_est = self._P_est[:3, :3] + Pmm_est = self._P_est[3:, 3:] + Pvm_est = self._P_est[:3, 3:] + else: + xm_est = self._x_est + Pmm_est = self._P_est + + if self._est_vehicle: + # evaluate the state update function and the Jacobians + # if vehicle has uncertainty, predict its covariance + xv_pred = self.robot.f(xv_est, odo) + + Fx = self.robot.Fx(xv_est, odo) + Fv = self.robot.Fv(xv_est, odo) + Pvv_pred = Fx @ Pvv_est @ Fx.T + Fv @ self.V_est @ Fv.T + else: + # otherwise we just take the true robot state + xv_pred = self._robot.x + + if self._est_ekf_map: + if self._est_vehicle: + # SLAM case, compute the correlations + Pvm_pred = Fx @ Pvm_est + + Pmm_pred = Pmm_est + xm_pred = xm_est + + # put the chunks back together again + if self._est_vehicle and not self._est_ekf_map: + # vehicle only + x_pred = xv_pred + P_pred = Pvv_pred + elif not self._est_vehicle and self._est_ekf_map: + # map only + x_pred = xm_pred + P_pred = Pmm_pred + elif self._est_vehicle and self._est_ekf_map: + # vehicle and map + x_pred = np.r_[xv_pred, xm_pred] + # fmt: off + P_pred = np.block([ + [Pvv_pred, Pvm_pred], + [Pvm_pred.T, Pmm_pred] + ]) + # fmt: on + + # at this point we have: + # xv_pred the state of the vehicle to use to + # predict observations + # xm_pred the state of the map + # x_pred the full predicted state vector + # P_pred the full predicted covariance matrix + + # initialize the variables that might be computed during + # the update phase + + doUpdatePhase = False + + # disp('x_pred:') x_pred' + + # ================================================================= + # P R O C E S S O B S E R V A T I O N S + # ================================================================= + + sensorReading = False + if self.sensor is not None: + # read the sensor + z, lm_id = self.sensor.reading() + + # test if the sensor has returned a reading at this time interval + sensorReading = z is not None + + if sensorReading: + # here for MBL, MM, SLAM + + # compute the innovation + z_pred = self.sensor.h(xv_pred, lm_id) + innov = np.array([ + z[0] - z_pred[0], + base.angdiff(z[1], z_pred[1]) + ]) + + if self._est_ekf_map: + # the ekf_map is estimated MM or SLAM case + if self.isseenbefore(lm_id): + + # get previous estimate of its state + jx = self._landmarks[0, lm_id] + xf = xm_pred[jx: jx+2] + + # compute Jacobian for this particular landmark + Hx_k = self.sensor.Hp(xv_pred, xf) + # create the Jacobian for all landmarks + Hx = np.zeros((2, len(xm_pred))) + Hx[:, jx:jx+2] = Hx_k + + Hw = self.sensor.Hw(xv_pred, xf) + + if self._est_vehicle: + # concatenate Hx for for vehicle and ekf_map + Hxv = self.sensor.Hx(xv_pred, xf) + Hx = np.block([Hxv, Hx]) + + doUpdatePhase = True + else: + # get the extended state + x_pred, P_pred = self.extend_map(P_pred, xv_pred, xm_pred, z, lm_id) + doUpdatePhase = False + + else: + Hx = self.sensor.Hx(xv_pred, lm_id) + Hw = self.sensor.Hw(xv_pred, lm_id) + doUpdatePhase = True + else: + innov = None + + # doUpdatePhase flag indicates whether or not to do + # the update phase of the filter + # + # DR always false + # map-based localization if sensor reading + # map creation if sensor reading & not first + # sighting + # SLAM if sighting of a previously + # seen landmark + + if doUpdatePhase: + # disp('do update\n') + # # we have innovation, update state and covariance + # compute x_est and P_est + + # compute innovation covariance + S = Hx @ P_pred @ Hx.T + Hw @ self._W_est @ Hw.T + + # compute the Kalman gain + K = P_pred @ Hx.T @ np.linalg.inv(S) + + # update the state vector + x_est = x_pred + K @ innov.T + + if self._est_vehicle: + # wrap heading state for a vehicle + x_est[2] = base.angdiff(x_est[2]) + + # update the covariance + if self._joseph: + # we use the Joseph form + I = np.eye(P_pred.shape[0]) + P_est = (I - K @ Hx) @ P_pred @ (I - K @ Hx).T \ + + K @ self._W_est @ K.T + else: + P_est = P_pred - K @ S @ K.T + # enforce P to be symmetric + P_est = 0.5 * (P_est + P_est.T) + else: + # no update phase, estimate is same as prediction + x_est = x_pred + P_est = P_pred + S = None + K = None + + self._x_est = x_est + self._P_est = P_est + + if self._keep_history: + hist = self._htuple( + self.robot._t, + x_est.copy(), + odo.copy(), + P_est.copy(), + innov.copy() if innov is not None else None, + S.copy() if S is not None else None, + K.copy() if K is not None else None + ) + self._history.append(hist) + + def isseenbefore(self, lm_id): + + # _landmarks[0, id] is the index in state vector + # _landmarks[1, id] is the occurence count + + if self._landmarks[1, lm_id] > 0: + if self._verbose: + print(f"landmark {lm_id} seen {self._landmarks[1, lm_id]} times before, state_idx={self._landmarks[0,lm_id]}") + self._landmarks[1, lm_id] += 1 # update the count + s = True + else: + s = False + return s + + def extend_map(self, P, xv, xm, z, lm_id): + # this is a new landmark, we haven't seen it before + # estimate position of landmark in the world based on + # noisy sensor reading and current vehicle pose + + M = None + if self._verbose: + print(f'landmark {lm_id} first sighted') + + # estimate its position based on observation and vehicle state + xf = self.sensor.g(xv, z) + + # append this estimate to the state vector + if self._est_vehicle: + x_ext = np.r_[xv, xm, xf] + else: + x_ext = np.r_[xm, xf] + + # get the Jacobian for the new landmark + Gz = self.sensor.Gz(xv, z) + + # extend the covariance matrix + if self._est_vehicle: + Gx = self.sensor.Gx(xv, z) + n = len(self._x_est) + # fmt: off + M = np.block([ + [np.eye(n), np.zeros((n, 2)) ], + [Gx, np.zeros((2, n-3)), Gz] + ]) + # fmt: on + P_ext = M @ block_diag(P, self._W_est) @ M.T + else: + P_ext = block_diag(P, Gz @ self._W_est @ Gz.T) + + # record the position in the state vector where this + # landmark's state starts + self._landmarks[0, lm_id] = len(xm) # position in map state vector + self._landmarks[1, lm_id] = 1 # seen once + + if self._verbose: + print('extend state vector') + return x_ext, P_ext + + def get_xy(self): + """[summary] + + :return: [description] + :rtype: [type] + + %EKF.plot_xy Get vehicle position + % + % P = E.get_xy() is the estimated vehicle pose trajectory + % as a matrix (Nx3) where each row is x, y, theta. + % + % See also EKF.plot_xy, EKF.plot_error, EKF.plot_ellipse, EKF.plot_P. + """ + if self._est_vehicle: + xyt = np.array([h.xest[:2] for h in self._history]) + else: + xyt = None + return xyt + + def plot_xy(self, block=False, **kwargs): + """ %EKF.plot_xy Plot vehicle position + % + % E.plot_xy() overlay the current plot with the estimated vehicle path in + % the xy-plane. + % + % E.plot_xy(LS) as above but the optional line style arguments + % LS are passed to plot. + % + % See also EKF.get_xy, EKF.plot_error, EKF.plot_ellipse, EKF.plot_P. + + + :param block: [description], defaults to False + :type block: bool, optional + """ + xyt = self.get_xy() + plt.plot(xyt[:, 0], xyt[:, 1], **kwargs) + # plt.show(block=block) + + def plot_ellipse(self, confidence=0.95, N=10, **kwargs): + """ + %EKF.plot_ellipse Plot vehicle covariance as an ellipse + % + % E.plot_ellipse() overlay the current plot with the estimated + % vehicle position covariance ellipses for 20 points along the + % path. + % + % E.plot_ellipse(LS) as above but pass line style arguments + % LS to plot_ellipse. + % + % Options:: + % 'interval',I Plot an ellipse every I steps (default 20) + % 'confidence',C Confidence interval (default 0.95) + % + % See also plot_ellipse. + """ + nhist = len(self._history) + + for k in np.linspace(0, nhist-1, N): + k = round(k) + h = self._history[k] + base.plot_ellipse(h.P[:2, :2], centre=h.xest[:2], confidence=confidence, inverted=True, **kwargs) + + def plot_error(self, bgcolor='r', confidence=0.95, **kwargs): + """ + %EKF.plot_error Plot vehicle position + % + % E.plot_error(OPTIONS) plot the error between actual and estimated vehicle + % path (x, y, theta) versus time. Heading error is wrapped into the range [-pi,pi) + % + % Options:: + % 'bound',S Display the confidence bounds (default 0.95). + % 'color',C Display the bounds using color C + % LS Use MATLAB linestyle LS for the plots + % + % Notes:: + % - The bounds show the instantaneous standard deviation associated + % with the state. Observations tend to decrease the uncertainty + % while periods of dead-reckoning increase it. + % - Set bound to zero to not draw confidence bounds. + % - Ideally the error should lie "mostly" within the +/-3sigma + % bounds. + % + % See also EKF.plot_xy, EKF.plot_ellipse, EKF.plot_P. + """ + + error = [] + bounds = [] + ppf = chi2.ppf(confidence, df=2) + + x_gt = self.robot.x_hist + for k in range(len(self.history)): + hk = self.history[k] + # error is true - estimated + e = x_gt[k, :] - hk.xest + e[2] = base.angdiff(e[2]) + error.append(e) + + P = np.diag(hk.P) + bounds.append(np.sqrt(ppf * P[:3])) + + error = np.array(error) + bounds = np.array(bounds) + t = self.get_t() + + fig, axes = plt.subplots(3) + labels = ["x", "y", r"$\theta$"] + + for k, ax in enumerate(axes): + if confidence is not None: + edge = np.array([ + np.r_[t, t[::-1]], + np.r_[bounds[:, k], -bounds[::-1, k]], + ]) + polygon = plt.Polygon(edge.T, closed=True, facecolor='r', edgecolor='none', alpha=0.3) + ax.add_patch(polygon) + ax.plot(error[:, k], **kwargs); + ax.grid(True) + ax.set_ylabel(labels[k] + " error") + ax.set_xlim(0, t[-1]) + + # subplot(opt.nplots*100+12) + # if opt.confidence + # edge = [pxy(:,2); -pxy(end:-1:1,2)]; + # h = patch(t, edge, opt.color); + # set(h, 'EdgeColor', 'none', 'FaceAlpha', 0.3); + # end + # hold on + # plot(err(:,2), args{:}); + # hold off + # grid + # ylabel('y error') + + # subplot(opt.nplots*100+13) + # if opt.confidence + # edge = [pxy(:,3); -pxy(end:-1:1,3)]; + # h = patch(t, edge, opt.color); + # set(h, 'EdgeColor', 'none', 'FaceAlpha', 0.3); + # end + # hold on + # plot(err(:,3), args{:}); + # hold off + # grid + # xlabel('Time step') + # ylabel('\theta error') + + def get_ekf_map(self): + xy = [] + for ix, n in self._landmarks.T: + if n == 0: + # this landmark never observed + xy.append((np.nan, np.nan)) + continue + else: + # n is an index into the *landmark* part of the state + # vector, we need to offset it to account for the vehicle + # state if we are estimating vehicle as well + if self._est_vehicle: + n += 3 + xf = self._x_est[ix: ix+2] + xy.append(xf) + return np.array(xy) + + def plot_map(self, confidence = 0.95, **kwargs): + """ %EKF.plot_map Plot landmarks + % + % E.plot_map(OPTIONS) overlay the current plot with the estimated landmark + % position (a +-marker) and a covariance ellipses. + % + % E.plot_map(LS, OPTIONS) as above but pass line style arguments + % LS to plot_ellipse. + % + % Options:: + % 'confidence',C Draw ellipse for confidence value C (default 0.95) + % + % See also EKF.get_map, EKF.plot_ellipse. + + % TODO: some option to plot map evolution, layered ellipses + """ + + xf = self.get_ekf_map() + + for i in range(xf.shape[0]): + Pi = self.P_est[i: i+2, i: i+2] + # % TODO reinstate the interval landmark + base.plot_ellipse(Pi, centre=xf[i, :], confidence=confidence, inverted=True, **kwargs) + # plot_ellipse( P * chi2inv_rtb(opt.confidence, 2), xf, args{:}); + plt.plot(xf[:, 0], xf[:, 1], 'ro', markerfacecolor='none') + + def get_P(self, k=None): + if k is not None: + return np.sqrt(np.linalg.det(self._history[k].P)) + else: + p = [np.sqrt(np.linalg.det(h.P)) for h in self._history] + return np.array(p) + + def get_t(self): + return np.array([h.t for h in self._history]) + + def show_P(self, P): + + z = np.log10(abs(P)) + mn = min(z[~np.isinf(z)]) + z[np.isinf(z)] = mn + + plt.imshow(z, cmap='Reds') + plt.colorbar(label='log covariance') + plt.xlabel('State') + plt.ylabel('State') + + + +if __name__ == "__main__": + + from roboticstoolbox import Bicycle + + ### RVC2: Chapter 6 + + + ## 6.1 Dead reckoning + + ## 6.1.1 Modeling the vehicle + V = np.diag(np.r_[0.02, 0.5*pi/180] ** 2); + + veh = Bicycle(covar=V) + + odo = veh.step(1, 0.3) + + print(veh.x) + + veh.f([0, 0, 0], odo) + + # veh.add_driver( RandomPath(10) ) + + # veh.run() + + ### 6.1.2 Estimating pose + # veh.Fx( [0,0,0], [0.5, 0.1] ) + + P0 = np.diag(np.r_[0.005, 0.005, 0.001]**2); + + ekf = EKF(veh, V, P0); + + ekf.run(1000); + + veh.plot_xy() + + ekf.plot_xy('r') + + P700 = ekf.history(700).P + + sqrt(P700(1,1)) + + ekf.plot_ellipse('g') + + # %% 6.2 Map-based localization + # randinit + # map = LandmarkMap(20, 10) + + # map.plot() + + # W = diag([0.1, 1*pi/180].^2); + + # sensor = RangeBearingSensor(veh, map, 'covar', W) + + + # [z,i] = sensor.reading() + + # map.landmark(17) + + # randinit + # map = LandmarkMap(20); + # veh = Bicycle('covar', V); + # veh.add_driver( RandomPath(map.dim) ); + # sensor = RangeBearingSensor(veh, map, 'covar', W, 'angle', ... + # [-pi/2 pi/2], 'range', 4, 'animate'); + # ekf = EKF(veh, V, P0, sensor, W, map); + + # ekf.run(1000); + # map.plot() + # veh.plot_xy(); + # ekf.plot_xy('r'); + # ekf.plot_ellipse('k') + + # %% 6.3 Creating a map + # randinit + # map = LandmarkMap(20); + # veh = Bicycle(); % error free vehicle + # veh.add_driver( RandomPath(map.dim) ); + # W = diag([0.1, 1*pi/180].^2); + # sensor = RangeBearingSensor(veh, map, 'covar', W); + # ekf = EKF(veh, [], [], sensor, W, []); + + # ekf.run(1000); + + # map.plot(); + # ekf.plot_map('g'); + # veh.plot_xy('b'); + + + # ekf.landmarks(:,6) + + # ekf.x_est(19:20)' + + # ekf.P_est(19:20,19:20) + + # %% 6.4 EKF SLAM + # randinit + # P0 = diag([.01, .01, 0.005].^2); + # map = LandmarkMap(20); + # veh = Bicycle('covar', V); + # veh.add_driver( RandomPath(map.dim) ); + # sensor = RangeBearingSensor(veh, map, 'covar', W); + # ekf = EKF(veh, V, P0, sensor, W, []); + + # ekf.run(1000); + + # map.plot(); + # ekf.plot_map('g'); + # ekf.plot_xy('r'); + # veh.plot_xy('b'); + + # %% 6.6 Pose-graph SLAM + # syms x_i y_i theta_i x_j y_j theta_j x_m y_m theta_m assume real + # xi_e = inv( SE2(x_m, y_m, theta_m) ) * inv( SE2(x_i, y_i, theta_i) ) * SE2(x_j, y_j, theta_j); + # fk = simplify(xi_e.xyt); + + # jacobian ( fk, [x_i y_i theta_i] ); + # Ai = simplify (ans) + + # pg = PoseGraph('pg1.g2o') + + # clf + # pg.plot() + + # pg.optimize('animate') + + # pg = PoseGraph('killian-small.toro'); + + # pg.plot() + + # pg.optimize() + + # %% 6.7 Particle filter + # randinit + # map = LandmarkMap(20); + # W = diag([0.1, 1*pi/180].^2); + # veh = Bicycle('covar', V); + # veh.add_driver( RandomPath(10) ); + + # V = diag([0.005, 0.5*pi/180].^2); + # sensor = RangeBearingSensor(veh, map, 'covar', W); + + # Q = diag([0.1, 0.1, 1*pi/180]).^2; + + # L = diag([0.1 0.1]); + + # pf = ParticleFilter(veh, sensor, Q, L, 1000); + + # pf.run(1000); + + # map.plot(); + # veh.plot_xy('b'); + + # clf + # pf.plot_xy('r'); + + # clf + # plot(pf.std(1:100,:)) + + # clf + # pf.plot_pdf() + + + # %% 6.8 Application: Scanning laser rangefinder + + # %% Laser odometry + # pg = PoseGraph('killian.g2o', 'laser'); + + # [r, theta] = pg.scan(2580); + # about r theta + + # clf + # polar(theta, r) + + # [x,y] = pol2cart (theta, r); + # plot (x, y, '.') + + # p2580 = pg.scanxy(2580); + # p2581 = pg.scanxy(2581); + # about p2580 + + # T = icp( p2581, p2580, 'verbose' , 'T0', transl2(0.5, 0), 'distthresh', 3) + + # pg.time(2581)-pg.time(2580) + + + # %% Laser-based map building + # map = pg.scanmap(); + # pg.plot_occgrid(map) \ No newline at end of file diff --git a/roboticstoolbox/mobile/ParticleFilter.py b/roboticstoolbox/mobile/ParticleFilter.py new file mode 100644 index 000000000..685b7c812 --- /dev/null +++ b/roboticstoolbox/mobile/ParticleFilter.py @@ -0,0 +1,492 @@ +#!/usr/bin/env python3 + +from collections import namedtuple + +import numpy as np +import scipy as sp +import matplotlib.pyplot as plt +from spatialmath import base + + +""" +#ParticleFilter Particle filter class + +Monte-carlo based localisation for estimating vehicle pose based on +odometry and observations of known landmarks. + +Methods:: +run run the particle filter +plot_xy display estimated vehicle path +plot_pdf display particle distribution + +Properties:: + robot reference to the robot object + sensor reference to the sensor object + history vector of structs that hold the detailed information from + each time step + nparticles number of particles used + x particle states nparticles x 3 + weight particle weights nparticles x 1 + x_est mean of the particle population + std standard deviation of the particle population + Q covariance of noise added to state at each step + L covariance of likelihood model + w0 offset in likelihood model + dim maximum xy dimension + +Example:: + +Create a landmark map + map = PointMap[19] +and a vehicle with odometry covariance and a driver + W = diag([0.1, 1*pi/180].^2) + veh = Vehicle(W) + veh.add_driver( RandomPath[9] ) +and create a range bearing sensor + R = diag([0.005, 0.5*pi/180].^2) + sensor = RangeBearingSensor(veh, map, R) + +For the particle filter we need to define two covariance matrices. The +first is is the covariance of the random noise added to the particle +states at each iteration to represent uncertainty in configuration. + Q = diag([0.1, 0.1, 1*pi/180]).^2 +and the covariance of the likelihood function applied to innovation + L = diag([0.1 0.1]) +Now construct the particle filter + self = ParticleFilter(veh, sensor, Q, L, 1000) +which is configured with 1000 particles. The particles are initially +uniformly distributed over the 3-dimensional configuration space. + +We run the simulation for 1000 time steps + self.run[999] +then plot the map and the true vehicle path + map.plot() + veh.plot_xy('b') +and overlay the mean of the particle cloud + self.plot_xy('r') +We can plot the standard deviation against time + plot(self.std(1:100,:)) +The particles are a sampled approximation to the PDF and we can display +this as + self.plot_pdf() + +Acknowledgement:: + +Based on code by Paul Newman, Oxford University, +http://www.robots.ox.ac.uk/~pnewman + +Reference:: + + Robotics, Vision & Control, + Peter Corke, + Springer 2011 + +See also Vehicle, RandomPath, RangeBearingSensor, PointMap, EKF. +""" + + +#note this is not coded efficiently but rather to make the ideas clear +#all loops should be vectorized but that gets a little matlab-speak intensive +#and may obliterate the elegance of a particle filter.... + +#TODO +# x_est should be a weighted mean +# std should be a weighted std (x-mean)' W (x-mean) ??? +# properties +# robot +# sensor +# nparticles +# x # particle states nparticles x 3 +# weight # particle weights nparticles x 1 +# x_est # mean of the particle population +# std # standard deviation of the particle population +# Q # covariance of noise added to state at each step +# L # covariance of likelihood model +# history +# keephistory +# dim # maximum xy dimension + +# h # graphics handle for particles +# randstream +# seed0 +# w0 +# x0 # initial particle distribution +# anim +# end # properties + +class ParticleFilter: + + def __init__(self, robot, sensor, Q, L, nparticles=500, seed=0, x0=None, + verbose=False, history=True, dim=None): + #ParticleFilter.ParticleFilter Particle filter constructor + # + # PF = ParticleFilter(VEHICLE, SENSOR, Q, L, NP, OPTIONS) is a particle + # filter that estimates the state of the VEHICLE with a landmark sensor + # SENSOR. Q is the covariance of the noise added to the particles + # at each step (diffusion), L is the covariance used in the + # sensor likelihood model, and NP is the number of particles. + # + # Options:: + # 'verbose' Be verbose. + # 'private' Use private random number stream. + # 'reset' Reset random number stream. + # 'seed',S Set the initial state of the random number stream. S must + # be a proper random number generator state such as saved in + # the seed0 property of an earlier run. + # 'nohistory' Don't save history. + # 'x0' Initial particle states (Nx3) + # + # Notes:: + # - ParticleFilter subclasses Handle, so it is a reference object. + # - If initial particle states not given they are set to a uniform + # distribution over the map, essentially the kidnapped robot problem + # which is quite unrealistic. + # - Initial particle weights are always set to unity. + # - The 'private' option creates a private random number stream for the + # methods rand, randn and randi. If not given the global stream is used. + # + # + # See also Vehicle, Sensor, RangeBearingSensor, PointMap. + + self.robot = robot + self.sensor = sensor + self.Q = Q + self.L = L + self.nparticles = nparticles + + # self.dim = sensor.map.dim + self.history = [] + self.x = () + self.weight = () + self.w0 = 0.05 + self._x0 = x0 + + # create a private random number stream if required + self._random = np.random.default_rng(seed) + self._seed = seed + + self._keep_history = history # keep history + self._htuple = namedtuple("PFlog", "t odo xest std weights") + self.dim = 10 # TODO + + self._workspace = self.robot.workspace + self.init() + + def __str__(self): + #ParticleFilter.char Convert to string + # + # PF.char() is a string representing the state of the ParticleFilter + # object in human-readable form. + # + # See also ParticleFilter.display. + + def indent(s, n=2): + spaces = ' ' * n + return s.replace('\n', '\n' + spaces) + + s = f"ParticleFilter object: {self.nparticles} particles" + s += '\nQ: ' + base.array2str(self.Q) + s += '\nL: ' + base.array2str(self.L) + if self.robot is not None: + s += indent("\nrobot: " + str(self.robot)) + + if self.sensor is not None: + s += indent("\nsensor: " + str(self.sensor)) + return s + + @property + def workspace(self): + """ + Size of robot workspace + + :return: workspace bounds [xmin, xmax, ymin, ymax] + :rtype: ndarray(4) + + Returns the bounds of the workspace as specified by constructor + option ``workspace`` + """ + return self._workspace + + @property + def random(self): + """ + Get private random number generator + + :return: NumPy random number generator + :rtype: Generator + + Has methods including: + - ``integers(low, high, size, endpoint)`` + - ``random(size)`` + - ``uniform`` + - ``normal(mean, std, size)`` + - ``multivariate_normal(mean, covar, size)`` + + The generator is initialized with the seed provided at constructor + time every time ``init`` is called. + + :seealso: :meth:`init` + """ + return self._random + + def init(self, x0=None): + #ParticleFilter.init Initialize the particle filter + # + # PF.init() initializes the particle distribution and clears the + # history. + # + # Notes:: + # - If initial particle states were given to the constructor the states are + # set to this value, else a random distribution over the map is used. + # - Invoked by the run() method. + + self.robot.init() + self.sensor.init() + + #clear the history + self._history = [] + + # create a new private random number generator + if self._seed is not None: + self._random = np.random.default_rng(self._seed) + + self._t = 0 + + # initialize particles + if x0 is None: + x0 = self._x0 + if x0 is None: + # create initial particle distribution as uniformly randomly distributed + # over the map workspace and heading angles + x = self.random.uniform(self.workspace[0], self.workspace[1], size=(self.nparticles,)) + y = self.random.uniform(self.workspace[2], self.workspace[3], size=(self.nparticles,)) + t = self.random.uniform(-np.pi, np.pi, size=(self.nparticles,)) + self.x = np.c_[x, y, t] + + self.weight = np.ones((self.nparticles,)) + + + def run(self, T=10, x0=None): + #ParticleFilter.run Run the particle filter + # + # PF.run(N, OPTIONS) runs the filter for N time steps. + # + # Options:: + # 'noplot' Do not show animation. + # 'movie',M Create an animation movie file M + # + # Notes:: + # - All previously estimated states and estimation history is + # cleared. + + self.init(x0=x0) + + # anim = Animate(opt.movie) + + # display the initial particles + if self.robot._animation is not None: + self.h, = plt.plot(self.x[:, 0], self.x[:, 1], 'go', zorder=0, markersize=3, markeredgecolor='none', alpha=0.3) + # set(self.h, 'Tag', 'particles') + + # self.robot.plot() + + # iterate over time + for i in range(round(T / self.robot.dt)): + self.step() + # anim.add() + # anim.close() + + def step(self): + + #fprintf('---- step\n') + odo = self.robot.step() # move the robot + + # update the particles based on odometry + self._predict(odo) + + # get a sensor reading + z, lm_id = self.sensor.reading() + + if z is not None: + self._observe(z, lm_id) + #fprintf(' observe beacon #d\n', lm_id) + + self._select() + + # our estimate is simply the mean of the particles + x_est = self.x.mean(axis=0) + std_est = self.x.std(axis=0) + + # std is more complex for angles, need to account for 2pi wrap + std_est[2] = np.sqrt(np.sum(base.angdiff(self.x[:,2], x_est[2]) ** 2)) / (self.nparticles-1) + + # display the updated particles + # set(self.h, 'Xdata', self.x(:,1), 'Ydata', self.x(:,2), 'Zdata', self.x(:,3)) + + if self.robot._animation is not None: + self.h.set_xdata(self.x[:, 0]) + self.h.set_ydata(self.x[:, 1]) + + # if ~isempty(self.anim) + # self.anim.add() + + # if self.keephistory: + # hist = () + # hist.x_est = self.x + # hist.w = self.weight + # self.history = [self.history hist] + + if self._keep_history: + hist = self._htuple( + self.robot._t, + odo.copy(), + x_est, + std_est, + self.weight.copy() + ) + self._history.append(hist) + + # def plot_pdf(self): + # #ParticleFilter.plot_pdf Plot particles as a PDF + # # + # # PF.plot_pdf() plots a sparse PDF as a series of vertical line + # # segments of height equal to particle weight. + # clf + # hold on + # for p = 1:self.nparticles + # x = self.x(p,:) + # plot3([x[0] x[0]], [x[1] x[1]], [0 self.weight(p)], 'r') + # plot3([x[0] x[0]], [x[1] x[1]], [0 self.weight(p)], 'k.', 'MarkerSize', 12) + + # end + # grid on + # xyzlabel + # zlabel('particle weight') + # view[29,59] + # rotate3d on + + + # def plot_xy(self, varargin): + # #ParticleFilter.plot_xy Plot vehicle position + # # + # # PF.plot_xy() plots the estimated vehicle path in the xy-plane. + # # + # # PF.plot_xy(LS) as above but the optional line style arguments + # # LS are passed to plot. + # plot(self.x_est(:,1), self.x_est(:,2), varargin{:}) + + + # step 2 + # update the particle state based on odometry and a random perturbation + def _predict(self, odo): + + # Straightforward code: + # + # for i=1:self.nparticles + # x = self.robot.f( self.x(i,:), odo)' + sqrt(self.Q)*self.randn[2,0] + # x[2] = angdiff(x[2]) + # self.x(i,:) = x + # + # Vectorized code: + + self.x = self.robot.f(self.x, odo) + \ + self.random.multivariate_normal((0, 0, 0), self.Q, size=self.nparticles) + self.x[:, 2] = base.angdiff(self.x[:, 2]) + + # step 3 + # predict observation and score the particles + def _observe(self, z, lm_id): + + # Straightforward code: + # + # for p = 1:self.nparticles + # # what do we expect observation to be for this particle? + # # use the sensor model h(.) + # z_pred = self.sensor.h( self.x(p,:), lm_id) + # + # # how different is it + # innov[0] = z[0] - z_pred[0] + # innov[1] = angdiff(z[1], z_pred[1]) + # + # # get likelihood (new importance). Assume Gaussian but any PDF works! + # # If predicted obs is very different from actual obs this score will be low + # # ie. this particle is not very good at predicting the observation. + # # A lower score means it is less likely to be selected for the next generation... + # # The weight is never zero. + # self.weight(p) = exp(-0.5*innov'*inv(self.L)*innov) + 0.05 + # end + # + # Vectorized code: + + invL = np.linalg.inv(self.L) + z_pred = self.sensor.h(self.x, lm_id) + z_pred[:, 0] = z[0] - z_pred[:, 0] + z_pred[:, 1] = base.angdiff(z[1], z_pred[:, 1]) + + LL = -0.5 * np.r_[invL[0,0], invL[1,1], 2*invL[0,1]] + e = np.c_[z_pred[:, 0]**2, z_pred[:, 1]**2, z_pred[:,0] * z_pred[:, 1]] @ LL + self.weight = np.exp(e) + self.w0 + + + # step 4 + # select particles based on their weights + def _select(self): + + # particles with large weights will occupy a greater percentage of the + # y axis in a cummulative plot + cdf = np.cumsum(self.weight) / self.weight.sum() + + # so randomly (uniform) choosing y values is more likely to correspond to + # better particles... + iselect = self.random.uniform(0, 1, size=(self.nparticles,)) + + # find the particle that corresponds to each y value (just a look up) + interpfun = sp.interpolate.interp1d(cdf, np.arange(self.nparticles), + assume_sorted=True, kind='nearest', fill_value='extrapolate') + inextgen = interpfun(iselect).astype(np.int) + + # copy selected particles for next generation.. + self.x = self.x[inextgen, :] + + + + def get_t(self): + return np.array([h.t for h in self._history]) + + def get_xy(self): + """[summary] + + :return: [description] + :rtype: [type] + + %EKF.plot_xy Get vehicle position + % + % P = E.get_xy() is the estimated vehicle pose trajectory + % as a matrix (Nx3) where each row is x, y, theta. + % + % See also EKF.plot_xy, EKF.plot_error, EKF.plot_ellipse, EKF.plot_P. + """ + return np.array([h.xest[:2] for h in self._history]) + + def get_std(self): + + return np.array([h.std for h in self._history]) + + def plot_xy(self, block=False, **kwargs): + """ %EKF.plot_xy Plot vehicle position + % + % E.plot_xy() overlay the current plot with the estimated vehicle path in + % the xy-plane. + % + % E.plot_xy(LS) as above but the optional line style arguments + % LS are passed to plot. + % + % See also EKF.get_xy, EKF.plot_error, EKF.plot_ellipse, EKF.plot_P. + + + :param block: [description], defaults to False + :type block: bool, optional + """ + xyt = self.get_xy() + plt.plot(xyt[:, 0], xyt[:, 1], **kwargs) + # plt.show(block=block) \ No newline at end of file From 28eb0fe62fdb9d33483ce3ec466667126a72909d Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 26 Jul 2021 20:07:37 +1000 Subject: [PATCH 051/116] bug --- roboticstoolbox/mobile/EKF.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/roboticstoolbox/mobile/EKF.py b/roboticstoolbox/mobile/EKF.py index 7d50d181d..5184cc822 100644 --- a/roboticstoolbox/mobile/EKF.py +++ b/roboticstoolbox/mobile/EKF.py @@ -39,7 +39,7 @@ def __init__(self, robot=None, sensor=None, map=None, if not isinstance(sensor, tuple) or len(sensor) != 2 \ or not isinstance(sensor[0], Sensor): raise TypeError('sensor must be tuple (sensor, W_est)') - self.sensor = sensor[0] # reference to the sensor + self._sensor = sensor[0] # reference to the sensor self._W_est = sensor[1] # estimate of sensor covariance W else: self._sensor = None From 0971de11c44cc0d5a8006a58632fdc24e91ed1ed Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 26 Jul 2021 20:36:16 +1000 Subject: [PATCH 052/116] mobile tests --- tests/LocnTest.m | 244 ++++++++++++ tests/test_mobile.py | 924 ++++++++++++++++++++++--------------------- 2 files changed, 714 insertions(+), 454 deletions(-) create mode 100644 tests/LocnTest.m diff --git a/tests/LocnTest.m b/tests/LocnTest.m new file mode 100644 index 000000000..fc559030d --- /dev/null +++ b/tests/LocnTest.m @@ -0,0 +1,244 @@ +function tests = LocnTest + tests = functiontests(localfunctions); + clc +end + +function setupOnce(testCase) + testCase.TestData.Duration = 50; +end + +function Vehicle_test(tc) + %% + randinit + V = diag([0.005, 0.5*pi/180].^2); + + v = Bicycle('covar', V); + v.add_driver( RandomPath(10) ); + + v.run(tc.TestData.Duration); + v.plot_xy(); + s = v.char(); + + J = v.Fx(v.x, [.1 .2]); + J = v.Fv(v.x, [.1 .2]); +end + +function DeadReckoning_test(tc) + %% + randinit + V = diag([0.005, 0.5*pi/180].^2); + P0 = diag([0.005, 0.005, 0.001].^2); + + v = Bicycle('covar', V); + v.add_driver( RandomPath(10) ); + s = char(v); + + ekf = EKF(v, V, P0); + ekf.run(tc.TestData.Duration); + + clf + ekf.plot_xy + hold on + v.plot_xy('r') + grid on + xyzlabel + + ekf.plot_ellipse('g') + ekf.plot_P() +end + +function MapLocalization_test(tc) + %% + randinit + W = diag([0.1, 1*pi/180].^2); + P0 = diag([0.005, 0.005, 0.001].^2); + V = diag([0.005, 0.5*pi/180].^2); + + map = LandmarkMap(20); + map = LandmarkMap(20, 'verbose'); + map = LandmarkMap(20, 10, 'verbose'); + map = LandmarkMap(20, 10); + s = char(map); + + veh = Bicycle('covar', V); + veh.add_driver( RandomPath(10) ); + sensor = RangeBearingSensor(veh, map, 'covar', W); + sensor.interval = 5; + ekf = EKF(veh, W, P0, sensor, W, map); + + ekf.run(tc.TestData.Duration); + + clf + map.plot() + veh.plot_xy('b'); + ekf.plot_xy('r'); + ekf.plot_ellipse('k') + grid on + xyzlabel + + clf + ekf.plot_P() +end + +function Mapping_test(tc) + %% + randinit + W = diag([0.1, 1*pi/180].^2); + V = diag([0.005, 0.5*pi/180].^2); + + map = LandmarkMap(20, 10); + + veh = Bicycle('covar', V); + veh.add_driver( RandomPath(10) ); + + sensor = RangeBearingSensor(veh, map, 'covar', W); + sensor.interval = 5; + + ekf = EKF(veh, [], [], sensor, W, []); + ekf.run(tc.TestData.Duration); + + + clf + map.plot() + veh.plot_xy('b'); + ekf.plot_map('g'); + grid on + xyzlabel + + %% + verifyEqual(tc, numcols(ekf.landmarks), 20); + +end + +function SLAM_test(tc) + %% + randinit + W = diag([0.1, 1*pi/180].^2); + P0 = diag([0.005, 0.005, 0.001].^2); + V = diag([0.005, 0.5*pi/180].^2); + + map = LandmarkMap(20, 10); + + veh = Bicycle(V); + veh.add_driver( RandomPath(10) ); + + sensor = RangeBearingSensor(veh, map, 'covar', W); + sensor.interval = 1; + + ekf = EKF(veh, V, P0, sensor, W, []); + ekf + ekf.verbose = false; + ekf.run(tc.TestData.Duration); + + + clf + map.plot() + veh.plot_xy('b'); + ekf.plot_xy('r'); + ekf.plot_ellipse('k') + grid on + xyzlabel + + clf + ekf.plot_P() + + clf + map.plot(); + ekf.plot_map('g'); + + %% + verifyEqual(tc, numcols(ekf.landmarks), 20); + +end + +function ParticleFilter_test(tc) + %% + randinit + map = LandmarkMap(20); + + W = diag([0.1, 1*pi/180].^2); + v = Bicycle('covar', W); + v.add_driver( RandomPath(10) ); + V = diag([0.005, 0.5*pi/180].^2); + sensor = RangeBearingSensor(v, map, 'covar', V); + + Q = diag([0.1, 0.1, 1*pi/180]).^2; + L = diag([0.1 0.1]); + pf = ParticleFilter(v, sensor, Q, L, 1000); + pf + pf.run(tc.TestData.Duration); + + plot(pf.std) + xlabel('time step') + ylabel('standard deviation') + legend('x', 'y', '\theta') + grid + + clf + pf.plot_pdf(); + clf + pf.plot_xy(); +end + +function posegraph_test(tc) + pg = PoseGraph('pg1.g2o') + tc.verifyClass(pg, 'PoseGraph'); + tc.verifyEqual(pg.graph.n, 4); + + clf + pg.plot() + pg.optimize('animate') + close all + + pg = PoseGraph('killian-small.toro') + tc.verifyClass(pg, 'PoseGraph'); + tc.verifyEqual(pg.graph.n, 1941); + + pg = PoseGraph('killian.g2o', 'laser') + tc.verifyClass(pg, 'PoseGraph'); + tc.verifyEqual(pg.graph.n, 3873); + + [r,theta] = pg.scan(1); + tc.verifyClass(r, 'double'); + tc.verifyLength(r, 180); + tc.verifyClass(theta, 'double'); + tc.verifyLength(theta, 180); + + [x,y] = pg.scan(1); + tc.verifyClass(x, 'double'); + tc.verifyLength(x, 180); + tc.verifyClass(y, 'double'); + tc.verifyLength(y, 180); + + pose = pg.pose(1); + tc.verifyClass(pose, 'double'); + tc.verifySize(pose, [3 1]); + + t = pg.time(1); + tc.verifyClass(t, 'double'); + tc.verifySize(t, [1 1]); + + w = pg.scanmap('ngrid', 3000); + tc.verifyClass(w, 'int32'); + tc.verifySize(w, [3000 3000]); + + tc.assumeTrue(exist('idisp', 'file')); %REMINDER + clf + pg.plot_occgrid(w); + close all + +end + +function makemap_test(tc) + tc.assumeTrue(false); %REMINDER + +end + +function chi2inv_test(tc) + tc.verifyEqual( chi2inv_rtb(0,2), 0); + tc.verifyEqual( chi2inv_rtb(1,2), Inf); + tc.verifyEqual( chi2inv_rtb(3,2), NaN); + + tc.verifyError( @() chi2inv_rtb(1,1), 'RTB:chi2inv_rtb:badarg'); + +end \ No newline at end of file diff --git a/tests/test_mobile.py b/tests/test_mobile.py index b30dd937e..08403a47e 100644 --- a/tests/test_mobile.py +++ b/tests/test_mobile.py @@ -1,530 +1,546 @@ -# """ -# Created on 28 December 2020 -# @author: Peter Corke -# """ +""" +Created on 28 December 2020 +@author: Peter Corke +""" -# import numpy.testing as nt -# import roboticstoolbox as rtb -# import numpy as np -# import spatialmath.base as sm -# import unittest +import numpy.testing as nt +import roboticstoolbox as rtb +import numpy as np +import spatialmath.base as sm +import unittest -# from roboticstoolbox import Bug2, DistanceTransformPlanner, rtb_loadmat -# from roboticstoolbox.mobile.Bug2 import edgelist -# from roboticstoolbox.mobile.landmarkmap import * -# from roboticstoolbox.mobile.drivers import * -# from roboticstoolbox.mobile.sensors import * -# from roboticstoolbox.mobile.Vehicle import * +from roboticstoolbox import Bug2, DistanceTransformPlanner, rtb_loadmat +from roboticstoolbox.mobile.Bug2 import edgelist +from roboticstoolbox.mobile.landmarkmap import * +from roboticstoolbox.mobile.drivers import * +from roboticstoolbox.mobile.sensors import * +from roboticstoolbox.mobile.Vehicle import * +from roboticstoolbox.mobile import Planner + +# ======================================================================== # + +class TestNavigation(unittest.TestCase): + + def test_edgelist(self): + im = np.array([ + [0, 0, 0, 0, 0, 0, 0, 0], + [0, 0, 0, 0, 0, 0, 0, 0], + [0, 0, 0, 1, 1, 1, 0, 0], + [0, 0, 0, 1, 1, 1, 0, 0], + [0, 0, 1, 1, 1, 1, 0, 0], + [0, 0, 0, 1, 1, 1, 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], + ]) + + seeds = [(2, 4), (3, 5), (5, 5), (3, 4), (1, 4), (2, 5), (3, 6), (1, 5)] + for seed in seeds: + # clockwise + edge, _ = edgelist(im, seed) + for e in edge: + self.assertEqual( im[e[1],e[0]], im[seed[1], seed[0]] ) + + # counter clockwise + edge, _ = edgelist(im, seed, -1); + for e in edge: + self.assertEqual( im[e[1],e[0]], im[seed[1], seed[0]] ) + + + def test_map(self): + map = np.zeros((10,10)) + map[2,3] = 1 + + # instantiate a noname planner + nav = Planner(occgrid=map, ndims=2) + + ## test isoccupied method + self.assertTrue( nav.isoccupied([3,2])) + self.assertFalse( nav.isoccupied([3,3])) + + # out of bounds + self.assertTrue( nav.isoccupied([20, 20])) + + ## test inflation option + nav = Bug2(occgrid=map, inflate=1); + self.assertTrue( nav.isoccupied([3,2])) + self.assertTrue( nav.isoccupied([3,3])) + self.assertFalse( nav.isoccupied([3,4])) + + +# ======================================================================== # + +class RangeBearingSensorTest(unittest.TestCase): + + def setUp(self): + self.veh = rtb.Bicycle() + self.map = rtb.LandmarkMap(20) + self.rs = RangeBearingSensor(self.veh, self.map) + + def test_init(self): + + self.assertIsInstance(self.rs.map, rtb.LandmarkMap) + self.assertIsInstance(self.rs.robot, rtb.Vehicle) + + self.assertIsInstance(str(self.rs), str) + + def test_reading(self): + + z, lm_id = self.rs.reading() + self.assertIsInstance(z, np.ndarray) + self.assertEqual(z.shape, (2,)) + + # test missing samples + rs = RangeBearingSensor(self.veh, self.map, every=2) + + z, lm_id = rs.reading() + self.assertIsInstance(z, np.ndarray) + self.assertEqual(z.shape, (2,)) + + z, lm_id = rs.reading() + self.assertEqual(z, None) + + z, lm_id = rs.reading() + self.assertIsInstance(z, np.ndarray) + self.assertEqual(z.shape, (2,)) + + def test_h(self): + xv = np.r_[2, 3, 0.5] + p = np.r_[3,4] + z = self.rs.h(xv, 10) + self.assertIsInstance(z, np.ndarray) + self.assertEqual(z.shape, (2,)) + self.assertAlmostEqual(z[0], + np.linalg.norm(self.rs.map.landmark(10) - xv[:2])) + theta = z[1] + xv[2] + nt.assert_almost_equal(self.rs.map.landmark(10), + xv[:2] + z[0] * np.r_[np.cos(theta), np.sin(theta)]) + + z = self.rs.h(xv, [3,4]) + self.assertIsInstance(z, np.ndarray) + self.assertEqual(z.shape, (2,)) + self.assertAlmostEqual(z[0], + np.linalg.norm(p - xv[:2])) + theta = z[1] + 0.5 + nt.assert_almost_equal([3, 4], + xv[:2] + z[0] * np.r_[np.cos(theta), np.sin(theta)]) + + # all landmarks + z = self.rs.h(xv) + self.assertIsInstance(z, np.ndarray) + self.assertEqual(z.shape, (20,2)) + for k in range(20): + nt.assert_almost_equal(z[k, :], self.rs.h(xv, k)) -# # ======================================================================== # + # if vehicle at landmark 10 range=bearing=0 + x = np.r_[self.map.landmark(10), 0] + z = self.rs.h(x, 10) + self.assertEqual(tuple(z), (0, 0)) -# class TestNavigation(unittest.TestCase): + # vectorized forms + xv = np.array([[2, 3, 0.5], [3, 4, 0], [4, 5, -0.5]]) + z = self.rs.h(xv, 10) + self.assertIsInstance(z, np.ndarray) + self.assertEqual(z.shape, (3,2)) + for i in range(3): + nt.assert_almost_equal(z[i,:], self.rs.h(xv[i,:], 10)) -# def test_edgelist(self): -# im = np.array([ -# [0, 0, 0, 0, 0, 0, 0, 0], -# [0, 0, 0, 0, 0, 0, 0, 0], -# [0, 0, 0, 1, 1, 1, 0, 0], -# [0, 0, 0, 1, 1, 1, 0, 0], -# [0, 0, 1, 1, 1, 1, 0, 0], -# [0, 0, 0, 1, 1, 1, 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], -# ]) - -# seeds = [(2, 4), (3, 5), (5, 5), (3, 4), (1, 4), (2, 5), (3, 6), (1, 5)] -# for seed in seeds: -# # clockwise -# edge, _ = edgelist(im, seed) -# for e in edge: -# self.assertEqual( im[e[1],e[0]], im[seed[1], seed[0]] ) - -# # counter clockwise -# edge, _ = edgelist(im, seed, -1); -# for e in edge: -# self.assertEqual( im[e[1],e[0]], im[seed[1], seed[0]] ) - - -# def test_map(self): -# map = np.zeros((10,10)) -# map[2,3] = 1 - -# nav = Bug2(map) # we can't instantiate Navigation because it's abstract - -# ## test isoccupied method -# self.assertTrue( nav.is_occupied([3,2]) ) -# self.assertFalse( nav.is_occupied([3,3]) ) - - -# # out of bound -# self.assertTrue( nav.is_occupied([20, 20]) ) - - -# ## test inflation option -# nav = Bug2(map, inflate=1); -# self.assertTrue( nav.is_occupied([3,2]) ) -# self.assertTrue( nav.is_occupied([3,3]) ) -# self.assertFalse( nav.is_occupied([3,4]) ) - - -# # ======================================================================== # - -# class RangeBearingSensorTest(unittest.TestCase): - -# def setUp(self): -# self.veh = rtb.Bicycle() -# self.map = rtb.LandmarkMap(20) -# self.rs = RangeBearingSensor(self.veh, self.map) - -# def test_init(self): - -# self.assertIsInstance(self.rs.map, rtb.LandmarkMap) -# self.assertIsInstance(self.rs.robot, rtb.Vehicle) - -# self.assertIsInstance(str(self.rs), str) - -# def test_reading(self): - -# z, lm_id = self.rs.reading() -# self.assertIsInstance(z, np.ndarray) -# self.assertEqual(z.shape, (2,)) - -# # test missing samples -# rs = RangeBearingSensor(self.veh, self.map, every=2) - -# z, lm_id = rs.reading() -# self.assertIsInstance(z, np.ndarray) -# self.assertEqual(z.shape, (2,)) - -# z, lm_id = rs.reading() -# self.assertEqual(z, None) - -# z, lm_id = rs.reading() -# self.assertIsInstance(z, np.ndarray) -# self.assertEqual(z.shape, (2,)) + # xv = np.r_[2, 3, 0.5] + # p = np.array([[1, 2], [3, 4], [5, 6]]).T + # z = self.rs.h(xv, p) + # self.assertIsInstance(z, np.ndarray) + # self.assertEqual(z.shape, (3,2)) + # for i in range(3): + # nt.assert_almost_equal(z[i,:], self.rs.h(xv, p[i,:])) -# def test_h(self): -# xv = np.r_[2, 3, 0.5] -# p = np.r_[3,4] -# z = self.rs.h(xv, 10) -# self.assertIsInstance(z, np.ndarray) -# self.assertEqual(z.shape, (2,)) -# self.assertAlmostEqual(z[0], -# np.linalg.norm(self.rs.map.landmark(10) - xv[:2])) -# theta = z[1] + xv[2] -# nt.assert_almost_equal(self.rs.map.landmark(10), -# xv[:2] + z[0] * np.r_[np.cos(theta), np.sin(theta)]) + def test_H_jacobians(self): + xv = np.r_[1, 2, pi/4] + p = np.r_[5, 7] + id = 10 -# z = self.rs.h(xv, [3,4]) -# self.assertIsInstance(z, np.ndarray) -# self.assertEqual(z.shape, (2,)) -# self.assertAlmostEqual(z[0], -# np.linalg.norm(p - xv[:2])) -# theta = z[1] + 0.5 -# nt.assert_almost_equal([3, 4], -# xv[:2] + z[0] * np.r_[np.cos(theta), np.sin(theta)]) + nt.assert_almost_equal( + self.rs.Hx(xv, id), + base.numjac(lambda x: self.rs.h(x, id), xv), + decimal=4) -# # all landmarks -# z = self.rs.h(xv) -# self.assertIsInstance(z, np.ndarray) -# self.assertEqual(z.shape, (20,2)) -# for k in range(20): -# nt.assert_almost_equal(z[k, :], self.rs.h(xv, k)) + nt.assert_almost_equal( + self.rs.Hp(xv, p), + base.numjac(lambda p: self.rs.h(xv, p), p), + decimal=4) -# # if vehicle at landmark 10 range=bearing=0 -# x = np.r_[self.map.landmark(10), 0] -# z = self.rs.h(x, 10) -# self.assertEqual(tuple(z), (0, 0)) + xv = [1, 2, pi/4] + p = [5, 7] + id = 10 -# def test_H_jacobians(self): -# xv = np.r_[1, 2, pi/4] -# p = np.r_[5, 7] -# id = 10 + nt.assert_almost_equal( + self.rs.Hx(xv, id), + base.numjac(lambda x: self.rs.h(x, id), xv), + decimal=4) -# nt.assert_almost_equal( -# self.rs.Hx(xv, id), -# base.numjac(lambda x: self.rs.h(x, id), xv), -# decimal=4) + nt.assert_almost_equal( + self.rs.Hp(xv, p), + base.numjac(lambda p: self.rs.h(xv, p), p), + decimal=4) -# nt.assert_almost_equal( -# self.rs.Hp(xv, p), -# base.numjac(lambda p: self.rs.h(xv, p), p), -# decimal=4) + def test_g(self): + xv = np.r_[1, 2, pi/4] + p = np.r_[5, 7] -# xv = [1, 2, pi/4] -# p = [5, 7] -# id = 10 + z = self.rs.h(xv, p) + nt.assert_almost_equal(p, self.rs.g(xv, z)) -# nt.assert_almost_equal( -# self.rs.Hx(xv, id), -# base.numjac(lambda x: self.rs.h(x, id), xv), -# decimal=4) + def test_G_jacobians(self): + xv = np.r_[1, 2, pi/4] + p = np.r_[5, 7] -# nt.assert_almost_equal( -# self.rs.Hp(xv, p), -# base.numjac(lambda p: self.rs.h(xv, p), p), -# decimal=4) + z = self.rs.h(xv, p) -# def test_g(self): -# xv = np.r_[1, 2, pi/4] -# p = np.r_[5, 7] + nt.assert_almost_equal( + self.rs.Gx(xv, z), + base.numjac(lambda x: self.rs.g(x, z), xv), + decimal=4) -# z = self.rs.h(xv, p) -# nt.assert_almost_equal(p, self.rs.g(xv, z)) + nt.assert_almost_equal( + self.rs.Gz(xv, z), + base.numjac(lambda z: self.rs.g(xv, z), z), + decimal=4) -# def test_G_jacobians(self): -# xv = np.r_[1, 2, pi/4] -# p = np.r_[5, 7] + def test_plot(self): -# z = self.rs.h(xv, p) + # map = LandmarkMap(20) + # map.plot(block=False) + pass -# nt.assert_almost_equal( -# self.rs.Gx(xv, z), -# base.numjac(lambda x: self.rs.g(x, z), xv), -# decimal=4) +# ======================================================================== # -# nt.assert_almost_equal( -# self.rs.Gz(xv, z), -# base.numjac(lambda z: self.rs.g(xv, z), z), -# decimal=4) +class LandMarkTest(unittest.TestCase): -# def test_plot(self): + def test_init(self): -# # map = LandmarkMap(20) -# # map.plot(block=False) -# pass + map = LandmarkMap(20) -# # ======================================================================== # + self.assertEqual(map.nlandmarks, 20) -# class LandMarkTest(unittest.TestCase): + lm = map.landmark(0) + self.assertIsInstance(lm, np.ndarray) + self.assertTrue(lm.shape, (2,)) -# def test_init(self): + self.assertIsInstance(str(lm), str) -# map = LandmarkMap(20) + self.assertEqual(map.x.shape, (20,)) + self.assertEqual(map.y.shape, (20,)) + self.assertEqual(map.xy.shape, (2,20)) -# self.assertEqual(map.nlandmarks, 20) + def test_range(self): + map = LandmarkMap(1000, workspace=[-10, 10, 100, 200]) -# lm = map.landmark(0) -# self.assertIsInstance(lm, np.ndarray) -# self.assertTrue(lm.shape, (2,)) + self.assertTrue(map._map.shape, (2,1000)) -# self.assertIsInstance(str(lm), str) + x = map.x + y = map.y + self.assertTrue(all([-10 <= a <= 10 for a in x])) + self.assertTrue(all([100 <= a <= 200 for a in y])) -# self.assertEqual(map.x.shape, (20,)) -# self.assertEqual(map.y.shape, (20,)) -# self.assertEqual(map.xy.shape, (2,20)) + def test_plot(self): + plt.clf() + map = LandmarkMap(20) + map.plot(block=False) -# def test_range(self): -# map = LandmarkMap(1000, dim=[-10, 10, 100, 200]) +# ======================================================================== # -# self.assertTrue(map._map.shape, (2,1000)) +class DriversTest(unittest.TestCase): -# x = map.x -# y = map.y -# self.assertTrue(all([-10 <= a <= 10 for a in x])) -# self.assertTrue(all([100 <= a <= 200 for a in y])) + def test_init(self): -# def test_plot(self): + rp = rtb.RandomPath(10) -# map = LandmarkMap(20) -# map.plot(block=False) + self.assertIsInstance(str(rp), str) -# # ======================================================================== # + rp.init() -# class DriversTest(unittest.TestCase): + veh = rtb.Bicycle() -# def test_init(self): + veh.control = rp -# rp = rtb.RandomPath(10) + self.assertIs(veh.control, rp) + self.assertIs(rp.vehicle, veh) -# self.assertIsInstance(str(rp), str) + u = rp.demand() + self.assertIsInstance(u, np.ndarray) + self.assertTrue(u.shape, (2,)) -# rp.init() +class TestBicycle(unittest.TestCase): -# veh = rtb.Bicycle() + # def test_deriv(self): + # xv = np.r_[1, 2, pi/4] -# veh.control = rp + # veh = Bicycle() -# self.assertIs(veh.control, rp) -# self.assertIs(rp.vehicle, veh) + # u = [1, 0.2] + # nt.assert_almost_equal( + # veh.deriv(xv, ), + # base.numjac(lambda p: veh(xv, p), p), + # decimal=4) -# u = rp.demand() -# self.assertIsInstance(u, np.ndarray) -# self.assertTrue(u.shape, (2,)) + def test_jacobians(self): + xv = np.r_[1, 2, pi/4] + odo = np.r_[0.1, 0.2] + veh = Bicycle() -# class TestBicycle(unittest.TestCase): + nt.assert_almost_equal( + veh.Fx(xv, odo), + base.numjac(lambda x: veh.f(x, odo), xv), + decimal=4) -# # def test_deriv(self): -# # xv = np.r_[1, 2, pi/4] + nt.assert_almost_equal( + veh.Fv(xv, odo), + base.numjac(lambda d: veh.f(xv, d), odo), + decimal=4) -# # veh = Bicycle() -# # u = [1, 0.2] -# # nt.assert_almost_equal( -# # veh.deriv(xv, ), -# # base.numjac(lambda p: veh(xv, p), p), -# # decimal=4) +# function setupOnce(testCase) +# testCase.TestData.Duration = 50; +# end -# def test_jacobians(self): -# xv = np.r_[1, 2, pi/4] -# odo = np.r_[0.1, 0.2] -# veh = Bicycle() +# function Vehicle_test(tc) +# %% +# randinit +# V = diag([0.005, 0.5*pi/180].^2); -# nt.assert_almost_equal( -# veh.Fx(xv, odo), -# base.numjac(lambda x: veh.f(x, odo), xv), -# decimal=4) +# v = Bicycle('covar', V); +# v.add_driver( RandomPath(10) ); -# nt.assert_almost_equal( -# veh.Fv(xv, odo), -# base.numjac(lambda d: veh.f(xv, d), odo), -# decimal=4) +# v.run(tc.TestData.Duration); +# v.plot_xy(); +# s = v.char(); +# J = v.Fx(v.x, [.1 .2]); +# J = v.Fv(v.x, [.1 .2]); +# end -# # function setupOnce(testCase) -# # testCase.TestData.Duration = 50; -# # end +# function DeadReckoning_test(tc) +# %% +# randinit +# V = diag([0.005, 0.5*pi/180].^2); +# P0 = diag([0.005, 0.005, 0.001].^2); -# # function Vehicle_test(tc) -# # %% -# # randinit -# # V = diag([0.005, 0.5*pi/180].^2); +# v = Bicycle('covar', V); +# v.add_driver( RandomPath(10) ); +# s = char(v); -# # v = Bicycle('covar', V); -# # v.add_driver( RandomPath(10) ); +# ekf = EKF(v, V, P0); +# ekf.run(tc.TestData.Duration); -# # v.run(tc.TestData.Duration); -# # v.plot_xy(); -# # s = v.char(); +# clf +# ekf.plot_xy +# hold on +# v.plot_xy('r') +# grid on +# xyzlabel -# # J = v.Fx(v.x, [.1 .2]); -# # J = v.Fv(v.x, [.1 .2]); -# # end +# ekf.plot_ellipse('g') +# ekf.plot_P() +# end -# # function DeadReckoning_test(tc) -# # %% -# # randinit -# # V = diag([0.005, 0.5*pi/180].^2); -# # P0 = diag([0.005, 0.005, 0.001].^2); +# function MapLocalization_test(tc) +# %% +# randinit +# W = diag([0.1, 1*pi/180].^2); +# P0 = diag([0.005, 0.005, 0.001].^2); +# V = diag([0.005, 0.5*pi/180].^2); -# # v = Bicycle('covar', V); -# # v.add_driver( RandomPath(10) ); -# # s = char(v); +# map = LandmarkMap(20); +# map = LandmarkMap(20, 'verbose'); +# map = LandmarkMap(20, 10, 'verbose'); +# map = LandmarkMap(20, 10); +# s = char(map); -# # ekf = EKF(v, V, P0); -# # ekf.run(tc.TestData.Duration); +# veh = Bicycle('covar', V); +# veh.add_driver( RandomPath(10) ); +# sensor = RangeBearingSensor(veh, map, 'covar', W); +# sensor.interval = 5; +# ekf = EKF(veh, W, P0, sensor, W, map); + +# ekf.run(tc.TestData.Duration); + +# clf +# map.plot() +# veh.plot_xy('b'); +# ekf.plot_xy('r'); +# ekf.plot_ellipse('k') +# grid on +# xyzlabel + +# clf +# ekf.plot_P() +# end + +# function Mapping_test(tc) +# %% +# randinit +# W = diag([0.1, 1*pi/180].^2); +# V = diag([0.005, 0.5*pi/180].^2); + +# map = LandmarkMap(20, 10); + +# veh = Bicycle('covar', V); +# veh.add_driver( RandomPath(10) ); + +# sensor = RangeBearingSensor(veh, map, 'covar', W); +# sensor.interval = 5; + +# ekf = EKF(veh, [], [], sensor, W, []); +# ekf.run(tc.TestData.Duration); + + +# clf +# map.plot() +# veh.plot_xy('b'); +# ekf.plot_map('g'); +# grid on +# xyzlabel + +# %% +# verifyEqual(tc, numcols(ekf.landmarks), 20); + +# end + +# function SLAM_test(tc) +# %% +# randinit +# W = diag([0.1, 1*pi/180].^2); +# P0 = diag([0.005, 0.005, 0.001].^2); +# V = diag([0.005, 0.5*pi/180].^2); + +# map = LandmarkMap(20, 10); + +# veh = Bicycle(V); +# veh.add_driver( RandomPath(10) ); + +# sensor = RangeBearingSensor(veh, map, 'covar', W); +# sensor.interval = 1; + +# ekf = EKF(veh, V, P0, sensor, W, []); +# ekf +# ekf.verbose = false; +# ekf.run(tc.TestData.Duration); + + +# clf +# map.plot() +# veh.plot_xy('b'); +# ekf.plot_xy('r'); +# ekf.plot_ellipse('k') +# grid on +# xyzlabel + +# clf +# ekf.plot_P() + +# clf +# map.plot(); +# ekf.plot_map('g'); + +# %% +# verifyEqual(tc, numcols(ekf.landmarks), 20); + +# end + +# function ParticleFilter_test(tc) +# %% +# randinit +# map = LandmarkMap(20); + +# W = diag([0.1, 1*pi/180].^2); +# v = Bicycle('covar', W); +# v.add_driver( RandomPath(10) ); +# V = diag([0.005, 0.5*pi/180].^2); +# sensor = RangeBearingSensor(v, map, 'covar', V); -# # clf -# # ekf.plot_xy -# # hold on -# # v.plot_xy('r') -# # grid on -# # xyzlabel +# Q = diag([0.1, 0.1, 1*pi/180]).^2; +# L = diag([0.1 0.1]); +# pf = ParticleFilter(v, sensor, Q, L, 1000); +# pf +# pf.run(tc.TestData.Duration); -# # ekf.plot_ellipse('g') -# # ekf.plot_P() -# # end +# plot(pf.std) +# xlabel('time step') +# ylabel('standard deviation') +# legend('x', 'y', '\theta') +# grid -# # function MapLocalization_test(tc) -# # %% -# # randinit -# # W = diag([0.1, 1*pi/180].^2); -# # P0 = diag([0.005, 0.005, 0.001].^2); -# # V = diag([0.005, 0.5*pi/180].^2); +# clf +# pf.plot_pdf(); +# clf +# pf.plot_xy(); +# end -# # map = LandmarkMap(20); -# # map = LandmarkMap(20, 'verbose'); -# # map = LandmarkMap(20, 10, 'verbose'); -# # map = LandmarkMap(20, 10); -# # s = char(map); +# function posegraph_test(tc) +# pg = PoseGraph('pg1.g2o') +# self.assertClass(pg, 'PoseGraph'); +# self.assertEqual(pg.graph.n, 4); -# # veh = Bicycle('covar', V); -# # veh.add_driver( RandomPath(10) ); -# # sensor = RangeBearingSensor(veh, map, 'covar', W); -# # sensor.interval = 5; -# # ekf = EKF(veh, W, P0, sensor, W, map); - -# # ekf.run(tc.TestData.Duration); - -# # clf -# # map.plot() -# # veh.plot_xy('b'); -# # ekf.plot_xy('r'); -# # ekf.plot_ellipse('k') -# # grid on -# # xyzlabel - -# # clf -# # ekf.plot_P() -# # end - -# # function Mapping_test(tc) -# # %% -# # randinit -# # W = diag([0.1, 1*pi/180].^2); -# # V = diag([0.005, 0.5*pi/180].^2); - -# # map = LandmarkMap(20, 10); - -# # veh = Bicycle('covar', V); -# # veh.add_driver( RandomPath(10) ); - -# # sensor = RangeBearingSensor(veh, map, 'covar', W); -# # sensor.interval = 5; - -# # ekf = EKF(veh, [], [], sensor, W, []); -# # ekf.run(tc.TestData.Duration); - - -# # clf -# # map.plot() -# # veh.plot_xy('b'); -# # ekf.plot_map('g'); -# # grid on -# # xyzlabel - -# # %% -# # verifyEqual(tc, numcols(ekf.landmarks), 20); - -# # end - -# # function SLAM_test(tc) -# # %% -# # randinit -# # W = diag([0.1, 1*pi/180].^2); -# # P0 = diag([0.005, 0.005, 0.001].^2); -# # V = diag([0.005, 0.5*pi/180].^2); - -# # map = LandmarkMap(20, 10); - -# # veh = Bicycle(V); -# # veh.add_driver( RandomPath(10) ); - -# # sensor = RangeBearingSensor(veh, map, 'covar', W); -# # sensor.interval = 1; - -# # ekf = EKF(veh, V, P0, sensor, W, []); -# # ekf -# # ekf.verbose = false; -# # ekf.run(tc.TestData.Duration); - - -# # clf -# # map.plot() -# # veh.plot_xy('b'); -# # ekf.plot_xy('r'); -# # ekf.plot_ellipse('k') -# # grid on -# # xyzlabel - -# # clf -# # ekf.plot_P() - -# # clf -# # map.plot(); -# # ekf.plot_map('g'); - -# # %% -# # verifyEqual(tc, numcols(ekf.landmarks), 20); - -# # end - -# # function ParticleFilter_test(tc) -# # %% -# # randinit -# # map = LandmarkMap(20); - -# # W = diag([0.1, 1*pi/180].^2); -# # v = Bicycle('covar', W); -# # v.add_driver( RandomPath(10) ); -# # V = diag([0.005, 0.5*pi/180].^2); -# # sensor = RangeBearingSensor(v, map, 'covar', V); +# clf +# pg.plot() +# pg.optimize('animate') +# close all -# # Q = diag([0.1, 0.1, 1*pi/180]).^2; -# # L = diag([0.1 0.1]); -# # pf = ParticleFilter(v, sensor, Q, L, 1000); -# # pf -# # pf.run(tc.TestData.Duration); +# pg = PoseGraph('killian-small.toro') +# self.assertClass(pg, 'PoseGraph'); +# self.assertEqual(pg.graph.n, 1941); -# # plot(pf.std) -# # xlabel('time step') -# # ylabel('standard deviation') -# # legend('x', 'y', '\theta') -# # grid +# pg = PoseGraph('killian.g2o', 'laser') +# self.assertClass(pg, 'PoseGraph'); +# self.assertEqual(pg.graph.n, 3873); -# # clf -# # pf.plot_pdf(); -# # clf -# # pf.plot_xy(); -# # end +# [r,theta] = pg.scan(1); +# self.assertClass(r, 'double'); +# self.assertLength(r, 180); +# self.assertClass(theta, 'double'); +# self.assertLength(theta, 180); -# # function posegraph_test(tc) -# # pg = PoseGraph('pg1.g2o') -# # self.assertClass(pg, 'PoseGraph'); -# # self.assertEqual(pg.graph.n, 4); +# [x,y] = pg.scan(1); +# self.assertClass(x, 'double'); +# self.assertLength(x, 180); +# self.assertClass(y, 'double'); +# self.assertLength(y, 180); -# # clf -# # pg.plot() -# # pg.optimize('animate') -# # close all +# pose = pg.pose(1); +# self.assertClass(pose, 'double'); +# self.assertSize(pose, [3 1]); -# # pg = PoseGraph('killian-small.toro') -# # self.assertClass(pg, 'PoseGraph'); -# # self.assertEqual(pg.graph.n, 1941); +# t = pg.time(1); +# self.assertClass(t, 'double'); +# self.assertSize(t, [1 1]); -# # pg = PoseGraph('killian.g2o', 'laser') -# # self.assertClass(pg, 'PoseGraph'); -# # self.assertEqual(pg.graph.n, 3873); +# w = pg.scanmap('ngrid', 3000); +# self.assertClass(w, 'int32'); +# self.assertSize(w, [3000 3000]); -# # [r,theta] = pg.scan(1); -# # self.assertClass(r, 'double'); -# # self.assertLength(r, 180); -# # self.assertClass(theta, 'double'); -# # self.assertLength(theta, 180); +# tc.assumeTrue(exist('idisp', 'file')); %REMINDER +# clf +# pg.plot_occgrid(w); +# close all + +# end + +# function makemap_test(tc) +# tc.assumeTrue(false); %REMINDER + +# end + +# function chi2inv_test(tc) +# self.assertEqual( chi2inv_rtb(0,2), 0); +# self.assertEqual( chi2inv_rtb(1,2), Inf); +# self.assertEqual( chi2inv_rtb(3,2), NaN); -# # [x,y] = pg.scan(1); -# # self.assertClass(x, 'double'); -# # self.assertLength(x, 180); -# # self.assertClass(y, 'double'); -# # self.assertLength(y, 180); - -# # pose = pg.pose(1); -# # self.assertClass(pose, 'double'); -# # self.assertSize(pose, [3 1]); - -# # t = pg.time(1); -# # self.assertClass(t, 'double'); -# # self.assertSize(t, [1 1]); - -# # w = pg.scanmap('ngrid', 3000); -# # self.assertClass(w, 'int32'); -# # self.assertSize(w, [3000 3000]); - -# # tc.assumeTrue(exist('idisp', 'file')); %REMINDER -# # clf -# # pg.plot_occgrid(w); -# # close all - -# # end - -# # function makemap_test(tc) -# # tc.assumeTrue(false); %REMINDER - -# # end - -# # function chi2inv_test(tc) -# # self.assertEqual( chi2inv_rtb(0,2), 0); -# # self.assertEqual( chi2inv_rtb(1,2), Inf); -# # self.assertEqual( chi2inv_rtb(3,2), NaN); - -# # self.assertError( @() chi2inv_rtb(1,1), 'RTB:chi2inv_rtb:badarg'); - -# # end -# # - - -# if __name__ == '__main__': # pragma nocover -# unittest.main() -# # pytest.main(['tests/test_SerialLink.py']) +# self.assertError( @() chi2inv_rtb(1,1), 'RTB:chi2inv_rtb:badarg'); + +# end +# + + +if __name__ == '__main__': # pragma nocover + unittest.main() + # pytest.main(['tests/test_SerialLink.py']) From bb8e58c96b18cb4facccebd286f4c6c8d623360e Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 26 Jul 2021 20:36:37 +1000 Subject: [PATCH 053/116] doco + code tidy --- roboticstoolbox/mobile/sensors.py | 94 +++++++++++++++++-------------- 1 file changed, 52 insertions(+), 42 deletions(-) diff --git a/roboticstoolbox/mobile/sensors.py b/roboticstoolbox/mobile/sensors.py index af5c2cc59..c6249d679 100644 --- a/roboticstoolbox/mobile/sensors.py +++ b/roboticstoolbox/mobile/sensors.py @@ -306,26 +306,31 @@ def selectFeature(self): def reading(self): """ Choose landmark and return observation - % - # [Z,K] = self.reading() is an observation of a random visible landmark where - # Z=[R,THETA] is the range and bearing with additive Gaussian noise of - # covariance W (property W). K is the index of the map feature that was - # observed. - % - # The landmark is chosen randomly from the set of all visible landmarks, - # those within the angular field of view and range limitself. If no valid - # measurement, ie. no features within range, interval subsampling enabled - # or simulated failure the return is Z=[] and K=0. - % - # Notes:: - # - Noise with covariance W (property W) is added to each row of Z. - # - If 'animate' option set then show a line from the vehicle to the - # landmark - # - If 'animate' option set and the angular and distance limits are set - # then display that region as a shaded polygon. - # - Implements sensor failure and subsampling if specified to constructor. - % - # See also RangeBearingSensor.h. + + :return: range,bearing to a landmark, and landmark id + :rtype: (float, float), int + + Returns an observation of a random visible landmark (range, bearing) + and the ``id`` of that landmark. The landmark is chosen randomly from the set of all visible landmarks, + those within the angular field of view and range limit. + + If constructor argument ``every`` is set then only return a valid reading on + every ``every`` calls. + + If constructor argument ``fail`` is set then do not return a reading in that + time interval. + + If no valid reading is available then return (None, None) + + .. note:: + + - Noise with covariance ``W`` (set by constructor) is added to the reading + - If ``animate`` option is set then show a line from the vehicle to the + landmark + - If ``animate`` option set and the angular and distance limits are set + then display the sensor field of view as a shaded polygon. + + :seealso: :meth:`h` """ # TODO probably should return K=0 to indicated invalid @@ -419,25 +424,28 @@ def reading(self): return z, lm_id - def h(self, xv, lm_id=None): + def h(self, xv, landmark=None): """ Landmark range and bearing - % - # Z = self.h(X, K) is a sensor observation (1x2), range and bearing, from vehicle at - # pose X (1x3) to the K'th landmark. - % - # Z = self.h(X, P) as above but compute range and bearing to a landmark at coordinate P. - % - # Z = self.h(X) as above but computes range and bearing to all - # map featureself. Z has one row per landmark. - % - # Notes:: - # - Noise with covariance W (propertyW) is added to each row of Z. - # - Supports vectorized operation where XV (Nx3) and Z (Nx2). - # - The landmark is assumed visible, field of view and range liits are not - # applied. - % - # See also RangeBearingSensor.reading, RangeBearingSensor.Hx, RangeBearingSensor.Hw, RangeBearingSensor.Hp. + + :param xv: vehicle configuration :math:`(x, y, \theta)1 + :type xv: array_like(3) + :param landmark: landmark id or position, defaults to None + :type landmark: int or array_like(2), optional + :return: range and bearing to landmark + :rtype: ndarray(2) or ndarray(N,2) + + - ``.h(xv)`` is range, bearing to all landmarks, one row per landmark + - ``.h(xv, id)`` is range, bearing to landmark ``id`` + - ``.h(xv, p)`` is range, bearing to landmark position ``p`` + + .. note:: + - Noise with covariance W (propertyW) is added to each row of Z. + - Supports vectorized operation where ``xv`` (Nx3). + - The landmark is assumed visible, field of view and range limits are not + applied. + + :seealso: :meth:`reading` :meth:`Hx` :meth:`Hw` :meth:`Hp` """ # get the landmarks, one per row @@ -450,18 +458,20 @@ def h(self, xv, lm_id=None): else: x, y, t = xv - if lm_id is None: + if landmark is None: # self.h(XV) all landmarks dx = self.map.x - x dy = self.map.y - y - elif base.isinteger(lm_id): + elif base.isinteger(landmark): + # landmark id # self.h(XV, JF) - xlm = self.map.landmark(lm_id) + xlm = self.map.landmark(landmark) dx = xlm[0] - x dy = xlm[1] - y else: + # landmark position # self.h(XV, XF) - xlm = base.getvector(lm_id, 2) + xlm = base.getvector(landmark, 2) dx = xlm[0] - x dy = xlm[1] - y @@ -472,7 +482,7 @@ def h(self, xv, lm_id=None): base.angdiff(np.arctan2(dy, dx), t) ] # range & bearing as columns - if z.ndim == 1 and z.shape[0] == 1: + if z.shape[0] == 1: return z[0] else: return z From 20e39e3614567f0031fa058b24160a5a7b98a820 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 26 Jul 2021 20:59:32 +1000 Subject: [PATCH 054/116] reinstate files which are now committed. --- roboticstoolbox/mobile/__init__.py | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/roboticstoolbox/mobile/__init__.py b/roboticstoolbox/mobile/__init__.py index 00763176b..14783523d 100644 --- a/roboticstoolbox/mobile/__init__.py +++ b/roboticstoolbox/mobile/__init__.py @@ -2,7 +2,7 @@ from roboticstoolbox.mobile.Vehicle import Vehicle, Bicycle, Unicycle # planners -# from roboticstoolbox.mobile.Bug2 import Bug2 +from roboticstoolbox.mobile.Bug2 import Bug2 from roboticstoolbox.mobile.DistanceTransformPlanner import DistanceTransformPlanner from roboticstoolbox.mobile.DstarPlanner import DstarPlanner from roboticstoolbox.mobile.PRMPlanner import PRMPlanner @@ -12,7 +12,6 @@ from roboticstoolbox.mobile.DubinsPlanner import DubinsPlanner from roboticstoolbox.mobile.ReedsSheppPlanner import ReedsSheppPlanner -# from roboticstoolbox.mobile.LatticePlanner import LatticePlanner from roboticstoolbox.mobile.CurvaturePolyPlanner import CurvaturePolyPlanner from roboticstoolbox.mobile.QuinticPolyPlanner import QuinticPolyPlanner from roboticstoolbox.mobile.PRMPlanner import PRMPlanner @@ -26,14 +25,14 @@ from roboticstoolbox.mobile.animations import * # from roboticstoolbox.mobile.PoseGraph import * -# from roboticstoolbox.mobile.EKF import EKF -# from roboticstoolbox.mobile.ParticleFilter import ParticleFilter +from roboticstoolbox.mobile.EKF import EKF +from roboticstoolbox.mobile.ParticleFilter import ParticleFilter __all__ = [ "Vehicle", "Bicycle", "Unicycle", - # "Bug2", + "Bug2", "DistanceTransformPlanner", "DstarPlanner", "DubinsPlanner", @@ -53,8 +52,8 @@ "BinaryOccupancyGrid", "OccupancyGrid", "Planner", - # "EKF", - # "ParticleFilter", + "EKF", + "ParticleFilter", ] # 'LatticePlanner', From 20b4c3bf83f78f1cfd14aa353b32e4d9c4cdfb7f Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Wed, 28 Jul 2021 21:35:09 +1000 Subject: [PATCH 055/116] Bring all blocks up to current spec finesse the doco --- docs/source/blocks-arm.rst | 2 +- docs/source/blocks-mobile.rst | 2 +- docs/source/blocks-uav.rst | 2 +- roboticstoolbox/blocks/arm.py | 107 ++++++++++++++++++------------- roboticstoolbox/blocks/mobile.py | 92 ++++++++++++++------------ roboticstoolbox/blocks/uav.py | 44 ++++++++----- 6 files changed, 142 insertions(+), 107 deletions(-) diff --git a/docs/source/blocks-arm.rst b/docs/source/blocks-arm.rst index 573f7581f..16139a2e7 100644 --- a/docs/source/blocks-arm.rst +++ b/docs/source/blocks-arm.rst @@ -9,5 +9,5 @@ Robot manipulator blocks :undoc-members: :show-inheritance: :special-members: __init__ - :exclude-members: output, reset, step, start, done, deriv + :exclude-members: output, reset, step, start, done, deriv, nin, nout, inlabels, outlabels diff --git a/docs/source/blocks-mobile.rst b/docs/source/blocks-mobile.rst index fe3ef7d86..b0bbdcdb2 100644 --- a/docs/source/blocks-mobile.rst +++ b/docs/source/blocks-mobile.rst @@ -9,6 +9,6 @@ Mobile robot blocks :undoc-members: :show-inheritance: :special-members: __init__ - :exclude-members: output, reset, step, start, done, deriv + :exclude-members: output, reset, step, start, done, deriv, nin, nout, inlabels, outlabels diff --git a/docs/source/blocks-uav.rst b/docs/source/blocks-uav.rst index 4cb106a78..60fd78b8d 100644 --- a/docs/source/blocks-uav.rst +++ b/docs/source/blocks-uav.rst @@ -9,5 +9,5 @@ UAV blocks :undoc-members: :show-inheritance: :special-members: __init__ - :exclude-members: output, reset, step, start, done, deriv + :exclude-members: output, reset, step, start, done, deriv, nin, nout, inlabels, outlabels diff --git a/roboticstoolbox/blocks/arm.py b/roboticstoolbox/blocks/arm.py index b4dbd180f..122dbcf96 100644 --- a/roboticstoolbox/blocks/arm.py +++ b/roboticstoolbox/blocks/arm.py @@ -5,7 +5,7 @@ import time from spatialmath import base, SE3 -from bdsim.components import TransferBlock, FunctionBlock, SourceBlock, block +from bdsim.components import TransferBlock, FunctionBlock, SourceBlock from bdsim.graphics import GraphicsBlock from roboticstoolbox import tpoly_func, lspb_func @@ -20,7 +20,6 @@ # The constructor of each class ``MyClass`` with a ``@block`` decorator becomes a method ``MYCLASS()`` of the BlockDiagram instance. # ------------------------------------------------------------------------ # -@block class FKine(FunctionBlock): """ :blockname:`FKINE` @@ -37,6 +36,9 @@ class FKine(FunctionBlock): +------------+---------+---------+ """ + nin = 1 + nout = 1 + def __init__(self, robot=None, args={}, *inputs, **kwargs): """ :param ``*inputs``: Optional incoming connections @@ -51,17 +53,13 @@ def __init__(self, robot=None, args={}, *inputs, **kwargs): Robot arm forward kinematic model. - The block has one input port: - - 1. Joint configuration vector as an ndarray. - - and one output port: - - 1. End-effector pose as an SE(3) object + **Block ports** + :input q: Joint configuration vector as an ndarray. + :output T: End-effector pose as an SE(3) object """ - super().__init__(nin=1, nout=1, inputs=inputs, **kwargs) + super().__init__(inputs=inputs, **kwargs) self.type = "forward-kinematics" self.robot = robot @@ -74,7 +72,6 @@ def output(self, t=None): return [self.robot.fkine(self.inputs[0], **self.args)] -@block class IKine(FunctionBlock): """ :blockname:`IKINE` @@ -91,6 +88,9 @@ class IKine(FunctionBlock): +------------+---------+---------+ """ + nin = 1 + nout = 1 + def __init__( self, robot=None, q0=None, useprevious=True, ik=None, *inputs, **kwargs ): @@ -121,7 +121,7 @@ def __init__( """ - super().__init__(nin=1, nout=1, inputs=inputs, **kwargs) + super().__init__(inputs=inputs, **kwargs) self.type = "inverse-kinematics" self.robot = robot @@ -159,7 +159,7 @@ def output(self, t=None): # ------------------------------------------------------------------------ # -@block + class Jacobian(FunctionBlock): """ :blockname:`JACOBIAN` @@ -176,6 +176,9 @@ class Jacobian(FunctionBlock): +------------+---------+---------+ """ + nin = 1 + nout = 1 + def __init__( self, robot, @@ -220,8 +223,7 @@ def __init__( - If ``inverse`` is True and the Jacobian is singular a runtime error will occur. """ - super().__init__(nin=1, nout=1, inputs=inputs, **kwargs) - self.type = "jacobian" + super().__init__(inputs=inputs, **kwargs) self.robot = robot @@ -254,7 +256,6 @@ def output(self, t=None): return [J] -@block class Tr2Delta(FunctionBlock): """ :blockname:`TR2DELTA` @@ -271,6 +272,9 @@ class Tr2Delta(FunctionBlock): +------------+------------+---------+ """ + nin = 2 + nout = 1 + def __init__(self, *inputs, **kwargs): """ :param ``*inputs``: Optional incoming connections @@ -292,8 +296,7 @@ def __init__(self, *inputs, **kwargs): :seealso: :func:`spatialmath.base.tr2delta` """ - super().__init__(nin=2, nout=1, inputs=inputs, **kwargs) - self.type = "tr2delta" + super().__init__(inputs=inputs, **kwargs) self.inport_names(("T1", "T2")) self.outport_names(("$\delta$",)) @@ -305,7 +308,6 @@ def output(self, t=None): # ------------------------------------------------------------------------ # -@block class Delta2Tr(FunctionBlock): """ :blockname:`DELTA2TR` @@ -322,6 +324,9 @@ class Delta2Tr(FunctionBlock): +------------+----------+---------+ """ + nin = 1 + nout = 1 + def __init__(self, *inputs, **kwargs): """ :param ``*inputs``: Optional incoming connections @@ -342,8 +347,7 @@ def __init__(self, *inputs, **kwargs): :seealso: :func:`spatialmath.base.delta2tr` """ - super().__init__(nin=1, nout=1, inputs=inputs, **kwargs) - self.type = "delta2tr" + super().__init__(inputs=inputs, **kwargs) self.inport_names(("$\delta$",)) self.outport_names(("T",)) @@ -354,8 +358,6 @@ def output(self, t=None): # ------------------------------------------------------------------------ # - -@block class Point2Tr(FunctionBlock): """ :blockname:`POINT2TR` @@ -372,6 +374,9 @@ class Point2Tr(FunctionBlock): +------------+----------+---------+ """ + nin = 1 + nout = 1 + def __init__(self, T, *inputs, **kwargs): """ :param T: the transform @@ -392,8 +397,7 @@ def __init__(self, T, *inputs, **kwargs): :seealso: :func:`spatialmath.base.delta2tr` """ - super().__init__(nin=1, nout=1, inputs=inputs, **kwargs) - self.type = "point2tr" + super().__init__(inputs=inputs, **kwargs) self.inport_names(("t",)) self.outport_names(("T",)) @@ -407,7 +411,6 @@ def output(self, t=None): # ------------------------------------------------------------------------ # -@block class TR2T(FunctionBlock): """ :blockname:`TR2T` @@ -424,6 +427,9 @@ class TR2T(FunctionBlock): +------------+----------+---------+ """ + nin = 1 + nout = 3 + def __init__(self, *inputs, **kwargs): """ :param T: the transform @@ -444,8 +450,7 @@ def __init__(self, *inputs, **kwargs): :seealso: :func:`spatialmath.base.delta2tr` """ - super().__init__(nin=1, nout=3, inputs=inputs, **kwargs) - self.type = "tr2t" + super().__init__(inputs=inputs, **kwargs) self.inport_names(("T",)) self.outport_names(("x", "y", "z")) @@ -456,7 +461,7 @@ def output(self, t=None): # ------------------------------------------------------------------------ # -@block + class FDyn(TransferBlock): """ :blockname:`FDYN` @@ -475,6 +480,9 @@ class FDyn(TransferBlock): +------------+---------+---------+ """ + nin = 1 + nout = 3 + def __init__(self, robot, *inputs, q0=None, **kwargs): """ :param ``*inputs``: Optional incoming connections @@ -501,7 +509,7 @@ def __init__(self, robot, *inputs, q0=None, **kwargs): """ - super().__init__(nin=1, nout=3, inputs=inputs, **kwargs) + super().__init__(inputs=inputs, **kwargs) self.type = "forward-dynamics" self.robot = robot @@ -539,8 +547,7 @@ def deriv(self): return np.r_[qd, qdd] -@block -class IDyncs(FunctionBlock): +class IDyn(FunctionBlock): """ :blockname:`IDYN` @@ -558,6 +565,9 @@ class IDyncs(FunctionBlock): +------------+---------+---------+ """ + nin = 3 + nout = 1 + def __init__(self, robot, *inputs, gravity=None, **kwargs): """ @@ -585,7 +595,7 @@ def __init__(self, robot, *inputs, gravity=None, **kwargs): .. TODO:: end-effector wrench input, base wrench output, payload input """ - super().__init__(nin=3, nout=1, inputs=inputs, **kwargs) + super().__init__(inputs=inputs, **kwargs) self.type = "inverse-dynamics" self.robot = robot @@ -602,8 +612,6 @@ def output(self, t=None): # ------------------------------------------------------------------------ # - -@block class ArmPlot(GraphicsBlock): """ :blockname:`ARMPLOT` @@ -620,6 +628,10 @@ class ArmPlot(GraphicsBlock): +--------+---------+---------+ """ + nin = 1 + nout = 0 + inlabels = ('q',) + def __init__(self, robot=None, *inputs, q0=None, backend=None, **kwargs): """ :param ``*inputs``: Optional incoming connections @@ -642,8 +654,7 @@ def __init__(self, robot=None, *inputs, q0=None, backend=None, **kwargs): Example of vehicle display (animated). The label at the top is the block name. """ - super().__init__(nin=1, inputs=inputs, **kwargs) - self.type = "armplot" + super().__init__(inputs=inputs, **kwargs) self.inport_names(("q",)) if q0 is None: @@ -681,7 +692,7 @@ def done(self, block=False, **kwargs): super().done() -@block + class Traj(FunctionBlock): """ :blockname:`TRAJ` @@ -698,6 +709,9 @@ class Traj(FunctionBlock): +------------+---------+---------+ """ + nin = -1 + nout = 3 + def __init__(self, y0=0, yf=1, T=None, time=False, traj="lspb", *inputs, **kwargs): """ @@ -743,8 +757,7 @@ def __init__(self, y0=0, yf=1, T=None, time=False, traj="lspb", *inputs, **kwarg self.blockclass = "source" else: nin = 1 - super().__init__(nin=nin, nout=3, inputs=inputs, **kwargs) - self.type = "function" + super().__init__(nin=nin, inputs=inputs, **kwargs) y0 = base.getvector(y0) yf = base.getvector(yf) @@ -789,7 +802,6 @@ def output(self, t=None): return [np.hstack(y), np.hstack(yd), np.hstack(ydd)] -@block class JTraj(SourceBlock): """ :blockname:`JTRAJ` @@ -806,6 +818,9 @@ class JTraj(SourceBlock): +------------+------------+---------+ """ + nin = 0 + nout = 3 + def __init__(self, q0, qf, qd0=None, qdf=None, T=None, *inputs, **kwargs): """ Compute a joint-space trajectory @@ -845,8 +860,7 @@ def __init__(self, q0, qf, qd0=None, qdf=None, T=None, *inputs, **kwargs): :seealso: :func:`ctraj`, :func:`qplot`, :func:`~SerialLink.jtraj` """ - super().__init__(nin=0, nout=3, **kwargs) - self.blockclass = "jtraj" + super().__init__(**kwargs) self.type = "source" self.outport_names( ( @@ -930,7 +944,6 @@ def output(self, t=None): return [qt, qdt, qddt] -@block class CirclePath(SourceBlock): """ :blockname:`CIRCLEPATH` @@ -947,6 +960,9 @@ class CirclePath(SourceBlock): +------------+---------+---------+ """ + nin = 0 + nout = 1 + def __init__( self, radius=1, @@ -995,8 +1011,7 @@ def __init__( input ports and is a ``Source`` not a ``Function``. """ - super().__init__(nin=0, nout=1, **kwargs) - self.blockclass = "circlepath" + super().__init__(**kwargs) if unit == "rps": omega = frequency * 2 * pi diff --git a/roboticstoolbox/blocks/mobile.py b/roboticstoolbox/blocks/mobile.py index eb33faec5..322d5050c 100644 --- a/roboticstoolbox/blocks/mobile.py +++ b/roboticstoolbox/blocks/mobile.py @@ -5,14 +5,13 @@ from matplotlib.patches import Polygon import time -from bdsim.components import TransferBlock, block +from bdsim.components import TransferBlock from bdsim.graphics import GraphicsBlock from spatialmath import base from roboticstoolbox import Bicycle, Unicycle # ------------------------------------------------------------------------ # -@block class Bicycle(TransferBlock): """ :blockname:`BICYCLE` @@ -29,8 +28,13 @@ class Bicycle(TransferBlock): +------------+------------+---------+ """ + nin = 2 + nout = 1 + def __init__(self, *inputs, x0=None, L=1, vlim=1, slim=1, **kwargs): r""" + Create a vehicle model with Bicycle kinematics. + :param ``*inputs``: Optional incoming connections :type ``*inputs``: Block or Plug :param x0: Inital state, defaults to None @@ -45,28 +49,25 @@ def __init__(self, *inputs, x0=None, L=1, vlim=1, slim=1, **kwargs): :return: a BICYCLE block :rtype: Bicycle instance - Create a vehicle model with Bicycle kinematics. Bicycle kinematic model with state :math:`[x, y, \theta]`. - The block has two input ports: + **Block ports** :input v: Vehicle speed (metres/sec). The velocity limit ``vlim`` is applied to the magnitude of this input. :input γ: Steering wheel angle (radians). The steering limit ``slim`` is applied to the magnitude of this input. - and one output port: - - :output q: state (x, y, θ) + :output q: configuration (x, y, θ) + :seealso: :class:`Unicycle` :class:`DiffSteer` """ - super().__init__(nin=2, nout=1, inputs=inputs, **kwargs) + super().__init__(inputs=inputs, **kwargs) self.nstates = 3 self.vlim = vlim self.slim = slim - self.type = 'bicycle' self.L = L if x0 is None: @@ -95,7 +96,6 @@ def deriv(self): return xd # ------------------------------------------------------------------------ # -@block class Unicycle(TransferBlock): """ :blockname:`UNICYCLE` @@ -111,9 +111,13 @@ class Unicycle(TransferBlock): | float | float | | +------------+---------+---------+ """ + nin = 2 + nout = 1 def __init__(self, *inputs, x0=None, **kwargs): r""" + Create a vehicle model with Unicycle kinematics. + :param ``*inputs``: Optional incoming connections :type ``*inputs``: Block or Plug :param x0: Inital state, defaults to None @@ -124,28 +128,22 @@ def __init__(self, *inputs, x0=None, **kwargs): :return: a UNICYCLE block :rtype: Unicycle instance - - Create a vehicle model with Unicycle kinematics. Unicycle kinematic model with state :math:`[x, y, \theta]`. - The block has two input ports: + **Block ports** :input v: Vehicle speed (metres/sec). The velocity limit ``vlim`` is applied to the magnitude of this input. :input ω: Angular velocity (radians/sec). The steering limit ``slim`` is applied to the magnitude of this input. - and three output ports: - - :output x: position in the world frame (metres) - :output y: positon in the world frame (metres) - :output θ: heading angle with respect to the world frame (radians) + :output q: configuration (x, y, θ) + :seealso: :class:`Bicycle` :class:`DiffSteer` """ - super().__init__(nin=2, nout=3, inputs=inputs, **kwargs) + super().__init__(inputs=inputs, **kwargs) self.nstates = 3 - self.type = 'unicycle' if x0 is None: self._x0 = np.zeros((slef.nstates,)) @@ -154,7 +152,7 @@ def __init__(self, *inputs, x0=None, **kwargs): self._x0 = x0 def output(self, t): - return list(self._x) + return self._x def deriv(self): theta = self._x[2] @@ -164,7 +162,6 @@ def deriv(self): return xd # ------------------------------------------------------------------------ # -@block class DiffSteer(TransferBlock): """ :blockname:`DIFFSTEER` @@ -181,8 +178,16 @@ class DiffSteer(TransferBlock): +------------+---------+---------+ """ + nin = 2 + nout = 1 + + inlabels = ('ωL', 'ωR') + outlabels = ('q',) + def __init__(self, *inputs, R=1, W=1, x0=None, **kwargs): """ + Create a differential steer vehicle model + :param ``*inputs``: Optional incoming connections :type ``*inputs``: Block or Plug :param x0: Inital state, defaults to None @@ -195,26 +200,20 @@ def __init__(self, *inputs, R=1, W=1, x0=None, **kwargs): :return: a DIFFSTEER block :rtype: DifSteer instance - Create a differential steer vehicle model with Unicycle kinematics, with inputs - given as wheel angular velocity. - - Unicycle kinematic model with state :math:`[x, y, \theta]`. + Unicycle kinematic model with state :math:`[x, y, \theta]`, with + with inputs given as wheel angular velocity. - The block has two input ports: - - :input ωl: Left-wheel angular velocity (radians/sec). - :input ωr: Right-wheel angular velocity (radians/sec). - - and three output ports: - - :output x: position in the world frame (metres) - :output y: positon in the world frame (metres) - :output θ: heading angle with respect to the world frame (radians) + **Block ports** - Note: + :input ωL: Left-wheel angular velocity (radians/sec). + :input ωR: Right-wheel angular velocity (radians/sec). + + :output q: configuration (x, y, θ) - - wheel velocity is defined such that if both are positive the vehicle + .. note:: Wheel velocity is defined such that if both are positive the vehicle moves forward. + + :seealso: :class:`Bicycle` :class:`Unicycle` """ super().__init__(nin=2, nout=3, inputs=inputs, **kwargs) self.nstates = 3 @@ -229,7 +228,7 @@ def __init__(self, *inputs, R=1, W=1, x0=None, **kwargs): self._x0 = x0 def output(self, t): - return list(self._x) + return self._x def deriv(self): theta = self._x[2] @@ -241,7 +240,6 @@ def deriv(self): # ------------------------------------------------------------------------ # -@block class VehiclePlot(GraphicsBlock): """ :blockname:`VEHICLEPLOT` @@ -257,11 +255,18 @@ class VehiclePlot(GraphicsBlock): | float | | | +--------+---------+---------+ """ - + + nin = 1 + nout = 0 + + inlabels = ('q',) + # TODO add ability to render an image instead of an outline def __init__(self, *inputs, path=True, pathstyle=None, shape='triangle', color="blue", fill="white", size=1, scale='auto', labels=['X', 'Y'], square=True, init=None, **kwargs): """ + Create a vehicle animation + :param ``*inputs``: Optional incoming connections :type ``*inputs``: Block or Plug :param path: plot path taken by vehicle, defaults to True @@ -288,8 +293,11 @@ def __init__(self, *inputs, path=True, pathstyle=None, shape='triangle', color=" :return: A VEHICLEPLOT block :rtype: VehiclePlot instance - Create a vehicle animation similar to the figure below. + + **Block ports** + + :input qL: configuration (x, y, θ) Notes: diff --git a/roboticstoolbox/blocks/uav.py b/roboticstoolbox/blocks/uav.py index 39efcf11d..75f5c8b23 100644 --- a/roboticstoolbox/blocks/uav.py +++ b/roboticstoolbox/blocks/uav.py @@ -4,11 +4,10 @@ import matplotlib.pyplot as plt import time -from bdsim.components import TransferBlock, block +from bdsim.components import TransferBlock from bdsim.graphics import GraphicsBlock # ------------------------------------------------------------------------ # -@block class MultiRotor(TransferBlock): """ :blockname:`MULTIROTOR` @@ -24,6 +23,8 @@ class MultiRotor(TransferBlock): | A(4,) | dict | | +------------+---------+---------+ """ + nin = 1 + nout = 1 # Flyer2dynamics lovingly coded by Paul Pounds, first coded 12/4/04 @@ -79,6 +80,8 @@ class MultiRotor(TransferBlock): # def __init__(self, model, *inputs, groundcheck=True, speedcheck=True, x0=None, **kwargs): r""" + Create a a multi-rotor dynamic model block. + :param model: Vehicle geometric and inertial parameters :type model: dict :param ``*inputs``: Optional incoming connections @@ -93,20 +96,19 @@ def __init__(self, model, *inputs, groundcheck=True, speedcheck=True, x0=None, * :return: a MULTIROTOR block :rtype: MultiRotor instance - Create a a multi-rotor dynamic model block. - The block has one input port which is a vector of input rotor speeds - in (radians/sec). These are, looking down, clockwise from the front rotor - which lies on the x-axis. + **Block ports** - The block has one output port which is a dictionary signal with the - following items: - - - ``x`` pose in the world frame as :math:`[x, y, z, \theta_Y, \theta_P, \theta_R]` - - ``vb`` translational velocity in the world frame (metres/sec) - - ``w`` angular rates in the world frame as yaw-pitch-roll rates (radians/second) - - ``a1s`` longitudinal flapping angles (radians) - - ``b1s`` lateral flapping angles (radians) + :input ω: a vector of input rotor speeds in (radians/sec). These are, + looking down, clockwise from the front rotor which lies on the x-axis. + + :output x: a dictionary signal with the following items: + + - ``x`` pose in the world frame as :math:`[x, y, z, \theta_Y, \theta_P, \theta_R]` + - ``vb`` translational velocity in the world frame (metres/sec) + - ``w`` angular rates in the world frame as yaw-pitch-roll rates (radians/second) + - ``a1s`` longitudinal flapping angles (radians) + - ``b1s`` lateral flapping angles (radians) Based on MATLAB code developed by Pauline Pounds 2004. """ @@ -302,7 +304,6 @@ def deriv(self): # ------------------------------------------------------------------------ # -@block class MultiRotorPlot(GraphicsBlock): """ :blockname:`MULTIROTORPLOT` @@ -319,6 +320,10 @@ class MultiRotorPlot(GraphicsBlock): +--------+---------+---------+ """ + nin = 1 + nout = 0 + inlabels = ('x',) + # Based on code lovingly coded by Paul Pounds, first coded 17/4/02 # version 2 2004 added scaling and ground display # version 3 2010 improved rotor rendering and fixed mirroring bug @@ -342,6 +347,8 @@ class MultiRotorPlot(GraphicsBlock): def __init__(self, model, *inputs, scale=[-2, 2, -2, 2, 10], flapscale=1, projection='ortho', **kwargs): """ + Create a block that displays/animates a multi-rotor flying vehicle. + :param model: A dictionary of vehicle geometric and inertial properties :type model: dict :param ``*inputs``: Optional incoming connections @@ -356,7 +363,12 @@ def __init__(self, model, *inputs, scale=[-2, 2, -2, 2, 10], flapscale=1, projec :return: a MULTIROTOPLOT block :rtype: MultiRobotPlot instance - Create a block that displays/animates a multi-rotor flying vehicle. + + **Block ports** + + :input ω: a dictionary signal that includes the item: + + - ``x`` pose in the world frame as :math:`[x, y, z, \theta_Y, \theta_P, \theta_R]` .. figure:: ../../figs/multirotorplot.png :width: 500px From ebefaedb58aadbb262b8b515290483315131d59f Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sun, 1 Aug 2021 13:02:46 +1000 Subject: [PATCH 056/116] new lattice planner --- roboticstoolbox/mobile/LatticePlanner.py | 317 +++++++++++++++++++++++ 1 file changed, 317 insertions(+) create mode 100644 roboticstoolbox/mobile/LatticePlanner.py diff --git a/roboticstoolbox/mobile/LatticePlanner.py b/roboticstoolbox/mobile/LatticePlanner.py new file mode 100644 index 000000000..9e32c1ac7 --- /dev/null +++ b/roboticstoolbox/mobile/LatticePlanner.py @@ -0,0 +1,317 @@ +from pgraph import DGraph, DVertex, Edge +import numpy as np +from spatialmath import SE2 +import matplotlib.pyplot as plt +import itertools +from roboticstoolbox.mobile.Planner import Planner, BinaryOccupancyGrid +from collections import namedtuple + +def make_arc(dir, radius=1, npoints=20): + points = [] + + if dir == 'S': + points.append((0, 0)) + points.append((radius, 0)) + + elif dir == 'L': + for theta in np.linspace(0, np.pi/2, npoints): + x = radius * np.sin(theta) + y = radius * (1 - np.cos(theta)) + points.append((x, y)) + + elif dir == 'R': + for theta in np.linspace(0, np.pi/2, npoints): + x = radius * np.sin(theta) + y = radius * (-1 + np.cos(theta)) + points.append((x, y)) + + return np.array(points).T + +arcs = {} + +class LatticeVertex(DVertex): + def __init__(self, move=None, pose=None, name=None): + super().__init__(name=name) + self.move = move + self.pose = pose + self.coord = pose.xyt() + + def icoord(self): + xyt = self.coord + ix = int(round(xyt[0])) + iy = int(round(xyt[1])) + it = int(round(xyt[2]*2/np.pi)) + return f"({ix:d},{iy:d},{it:d}), {self.name}" + +class LatticeEdge(Edge): + def __init__(self, v1, v2, cost, pose, move): + super().__init__(v1, v2, cost) + self.pose = pose + self.move = move + self.arc = arcs[move] + + def plot(self, **kwargs): + T = self.pose + xy = self.pose * self.arc + plt.plot(xy[0, :], xy[1, :], **kwargs) + + +class LatticePlanner(Planner): + """ + Lattice planner + + :param costs: cost for straight, left-turn, right-turn, defaults to :math:`(1, \pi/2, \pi/2)` + :type costs: array_like(3), optional + :param root: configuration of root node, defaults to (0,0,0) + :type root: array_like(3), optional + :param kwargs: arguments passed to ``Planner`` constructor + + ================== ======================== + Feature Capability + ================== ======================== + Plan Configuration space + Obstacle avoidance Yes + Curvature Discontinuous + Motion Forwards only + ================== ======================== + + The lattice planner incrementally builds a graph from the root vertex, at + each iteration adding three edges to the graph: + + - straight ahead 'S' + - turn left 'L' + - turn right 'R' + + If the configuration is already in the graph, the edge connects to that + existing vertex. + + If an occupancy grid exists and the configuration is an obstacle, then + the vertex is not added. + + ``costs`` changes the weighting for path costs at query time. + """ + + def __init__(self, costs=None, root=(0,0,0), **kwargs): + + global arcs + + super().__init__(ndims=3, **kwargs) + + self.poses = [SE2(1, 0, 0), SE2(1, 1, np.pi/2), SE2(1, -1, -np.pi/2)] + self.moves = ['S', 'L', 'R'] + if costs is None: + costs = [1, np.pi/2, np.pi/2] + self.costs = costs + self.root = root + + + # create the set of possible moves + for move in self.moves: + arcs[move] = make_arc(move) + + def __str__(self): + s = super().__str__() + f"\n curvature={self.curvature}, stepsize={self.stepsize}" + + def icoord(self, xyt): + ix = int(round(xyt[0])) + iy = int(round(xyt[1])) + it = int(round(xyt[2]*2/np.pi)) + return f"({ix:d},{iy:d},{it:d})" + + def plan(self, iterations=None, verbose=False): + """ + Create a lattice plan + + :param iterations: number of iterations, defaults to None + :type iterations: int, optional + :param verbose: show frontier and added vertices/edges at each iteration, defaults to False + :type verbose: bool, optional + + If an occupancy grid exists the if ``iterations`` is None the area of the + grid will be completely filled. + """ + if iterations is None and self.occgrid is None: + raise ValueError('iterations must be finite if no occupancy grid is specified') + + self.graph = DGraph(metric='SE2') + + # add root vertex to the graph, place it in the frontier + v0 = LatticeVertex(pose=SE2(self.root)) + self.graph.add_vertex(v0, name='0') + frontier = [v0] + + iteration = 0 + while True: + + newfrontier = [] + for vertex in frontier: + if verbose: + print('EXPAND:', vertex.icoord()) + + for pose, move, cost in zip(self.poses, self.moves, self.costs): + newpose = vertex.pose * pose + xyt = newpose.xyt() + # theta is guaranteed to be in range [-pi, pi) + + if verbose: + print(' MOVE', move, self.icoord(xyt)) + + if self.isoccupied(xyt[:2]): + if verbose: + print(' is occupied') + continue + vclose, d = self.graph.closest(xyt) + + if d > 0.01: + # vertex does not already exists + vnew = LatticeVertex(move, newpose, name=vertex.name + move) + + # ix = int(xyt[0]) + # iy = int(xyt[1]) + # it = int(round(xyt[2]*2/np.pi)) + # vnew = LatticeVertex(move, newpose, name=f"{ix:d},{iy:d},{it:d}") + self.graph.add_vertex(vnew) + if verbose: + print(' add to graph as', vnew.name) + + edge = LatticeEdge(vertex, vnew, cost=cost, pose=vertex.pose, move=move) + + # connect it into the graph, add to frontier + vertex.connect(vnew, edge=edge) + newfrontier.append(vnew) + else: + # vertex already exists + # print('exists', vertex, move, vclose) + + # connect it into the graph, don't add to frontier + if verbose: + print(' already in graph, connect to', vclose.icoord()) + edge = LatticeEdge(vertex, vclose, cost=cost, pose=vertex.pose, move=move) + vertex.connect(vclose, edge=edge) + + frontier = newfrontier + + iteration += 1 + if iterations is None: + if len(frontier) == 0: + print(f"finished after {iteration} iterations") + break + print(f"iteration {iteration}, frontier length {len(frontier)}") + elif iteration >= iterations: + break + + def query(self, qs, qg): + """ + Find a path through the lattice + + :param qs: initial configuration + :type qs: array_like(3) + :param qg: goal configuration + :type qg: array_like(3) + :return: path and status + :rtype: ndarray(N,3), namedtuple + + The returned status value has elements: + + +-------------+-----------------------------------------------------+ + | Element | Description | + +-------------+-----------------------------------------------------+ + | ``cost`` | path cost | + +-------------+-----------------------------------------------------+ + |``segments`` | a list containing the type of each path segment as | + | | a single letter code: either "L", "R" or "S" for | + | | left turn, right turn or straight line respectively.| + +-------------+-----------------------------------------------------+ + |``edges `` | successive edges of the graph ``LatticeEdge`` type | + +-------------+-----------------------------------------------------+ + + :seealso: :meth:`Planner.query` + """ + + vs, ds = self.graph.closest(qs) + if ds > 0.001: + raise ValueError('start configuration is not in the lattice') + vg, dg = self.graph.closest(qg) + if dg > 0.001: + raise ValueError('goal configuration is not in the lattice') + + path, cost, _ = self.graph.path_Astar(vs, vg, verbose=False) + + status = namedtuple('LatticeStatus', ['cost', 'segments', 'edges']) + + segments = [] + edges = [] + for p, n in zip(path[:-1], path[1:]): + e = p.edgeto(n) + edges.append(e) + segments.append(e.move) + + return np.array([p.coord for p in path]), status(cost, segments, edges) + + def plot(self, path=None, **kwargs): + super().plot(twod=True, **kwargs) + + for k, vertex in enumerate(self.graph): + # for every node + if k == 0: + plt.plot(vertex.coord[0], vertex.coord[1], 'k>', markersize=10) + else: + plt.plot(vertex.coord[0], vertex.coord[1], 'bo') + + for edge in self.graph.edges(): + edge.plot(color='k') + + if path is not None: + for p, n in zip(path[:-1], path[1:]): + # turn coordinaets back into vertices + vp, _ = self.graph.closest(p) + vn, _ = self.graph.closest(n) + e = vp.edgeto(vn) + e.plot(color='b', linewidth=4) + +if __name__ == "__main__": + + og = BinaryOccupancyGrid(workspace=[-5, 5, -5, 5], value=False) + og.set([3, 3, -2, 3], True) + + lattice = LatticePlanner(occgrid=og) + + lattice.plan(iterations=10) + print(lattice.graph) + + qs = (0, 0, np.pi/2) + qg = (1, 0, np.pi/2) + + # print('qs') + # vs, d = lattice.graph.closest(qs) + # print(vs, d, vs.coord) + # print(vs.neighbours()) + # print() + + # print('[-1, 1, -np.pi]') + # vs, d = lattice.graph.closest([-1, 1, -np.pi]) + # print(vs, d, vs.coord) + # print(vs.neighbours()) + # print() + + # print('0L') + # vs = lattice.graph['0L'] + # print(vs, vs.coord) + # print(vs.neighbours()) + # print() + + path, status = lattice.query(qs, qg) + + print(path) + print(status) + + + lattice.plot(path=path) + + plt.show(block=True) + + # ax = plt.gca() + # ax.set_aspect('equal') + # ax.grid(True) + # ax.set_xlim(-4, 4) + # ax.set_ylim(-4, 4) From 64e04123c052811d016833fbc07923e8ca11050f Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Tue, 3 Aug 2021 20:40:28 +1000 Subject: [PATCH 057/116] New version hacked from PythonRobotics, very slow for large problems --- roboticstoolbox/mobile/DstarPlanner.py | 647 +++++++++++++------------ 1 file changed, 345 insertions(+), 302 deletions(-) diff --git a/roboticstoolbox/mobile/DstarPlanner.py b/roboticstoolbox/mobile/DstarPlanner.py index bf06385ac..a2e6c58e5 100644 --- a/roboticstoolbox/mobile/DstarPlanner.py +++ b/roboticstoolbox/mobile/DstarPlanner.py @@ -1,25 +1,239 @@ """ -Python ReedShepp Planner -@Author: Kristian Gibson -TODO: Comments + Sphynx Docs Structured Text -TODO: Bug-fix, testing -Not ready for use yet. +D* grid planning + +author: Nirnay Roy + +See Wikipedia article (https://en.wikipedia.org/wiki/D*) + """ -from numpy import disp -from scipy import integrate -from spatialmath.base.transforms2d import * -from spatialmath.base.vectors import * -from spatialmath.pose2d import SE2 -from scipy.ndimage import * -from matplotlib import cm -from enum import IntEnum +import math + +from sys import maxsize +from collections import namedtuple +from enum import IntEnum, auto +import matplotlib.pyplot as plt +import numpy as np +import matplotlib.cm as cm from roboticstoolbox.mobile.Planner import Planner +from roboticstoolbox.mobile.OccGrid import OccupancyGrid + + +show_animation = True + +class Tag(IntEnum): + NEW = auto() + OPEN = auto() + CLOSED = auto() +class State: + + def __init__(self, x, y): + self.x = x + self.y = y + self.parent = None # 'back pointer' to next state + self.t = Tag.NEW # open closed new + self.h = 0 # cost to goal + self.k = 0 # estimate of shortest path cost + + def __str__(self): + return f"({self.x}, {self.y})" #[{self.h:.1f}, {self.k:.1f}]" + + def __repr__(self): + return self.__str__() + +class Map: + + def __init__(self, row, col): + self.row = row + self.col = col + self.map = self.init_map() + + def init_map(self): + map_list = [] + for i in range(self.row): + tmp = [] + for j in range(self.col): + tmp.append(State(i, j)) + map_list.append(tmp) + return map_list + + _neighbours = [(-1, -1), (-1, 0), (-1, 1), (0, -1), (0, 1), (1, -1), (1, 0), (1, 1)] + + def get_neighbors(self, state): + state_list = [] + # for i in [-1, 0, 1]: + # for j in [-1, 0, 1]: + # if i == 0 and j == 0: + # continue + # if state.x + i < 0 or state.x + i >= self.row: + # continue + # if state.y + j < 0 or state.y + j >= self.col: + # continue + # state_list.append(self.map[state.x + i][state.y + j]) + for i, j in self._neighbours: + try: + state_list.append(self.map[state.x + i][state.y + j]) + except IndexError: + pass + return state_list + + + def set_cost(self, region, cost, modify=None): + + xmin = max(0, region[0]) + xmax = min(self.col, region[1]) + ymin = max(0, region[2]) + ymax = min(self.row, region[3]) + + self.costmap[ymin:ymax, xmin:xmax] = cost + + if modify is not None: + for x in range(xmin, xmax): + for y in range(ymin, ymax): + modify.modify_cost(self.map[x][y]) + + _root2 = np.sqrt(2) + + def cost(self, state1, state2): + c = (self.costmap[state1.y, state1.x] + self.costmap[state2.y, state2.x]) / 2 + + dx = state1.x - state2.x + dy = state1.y - state2.y + if dx == 0 or dy == 0: + # NSEW movement, distance of 1 + return c + else: + # diagonal movement, distance of sqrt(2) + return c * self._root2 + # return c * math.sqrt(()**2 + + # ()**2) + + def show_h(self): + h = np.empty((self.col, self.row)) + + for x in range(self.col): + for y in range(self.row): + h[y, x] = self.map[x][y].h + print(h) + +class Dstar: + def __init__(self, map): + self.map = map + self.open_list = set() + self.nexpand = 0 + + def process_state(self, verbose=False): + if verbose: + print('FRONTIER ', ', '.join([str(x) for x in self.open_list])) + + # get state from frontier + x = self.min_state() + if x is None: + if verbose: + print(' x is None ') + return -1 + self.nexpand += 1 + + # get its current cost + k_old = self.get_kmin() + self.remove(x) + + if verbose: + print('EXPAND ', x, k_old) + + if x.h > k_old + 1e-6: + # RAISE state + if verbose: + print(' raise') + for y in self.map.get_neighbors(x): + if y.t is not Tag.NEW and y.h <= k_old and x.h > y.h + self.map.cost(x, y): + x.parent = y + x.h = y.h + self.map.cost(x, y) + + if np.isclose(x.h, k_old): + # normal state + if verbose: + print(' normal') + for y in self.map.get_neighbors(x): + if y.t is Tag.NEW \ + or (y.parent == x and not np.isclose(y.h, x.h + self.map.cost(x, y))) \ + or (y.parent != x and y.h > x.h + self.map.cost(x, y) + 1e-6): + if verbose: + print(f" reparent {y} from {y.parent} to {x}") + y.parent = x + self.insert(y, x.h + self.map.cost(x, y)) + else: + # RAISE or LOWER state + if verbose: + print(' lower') + for y in self.map.get_neighbors(x): + if y.t is Tag.NEW or (y.parent == x and not np.isclose(y.h, x.h + self.map.cost(x, y))): + y.parent = x + self.insert(y, x.h + self.map.cost(x, y)) + else: + if y.parent != x and (y.h > x.h + self.map.cost(x, y)) and x.t is Tag.CLOSED: + self.insert(x, x.h) + else: + if y.parent != x and x.h > y.h + self.map.cost(y, x) + 1e-6 \ + and y.t is Tag.CLOSED and y.h > k_old + 1e-6: + self.insert(y, y.h) + if verbose: + print() + return self.get_kmin() + + def min_state(self): + if not self.open_list: + return None + min_state = min(self.open_list, key=lambda x: x.k) + return min_state + + def get_kmin(self): + if not self.open_list: + return -1 + k_min = min([x.k for x in self.open_list]) + return k_min + + ninsert = 0 + nin = 0 + + def insert(self, state, h_new): + self.ninsert += 1 + if state in self.open_list: + self.nin += 1 + if state.t is not Tag.OPEN: + print('already in but not open') + if state.t is Tag.NEW: + state.k = h_new + elif state.t is Tag.OPEN: + state.k = min(state.k, h_new) + elif state.t is Tag.CLOSED: + state.k = min(state.h, h_new) + state.h = h_new + state.t = Tag.OPEN + + self.open_list.add(state) + + def remove(self, state): + if state.t is Tag.OPEN: + state.t = Tag.CLOSED + else: + state.t = Tag.CLOSED + print('removing non open state') + self.open_list.remove(state) + + def modify_cost(self, x, newcost): + self.map.costmap[x.y, x.x] = newcost + if x.t is Tag.CLOSED: + self.insert(x, x.parent.h + self.map.cost(x, x.parent)) + return self.get_kmin() + + def modify(self, state): + self.modify_cost(state) + while True: + k_min = self.process_state() + if k_min == -1 or k_min >= state.h: + break -class _State(IntEnum): - NEW = 0 - OPEN = 1 - CLOSED = 2 class DstarPlanner(Planner): r""" D* path planner @@ -49,91 +263,15 @@ class DstarPlanner(Planner): """ def __init__(self, occ_grid=None, reset=False, **kwargs): - self._g = None - self._b = None # backpointers - self._t = None # tags - self._h = None # path cost estimates - self._valid_plan = None - self.open_list = None - self.open_list_maxlen = None - self._niter = None - self._costmap = occ_grid.astype(np.float32) - self._m = 'euclidean' - - super().__init__(occ_grid=occ_grid, **kwargs) - - @property - def niter(self): - return self._niter - - @property - def costmap(self): - return self._costmap - - def dstar(self, map, goal=None, metric=None, inflate=None, progress=None): - self._occ_grid = map - self._goal = goal - - self.reset() - if self._goal is not None or self._goal is not np.array([]): - self.goal_change() - - self.reset() - - return self - - def reset(self): - # self._b = np.zeros(self._costmap.shape) - # self._t = np.zeros(self._costmap.shape) - # self._h = np.inf * np.ones(self._costmap.shape) - - self._bmat = np.zeros(self._costmap.shape) - self._tmat = np.zeros(self._costmap.shape) - self._hmat = np.inf * np.ones(self._costmap.shape) - - self._b = self._bmat.ravel() - self._t = self._tmat.ravel() - self._h = self._hmat.ravel() - - self.open_list = np.zeros((2, 0)) + super().__init__(ndims=2, **kwargs) - self.open_list_maxlen = -np.inf + self.costmap = np.where(self.occgrid.grid > 0, np.inf, 1) + self.map = Map(self.costmap.shape[1], self.costmap.shape[0]) + self.map.costmap = self.costmap + self.dstar = Dstar(self.map) - self.occgrid2costmap(self._occ_grid_nav) - - self._valid_plan = False - - def __str__(self): - s = super().__str__() - s += f"\n Distance metric: {self._metric}" - if self._distance_map is not None: - s += ", Cost map: computed " - else: - s += ", Cost map: empty " - if self._valid_plan: - s += " \nPlan: valid" - else: - s += " \nPlan: stale" - return s - - # Just feed self._h into plot function from parent as p - - def next(self, current): - if not self._valid_plan: - Error("Cost map has changed, replan") - # x = sub2ind(np.shape(self._costmap), current[1], current[0]) - # x = self._b[x] - i = np.ravel_multi_index([current[1], current[0]], self._costmap.shape) - i = self._b[i] - - if i == 0: - return None # we have arrived - else: - x = np.unravel_index((i), self._costmap.shape) - return x[1], x[0] - - def plan(self, goal=None, animate=False, progress=True): + def plan(self, goal, animate=False, progress=True): r""" Plan D* path @@ -147,235 +285,140 @@ def plan(self, goal=None, animate=False, progress=True): The implementation depends on the particular planner. Some may have no planning phase. The plan may also depend on just the start or goal. """ - if goal is not None: - self._goal = np.array(goal).astype(int) - self.reset() + self.goal = goal + goalstate = self.map.map[goal[0]][goal[1]] + self.goalstate = goalstate - assert(goal is not None and goal is not np.array([])) + # self.dstar.open_list.add(goalstate) + self.dstar.insert(goalstate, 0) - goal = self._goal + while True: + ret = self.dstar.process_state() + # print('plan', ret, len(self.dstar.open_list)) - self._g = np.ravel_multi_index([goal[1], goal[0]], self._costmap.shape) - self.__insert(self._g, 0, 'goalset') - self._h[self._g] = 0 + if ret == -1: + break + + print(self.dstar.ninsert, self.dstar.nin) - self._niter = 0 - h_prog = None - if progress: - h_prog = self.progress_init('D* Planning') - n_free = np.prod(self._occ_grid_nav.shape) - np.sum(self._occ_grid_nav > 0) - n_update = np.round(n_free / 100) + def query(self, start, update=None, changes=None): + self.start = start + startstate = self.map.map[start[0]][start[1]] + s = startstate + s = s.parent + tmp = startstate - while True: - self._niter = self._niter + 1 - if progress and np.mod(self._niter, n_update) == 0: - self.progress(h_prog, self._niter/n_free) + cost = tmp.h - if animate: - self.show_distance(self._h) + for x in range(self.map.col): + for y in range(self.map.row): + self.dstar.map.map[x][y].t == 'new' + self.goalstate.h = 0 - if self._process_state() < 0: + path = [] + while True: + path.append((tmp.x, tmp.y)) + if tmp == self.goalstate: break + + # x, y = tmp.parent.x, tmp.parent.y + if update is not None and update == tmp: + # make changes now + for x, y, newcost in changes: + X = self.dstar.map.map[x][y] + print('difference at ', x, y) + val = self.dstar.modify_cost(X, newcost) + while val != -1 and val < tmp.h: + val = self.dstar.process_state() + tmp = tmp.parent + print('done') + + status = namedtuple('DstarStatus', ['cost',]) + + return np.array(path).T, status(cost) - if progress: - self.progress_delete(h_prog) - self._valid_plan = True - disp(self._niter + " iterations\n") - - def set_cost(self, cost_map): - if not np.all(np.shape(cost_map) == np.shape(self._occ_grid_nav)): - Error("Costmap must be the same size of the occupancy grid") - - self._costmap = cost_map - self._valid_plan = False - - def modify_cost(self, xy, new_cost): - # xy is [xmin xmax ymin ymax] - if np.all(np.shape[xy] == np.array([2, 2])) and np.size(new_cost) == 1: - for xx in range(xy[0, 0], xy[0, 1]): - for yy in range(xy[1, 0], xy[1, 1]): - self.modify(xx, yy, new_cost) - elif len(xy[0]) == np.size(new_cost): - for i in range(0, len[xy[0]]): - self.modify(xy[0, i], xy[1, i], new_cost[i]) - else: - Error("Number of columns of P and C must match") - - self._valid_plan = False - - def modify(self, x, y, new_cost): - x = sub2ind(np.shape(self._costmap), y, x) - self._costmap[x] = new_cost - - if self._t[x] == State.CLOSED: - self.__insert(x, self._h[x], 'modifycost') - - # These are private methods ... kinda - def __occ_grid2cost_map(self, og=None, cost=None): - if cost is None: - cost = 1 - self._costmap = og - self._costmap[self._costmap==1] = np.Inf - self._costmap[self._costmap==0] = cost - - def _process_state(self): - x = self.__min_state() - r = None - - if x is None or x is np.array([]): - r = -1 - return r - - k_old = self.__get_kmin() - self.__delete(x) - - if k_old < self._h[x]: - self.message('k_old == h[x]: ' + k_old) - for y in self.__neighbours(x): - if (self._h[y] <= k_old) and (self._h[x] > self._h[y] + self.__c(y, x)): - self._b[x] = y - self._h[x] = self._h[y] + self.__c(y, x) - - if k_old == self._h[x]: - self.message(f"k_old == h[x]: {k_old}") - for y in self.__neighbours(x): - if (self._t[y] == State.NEW) or ( (self._b[y] == x) and - (self._h[y] != (self._h[x] + self.c[x, y]))) or ((self._b[y] != x) - and (self._h[y] > (self._h[x] + self.c[x, y]))): - - self._b[y] = x - self.__insert(y, self._h[x] + self._c(x, y), 'L13') - else: - self.message("k_old == h[x]: " + k_old) - for y in self.__neighbours(x): - if (self._t[y] == self.__new) or ((self._b[y] == x) and - (self._h[y] != (self._h[x] + self.__c(x, y)))): - self._b[y] = x - self.__insert(y, self._h[x] + self.__c(x, y), "L18") - else: - if (self._b[y] != x) and (self._h[y] > (self._h[x] + self.__c(x, y))): - self.__insert(x, self._h[x], "L21") - else: - if (self._b[y] != x) and (self._h[x] > self._h[y] + self.__c(y, x)) and \ - (self._t[y] == self.__closed) and self._h[y] > k_old: - self.__insert(y, self._h[y], 'L25') - - r = 0 - return r - - def __k(self, x): - i = self.open_list[0,:] == x - kk = self.open_list[1, i] - return kk - - def __insert(self, x, h_new, where): - self.message(f"Insert ({where}) {x} = {h_new}") - - i = np.argwhere(self.open_list[0, :] == x) - if len(i) > 1: - Error("D*:Insert: state in open list " + x + " times.\n") - - k_new = None - if self._t[x] == State.NEW: - k_new = h_new - self.open_list = np.c_[self.open_list, [x, k_new]] - elif self._t[x] == State.OPEN: - k_new = np.min(self.open_list[1, i], h_new) - elif self._t[x] == State.CLOSED: - k_new = np.min(self._h[x], h_new) - data = np.array([(x), (k_new)]) - self.open_list = np.array([self.open_list, data]) - - # if len(self.open_list[0]) > self.open_list_maxlen: - # self.open_list_maxlen = len(self.open_list[0]) - - self._h[x] = h_new - self._t[x] = State.OPEN - - def __delete(self, x): - # % remove node from open list - self.message(f"Delete {x}") - i = np.argwhere(self.open_list[0, :] == x) - if len(i) != 1: - Error("D*:Delete: state " + x + " doesn't exist.") - if len(i) > 1: - disp("Del") - self.open_list = np.delete(self.open_list, i-1, 1) - self._t[x] = State.CLOSED - - def __min_state(self): - # return the index of the open state with the smallest k value - ms = None - if self.open_list is None or self.open_list is np.array([]): - ms = np.array([]) - else: - i = np.argmin(self.open_list[1, :]) - ms = self.open_list[0, i] - return ms.astype(int) + # # Just feed self._h into plot function from parent as p - def __get_kmin(self): - return self.open_list[1, :].min() + # def next(self, current): + # if not self._valid_plan: + # Error("Cost map has changed, replan") + # # x = sub2ind(np.shape(self._costmap), current[1], current[0]) + # # x = self._b[x] + # i = np.ravel_multi_index([current[1], current[0]], self._costmap.shape) + # i = self._b[i] - def _c(self, x, y): - # % return the cost of moving from state X to state Y - r, c = ind2sub(np.shape(self.costmap), np.array([[x], [y]])) + # if i == 0: + # return None # we have arrived + # else: + # x = np.unravel_index((i), self._costmap.shape) + # return x[1], x[0] - r, c = np.ravel_multi_index([goal[1], goal[0]], self._costmap.shape) +if __name__ == "__main__": - dist = np.sqrt(np.sum(np.diff(np.square(np.array([r, c]))))) - d_cost = (self._costmap[x] + self._costmap[y])/2 + og = np.zeros((10,10)) + og[4:8, 3:6] = 1 + print(og) - cost = dist * d_cost - return cost + ds = DstarPlanner(occgrid=og) + print(ds.costmap) - def __neighbours(self, x): - dims = self._costmap.shape - # r, c = ind2sub(dims, x) + start = (1,1) + goal = (7,6) - r, c = np.unravel_index((x), dims) + ds.plan(goal=goal) + ds.map.show_h() - y = np.array([[r-1, r-1, r-1, r, r, r+1, r+1, r+1], - [c-1, c, c+1, c-1, c+1, c-1, c, c+1]]) + # path, status = ds.query(start=start) + # print(path) + # print(status) - k = (y.min(axis=0) > 0) & (y[0, :] <= dims[0]) & (y[1, :] <= dims[1]) - y = y[:, k-1] - # y = np.transpose(sub2ind(dims, np.transpose(y[0, :]), np.transpose(y[1, :]))) + # ds.plot(path=path) - # QUERY are these the right way around? - i = np.ravel_multi_index((y[0, :], y[1, :]), self._costmap.shape) - return i - def occgrid2costmap(self, occgrid, cost=1): + changes = [] + for x in range(3, 6): + for y in range(0, 4): + changes.append((x, y, 5)) + # print(costmap2) - self._costmap = occgrid.astype(float) - self._costmap[self.costmap == 1] = np.inf; # occupied cells have inf driving cost - self._costmap[self.costmap == 0] = cost # unoccupied cells have driving cost + path2, status2 = ds.query(start=start, update=ds.dstar.map.map[3][3], changes=changes) + print(ds.map.costmap) + ds.map.show_h() -# Sourced from: https://stackoverflow.com/questions/28995146/matlab-ind2sub-equivalent-in-python/28995315#28995315 -def sub2ind(array_shape, rows, cols): - ind = rows*array_shape[1] + cols - ind[ind < 0] = -1 - ind[ind >= array_shape[0]*array_shape[1]] = -1 - return ind + # ds.dstar.replan() + # path2, status = ds.query(start=start) + print(path2) + print(status2) -def ind2sub(array_shape, ind): - ind[ind < 0] = -1 - ind[ind >= array_shape[0]*array_shape[1]] = -1 - rows = (ind.astype('int') / array_shape[1]) - cols = ind % array_shape[1] - return rows, cols + ds.plot(path=path2) + # ds.plot(path=path2, block=True) + # obstacle zone + # m.set_cost([30, 60, 20, 60], np.inf) -if __name__ == "__main__": + # start = [10, 10] + # goal = [70, 70] + # if show_animation: + # m.plot() + # plt.plot(start[0], start[1], "og") + # plt.plot(goal[0], goal[1], "xb") + # plt.axis("equal") + + # start = m.map[start[0]][start[1]] + # end = m.map[goal[0]][goal[1]] + # dstar = Dstar(m) + # rx, ry = dstar.run(start, end) + + # if show_animation: + # plt.plot(rx, ry, "-r") + # plt.show(block=True) + + # # costly zone + # m.set_cost([30, 40, 60, 80], 1.70, modify=dstar) + + # dstar.replan() - from roboticstoolbox import DStarPlanner, path_to_datafile - from scipy.io import loadmat + plt.show(block=True) - path = path_to_datafile("data/map1.mat") - vars = loadmat(path, squeeze_me=True, struct_as_record=False) - map = vars['map'] - ds = DStarPlanner(map, verbose=True) - ds = ds.plan([50, 35]) - path = ds.query([20, 10]) From b46f35b563a2a621f89bd0f4ff101fd03ba0a410 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Tue, 3 Aug 2021 20:41:44 +1000 Subject: [PATCH 058/116] add __str__ method --- roboticstoolbox/mobile/DubinsPlanner.py | 4 +++- roboticstoolbox/mobile/PRMPlanner.py | 5 +++++ roboticstoolbox/mobile/ReedsSheppPlanner.py | 3 +++ 3 files changed, 11 insertions(+), 1 deletion(-) diff --git a/roboticstoolbox/mobile/DubinsPlanner.py b/roboticstoolbox/mobile/DubinsPlanner.py index 7b601a438..4921e8553 100644 --- a/roboticstoolbox/mobile/DubinsPlanner.py +++ b/roboticstoolbox/mobile/DubinsPlanner.py @@ -342,6 +342,9 @@ def __init__(self, curvature=1, stepsize=0.1, **kwargs): self._curvature = curvature self._stepsize = stepsize + def __str__(self): + s = super().__str__() + f"\n curvature={self.curvature}, stepsize={self.stepsize}" + def query(self, start, goal, **kwargs): r""" Find a Dubins path @@ -355,7 +358,6 @@ def query(self, start, goal, **kwargs): The returned status value has elements: - +-------------+-----------------------------------------------------+ | Element | Description | +-------------+-----------------------------------------------------+ diff --git a/roboticstoolbox/mobile/PRMPlanner.py b/roboticstoolbox/mobile/PRMPlanner.py index b79dbcdb8..26552846b 100644 --- a/roboticstoolbox/mobile/PRMPlanner.py +++ b/roboticstoolbox/mobile/PRMPlanner.py @@ -66,6 +66,11 @@ def __init__(self, occ_grid=None, npoints=100, dist_thresh=None, **kwargs): self._v_path = None self._g_path = None + def __str__(self): + s = super().__str__() + s += '\n ' + str(self.graph) + return s + @property def npoints(self): return self._npoints diff --git a/roboticstoolbox/mobile/ReedsSheppPlanner.py b/roboticstoolbox/mobile/ReedsSheppPlanner.py index 26f6c45f6..d52eb4066 100644 --- a/roboticstoolbox/mobile/ReedsSheppPlanner.py +++ b/roboticstoolbox/mobile/ReedsSheppPlanner.py @@ -411,6 +411,9 @@ def __init__(self, curvature=1, stepsize=0.1, **kwargs): self._curvature = curvature self._stepsize = stepsize + def __str__(self): + s = super().__str__() + f"\n curvature={self.curvature}, stepsize={self.stepsize}" + def query(self, start, goal, **kwargs): r""" Find Reeds-Shepp path From a21fefbb1bc19ead94fc25f60c53ef18360fe088 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Tue, 3 Aug 2021 20:43:12 +1000 Subject: [PATCH 059/116] minor improves --- roboticstoolbox/mobile/DistanceTransformPlanner.py | 7 ++++++- roboticstoolbox/mobile/LatticePlanner.py | 3 ++- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/roboticstoolbox/mobile/DistanceTransformPlanner.py b/roboticstoolbox/mobile/DistanceTransformPlanner.py index c0cf95a87..4d2ee9867 100644 --- a/roboticstoolbox/mobile/DistanceTransformPlanner.py +++ b/roboticstoolbox/mobile/DistanceTransformPlanner.py @@ -119,7 +119,8 @@ def next(self, position): min_dist = self._distancemap[y + d[0], x + d[1]] except: # come here if the neighbouring cell is outside the map bounds - raise RuntimeError(f"Unexpected error finding next min dist at {d}") + # raise RuntimeError(f"Unexpected error finding next min dist at {d}") + pass if np.isinf(min_dist): raise RuntimeError("no minimum found, shouldn't happen") @@ -147,7 +148,11 @@ def plot_3d(self, p=None, ls=None): height = distance[p[:,1], p[:,0]] ax.plot(p[:, 0], p[:, 1], height) + plt.xlabel('x') + plt.ylabel('y') + ax.set_zlabel('z') plt.show() + return ax # Sourced from: https://stackoverflow.com/questions/28995146/matlab-ind2sub-equivalent-in-python/28995315#28995315 diff --git a/roboticstoolbox/mobile/LatticePlanner.py b/roboticstoolbox/mobile/LatticePlanner.py index 9e32c1ac7..3e1440213 100644 --- a/roboticstoolbox/mobile/LatticePlanner.py +++ b/roboticstoolbox/mobile/LatticePlanner.py @@ -3,7 +3,8 @@ from spatialmath import SE2 import matplotlib.pyplot as plt import itertools -from roboticstoolbox.mobile.Planner import Planner, BinaryOccupancyGrid +from roboticstoolbox.mobile.Planner import Planner +from roboticstoolbox.mobile.OccGrid import OccupancyGrid from collections import namedtuple def make_arc(dir, radius=1, npoints=20): From 26ae4274ab0063cce85fa188986509ccbbbc782c Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Tue, 3 Aug 2021 20:44:21 +1000 Subject: [PATCH 060/116] add support to limit maximum curvature, WIP --- .../mobile/CurvaturePolyPlanner.py | 47 +++++++++++++------ 1 file changed, 33 insertions(+), 14 deletions(-) diff --git a/roboticstoolbox/mobile/CurvaturePolyPlanner.py b/roboticstoolbox/mobile/CurvaturePolyPlanner.py index 9b5b73323..3f514a52e 100644 --- a/roboticstoolbox/mobile/CurvaturePolyPlanner.py +++ b/roboticstoolbox/mobile/CurvaturePolyPlanner.py @@ -11,21 +11,38 @@ def solvepath(poly, s_f, x0=[0, 0, 0], **kwargs): # poly is 4 coeffs of curvature polynomial # x0 is initial state of the vehicle - def dotfunc(t, x, poly): + maxcurvature = 0 + + def dotfunc(s, x, poly): + # x = (x, y, θ) + # xdot = (cosθ, sinθ, ϰ) + k = poly[0] * s ** 3 + poly[1] * s ** 2 + poly[2] * s + poly[3] + + # save maximum curvature for this path solution + nonlocal maxcurvature + maxcurvature = max(maxcurvature, abs(k)) + theta = x[2] - k = poly[0] * t ** 3 + poly[1] * t ** 2 + poly[2] * t + poly[3] return math.cos(theta), math.sin(theta), k sol = scipy.integrate.solve_ivp(dotfunc, [0, s_f], x0, args=(poly,), **kwargs) - return sol.y + return sol.y, maxcurvature -def costfunc(unknowns, start, goal): +def costfunc(unknowns, start, goal, curvature): # final cost of path from start with params # p[0:4] is polynomial # p[4] is s_f - path = solvepath(poly=unknowns[:4], s_f=unknowns[4], x0=start) + + # integrate the path for this curvature polynomial and length + path, maxcurvature = solvepath(poly=unknowns[:4], s_f=unknowns[4], x0=start) + + # cost is configuration error at end of path e = np.linalg.norm(path[:, -1] - np.r_[goal]) - print(e, path[:, -1], np.r_[goal]) + + if curvature is not None and maxcurvature > curvature: + # e *= np.exp(maxcurvature - curvature) + e += 0.1 * (maxcurvature - curvature) + # print(e, path[:, -1], np.r_[goal]) return e class CurvaturePolyPlanner(Planner): @@ -71,8 +88,9 @@ class CurvaturePolyPlanner(Planner): :seealso: :class:`Planner` """ - def __init__(self): + def __init__(self, curvature=None): super().__init__(ndims=3) + self.curvature = curvature def query(self, start, goal): r""" @@ -107,13 +125,14 @@ def query(self, start, goal): # theta = math.atan2(delta[1], delta[0]) sol = scipy.optimize.minimize(costfunc, [0, 0, 1, 0, d], bounds=[(None, None), (None, None), (None, None), (None, None), (d, None)], - args=(start, goal,)) + args=(start, goal, self.curvature)) - path = solvepath(sol.x[:4], s_f=sol.x[4], x0=start, dense_output=True, max_step = 1e-2) + path, maxcurvature = solvepath(sol.x[:4], s_f=sol.x[4], x0=start, dense_output=True, max_step = 1e-2) - status = namedtuple('CurvaturePolyStatus', ['length', 'poly'])(sol.x[4], sol.x[:4]) + status = namedtuple('CurvaturePolyStatus', + ['length', 'maxcurvature', 'poly', 'success', 'iterations', 'message']) - return path.T, status + return path, status(sol.x[4], maxcurvature, sol.x[:4], sol.success, sol.nit, sol.message) if __name__ == '__main__': from math import pi @@ -126,10 +145,10 @@ def query(self, start, goal): # start = (0, 0, pi/2) # goal = (1, 0, pi/2) - planner = CurvaturePolyPlanner() + planner = CurvaturePolyPlanner(curvature=1) path, status = planner.query(start, goal) - print('start', path[0,:]) - print('goal', path[-1, :]) + print('start', path[:, 0]) + print('goal', path[:, -1]) print(status) planner.plot(path, block=True) From 8e673ac15e003488c8ca19d8888a79d106907172 Mon Sep 17 00:00:00 2001 From: jhavl Date: Wed, 4 Aug 2021 08:46:36 +1000 Subject: [PATCH 061/116] progress on any axis --- roboticstoolbox/tools/urdf/urdf.py | 33 ++++++++++++++++++++++++++++++ 1 file changed, 33 insertions(+) diff --git a/roboticstoolbox/tools/urdf/urdf.py b/roboticstoolbox/tools/urdf/urdf.py index c9b12124d..b6dc45c43 100644 --- a/roboticstoolbox/tools/urdf/urdf.py +++ b/roboticstoolbox/tools/urdf/urdf.py @@ -1692,7 +1692,40 @@ def __init__( # TODO, find where reverse is used and change # it to [::-1] or do that here rot = joint.rpy + + # Check if axis of rotation/tanslation is not 1 + # if np.sum(np.abs(np.array(joint.axis))) == 1 and 1 in np.abs( + # np.array(joint.axis) + # ): + # print("not") childlink._ets = rtb.ETS.SE3(trans, rot) + # else: + + # phi = np.arctan2( + # np.sqrt(joint.axis[0] * joint.axis[0] + joint.axis[1] * joint.axis[1]), + # joint.axis[2], + # ) + # print(phi) + # theta = np.arctan2(joint.axis[1], -joint.axis[0]) + # print(theta) + + # joint.axis = [1, 0, 0] + + # new_axis = [0, 0, 1] + + # v = np.cross(joint.axis, new_axis) + # theta = np.arccos(np.dot(joint.axis, new_axis)) + # new_rot = sm.SO3.AngVec(theta, v) + + # print(joint.axis) + # print(new_rot.rpy()) + + # childlink._ets = rtb.ETS.SE3(trans, rot) * rtb.ETS.SE3( + # [0, 0, 0], new_rot.rpy() + # ) + + # joint.axis = [0, 0, 1] + childlink._init_Ts() # variable part of link transform From 784d567ff0ae22d954ceb458ce002531b29eefa8 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sun, 8 Aug 2021 12:00:34 +1000 Subject: [PATCH 062/116] Working version for path modification --- roboticstoolbox/mobile/DstarPlanner.py | 250 +++++++++++++++---------- 1 file changed, 155 insertions(+), 95 deletions(-) diff --git a/roboticstoolbox/mobile/DstarPlanner.py b/roboticstoolbox/mobile/DstarPlanner.py index a2e6c58e5..a0c81c8cf 100644 --- a/roboticstoolbox/mobile/DstarPlanner.py +++ b/roboticstoolbox/mobile/DstarPlanner.py @@ -17,7 +17,8 @@ import matplotlib.cm as cm from roboticstoolbox.mobile.Planner import Planner from roboticstoolbox.mobile.OccGrid import OccupancyGrid - +import heapq +import math show_animation = True @@ -41,6 +42,9 @@ def __str__(self): def __repr__(self): return self.__str__() + def __lt__(self, other): + return True + class Map: def __init__(self, row, col): @@ -49,48 +53,42 @@ def __init__(self, row, col): self.map = self.init_map() def init_map(self): - map_list = [] + map_list = [] # list of rows for i in range(self.row): + # for each row, make a list tmp = [] for j in range(self.col): - tmp.append(State(i, j)) - map_list.append(tmp) + tmp.append(State(j, i)) # append column to the row + map_list.append(tmp) # append row to map return map_list _neighbours = [(-1, -1), (-1, 0), (-1, 1), (0, -1), (0, 1), (1, -1), (1, 0), (1, 1)] def get_neighbors(self, state): state_list = [] - # for i in [-1, 0, 1]: - # for j in [-1, 0, 1]: - # if i == 0 and j == 0: - # continue - # if state.x + i < 0 or state.x + i >= self.row: - # continue - # if state.y + j < 0 or state.y + j >= self.col: - # continue - # state_list.append(self.map[state.x + i][state.y + j]) + for i, j in self._neighbours: try: - state_list.append(self.map[state.x + i][state.y + j]) + if state.x + i > 0 and state.y + j > 0: + state_list.append(self.map[state.y + j][state.x + i]) except IndexError: pass return state_list - def set_cost(self, region, cost, modify=None): + # def set_cost(self, region, cost, modify=None): - xmin = max(0, region[0]) - xmax = min(self.col, region[1]) - ymin = max(0, region[2]) - ymax = min(self.row, region[3]) + # xmin = max(0, region[0]) + # xmax = min(self.col, region[1]) + # ymin = max(0, region[2]) + # ymax = min(self.row, region[3]) - self.costmap[ymin:ymax, xmin:xmax] = cost + # self.costmap[ymin:ymax, xmin:xmax] = cost - if modify is not None: - for x in range(xmin, xmax): - for y in range(ymin, ymax): - modify.modify_cost(self.map[x][y]) + # if modify is not None: + # for x in range(xmin, xmax): + # for y in range(ymin, ymax): + # modify.modify_cost(self.map[y][x]) _root2 = np.sqrt(2) @@ -113,50 +111,62 @@ def show_h(self): for x in range(self.col): for y in range(self.row): - h[y, x] = self.map[x][y].h + h[y, x] = self.map[y][x].h print(h) +# for performance reasons there are some important differences compared to +# the version from Python Robotics +# +# replace the classic D* functions min_state(), get_kmin(), insert(), remove() +# with heapq.heappush() and heapq.heappop(). The open_list is now a list of +# tuples (k, state) maintained by heapq, rather than a set +# +# lots of unnecessary inserting/deleting from the open_list due to arithmetic +# rounding in tests for costs h and k: +# - replace equality tests with math.isclose() which is faster than np.isclose() +# - add an offset to inequality tests, X > Y becomes X > Y + tol class Dstar: def __init__(self, map): self.map = map - self.open_list = set() + # self.open_list = set() + self.open_list = [] self.nexpand = 0 def process_state(self, verbose=False): if verbose: - print('FRONTIER ', ', '.join([str(x) for x in self.open_list])) - + print('FRONTIER ', ' '.join([f"({x[1].x}, {x[1].y})" for x in self.open_list])) + # get state from frontier - x = self.min_state() - if x is None: + if len(self.open_list) == 0: if verbose: print(' x is None ') return -1 - self.nexpand += 1 + k_old, x = heapq.heappop(self.open_list) + x.t = Tag.CLOSED - # get its current cost - k_old = self.get_kmin() - self.remove(x) + self.nexpand += 1 if verbose: - print('EXPAND ', x, k_old) + print(f"EXPAND {x}, {k_old:.1f}") if x.h > k_old + 1e-6: # RAISE state if verbose: print(' raise') for y in self.map.get_neighbors(x): - if y.t is not Tag.NEW and y.h <= k_old and x.h > y.h + self.map.cost(x, y): + if y.t is not Tag.NEW and y.h <= k_old and x.h > y.h + self.map.cost(x, y) + 1e-6: + if verbose: + print(f" {x} cost from {x.h:.1f} to {y.h + self.map.cost(x, y):.1f}; parent from {x.parent} to {y}") x.parent = y x.h = y.h + self.map.cost(x, y) - if np.isclose(x.h, k_old): + if math.isclose(x.h, k_old, rel_tol=0, abs_tol=1e-6): # normal state if verbose: print(' normal') for y in self.map.get_neighbors(x): if y.t is Tag.NEW \ - or (y.parent == x and not np.isclose(y.h, x.h + self.map.cost(x, y))) \ + or (y.parent == x and not math.isclose(y.h, x.h + self.map.cost(x, y), rel_tol=0, abs_tol=1e-6)) \ or (y.parent != x and y.h > x.h + self.map.cost(x, y) + 1e-6): if verbose: print(f" reparent {y} from {y.parent} to {x}") @@ -165,75 +175,118 @@ def process_state(self, verbose=False): else: # RAISE or LOWER state if verbose: - print(' lower') + print(' raise/lower') for y in self.map.get_neighbors(x): - if y.t is Tag.NEW or (y.parent == x and not np.isclose(y.h, x.h + self.map.cost(x, y))): + if y.t is Tag.NEW or (y.parent == x and not math.isclose(y.h, x.h + self.map.cost(x, y), rel_tol=0, abs_tol=1e-6)): + if verbose: + print(f" {y} cost from {y.h:.1f} to {y.h + self.map.cost(x, y):.1f}; parent from {y.parent} to {x}; add to frontier") y.parent = x self.insert(y, x.h + self.map.cost(x, y)) else: - if y.parent != x and (y.h > x.h + self.map.cost(x, y)) and x.t is Tag.CLOSED: + if y.parent != x and y.h > x.h + self.map.cost(x, y) + 1e-6 and x.t is Tag.CLOSED: self.insert(x, x.h) + if verbose: + print(f" {x}, {x.h:.1f} add to frontier") else: if y.parent != x and x.h > y.h + self.map.cost(y, x) + 1e-6 \ and y.t is Tag.CLOSED and y.h > k_old + 1e-6: self.insert(y, y.h) + if verbose: + print(f" {y}, {y.h:.1f} add to frontier") if verbose: print() - return self.get_kmin() - def min_state(self): - if not self.open_list: - return None - min_state = min(self.open_list, key=lambda x: x.k) - return min_state - - def get_kmin(self): - if not self.open_list: + if len(self.open_list) == 0: return -1 - k_min = min([x.k for x in self.open_list]) - return k_min + else: + return self.open_list[0][0] ninsert = 0 nin = 0 def insert(self, state, h_new): self.ninsert += 1 - if state in self.open_list: - self.nin += 1 - if state.t is not Tag.OPEN: - print('already in but not open') + if state.t is Tag.NEW: state.k = h_new + elif state.t is Tag.OPEN: + # k_new = min(state.k, h_new) + # if state.k == k_new: + # # k hasn't changed, leave vertex in frontier + # return + # else: + # state.k = k_new + # # remove the item from the open list + # # print('node already in open list, remove it first') + # #TODO use bisect on old state.k to find the entry + # for i, item in enumerate(self.open_list): + # if item[1] is state: + # del self.open_list[i] + # break + state.k = min(state.k, h_new) + # remove the item from the open list + # print('node already in open list, remove it first') + #TODO use bisect on old state.k to find the entry + for i, item in enumerate(self.open_list): + if item[1] is state: + del self.open_list[i] + break + elif state.t is Tag.CLOSED: state.k = min(state.h, h_new) + state.h = h_new state.t = Tag.OPEN - self.open_list.add(state) + # self.open_list.add(state) + heapq.heappush(self.open_list, (state.k, state)) - def remove(self, state): - if state.t is Tag.OPEN: - state.t = Tag.CLOSED - else: - state.t = Tag.CLOSED - print('removing non open state') - self.open_list.remove(state) + # def remove(self, state): + # if state.t is Tag.OPEN: + # state.t = Tag.CLOSED + # else: + # state.t = Tag.CLOSED + # print('removing non open state') + # self.open_list.remove(state) def modify_cost(self, x, newcost): self.map.costmap[x.y, x.x] = newcost if x.t is Tag.CLOSED: self.insert(x, x.parent.h + self.map.cost(x, x.parent)) - return self.get_kmin() - - def modify(self, state): - self.modify_cost(state) - while True: - k_min = self.process_state() - if k_min == -1 or k_min >= state.h: - break - + # return self.get_kmin() + if len(self.open_list) == 0: + return -1 + else: + # lowest priority item is always at index 0 according to docs + return self.open_list[0][0] + + # def modify(self, state): + # self.modify_cost(state) + # while True: + # k_min = self.process_state() + # if k_min == -1 or k_min >= state.h: + # break + + # def showparents(self): + # return + # for y in range(self.map.row): + # if y == 0: + # print(" ", end='') + # for x in range(self.map.col): + # print(f" {x} ", end='') + # print() + # print(f"{y}: ", end='') + # for x in range(self.map.col): + # x = self.map.map[y][x] + # par = x.parent + # if par is None: + # print(' G ', end='') + # else: + # print(f"({par.x},{par.y}) ", end='') + # print() + # print() class DstarPlanner(Planner): r""" D* path planner @@ -266,7 +319,7 @@ def __init__(self, occ_grid=None, super().__init__(ndims=2, **kwargs) self.costmap = np.where(self.occgrid.grid > 0, np.inf, 1) - self.map = Map(self.costmap.shape[1], self.costmap.shape[0]) + self.map = Map(self.costmap.shape[0], self.costmap.shape[1]) self.map.costmap = self.costmap self.dstar = Dstar(self.map) @@ -286,7 +339,7 @@ def plan(self, goal, animate=False, progress=True): no planning phase. The plan may also depend on just the start or goal. """ self.goal = goal - goalstate = self.map.map[goal[0]][goal[1]] + goalstate = self.map.map[goal[1]][goal[0]] self.goalstate = goalstate # self.dstar.open_list.add(goalstate) @@ -302,18 +355,15 @@ def plan(self, goal, animate=False, progress=True): print(self.dstar.ninsert, self.dstar.nin) - def query(self, start, update=None, changes=None): + + def query(self, start, sensor=None, animate=False, verbose=False): self.start = start - startstate = self.map.map[start[0]][start[1]] + startstate = self.map.map[start[1]][start[0]] s = startstate s = s.parent tmp = startstate cost = tmp.h - - for x in range(self.map.col): - for y in range(self.map.row): - self.dstar.map.map[x][y].t == 'new' self.goalstate.h = 0 path = [] @@ -323,16 +373,23 @@ def query(self, start, update=None, changes=None): break # x, y = tmp.parent.x, tmp.parent.y - if update is not None and update == tmp: - # make changes now - for x, y, newcost in changes: - X = self.dstar.map.map[x][y] - print('difference at ', x, y) - val = self.dstar.modify_cost(X, newcost) + + if sensor is not None: + changes = sensor((tmp.x, tmp.y)) + if changes is not None: + # make changes to the plan + for x, y, newcost in changes: + X = self.dstar.map.map[y][x] + # print(f"change cost at ({x}, {y}) to {newcost}") + val = self.dstar.modify_cost(X, newcost) + # propagate the changes to plan + print('propagate') while val != -1 and val < tmp.h: - val = self.dstar.process_state() + val = self.dstar.process_state(verbose=verbose) + # print('open set', len(self.dstar.open_list)) + tmp = tmp.parent - print('done') + # print('move to ', tmp) status = namedtuple('DstarStatus', ['cost',]) @@ -376,14 +433,17 @@ def query(self, start, update=None, changes=None): # ds.plot(path=path) - changes = [] - for x in range(3, 6): - for y in range(0, 4): - changes.append((x, y, 5)) - # print(costmap2) + def sensorfunc(pos): + if pos == (3, 3): + changes = [] + for x in range(3, 6): + for y in range(0, 4): + changes.append((x, y, 5)) + return changes - path2, status2 = ds.query(start=start, update=ds.dstar.map.map[3][3], changes=changes) + path2, status2 = ds.query(start=start, sensor=sensorfunc, verbose=False) print(ds.map.costmap) + ds.map.show_h() # ds.dstar.replan() From 2e9709d24f4ca245fb37e8de442120b356901f2b Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 9 Aug 2021 14:17:15 +1000 Subject: [PATCH 063/116] yumi colors fixed --- roboticstoolbox/tools/urdf/urdf.py | 1 - .../xacro/yumi_description/urdf/yumi.urdf | 168 +++++++++++++----- 2 files changed, 126 insertions(+), 43 deletions(-) diff --git a/roboticstoolbox/tools/urdf/urdf.py b/roboticstoolbox/tools/urdf/urdf.py index b6dc45c43..b645b084c 100644 --- a/roboticstoolbox/tools/urdf/urdf.py +++ b/roboticstoolbox/tools/urdf/urdf.py @@ -333,7 +333,6 @@ class Material(URDFType): _TAG = "material" def __init__(self, name, color=None, texture=None): - # if color is None: # color = name diff --git a/rtb-data/rtbdata/xacro/yumi_description/urdf/yumi.urdf b/rtb-data/rtbdata/xacro/yumi_description/urdf/yumi.urdf index 4772e3594..fbaf6be62 100644 --- a/rtb-data/rtbdata/xacro/yumi_description/urdf/yumi.urdf +++ b/rtb-data/rtbdata/xacro/yumi_description/urdf/yumi.urdf @@ -56,14 +56,18 @@ - + + + - + + + @@ -87,14 +91,18 @@ - + + + - + + + @@ -117,14 +125,18 @@ - + + + - + + + @@ -147,14 +159,18 @@ - + + + - + + + @@ -177,14 +193,18 @@ - + + + - + + + @@ -207,14 +227,18 @@ - + + + - + + + @@ -237,14 +261,18 @@ - + + + - + + + @@ -267,14 +295,18 @@ - + + + - + + + @@ -298,14 +330,18 @@ - + + + - + + + @@ -328,14 +364,18 @@ - + + + - + + + @@ -358,14 +398,18 @@ - + + + - + + + @@ -388,14 +432,18 @@ - + + + - + + + @@ -418,14 +466,18 @@ - + + + - + + + @@ -448,14 +500,18 @@ - + + + - + + + @@ -478,14 +534,18 @@ - + + + - + + + @@ -651,14 +711,18 @@ - + + + - + + + @@ -681,14 +745,18 @@ - + + + - + + + @@ -712,14 +780,18 @@ - + + + - + + + @@ -763,14 +835,18 @@ - + + + - + + + @@ -793,14 +869,18 @@ - + + + - + + + @@ -824,14 +904,18 @@ - + + + - + + + From 2add6227dd607d185aeda3fe6b1c7911f173d8d6 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 9 Aug 2021 14:17:22 +1000 Subject: [PATCH 064/116] fixed yumi gripper --- roboticstoolbox/models/URDF/YuMi.py | 39 ++++++++++++++++++++++++++--- 1 file changed, 36 insertions(+), 3 deletions(-) diff --git a/roboticstoolbox/models/URDF/YuMi.py b/roboticstoolbox/models/URDF/YuMi.py index 335bd49d5..456185048 100644 --- a/roboticstoolbox/models/URDF/YuMi.py +++ b/roboticstoolbox/models/URDF/YuMi.py @@ -1,7 +1,9 @@ #!/usr/bin/env python +from roboticstoolbox.robot.ELink import ELink import numpy as np from roboticstoolbox.robot.ERobot import ERobot +import spatialmath as sm class YuMi(ERobot): @@ -36,17 +38,48 @@ def __init__(self): "yumi_description/urdf/yumi.urdf" ) + # We wish to add an intermediate link between gripper_r_base and + # @gripper_r_finger_r/l + # This is because gripper_r_base contains a revolute joint which is + # a part of the core kinematic chain and not the gripper. + # So we wish for gripper_r_base to be part of the robot and + # @gripper_r_finger_r/l to be in the gripper underneath a parent ELink + + gripper_r_base = links[16] + gripper_l_base = links[19] + + # Find the finger links + r_gripper_links = [link for link in links if link.parent == gripper_r_base] + l_gripper_links = [link for link in links if link.parent == gripper_l_base] + + # New intermediate links + r_gripper = ELink(name="r_gripper", parent=gripper_l_base) + l_gripper = ELink(name="l_gripper", parent=gripper_r_base) + links.append(r_gripper) + links.append(l_gripper) + + # Set the finger link parent to be the new gripper base link + for g_link in r_gripper_links: + g_link._parent = r_gripper + + for g_link in l_gripper_links: + g_link._parent = l_gripper + super().__init__( links, name=name, manufacturer="ABB", - gripper_links=[links[20]], + gripper_links=[r_gripper, l_gripper], urdf_string=urdf_string, urdf_filepath=urdf_filepath, ) - self.addconfiguration("qz", np.zeros((14,))) - self.addconfiguration("qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])) + # Set the default tool transform for the end-effectors + self.grippers[0].tool = sm.SE3.Tz(0.13) + self.grippers[1].tool = sm.SE3.Tz(0.13) + + # self.addconfiguration("qz", np.zeros((14,))) + # self.addconfiguration("qr", np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])) if __name__ == "__main__": # pragma nocover From 00669496d5133e1064fee85c9b7cdce5ff6343a9 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 9 Aug 2021 14:17:37 +1000 Subject: [PATCH 065/116] branched robot example --- roboticstoolbox/examples/branched_robot.py | 83 ++++++++++++++++++++++ 1 file changed, 83 insertions(+) create mode 100644 roboticstoolbox/examples/branched_robot.py diff --git a/roboticstoolbox/examples/branched_robot.py b/roboticstoolbox/examples/branched_robot.py new file mode 100644 index 000000000..fa219fc6a --- /dev/null +++ b/roboticstoolbox/examples/branched_robot.py @@ -0,0 +1,83 @@ +#!/usr/bin/env python +""" +@author Jesse Haviland +""" + +import swift +import roboticstoolbox as rp +import spatialmath as sm +import spatialgeometry as sg +import numpy as np + +env = swift.Swift() +env.launch(realtime=True) + +r = rp.models.YuMi() +env.add(r) + +lTep = ( + sm.SE3.Tx(0.45) + * sm.SE3.Ty(0.25) + * sm.SE3.Tz(0.3) + * sm.SE3.Rx(np.pi) + * sm.SE3.Rz(np.pi / 2) +) + +rTep = ( + sm.SE3.Tx(0.45) + * sm.SE3.Ty(-0.3) + * sm.SE3.Tz(0.3) + * sm.SE3.Rx(np.pi) + * sm.SE3.Rz(np.pi / 2) + * sm.SE3.Rx(np.pi / 5) +) + +l_target = sg.Sphere(0.01, color=[0.2, 0.4, 0.65, 0.5], base=lTep) +l_target_frame = sg.Axes(0.1, base=lTep) + +r_target = sg.Sphere(0.01, color=[0.64, 0.4, 0.2, 0.5], base=rTep) +r_target_frame = sg.Axes(0.1, base=rTep) + +env.add(l_target) +env.add(l_target_frame) +env.add(r_target) +env.add(r_target_frame) + + +l_frame = sg.Axes(0.1) +r_frame = sg.Axes(0.1) +env.add(l_frame) +env.add(r_frame) + +l_path, l_n, _ = r.get_path(end=r.grippers[0]) +r_path, r_n, _ = r.get_path(end=r.grippers[1]) + +# Inner list comprehension gets a list jindicies from the links in l_path +# Outer list comprehension removes None's from the list (a None kindex means +# the link is static) +l_jindex = [i for i in [link.jindex for link in l_path] if i] +r_jindex = [i for i in [link.jindex for link in r_path] if i is not None] + +arrivedl = False +arrivedr = False + +dt = 0.05 + +gain = np.array([1, 1, 1, 1.6, 1.6, 1.6]) + +while not arrivedl or not arrivedr: + + vl, arrivedl = rp.p_servo( + r.fkine(r.q, end=r.grippers[0]), lTep, gain=gain, threshold=0.001 + ) + vr, arrivedr = rp.p_servo( + r.fkine(r.q, end=r.grippers[1]), rTep, gain=gain, threshold=0.001 + ) + + r.qd[l_jindex] = np.linalg.pinv(r.jacob0(r.q, end=r.grippers[0])) @ vl + r.qd[r_jindex] = np.linalg.pinv(r.jacob0(r.q, end=r.grippers[1])) @ vr + + l_frame.base = r.fkine(r.q, end=r.grippers[0]) + r_frame.base = r.fkine(r.q, end=r.grippers[1]) + + env.step(dt) From 84298b5b20e24f28d31efddce5e4d0aa172c7449 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 9 Aug 2021 14:17:52 +1000 Subject: [PATCH 066/116] switched p_servo to angle-axis method --- roboticstoolbox/tools/p_servo.py | 141 ++++++++++++++++++------------- 1 file changed, 82 insertions(+), 59 deletions(-) diff --git a/roboticstoolbox/tools/p_servo.py b/roboticstoolbox/tools/p_servo.py index b223f7aa2..ed78019b1 100644 --- a/roboticstoolbox/tools/p_servo.py +++ b/roboticstoolbox/tools/p_servo.py @@ -5,76 +5,99 @@ import math -def p_servo(wTe, wTep, gain=2, threshold=0.1): - """ - Position-based servoing. - - Returns the end-effector velocity which will cause the robot to approach - the desired pose. - - :param wTe: The current pose of the end-effecor in the base frame. - :type wTe: SE3 - :param wTep: The desired pose of the end-effecor in the base frame. - :type wTep: SE3 - :param gain: The gain for the controller - :type gain: float - :param threshold: The threshold or tolerance of the final error between - the robot's pose and desired pose - :type threshold: float - - :returns v: The velocity of the end-effecotr which will casue the robot - to approach wTep - :rtype v: ndarray(6) - :returns arrived: True if the robot is within the threshold of the final - pose - :rtype arrived: bool - - """ +# def p_servo(wTe, wTep, gain=2, threshold=0.1): +# """ +# Position-based servoing. - if not isinstance(wTe, SE3): - wTe = SE3(wTe) +# Returns the end-effector velocity which will cause the robot to approach +# the desired pose. - if not isinstance(wTep, SE3): - wTep = SE3(wTep) +# :param wTe: The current pose of the end-effecor in the base frame. +# :type wTe: SE3 +# :param wTep: The desired pose of the end-effecor in the base frame. +# :type wTep: SE3 +# :param gain: The gain for the controller +# :type gain: float +# :param threshold: The threshold or tolerance of the final error between +# the robot's pose and desired pose +# :type threshold: float - # Pose difference - eTep = wTe.inv() * wTep +# :returns v: The velocity of the end-effecotr which will casue the robot +# to approach wTep +# :rtype v: ndarray(6) +# :returns arrived: True if the robot is within the threshold of the final +# pose +# :rtype arrived: bool - # Translational error - ev = eTep.t +# """ - # Angular error - ew = eTep.rpy("rad") +# if not isinstance(wTe, SE3): +# wTe = SE3(wTe) - # Form error vector - e = np.r_[ev, ew] +# if not isinstance(wTep, SE3): +# wTep = SE3(wTep) - # Desired end-effector velocity - v = gain * e +# # Pose difference +# eTep = wTe.inv() * wTep - if np.sum(np.abs(e)) < threshold: - arrived = True - else: - arrived = False +# # Translational error +# ev = eTep.t - return v, arrived +# # Angular error +# ew = eTep.rpy("rad") +# # Form error vector +# e = np.r_[ev, ew] -# def _angle_axis(T, Td): -# d = base.transl(Td) - base.transl(T) -# R = base.t2r(Td) @ base.t2r(T).T -# li = np.r_[R[2, 1] - R[1, 2], R[0, 2] - R[2, 0], R[1, 0] - R[0, 1]] +# # Desired end-effector velocity +# v = gain * e -# if base.iszerovec(li): -# # diagonal matrix case -# if np.trace(R) > 0: -# # (1,1,1) case -# a = np.zeros((3,)) -# else: -# a = np.pi / 2 * (np.diag(R) + 1) +# if np.sum(np.abs(e)) < threshold: +# arrived = True # else: -# # non-diagonal matrix case -# ln = base.norm(li) -# a = math.atan2(ln, np.trace(R) - 1) * li / ln +# arrived = False + +# return v, arrived + + +def _angle_axis(T, Td): + e = np.zeros(6) + e[:3] = Td.t - T.t + R = Td.R @ T.R.T + li = np.array([R[2, 1] - R[1, 2], R[0, 2] - R[2, 0], R[1, 0] - R[0, 1]]) + + if base.iszerovec(li): + # diagonal matrix case + if np.trace(R) > 0: + # (1,1,1) case + a = np.zeros((3,)) + else: + a = np.pi / 2 * (np.diag(R) + 1) + else: + # non-diagonal matrix case + ln = base.norm(li) + a = math.atan2(ln, np.trace(R) - 1) * li / ln + + e[3:] = a + + return e -# return np.r_[d, a] + +def p_servo(wTe, wTep, gain=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0], threshold=0.1): + if not isinstance(wTe, SE3): + wTe = SE3(wTe) + + if not isinstance(wTep, SE3): + wTep = SE3(wTep) + + k = np.diag(gain) + + e = _angle_axis(wTe, wTep) + + v = k @ e + + arrived = True if np.sum(np.abs(e)) < threshold else False + + print(np.sum(np.abs(e))) + + return v, arrived From 3cd77f7ab0d9b2eabfe8820c68694e186374923d Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 9 Aug 2021 14:20:26 +1000 Subject: [PATCH 067/116] remove print --- roboticstoolbox/tools/p_servo.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/roboticstoolbox/tools/p_servo.py b/roboticstoolbox/tools/p_servo.py index ed78019b1..efb65f27c 100644 --- a/roboticstoolbox/tools/p_servo.py +++ b/roboticstoolbox/tools/p_servo.py @@ -98,6 +98,4 @@ def p_servo(wTe, wTep, gain=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0], threshold=0.1): arrived = True if np.sum(np.abs(e)) < threshold else False - print(np.sum(np.abs(e))) - return v, arrived From 07e6e9b23eaace319fef42e5c2ed64eb02f23d31 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 9 Aug 2021 14:21:55 +1000 Subject: [PATCH 068/116] update example --- roboticstoolbox/examples/branched_robot.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/roboticstoolbox/examples/branched_robot.py b/roboticstoolbox/examples/branched_robot.py index fa219fc6a..ab1a2247d 100644 --- a/roboticstoolbox/examples/branched_robot.py +++ b/roboticstoolbox/examples/branched_robot.py @@ -81,3 +81,5 @@ r_frame.base = r.fkine(r.q, end=r.grippers[1]) env.step(dt) + +env.hold() From 84f07b743b9099f6942f0b7faf800e8bf89af99a Mon Sep 17 00:00:00 2001 From: Daniel Petkov Date: Mon, 9 Aug 2021 20:19:50 +1000 Subject: [PATCH 069/116] relocated robotics block icons --- .../blocks/Icons/250x250/coriolis.png | Bin 0 -> 2248 bytes .../blocks/Icons/250x250/delta2tr.png | Bin 0 -> 1965 bytes .../blocks/Icons/250x250/diffsteer.png | Bin 0 -> 6079 bytes roboticstoolbox/blocks/Icons/250x250/fdyn.png | Bin 0 -> 2079 bytes roboticstoolbox/blocks/Icons/250x250/fdynx.png | Bin 0 -> 2567 bytes roboticstoolbox/blocks/Icons/250x250/fkine.png | Bin 0 -> 2557 bytes .../blocks/Icons/250x250/gravload.png | Bin 0 -> 1948 bytes roboticstoolbox/blocks/Icons/250x250/idyn.png | Bin 0 -> 1825 bytes roboticstoolbox/blocks/Icons/250x250/idynx.png | Bin 0 -> 2237 bytes roboticstoolbox/blocks/Icons/250x250/ikine.png | Bin 0 -> 2429 bytes roboticstoolbox/blocks/Icons/250x250/inertia.png | Bin 0 -> 2064 bytes .../blocks/Icons/250x250/jacobian.png | Bin 0 -> 2358 bytes .../blocks/Icons/250x250/point2tr.png | Bin 0 -> 1573 bytes .../blocks/Icons/250x250/tr2delta.png | Bin 0 -> 2023 bytes roboticstoolbox/blocks/Icons/250x250/tr2t.png | Bin 0 -> 1782 bytes roboticstoolbox/blocks/Icons/armplot.png | Bin 0 -> 1099 bytes roboticstoolbox/blocks/Icons/bicycle.png | Bin 0 -> 1551 bytes roboticstoolbox/blocks/Icons/camera.png | Bin 0 -> 460 bytes roboticstoolbox/blocks/Icons/coriolis.png | Bin 0 -> 1145 bytes roboticstoolbox/blocks/Icons/delta2tr.png | Bin 0 -> 970 bytes roboticstoolbox/blocks/Icons/diffsteer.png | Bin 0 -> 1160 bytes roboticstoolbox/blocks/Icons/fdyn.png | Bin 0 -> 1073 bytes roboticstoolbox/blocks/Icons/fdynx.png | Bin 0 -> 1265 bytes roboticstoolbox/blocks/Icons/fkine.png | Bin 0 -> 1251 bytes roboticstoolbox/blocks/Icons/gravload.png | Bin 0 -> 957 bytes roboticstoolbox/blocks/Icons/idyn.png | Bin 0 -> 1103 bytes roboticstoolbox/blocks/Icons/idynx.png | Bin 0 -> 1241 bytes roboticstoolbox/blocks/Icons/ikine.png | Bin 0 -> 1226 bytes roboticstoolbox/blocks/Icons/inertia.png | Bin 0 -> 1096 bytes roboticstoolbox/blocks/Icons/jacobian.png | Bin 0 -> 1147 bytes roboticstoolbox/blocks/Icons/multirotor.png | Bin 0 -> 1751 bytes roboticstoolbox/blocks/Icons/point2tr.png | Bin 0 -> 928 bytes roboticstoolbox/blocks/Icons/tr2delta.png | Bin 0 -> 966 bytes roboticstoolbox/blocks/Icons/tr2t.png | Bin 0 -> 1045 bytes roboticstoolbox/blocks/Icons/unicycle.png | Bin 0 -> 974 bytes 35 files changed, 0 insertions(+), 0 deletions(-) create mode 100644 roboticstoolbox/blocks/Icons/250x250/coriolis.png create mode 100644 roboticstoolbox/blocks/Icons/250x250/delta2tr.png 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b/roboticstoolbox/blocks/Icons/unicycle.png new file mode 100644 index 0000000000000000000000000000000000000000..dc46bbca1946cce01abbe48b6d1bd298a0265135 GIT binary patch literal 974 zcmV;<12O!GP)Px#1ZP1_K>z@;j|==^1poj532;bRa{vGizyJUazyWI3i3tDz17k@ekA_0W}kiJdSvKC8HMn5Ll@PBz(m_zdJTzBbv!s8$}E zY;7?cKcf8!xm3@#5xt-EAAJJ2ax( z?P3`gLXjiv&@hcMJWRb)WFY#aY+8q@cd9+-`ELR#jOIXUjUog29;Q(W8%LUJq}FH- zq}FH-B!*U~tbu4ceh~WyrE-!?)z#S5F+|aChpP%{IkTRAaYMEoUxY=aOn1^;7@``$!uV{Y`qb|1Nji9Q8Eo+7Orc!?iEYgKpur@ zlrflhNq+ebvsn^EBksnqc5CkXx~_7 znIma%bzN&UR)ve`dVuwq^f+%8>HyWgh7MG{99btpU8+`j_Cv_ySm_)@J=9M8iLU=& zj;Trd_FQbhO(y#f3R0u^S=4l0jaln-Eu3beX3#EN`69Z38fvF3q@~K5A^_D4;@u2%x$PMcrWB>>~ZLt w6HpCXy;pbCB1!A{dw2!a9$e=q8EI(v1N^ZV%yyY Date: Tue, 10 Aug 2021 09:14:07 +1000 Subject: [PATCH 070/116] fixed example --- roboticstoolbox/examples/mexican-wave.py | 39 ++++++++++++++++-------- 1 file changed, 26 insertions(+), 13 deletions(-) diff --git a/roboticstoolbox/examples/mexican-wave.py b/roboticstoolbox/examples/mexican-wave.py index 7c0d229c9..46652a059 100644 --- a/roboticstoolbox/examples/mexican-wave.py +++ b/roboticstoolbox/examples/mexican-wave.py @@ -1,4 +1,10 @@ -# a circle of Puma robot's doing a Mexican wave +#!/usr/bin/env python +""" +@author Peter Corke +@author Jesse Haviland +""" + +# A circle of Puma robot's doing a Mexican wave import numpy as np from spatialmath import SE3 @@ -6,34 +12,41 @@ from roboticstoolbox.backends.swift import Swift import time -puma0 = rtb.models.URDF.Puma560() swift = Swift() - swift.launch() +puma0 = rtb.models.URDF.Puma560() pumas = [] +num_robots = 15 +rotation = 2 * np.pi * ((num_robots - 1) / num_robots) -for theta in np.linspace(0, 2 * np.pi, 10): +for theta in np.linspace(0, rotation, num_robots): base = SE3.Rz(theta) * SE3(2, 0, 0) - puma = rtb.ERobot(puma0) # clone the robot + # Clone the robot + puma = rtb.ERobot(puma0) puma.base = base puma.q = puma0.qz swift.add(puma) pumas.append(puma) -# the wave is a Gaussian that moves around the circle -tt = np.linspace(0, 10, 100) +# The wave is a Gaussian that moves around the circle +tt = np.linspace(0, num_robots, num_robots * 10) + + def gaussian(x, mu, sig): - return np.exp(-np.power(x - mu, 2.) / (2 * np.power(sig, 2.))) + return np.exp(-np.power(x - mu, 2.0) / (2 * np.power(sig, 2.0))) + + g = gaussian(tt, 5, 1) +t = 0 -for t in range(1000): +while True: for i, puma in enumerate(pumas): k = (t + i * 10) % len(tt) puma.q = np.r_[0, g[k], -g[k], 0, 0, 0] - # NEXT LINE CAUSES 9/10 ROBOTS TO DISAPPEAR - swift.step(0.1) - time.sleep(0.02) - \ No newline at end of file + swift.step(0) + time.sleep(0.001) + + t += 1 From 5c9acf407e79102ef7ab911f22dc5d1a6e451732 Mon Sep 17 00:00:00 2001 From: jhavl Date: Tue, 10 Aug 2021 09:14:28 +1000 Subject: [PATCH 071/116] fixed copy of erobot links --- roboticstoolbox/robot/ERobot.py | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) diff --git a/roboticstoolbox/robot/ERobot.py b/roboticstoolbox/robot/ERobot.py index b3d8e2584..792887472 100644 --- a/roboticstoolbox/robot/ERobot.py +++ b/roboticstoolbox/robot/ERobot.py @@ -1003,8 +1003,19 @@ def __init__(self, arg, urdf_string=None, urdf_filepath=None, **kwargs): links = arg elif isinstance(arg, ERobot): - # we're passed an ERobot, clone it - links = [link.copy() for link in arg] + # We're passed an ERobot, clone it + # We need to preserve the parent link as we copy + links = [] + + def dfs(node, node_copy): + for child in node.children: + child_copy = child.copy(node_copy) + links.append(child_copy) + dfs(child, child_copy) + + link0 = arg.links[0] + links.append(arg.links[0].copy()) + dfs(link0, links[0]) else: raise TypeError("constructor argument must be ETS or list of ELink") From 114038e82ac26c865083dc8c1d5109a72f70c0d1 Mon Sep 17 00:00:00 2001 From: jhavl Date: Tue, 10 Aug 2021 09:14:50 +1000 Subject: [PATCH 072/116] Added parent arg to copy method --- roboticstoolbox/robot/ELink.py | 9 +++++++-- roboticstoolbox/robot/Link.py | 15 ++++++++++++--- 2 files changed, 19 insertions(+), 5 deletions(-) diff --git a/roboticstoolbox/robot/ELink.py b/roboticstoolbox/robot/ELink.py index e7e56b0ec..32f4053aa 100644 --- a/roboticstoolbox/robot/ELink.py +++ b/roboticstoolbox/robot/ELink.py @@ -59,10 +59,10 @@ def __str__(self): parent = f" [{self.parent.name}]" return f"{name}[{self.name}({parent}): {self.ets()}] " - def copy(self): + def copy(self, parent=None): new = super().copy() # invalidate references to parent, child - new._parent = None + new._parent = parent new._children = [] return new @@ -398,6 +398,11 @@ def __init__(self, ets=ETS(), v=None, jindex=None, **kwargs): self._init_fknm() + def copy(self, parent=None): + new = super().copy(parent) + new._init_fknm() + return new + def _get_fknm(self): isflip = False axis = 0 diff --git a/roboticstoolbox/robot/Link.py b/roboticstoolbox/robot/Link.py index 87984d93f..eeee4b69a 100644 --- a/roboticstoolbox/robot/Link.py +++ b/roboticstoolbox/robot/Link.py @@ -127,7 +127,6 @@ def __init__( self.mesh = mesh # Link dynamic Parameters - def dynpar(self, name, value, default): if value is None: value = default @@ -167,8 +166,16 @@ def copy(self): """ new = copy.copy(self) for k, v in self.__dict__.items(): + # print(k) if k.startswith("_") and isinstance(v, np.ndarray): setattr(new, k, np.copy(v)) + + new._geometry = [shape.copy() for shape in self._geometry] + new._collision = [shape.copy() for shape in self._collision] + + # print(new._geometry[0]._wT) + # print(self._geometry[0]._wT) + return new def _copy(self): @@ -282,9 +289,11 @@ def format(l, fmt, val): # noqa return dyn - def _format(self, l, name, symbol=None, ignorevalue=None, indices=None): # noqa # pragma nocover + def _format( + self, l, name, symbol=None, ignorevalue=None, indices=None + ): # noqa # pragma nocover # if value == ignorevalue then don't display it - + v = getattr(self, name) s = None if v is None: From cb61c872baff728edc88dfbbac15295fb53aa127 Mon Sep 17 00:00:00 2001 From: jhavl Date: Tue, 10 Aug 2021 09:15:24 +1000 Subject: [PATCH 073/116] new ik example --- roboticstoolbox/examples/ik.py | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) create mode 100644 roboticstoolbox/examples/ik.py diff --git a/roboticstoolbox/examples/ik.py b/roboticstoolbox/examples/ik.py new file mode 100644 index 000000000..1a4b91c27 --- /dev/null +++ b/roboticstoolbox/examples/ik.py @@ -0,0 +1,24 @@ +import swift # instantiate 3D browser-based visualizer +import roboticstoolbox as rtb +from spatialmath import SE3 +import numpy as np + +env = swift.Swift() +env.launch(realtime=True) # activate it + +robot = rtb.models.Panda() +robot.q = robot.qr + +T = SE3(0.5, 0.2, 0.1) * SE3.OA([0, 1, 0], [0, 0, -1]) +sol = robot.ikine_LM(T) # solve IK +q_pickup = sol.q +qt = rtb.jtraj(robot.qr, q_pickup, 50) + +env.add(robot) # add robot to the 3D scene +for qk in qt.q: # for each joint configuration on trajectory + robot.q = qk # update the robot state + # robot.q = robot.qr + env.step(0.05) # update visualization + + +env.hold() From 4e6c8805635411b6f22c7c00978f49a2e71923b7 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Tue, 10 Aug 2021 21:28:19 +1000 Subject: [PATCH 074/116] renaming, final design & working add plot method --- roboticstoolbox/mobile/{animations.py => Animations.py} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename roboticstoolbox/mobile/{animations.py => Animations.py} (100%) diff --git a/roboticstoolbox/mobile/animations.py b/roboticstoolbox/mobile/Animations.py similarity index 100% rename from roboticstoolbox/mobile/animations.py rename to roboticstoolbox/mobile/Animations.py From 39a484205c1bb39bde2b6879b6c844a6d0032663 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Tue, 10 Aug 2021 21:34:23 +1000 Subject: [PATCH 075/116] change Planner class to PlannerBase --- roboticstoolbox/mobile/Bug2.py | 4 +- .../mobile/CurvaturePolyPlanner.py | 4 +- .../mobile/DistanceTransformPlanner.py | 4 +- roboticstoolbox/mobile/DstarPlanner.py | 5 +- roboticstoolbox/mobile/DubinsPlanner.py | 5 +- roboticstoolbox/mobile/LatticePlanner.py | 4 +- roboticstoolbox/mobile/PRMPlanner.py | 4 +- .../mobile/{Planner.py => PlannerBase.py} | 311 ++++++++++++------ roboticstoolbox/mobile/QuinticPolyPlanner.py | 4 +- roboticstoolbox/mobile/ReedsSheppPlanner.py | 4 +- roboticstoolbox/mobile/__init__.py | 4 +- 11 files changed, 226 insertions(+), 127 deletions(-) rename roboticstoolbox/mobile/{Planner.py => PlannerBase.py} (68%) diff --git a/roboticstoolbox/mobile/Bug2.py b/roboticstoolbox/mobile/Bug2.py index 8bbfe45fa..aa74fc0b5 100644 --- a/roboticstoolbox/mobile/Bug2.py +++ b/roboticstoolbox/mobile/Bug2.py @@ -13,9 +13,9 @@ from matplotlib import cm import matplotlib.pyplot as plt from matplotlib import animation -from roboticstoolbox.mobile.Planner import Planner +from roboticstoolbox.mobile.PlannerBase import PlannerBase -class Bug2(Planner): +class Bug2(PlannerBase): """ Construct a Bug2 reactive navigator diff --git a/roboticstoolbox/mobile/CurvaturePolyPlanner.py b/roboticstoolbox/mobile/CurvaturePolyPlanner.py index 3f514a52e..d2a024ce7 100644 --- a/roboticstoolbox/mobile/CurvaturePolyPlanner.py +++ b/roboticstoolbox/mobile/CurvaturePolyPlanner.py @@ -5,7 +5,7 @@ import numpy as np import matplotlib.pyplot as plt from collections import namedtuple -from roboticstoolbox.mobile.Planner import Planner +from roboticstoolbox.mobile.PlannerBase import PlannerBase def solvepath(poly, s_f, x0=[0, 0, 0], **kwargs): @@ -44,7 +44,7 @@ def costfunc(unknowns, start, goal, curvature): e += 0.1 * (maxcurvature - curvature) # print(e, path[:, -1], np.r_[goal]) return e -class CurvaturePolyPlanner(Planner): +class CurvaturePolyPlanner(PlannerBase): r""" Curvature polynomial planner diff --git a/roboticstoolbox/mobile/DistanceTransformPlanner.py b/roboticstoolbox/mobile/DistanceTransformPlanner.py index 4d2ee9867..0345c7e20 100644 --- a/roboticstoolbox/mobile/DistanceTransformPlanner.py +++ b/roboticstoolbox/mobile/DistanceTransformPlanner.py @@ -15,10 +15,10 @@ from scipy.ndimage import * import matplotlib.pyplot as plt from matplotlib import cm -from roboticstoolbox.mobile.Planner import Planner +from roboticstoolbox.mobile.PlannerBase import PlannerBase -class DistanceTransformPlanner(Planner): +class DistanceTransformPlanner(PlannerBase): r""" Distance transform path planner diff --git a/roboticstoolbox/mobile/DstarPlanner.py b/roboticstoolbox/mobile/DstarPlanner.py index a0c81c8cf..f55225951 100644 --- a/roboticstoolbox/mobile/DstarPlanner.py +++ b/roboticstoolbox/mobile/DstarPlanner.py @@ -15,9 +15,10 @@ import matplotlib.pyplot as plt import numpy as np import matplotlib.cm as cm -from roboticstoolbox.mobile.Planner import Planner +from roboticstoolbox.mobile.PlannerBase import PlannerBase from roboticstoolbox.mobile.OccGrid import OccupancyGrid import heapq +import bisect import math show_animation = True @@ -287,7 +288,7 @@ def modify_cost(self, x, newcost): # print(f"({par.x},{par.y}) ", end='') # print() # print() -class DstarPlanner(Planner): +class DstarPlanner(PlannerBase): r""" D* path planner diff --git a/roboticstoolbox/mobile/DubinsPlanner.py b/roboticstoolbox/mobile/DubinsPlanner.py index 4921e8553..24ba123b0 100644 --- a/roboticstoolbox/mobile/DubinsPlanner.py +++ b/roboticstoolbox/mobile/DubinsPlanner.py @@ -21,7 +21,7 @@ """ import math from collections import namedtuple -from roboticstoolbox.mobile.Planner import Planner +from roboticstoolbox.mobile import PlannerBase import matplotlib.pyplot as plt import numpy as np @@ -87,7 +87,6 @@ def left_straight_right(alpha, beta, d): return t, p, q, mode - def right_straight_left(alpha, beta, d): sa = math.sin(alpha) sb = math.sin(beta) @@ -305,7 +304,7 @@ def path_planning(start, goal, curvature, step_size=0.1): return path, length, mode, lengths # ============================================================================ -class DubinsPlanner(Planner): +class DubinsPlanner(PlannerBase): r""" Dubins path planner diff --git a/roboticstoolbox/mobile/LatticePlanner.py b/roboticstoolbox/mobile/LatticePlanner.py index 3e1440213..a6fe9f176 100644 --- a/roboticstoolbox/mobile/LatticePlanner.py +++ b/roboticstoolbox/mobile/LatticePlanner.py @@ -3,8 +3,8 @@ from spatialmath import SE2 import matplotlib.pyplot as plt import itertools -from roboticstoolbox.mobile.Planner import Planner from roboticstoolbox.mobile.OccGrid import OccupancyGrid +from roboticstoolbox.mobile.PlannerBase import PlannerBase from collections import namedtuple def make_arc(dir, radius=1, npoints=20): @@ -57,7 +57,7 @@ def plot(self, **kwargs): plt.plot(xy[0, :], xy[1, :], **kwargs) -class LatticePlanner(Planner): +class LatticePlanner(PlannerBase): """ Lattice planner diff --git a/roboticstoolbox/mobile/PRMPlanner.py b/roboticstoolbox/mobile/PRMPlanner.py index 26552846b..9612e2d06 100644 --- a/roboticstoolbox/mobile/PRMPlanner.py +++ b/roboticstoolbox/mobile/PRMPlanner.py @@ -15,11 +15,11 @@ from spatialmath.base import animate from scipy.ndimage import * from matplotlib import cm, pyplot as plt -from roboticstoolbox.mobile.Planner import Planner +from roboticstoolbox.mobile.PlannerBase import PlannerBase from pgraph import UGraph -class PRMPlanner(Planner): +class PRMPlanner(PlannerBase): r""" Distance transform path planner diff --git a/roboticstoolbox/mobile/Planner.py b/roboticstoolbox/mobile/PlannerBase.py similarity index 68% rename from roboticstoolbox/mobile/Planner.py rename to roboticstoolbox/mobile/PlannerBase.py index 2228f99f7..88b5a3267 100644 --- a/roboticstoolbox/mobile/Planner.py +++ b/roboticstoolbox/mobile/PlannerBase.py @@ -4,8 +4,9 @@ TODO: Comments + Sphynx Docs Structured Text TODO: Bug-fix, testing -Not ready for use yet. """ + +from abc import ABC from scipy import integrate from spatialmath.base.transforms2d import * from spatialmath.base.vectors import * @@ -15,10 +16,12 @@ import matplotlib as mpl import matplotlib.pyplot as plt import copy -from roboticstoolbox.mobile.OccGrid import BinaryOccupancyGrid +from roboticstoolbox.mobile.OccGrid import BaseOccupancyGrid, BinaryOccupancyGrid +from roboticstoolbox.mobile.Animations import VehiclePolygon from colored import fg, attr -class Planner: + +class PlannerBase(ABC): r""" Mobile robot motion planner (superclass) @@ -52,7 +55,8 @@ class Planner: """ def __init__(self, occgrid=None, inflate=0, ndims=None, - verbose=False, msgcolor='yellow', seed=None, **unused): + verbose=False, msgcolor='yellow', + marker=None, seed=None, **unused): self._occgrid = None if ndims is None: @@ -66,8 +70,11 @@ def __init__(self, occgrid=None, inflate=0, ndims=None, self._start = None self._goal = None + + self.marker = marker + if occgrid is not None: - if not isinstance(occgrid, BinaryOccupancyGrid): + if not isinstance(occgrid, BaseOccupancyGrid): occgrid = BinaryOccupancyGrid(occgrid) self._occgrid0 = occgrid # original occgrid for reference @@ -88,7 +95,7 @@ def __str__(self): if self._occgrid0 is not None: s += str(self.occgrid) if self._start is not None: - s += f"\n Start: {self.start}" + s += f"\n Start: {self.start}" if self._goal is not None: s += f"\n Goal: {self.goal}" return s @@ -221,9 +228,11 @@ def random(self): """ return self._private_random + def randinit(self): + if self._seed is not None: + self._private_random = np.random.default_rng(seed=self._seed) # Define abstract classes to be implemented later - @abstractmethod def plan(self): r""" Plan path (abstract superclass) @@ -293,45 +302,54 @@ def query(self, start=None, goal=None, dtype=None, next=True, animate=False, mov # are we are done? if robot is None: path.append(self._goal) - return np.array(path).astype(int) + return np.array(path).astype(int).T path.append(robot) def plot(self, path=None, + style='striped', stripe=(('black', 4), ('yellow', 3)), + stripe_r=(('black', 4), ('red', 3)), + line=None, line_r=None, + configspace=False, unwrap=True, direction=None, background=True, - twod=False, unwrap=True, path_marker=None, path_marker_reverse=None, start_marker=None, goal_marker=None, - qstart_marker=None, qgoal_marker=None, + start_vehicle=None, goal_vehicle=None, start=None, goal=None, ax=None, block=False, **kwargs): r""" Plot vehicle path :param path: path, defaults to None - :type p: ndarray(N,2) or ndarray(N,3) + :type path: ndarray(2, N) or ndarray(3, N) + :param style: line style: 'striped' [default] or 'line' + :type style: str + :param stripe: striped line style for forward motion + :type stripe: tuple of (color, linewidth) + :param stripe_r: striped line style for reverse motion + :type stripe: tuple of (color, linewidth) + :param line: plain line style for forward motion + :type line: dict of arguments for ``plot`` + :param line_r: plain line style for forward motion + :type line_r: dict of arguments for ``plot`` :param direction: travel direction associated with each point on path, is either >0 or <0, defaults to None :type direction: ndarray(N,), optional - :param twod: for configuration space paths force a 2D plot but - start and goal style will be given by ``qstart_marker`` and ``qgoal_marker``, defaults to False - :type twod: bool, optional + :param configspace: plot the path in 3D configuration space, input must be 3xN. + Start and goal style will be given by ``qstart_marker`` and ``qgoal_marker``, defaults to False + :type configspace: bool, optional :param unwrap: for configuration space plot unwrap :math:`\theta` so there are no discontinuities at :math:`\pm \pi`, defaults to True :type unwrap: bool, optional :param background: plot occupancy grid if present, default True :type background: bool, optional - :param path_marker: style for marking points on path when travelling forward - :type path_marker: dict, optional - :param path_marker: style for marking points on path when travelling backward - :type path_marker: dict, optional :param start_marker: style for marking start point :type start_marker: dict, optional :param goal_marker: style for marking goal point :type goal_marker: dict, optional - :param qstart_marker: style for marking start configuration in 2D plane - :type qstart_marker: dict, optional - :param qgoal_marker: style for marking goal configuration in 2D plane - :type qgoal_marker: dict, optional + :param start_vehicle: style for vehicle animation object at start configuration + :type start_vehicle: dict + :param goal_vehicle: style for vehicle animation object at goal configuration + :type goal_vehicle: dict :param start: start position :math:`(x, y)` or configuration :math:`(x, y, \theta)`, defaults to value used for ``plan/query`` :type start: array_like(2) or array_like(3), optional :param goal: goal position :math:`(x, y)` or configuration :math:`(x, y, \theta)`, defaults to value used for ``plan/query`` @@ -341,12 +359,37 @@ def plot(self, path=None, :param block: block after displaying the plot :type block: bool, optional - The path has one row per time step and either 2 or 3 columns: + The path has one column per point and either 2 or 3 rows: - - 2 columns describes motion in the :math:`x-y` plane and a 2D plot is created - - 3 columns describes motion in the :math:`x-y-\theta` configuration space and - a 3D plot is created unless ``twod`` is True in which case motion in - the :math:`x-y` plane is shown. + - 2 rows describes motion in the :math:`x-y` plane and a 2D plot is created + - 3 rows describes motion in the :math:`x-y-\theta` configuration space. By + default only the :math:`x-y` plane is plotted unless ``configspace`` + is True in which case motion in :math:`x-y-\theta` configuration space + is shown. + + If the planner supports bi-directional motion then the ``direction`` + option gives the direction for each point on the path. + + The default line style is a ``'striped'`` line which comprises a wide first + line with a slightly narrow dashed line plotted on top. For example:: + + (('black', 4), ('yellow', 3)) + + is a blackline of width 4 with a dashed yellow line of width 3 plotted + on top, giving a line of alternating black and yellow dashes. + + The parameters ``stripe`` and ``stripe_r`` specify the colors and widths for + forward and reverse motion respectively. + + The ``'line'`` style is a regular Matplotlib and the parameters + ``line`` and ``line_r`` specify the line and marker styles for + forward and reverse motion respectively. + + For 2D plots with an :math:`x-y` path or 3D plots, the start and goal markers are specified + by the dicts ``start_marker`` and ``goal_marker`` respectively. + + For 2D plots with an :math:`x-y-\theta` path the vehicle pose + is indicated by a vehicle animation object passed to the constructor. Markers are specified as dicts using Matplotlib keywords, for example:: @@ -354,20 +397,19 @@ def plot(self, path=None, Default values are provided for all markers: - - forward motion is a blue dot, - - backward motion is a red dot, - - the start point is a circle, and - - the goal point is a star. + - the start point is a circle + - the goal point is a star + - the start vehicle style is a ``VehiclePolygon(shape='car')`` as + an unfilled outline + - the goal vehicle style is a ``VehiclePolygon(shape='car')`` as + a transparent filled shape - If ``twod`` is True then direction-indicating markers are used to + If ``configspace`` is True then direction-indicating markers are used to display start and goal configuration. These are also given as dicts but have two items: ``'shape'`` which is the shape of the polygonal marker and is either ``'triangle'`` or ``'car'``. The second item ``'args'`` is passed to :func:`base.plot_poly` and Matplotlib. - If the planner supports bi-directional motion then the ``direction`` - option gives the direction for each point on the path. - If ``background`` is True then the background of the plot is either or both of: @@ -379,15 +421,8 @@ def plot(self, path=None, :seealso: :meth:`plot_bg` :func:`base.plot_poly` """ # create default markers - if path_marker is None: - path_marker = { 'marker': '.', - 'markerfacecolor': 'b', - 'markersize': 12, - } - path_marker_reverse = { 'marker': '.', - 'markerfacecolor': 'r', - 'markersize': 10, - } + + # passed to Matplotlib plot() if start_marker is None: start_marker = {'marker': 'o', 'markeredgecolor': 'w', @@ -402,28 +437,24 @@ def plot(self, path=None, 'markersize': 16, 'zorder': 10, } - if qstart_marker is None: - qstart_marker = {'shape': 'triangle', - 'args': { - 'linewidth': 2, - 'color': 'darkgrey', - } - } - if qgoal_marker is None: - qgoal_marker = {'shape': 'triangle', - 'args': { - 'filled': True, - 'color': 'darkgrey' - } - } + + # passed to VehiclePolygon + if start_vehicle is None: + start_vehicle = {'facecolor': 'none', 'edgecolor': 'k', 'linewidth': 2} + + if goal_vehicle is None: + goal_vehicle = {'alpha': 0.5} ndims = self._ndims - if twod: - if path is not None: - path0 = path - path = path[:, :2] - ndims = 2 + if ndims == 3 and not configspace and path is not None: + path0 = path + path = path[:2, :] + ndims = 2 + + if configspace and ndims < 3 and path is not None: + raise ValueError(f"path should have {ndims} rows") + ax = base.axes_logic(ax, ndims) # plot occupancy grid background @@ -436,30 +467,90 @@ def plot(self, path=None, # 2D case if direction is not None: direction = np.array(direction) - if direction.shape[0] != path.shape[0]: + if direction.shape[0] != path.shape[1]: raise ValueError('direction vector must have same length as path') - ax.plot(path[:, 0], path[:, 1], 'k') - ax.plot(path[direction > 0, 0], path[direction > 0, 1], color='none', **path_marker) - ax.plot(path[direction < 0, 0], path[direction < 0, 1], color='none', **path_marker_reverse) + + while len(direction) > 0: + dir = direction[0] + change = np.argwhere(dir != direction) + if len(change) == 0: + k = -1 + else: + k = change[0, 0] + + if style == 'striped': + if dir > 0: + xstripe = stripe + else: + xstripe = stripe_r + ax.plot(path[0, :k], path[1, :k], color=xstripe[0][0], linewidth=xstripe[0][1]) + ax.plot(path[0, :k], path[1, :k], color=xstripe[1][0], linewidth=xstripe[1][1], dashes=(5,5)) + elif style == 'line': + if dir > 0: + ax.plot(path[0, :], path[1, :], **line) + else: + ax.plot(path[0, :], path[1, :], **line_r) + + if len(change) == 0: + break + direction = direction[k-1:] + direction[0] = direction[1] + path = path[:, k-1:] + else: - ax.plot(path[:, 0], path[:, 1], **path_marker) + if style == 'striped': + ax.plot(path[0, :], path[1, :], color=stripe[0][0], linewidth=stripe[0][1]) + ax.plot(path[0, :], path[1, :], color=stripe[1][0], linewidth=stripe[1][1], dashes=(5,5)) + elif style == 'line': + ax.plot(path[0, :], path[1, :], **kwargs) elif ndims == 3: # 3D case if direction is not None: direction = np.array(direction) - if direction.shape[0] != path.shape[0]: + if direction.shape[0] != path.shape[1]: raise ValueError('direction vector must have same length as path') - theta = path[:, 2] + theta = path[2, :] if unwrap: - theta = np.unwrap(path[:, 2]) - ax.plot(path[:, 0], path[:, 1], theta, 'k') - ax.plot(path[direction > 0, 0], path[direction > 0, 1], theta[direction > 0], color='none', **path_marker) - ax.plot(path[direction < 0, 0], path[direction < 0, 1], theta[direction < 0], color='none', **path_marker_reverse) + theta = np.unwrap(theta) + + while len(direction) > 0: + dir = direction[0] + change = np.argwhere(dir != direction) + if len(change) == 0: + k = -1 + else: + k = change[0, 0] + + + if style == 'striped': + if dir > 0: + xstripe = stripe + else: + xstripe = stripe_r + ax.plot(path[0, :k], path[1, :k], theta[:k], color=xstripe[0][0], linewidth=xstripe[0][1]) + ax.plot(path[0, :k], path[1, :k], theta[:k], color=xstripe[1][0], linewidth=xstripe[1][1], dashes=(5,5)) + elif style == 'line': + if dir > 0: + ax.plot(path[0, :], path[1, :], **line) + else: + ax.plot(path[0, :], path[1, :], **line_r) + + if len(change) == 0: + break + direction = direction[k-1:] + direction[0] = direction[1] + path = path[:, k-1:] + theta = theta[k-1:] + else: - theta = path[:, 2] + theta = path[2, :] if unwrap: - theta = np.unwrap(path[:, 2]) - ax.plot(path[:, 0], path[:, 1], theta, **path_marker) + theta = np.unwrap(theta) + if style == 'striped': + ax.plot(path[0, :], path[1, :], theta, color=stripe[0][0], linewidth=stripe[0][1]) + ax.plot(path[0, :], path[1, :], theta, color=stripe[1][0], linewidth=stripe[1][1], dashes=(5,5)) + elif style == 'line': + ax.plot(path[0, :], path[1, :], **line) # mark start and goal if requested if start is not None: @@ -471,23 +562,24 @@ def plot(self, path=None, else: goal = self.goal - if ndims == 2 and not twod: + if ndims == 2 and self._ndims == 2: # proper 2d plot if start is not None: ax.plot(start[0], start[1], **start_marker) if goal is not None: ax.plot(goal[0], goal[1], **goal_marker) - elif ndims == 2 and twod: + elif ndims == 2 and self._ndims == 3: # 2d projection of 3d plot, show start/goal configuration scale = base.axes_get_scale(ax) / 10 + + if self.marker is None: + self.marker = VehiclePolygon(shape='car', scale=scale) if start is not None: - poly = self._qmarker(qstart_marker['shape']) * scale - base.plot_poly(poly, pose=SE2(start), **qstart_marker['args']) + self.marker.plot(start, **start_vehicle) if goal is not None: - poly = self._qmarker(qgoal_marker['shape']) * scale - base.plot_poly(poly, pose=SE2(goal), **qgoal_marker['args']) + self.marker.plot(goal, **goal_vehicle) elif ndims == 3: # 3d plot @@ -511,6 +603,8 @@ def plot(self, path=None, plt.show(block=block) + return ax + def _qmarker(self, shape): h = 0.3 t = 0.8 # start of head taper @@ -560,6 +654,22 @@ def plot_bg(self, distance=None, cmap='gray', ax = base.axes_logic(ax, 2) + # create color map for free space + obstacle: + # free space, color index = 1, white, alpha=0 to allow background and grid lines to show + # obstacle, color index = 2, red, alpha=1 + + if self._inflate > 0 and inflated: + # 0 background (white, transparent) + # 1 inflated obstacle (pink) + # 2 original obstacle (red) + colors = [(1, 1, 1, 0), (1, 0.75, 0.8, 1), (1, 0, 0, 1)] + image = self.occgrid.grid.astype(int) + self._occgrid0.grid.astype(int) + else: + # 0 background + # 1 obstacle + colors = [(1, 1, 1, 0), (1, 0, 0, 1)] + image = self.occgrid.grid + if distance is None and hasattr(self, 'distancemap'): distance = self.distancemap @@ -573,7 +683,7 @@ def plot_bg(self, distance=None, cmap='gray', # create a copy of greyscale color map c_map = copy.copy(mpl.cm.get_cmap(cmap)) - c_map.set_bad(color=(1,0,0,1)) # nan and inf are red + # c_map.set_bad(color=(1,0,0,1)) # nan and inf are red # change all inf to large value, so they are not 'bad' ie. red distance[np.isinf(distance)] = 2 * vmax @@ -591,36 +701,25 @@ def plot_bg(self, distance=None, cmap='gray', scalar_mappable_c_map = cm.ScalarMappable(cmap=c_map, norm=norm) plt.colorbar(scalar_mappable_c_map, label='Distance', shrink=0.7, aspect=20*0.7) - ax.set_xlabel('X') - ax.set_ylabel('y (cells)') + # overlay obstacles + c_map = mpl.colors.ListedColormap(colors) + self.occgrid.plot(image, cmap=c_map, zorder=1) else: # occupancy grid only - # create color map for free space + obstacle: - # free space, color index = 1, white, alpha=0 to allow background and grid lines to show - # obstacle, color index = 2, red, alpha=1 - - if self._inflate > 0 and inflated: - # 0 background (white, transparent) - # 1 inflated obstacle (pink) - # 2 original obstacle (red) - colors = [(1, 1, 1, 0), (1, 0.75, 0.8, 1), (1, 0, 0, 1)] - image = self.occgrid.grid.astype(int) + self._occgrid0.grid.astype(int) - else: - # 0 background - # 1 obstacle - colors = [(1, 1, 1, 0), (1, 0, 0, 1)] - image = self.occgrid.grid - - ax.set_facecolor((1, 1, 1)) # create white background + # overlay obstacles c_map = mpl.colors.ListedColormap(colors) self.occgrid.plot(image, cmap=c_map, zorder=1) - ax.grid(True, zorder=0) + + ax.set_facecolor((1, 1, 1)) # create white background + ax.set_xlabel('x (cells)') + ax.set_ylabel('y (cells)') + ax.grid(True, zorder=0) # lock axis limits to current value - ax.set_xlim(ax.get_xlim()) - ax.set_ylim(ax.get_ylim()) + # ax.set_xlim(ax.get_xlim()) + # ax.set_ylim(ax.get_ylim()) plt.draw() plt.show(block=False) diff --git a/roboticstoolbox/mobile/QuinticPolyPlanner.py b/roboticstoolbox/mobile/QuinticPolyPlanner.py index f9d0fef0e..fdacc51cd 100644 --- a/roboticstoolbox/mobile/QuinticPolyPlanner.py +++ b/roboticstoolbox/mobile/QuinticPolyPlanner.py @@ -28,7 +28,7 @@ import matplotlib.pyplot as plt import numpy as np -from roboticstoolbox.mobile.Planner import Planner +from roboticstoolbox.mobile.PlannerBase import PlannerBase # parameter @@ -158,7 +158,7 @@ def quintic_polynomials_planner(sx, sy, syaw, sv, sa, gx, gy, gyaw, gv, ga, max_ return time, np.c_[rx, ry, ryaw], rv, ra, rj -class QuinticPolyPlanner(Planner): +class QuinticPolyPlanner(PlannerBase): r""" Quintic polynomial path planner diff --git a/roboticstoolbox/mobile/ReedsSheppPlanner.py b/roboticstoolbox/mobile/ReedsSheppPlanner.py index d52eb4066..9cf4e10e7 100644 --- a/roboticstoolbox/mobile/ReedsSheppPlanner.py +++ b/roboticstoolbox/mobile/ReedsSheppPlanner.py @@ -21,7 +21,7 @@ """ import math from collections import namedtuple -from roboticstoolbox.mobile.Planner import Planner +from roboticstoolbox.mobile.PlannerBase import PlannerBase import matplotlib.pyplot as plt import numpy as np from spatialmath import * @@ -375,7 +375,7 @@ def reeds_shepp_path_planning(start, goal, maxc, step_size): # ============================================================================ -class ReedsSheppPlanner(Planner): +class ReedsSheppPlanner(PlannerBase): r""" Reeds-Shepp path planner diff --git a/roboticstoolbox/mobile/__init__.py b/roboticstoolbox/mobile/__init__.py index 14783523d..77a5f86c0 100644 --- a/roboticstoolbox/mobile/__init__.py +++ b/roboticstoolbox/mobile/__init__.py @@ -3,6 +3,7 @@ # planners from roboticstoolbox.mobile.Bug2 import Bug2 +from roboticstoolbox.mobile.PlannerBase import PlannerBase from roboticstoolbox.mobile.DistanceTransformPlanner import DistanceTransformPlanner from roboticstoolbox.mobile.DstarPlanner import DstarPlanner from roboticstoolbox.mobile.PRMPlanner import PRMPlanner @@ -15,7 +16,6 @@ from roboticstoolbox.mobile.CurvaturePolyPlanner import CurvaturePolyPlanner from roboticstoolbox.mobile.QuinticPolyPlanner import QuinticPolyPlanner from roboticstoolbox.mobile.PRMPlanner import PRMPlanner -from roboticstoolbox.mobile.Planner import Planner from roboticstoolbox.mobile.OccGrid import BinaryOccupancyGrid, OccupancyGrid # localization and state estimation @@ -51,7 +51,7 @@ # "PoseGraph", "BinaryOccupancyGrid", "OccupancyGrid", - "Planner", + "PlannerBase", "EKF", "ParticleFilter", ] From dde71d29a5fd335128b3e099d5ed99b05d913358 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 23 Aug 2021 07:01:57 +1000 Subject: [PATCH 076/116] formatted --- roboticstoolbox/robot/IK.py | 166 +++++++++++++++++++----------------- 1 file changed, 88 insertions(+), 78 deletions(-) diff --git a/roboticstoolbox/robot/IK.py b/roboticstoolbox/robot/IK.py index 208d92d9a..bc167849f 100644 --- a/roboticstoolbox/robot/IK.py +++ b/roboticstoolbox/robot/IK.py @@ -5,6 +5,7 @@ import numpy as np from collections import namedtuple + # from roboticstoolbox.tools.null import null import roboticstoolbox as rtb from spatialmath import base @@ -13,6 +14,7 @@ import math import qpsolvers as qp from roboticstoolbox.tools.p_servo import p_servo + # iksol = namedtuple("IKsolution", "q, success, reason, iterations, residual", # defaults=(None, False, None, None, None)) # Py >= 3.7 only iksol = namedtuple("IKsolution", "q, success, reason, iterations, residual") @@ -21,10 +23,7 @@ class IKMixin: - - def ikine_mmc( - self, T, - q0=None): + def ikine_mmc(self, T, q0=None): arrived = False @@ -104,20 +103,22 @@ def ikine_mmc( return q -# --------------------------------------------------------------------- # + # --------------------------------------------------------------------- # def ikine_LM( - self, T, - q0=None, - mask=None, - ilimit=500, - rlimit=100, - tol=1e-10, - L=0.1, - Lmin=0, - search=False, - slimit=100, - transpose=None): + self, + T, + q0=None, + mask=None, + ilimit=500, + rlimit=100, + tol=1e-10, + L=0.1, + Lmin=0, + search=False, + slimit=100, + transpose=None, + ): """ Numerical inverse kinematics by Levenberg-Marquadt optimization (Robot superclass) @@ -245,7 +246,7 @@ def ikine_LM( """ # noqa E501 if not isinstance(T, SE3): - raise TypeError('argument must be SE3') + raise TypeError("argument must be SE3") solutions = [] @@ -259,7 +260,7 @@ def ikine_LM( for k in range(slimit): # choose a random joint coordinate q0_k = np.random.rand(self.n) * qspan + qlim[0, :] - print('search starts at ', q0_k) + print("search starts at ", q0_k) # recurse into the solver solution = self.ikine_LM( @@ -273,7 +274,8 @@ def ikine_LM( Lmin, False, slimit, - transpose) + transpose, + ) if solution.success: q0 = solution.q @@ -295,13 +297,15 @@ def ikine_LM( if mask is not None: mask = base.getvector(mask, 6) if not self.n >= np.sum(mask): - raise ValueError('Number of robot DOF must be >= the number ' - 'of 1s in the mask matrix') + raise ValueError( + "Number of robot DOF must be >= the number " + "of 1s in the mask matrix" + ) else: mask = np.ones(6) W = np.diag(mask) - tcount = 0 # Total iteration count + tcount = 0 # Total iteration count rejcount = 0 # Rejected step count nm = 0 revolutes = self.revolutejoints @@ -332,7 +336,7 @@ def ikine_LM( if transpose is not None: # Do the simple Jacobian transpose with constant gain - dq = transpose * J.T @ e # lgtm [py/multiple-definition] + dq = transpose * J.T @ e # lgtm [py/multiple-definition] q += dq else: # Do the damped inverse Gauss-Newton with @@ -340,9 +344,12 @@ def ikine_LM( # dq = np.linalg.inv( # JtJ + ((Li + Lmin) * np.eye(self.n)) # ) @ J.T @ W @ e - dq = np.linalg.inv( - JtJ + ((Li + Lmin) * np.diag(np.diag(JtJ))) - ) @ J.T @ W @ e + dq = ( + np.linalg.inv(JtJ + ((Li + Lmin) * np.diag(np.diag(JtJ)))) + @ J.T + @ W + @ e + ) # print(J.T @ W @ e) # Compute possible new value of @@ -371,7 +378,7 @@ def ikine_LM( q[k] -= 2 * np.pi k = np.logical_and(q < -np.pi, revolutes) - q[k] += + 2 * np.pi + q[k] += +2 * np.pi nm = np.linalg.norm(W @ e) # qs = ", ".join(["{:8.3f}".format(qi) for qi in q]) @@ -392,20 +399,12 @@ def ikine_LM( np.array([sol.success for sol in solutions]), [sol.reason for sol in solutions], np.array([sol.iterations for sol in solutions]), - np.array([sol.residual for sol in solutions]) + np.array([sol.residual for sol in solutions]), ) -# --------------------------------------------------------------------- # + # --------------------------------------------------------------------- # - def ikine_LMS( - self, T, - q0=None, - mask=None, - ilimit=500, - tol=1e-10, - wN=1e-3, - Lmin=0 - ): + def ikine_LMS(self, T, q0=None, mask=None, ilimit=500, tol=1e-10, wN=1e-3, Lmin=0): """ Numerical inverse kinematics by Levenberg-Marquadt optimization (Robot superclass) @@ -511,7 +510,7 @@ def ikine_LMS( """ # noqa E501 if not isinstance(T, SE3): - raise TypeError('argument must be SE3') + raise TypeError("argument must be SE3") solutions = [] @@ -523,8 +522,10 @@ def ikine_LMS( if mask is not None: mask = base.getvector(mask, 6) if not self.n >= np.sum(mask): - raise ValueError('Number of robot DOF must be >= the number ' - 'of 1s in the mask matrix') + raise ValueError( + "Number of robot DOF must be >= the number " + "of 1s in the mask matrix" + ) else: mask = np.ones(6) W = np.diag(mask) @@ -555,7 +556,7 @@ def ikine_LMS( J = self.jacob0(q) WN = E * np.eye(self.n) + wN * np.eye(self.n) H = J.T @ W @ J + WN # n x n - g = J.T @ W @ e # n x 1 + g = J.T @ W @ e # n x 1 # Compute new value of q q += np.linalg.inv(H) @ g # n x 1 @@ -570,7 +571,7 @@ def ikine_LMS( q[k] -= 2 * np.pi k = np.logical_and(q < -np.pi, revolutes) - q[k] += + 2 * np.pi + q[k] += +2 * np.pi # qs = ", ".join(["{:8.3f}".format(qi) for qi in q]) # print(f"|e|={E:8.2g}, det(H)={np.linalg.det(H)}: q={qs}") @@ -590,14 +591,23 @@ def ikine_LMS( np.array([sol.success for sol in solutions]), [sol.reason for sol in solutions], np.array([sol.iterations for sol in solutions]), - np.array([sol.residual for sol in solutions]) + np.array([sol.residual for sol in solutions]), ) -# --------------------------------------------------------------------- # + # --------------------------------------------------------------------- # def ikine_min( - self, T, q0=None, qlim=False, ilimit=1000, - tol=1e-16, method=None, stiffness=0, costfun=None, options={}): + self, + T, + q0=None, + qlim=False, + ilimit=1000, + tol=1e-16, + method=None, + stiffness=0, + costfun=None, + options={}, + ): r""" Inverse kinematics by optimization with joint limits (Robot superclass) @@ -703,7 +713,7 @@ def ikine_min( """ # noqa E501 if not isinstance(T, SE3): - raise TypeError('argument must be SE3') + raise TypeError("argument must be SE3") if q0 is None: q0 = np.zeros((self.n)) @@ -715,35 +725,35 @@ def ikine_min( wr = 1 / self.reach weight = np.r_[wr, wr, wr, 1, 1, 1] - optdict = {'maxiter': ilimit} + optdict = {"maxiter": ilimit} if options is not None and isinstance(options, dict): optdict.update(options) else: - raise ValueError('options must be a dict') + raise ValueError("options must be a dict") if qlim: # dealing with joint limits bounds = opt.Bounds(self.qlim[0, :], self.qlim[1, :]) if method is None: - method = 'trust-constr' + method = "trust-constr" else: # no joint limits if method is None: - method = 'SLSQP' + method = "SLSQP" bounds = None def cost(q, T, weight, costfun, stiffness): # T, weight, costfun, stiffness = args e = _angle_axis(self.fkine(q).A, T) * weight - E = (e**2).sum() + E = (e ** 2).sum() if stiffness > 0: # Enforce a continuity constraint on joints, minimum bend - E += np.sum(np.diff(q)**2) * stiffness + E += np.sum(np.diff(q) ** 2) * stiffness if costfun is not None: - E += (e**2).sum() + costfun(q) + E += (e ** 2).sum() + costfun(q) return E @@ -755,7 +765,7 @@ def cost(q, T, weight, costfun, stiffness): bounds=bounds, method=method, tol=tol, - options=options + options=options, ) # trust-constr seems to work better than L-BFGS-B which often @@ -772,11 +782,11 @@ def cost(q, T, weight, costfun, stiffness): else: return solutions -# --------------------------------------------------------------------- # + # --------------------------------------------------------------------- # def ikine_global( - self, T, qlim=False, ilimit=1000, - tol=1e-16, method=None, options={}): + self, T, qlim=False, ilimit=1000, tol=1e-16, method=None, options={} + ): r""" .. warning:: Experimental code for using SciPy global optimizers. @@ -792,7 +802,7 @@ def ikine_global( # dual_annealing: bounds if not isinstance(T, SE3): - raise TypeError('argument must be SE3') + raise TypeError("argument must be SE3") solutions = [] @@ -802,29 +812,32 @@ def ikine_global( optdict = {} if method is None: - method = 'differential-evolution' + method = "differential-evolution" - if method == 'brute': + if method == "brute": # requires a tuple of tuples - optdict['ranges'] = tuple([tuple(li.qlim) for li in self]) + optdict["ranges"] = tuple([tuple(li.qlim) for li in self]) else: - optdict['bounds'] = tuple([tuple(li.qlim) for li in self]) + optdict["bounds"] = tuple([tuple(li.qlim) for li in self]) - if method not in ['basinhopping', 'brute', 'differential_evolution', - 'shgo', 'dual_annealing']: - raise ValueError('unknown global optimizer requested') + if method not in [ + "basinhopping", + "brute", + "differential_evolution", + "shgo", + "dual_annealing", + ]: + raise ValueError("unknown global optimizer requested") global_minimizer = opt.__dict__[method] def cost(q, T, weight): # T, weight, costfun, stiffness = args e = _angle_axis(self.fkine(q).A, T) * weight - return (e**2).sum() + return (e ** 2).sum() for _ in T: - res = global_minimizer( - cost, - **optdict) + res = global_minimizer(cost, **optdict) solution = iksol(res.x, res.success, res.message, res.nit, res.fun) solutions.append(solution) @@ -875,14 +888,11 @@ def _angle_axis_sekiguchi(T, Td): if R[1, 0] > 0 and R[2, 1] > 0 and R[0, 2] > 0: a = np.pi / np.sqrt(2) * np.sqrt(np.diag(R) + 1) elif R[1, 0] > 0: # (2) - a = np.pi / np.sqrt(2) * np.sqrt( - np.diag(R) @ np.r_[1, 1, -1] + 1) + a = np.pi / np.sqrt(2) * np.sqrt(np.diag(R) @ np.r_[1, 1, -1] + 1) elif R[0, 2] > 0: # (3) - a = np.pi / np.sqrt(2) * np.sqrt( - np.diag(R) @ np.r_[1, -1, 1] + 1) + a = np.pi / np.sqrt(2) * np.sqrt(np.diag(R) @ np.r_[1, -1, 1] + 1) elif R[2, 1] > 0: # (4) - a = np.pi / np.sqrt(2) * np.sqrt( - np.diag(R) @ np.r_[-1, 1, 1] + 1) + a = np.pi / np.sqrt(2) * np.sqrt(np.diag(R) @ np.r_[-1, 1, 1] + 1) else: # non-diagonal matrix case ln = base.norm(li) @@ -916,4 +926,4 @@ def _angle_axis_sekiguchi(T, Td): # print(robot.fkine(sol.q)) # robot.plot(sol.q) - sol = robot.ikine_global(T, method='brute') + sol = robot.ikine_global(T, method="brute") From 27ffd041a73f584df26d9baa89603a28e062b6c3 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 23 Aug 2021 07:02:40 +1000 Subject: [PATCH 077/116] update model --- roboticstoolbox/models/URDF/YuMi.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/roboticstoolbox/models/URDF/YuMi.py b/roboticstoolbox/models/URDF/YuMi.py index 456185048..2d93f539a 100644 --- a/roboticstoolbox/models/URDF/YuMi.py +++ b/roboticstoolbox/models/URDF/YuMi.py @@ -53,8 +53,8 @@ def __init__(self): l_gripper_links = [link for link in links if link.parent == gripper_l_base] # New intermediate links - r_gripper = ELink(name="r_gripper", parent=gripper_l_base) - l_gripper = ELink(name="l_gripper", parent=gripper_r_base) + r_gripper = ELink(name="r_hand", parent=gripper_l_base) + l_gripper = ELink(name="l_hand", parent=gripper_r_base) links.append(r_gripper) links.append(l_gripper) From 371e0872299591169131f2f29b4b9335c18bbaa1 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 23 Aug 2021 07:02:58 +1000 Subject: [PATCH 078/116] include old p_servo --- roboticstoolbox/tools/__init__.py | 55 ++++++++++++++++++------------- 1 file changed, 32 insertions(+), 23 deletions(-) diff --git a/roboticstoolbox/tools/__init__.py b/roboticstoolbox/tools/__init__.py index 7794230fb..cde4e4a98 100644 --- a/roboticstoolbox/tools/__init__.py +++ b/roboticstoolbox/tools/__init__.py @@ -1,32 +1,41 @@ from roboticstoolbox.tools.null import null -from roboticstoolbox.tools.p_servo import p_servo +from roboticstoolbox.tools.p_servo import p_servo, p_servo_old from roboticstoolbox.tools.Ticker import Ticker from roboticstoolbox.tools.urdf import * # noqa -from roboticstoolbox.tools.trajectory import tpoly, tpoly_func, \ - jtraj, mtraj, ctraj, lspb, lspb_func, qplot, mstraj -from roboticstoolbox.tools.numerical import jacobian_numerical, \ - hessian_numerical +from roboticstoolbox.tools.trajectory import ( + tpoly, + tpoly_func, + jtraj, + mtraj, + ctraj, + lspb, + lspb_func, + qplot, + mstraj, +) +from roboticstoolbox.tools.numerical import jacobian_numerical, hessian_numerical from roboticstoolbox.tools.jsingu import jsingu from roboticstoolbox.tools.data import rtb_loaddata, rtb_loadmat, rtb_path_to_datafile __all__ = [ - 'null', - 'p_servo', - 'Ticker', - 'tpoly', - 'tpoly_func', - 'jtraj', - 'ctraj', - 'lspb', - 'lspb_func', - 'qplot', - 'mtraj', - 'mstraj', - 'jsingu', - 'jacobian_numerical', - 'hessian_numerical', - 'rtb_loaddata', - 'rtb_loadmat', - 'rtb_path_to_datafile', + "null", + "p_servo", + "p_servo_old", + "Ticker", + "tpoly", + "tpoly_func", + "jtraj", + "ctraj", + "lspb", + "lspb_func", + "qplot", + "mtraj", + "mstraj", + "jsingu", + "jacobian_numerical", + "hessian_numerical", + "rtb_loaddata", + "rtb_loadmat", + "rtb_path_to_datafile", ] From deb416f36e368427310116a7170afa7eb7cb6635 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 23 Aug 2021 07:03:08 +1000 Subject: [PATCH 079/116] include old p_servo --- roboticstoolbox/tools/p_servo.py | 88 ++++++++++++++++---------------- 1 file changed, 44 insertions(+), 44 deletions(-) diff --git a/roboticstoolbox/tools/p_servo.py b/roboticstoolbox/tools/p_servo.py index efb65f27c..6e817320a 100644 --- a/roboticstoolbox/tools/p_servo.py +++ b/roboticstoolbox/tools/p_servo.py @@ -5,59 +5,59 @@ import math -# def p_servo(wTe, wTep, gain=2, threshold=0.1): -# """ -# Position-based servoing. +def p_servo_old(wTe, wTep, gain=2, threshold=0.1): + """ + Position-based servoing. + + Returns the end-effector velocity which will cause the robot to approach + the desired pose. + + :param wTe: The current pose of the end-effecor in the base frame. + :type wTe: SE3 + :param wTep: The desired pose of the end-effecor in the base frame. + :type wTep: SE3 + :param gain: The gain for the controller + :type gain: float + :param threshold: The threshold or tolerance of the final error between + the robot's pose and desired pose + :type threshold: float + + :returns v: The velocity of the end-effecotr which will casue the robot + to approach wTep + :rtype v: ndarray(6) + :returns arrived: True if the robot is within the threshold of the final + pose + :rtype arrived: bool + + """ -# Returns the end-effector velocity which will cause the robot to approach -# the desired pose. - -# :param wTe: The current pose of the end-effecor in the base frame. -# :type wTe: SE3 -# :param wTep: The desired pose of the end-effecor in the base frame. -# :type wTep: SE3 -# :param gain: The gain for the controller -# :type gain: float -# :param threshold: The threshold or tolerance of the final error between -# the robot's pose and desired pose -# :type threshold: float - -# :returns v: The velocity of the end-effecotr which will casue the robot -# to approach wTep -# :rtype v: ndarray(6) -# :returns arrived: True if the robot is within the threshold of the final -# pose -# :rtype arrived: bool - -# """ - -# if not isinstance(wTe, SE3): -# wTe = SE3(wTe) + if not isinstance(wTe, SE3): + wTe = SE3(wTe) -# if not isinstance(wTep, SE3): -# wTep = SE3(wTep) + if not isinstance(wTep, SE3): + wTep = SE3(wTep) -# # Pose difference -# eTep = wTe.inv() * wTep + # Pose difference + eTep = wTe.inv() * wTep -# # Translational error -# ev = eTep.t + # Translational error + ev = eTep.t -# # Angular error -# ew = eTep.rpy("rad") + # Angular error + ew = eTep.rpy("rad") -# # Form error vector -# e = np.r_[ev, ew] + # Form error vector + e = np.r_[ev, ew] -# # Desired end-effector velocity -# v = gain * e + # Desired end-effector velocity + v = gain * e -# if np.sum(np.abs(e)) < threshold: -# arrived = True -# else: -# arrived = False + if np.sum(np.abs(e)) < threshold: + arrived = True + else: + arrived = False -# return v, arrived + return v, arrived def _angle_axis(T, Td): From aef672dd9232bf1b42ff384ab7a9ce5d8ae54233 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 23 Aug 2021 09:41:06 +1000 Subject: [PATCH 080/116] Fix omni geometry --- roboticstoolbox/models/ETS/Omni.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/roboticstoolbox/models/ETS/Omni.py b/roboticstoolbox/models/ETS/Omni.py index abe73463d..e6c8567c3 100644 --- a/roboticstoolbox/models/ETS/Omni.py +++ b/roboticstoolbox/models/ETS/Omni.py @@ -47,7 +47,9 @@ def __init__(self): g0 = ELink(name="gripper", parent=b2) - b2.geometry = sg.Box([l, w, h], base=sm.SE3(0, 0, h / 2), color=(163, 157, 134)) + b2.geometry = sg.Cuboid( + [l, w, h], base=sm.SE3(0, 0, h / 2), color=(163, 157, 134) + ) elinks = [b0, b1, b2, g0] From 18a25a68d243c116c7c38076db06810f5cb84a66 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 6 Sep 2021 16:28:07 +1000 Subject: [PATCH 081/116] fixed example --- roboticstoolbox/examples/swift_recording.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/roboticstoolbox/examples/swift_recording.py b/roboticstoolbox/examples/swift_recording.py index 01ce8d7f2..0136d9669 100644 --- a/roboticstoolbox/examples/swift_recording.py +++ b/roboticstoolbox/examples/swift_recording.py @@ -19,7 +19,7 @@ env = swift.Swift() # Launch the sim in chrome as only chrome supports webm videos -env.launch('google-chrome') +env.launch("google-chrome") # Create a Panda robot object panda = rtb.models.Panda() @@ -36,7 +36,7 @@ # Start recording with a framerate of 1/dt and # call the video panda_swift_recording # Export video as a webm file (this only works in Chrome) -env.start_recording('panda_swift_recording', 1 / dt) +env.start_recording("panda_swift_recording", 1 / dt) # To export as a gif replace the above line with # env.start_recording('panda_swift_recording', 1 / dt, format='gif') @@ -68,7 +68,7 @@ # Calulate the required end-effector spatial velocity for the robot # to approach the goal. Gain is set to 1.0 - v, arrived = rtb.p_servo(Te, Tep, 1.0) + v, arrived = rtb.p_servo(Te, Tep, np.ones(6)) # Gain term (lambda) for control minimisation Y = 0.01 @@ -83,7 +83,7 @@ Q[n:, n:] = (1 / e) * np.eye(6) # The equality contraints - Aeq = np.c_[panda.jacobe(panda.q), np.eye(6)] + Aeq = np.c_[panda.jacob0(panda.q), np.eye(6)] beq = v.reshape((6,)) # The inequality constraints for joint limit avoidance From 118f552b68ec1b01dbbcdf728e06ab8b7c23f89a Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 6 Sep 2021 16:32:22 +1000 Subject: [PATCH 082/116] fixed example --- roboticstoolbox/examples/swift_recording.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/roboticstoolbox/examples/swift_recording.py b/roboticstoolbox/examples/swift_recording.py index 0136d9669..faadf604b 100644 --- a/roboticstoolbox/examples/swift_recording.py +++ b/roboticstoolbox/examples/swift_recording.py @@ -19,7 +19,7 @@ env = swift.Swift() # Launch the sim in chrome as only chrome supports webm videos -env.launch("google-chrome") +env.launch(browser="google-chrome", realtime=True) # Create a Panda robot object panda = rtb.models.Panda() @@ -39,7 +39,7 @@ env.start_recording("panda_swift_recording", 1 / dt) # To export as a gif replace the above line with -# env.start_recording('panda_swift_recording', 1 / dt, format='gif') +# env.start_recording("panda_swift_recording", 1 / dt, format="gif") # To export as a tar folder of jpg captures replace with # env.start_recording('panda_swift_recording', 1 / dt, format='jpg') @@ -119,3 +119,6 @@ # Stop recording and save the video (to the downloads folder) env.stop_recording() + +# Hold is required for gifs which take extra time to process +# env.hold() From bbd68f2e140d17f3636ca92aa01b1a2f9639c3c0 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 13 Sep 2021 11:16:37 +1000 Subject: [PATCH 083/116] Fix str test --- roboticstoolbox/robot/DHLink.py | 178 ++++++++++++++++++-------------- tests/test_Link.py | 44 +++----- 2 files changed, 113 insertions(+), 109 deletions(-) diff --git a/roboticstoolbox/robot/DHLink.py b/roboticstoolbox/robot/DHLink.py index 767ed6970..73c79c173 100644 --- a/roboticstoolbox/robot/DHLink.py +++ b/roboticstoolbox/robot/DHLink.py @@ -12,6 +12,8 @@ _eps = np.finfo(np.float64).eps from functools import wraps + + def _check_rne(func): """ @_check_rne decorator @@ -30,6 +32,7 @@ def dyn_param_setter(self, value): :seealso: :func:`Link._listen_dyn` """ + @wraps(func) def wrapper_check_rne(*args, **kwargs): if args[0]._rne_ob is None or args[0]._dynchanged: @@ -37,8 +40,10 @@ def wrapper_check_rne(*args, **kwargs): args[0]._init_rne() args[0]._rne_changed = False return func(*args, **kwargs) + return wrapper_check_rne + # --------------------------------------------------------------# try: # pragma: no cover @@ -47,7 +52,10 @@ def wrapper_check_rne(*args, **kwargs): def _issymbol(x): return isinstance(x, sym.Expr) + + except ImportError: + def _issymbol(x): # pylint: disable=unused-argument return False @@ -65,6 +73,7 @@ def _sin(theta): else: return np.sin(theta) + # --------------------------------------------------------------# @@ -116,15 +125,8 @@ class DHLink(Link): """ def __init__( - self, - d=0.0, - alpha=0.0, - theta=0.0, - a=0.0, - sigma=0, - mdh=False, - offset=0, - **kwargs): + self, d=0.0, alpha=0.0, theta=0.0, a=0.0, sigma=0, mdh=False, offset=0, **kwargs + ): # TODO # probably should make DHLink(link) return a copy @@ -166,7 +168,8 @@ def __add__(self, L): manufacturer=L.manufacturer, base=L.base, tool=L.tool, - gravity=L.gravity) + gravity=L.gravity, + ) else: raise TypeError("Cannot add a Link with a non Link object") @@ -183,12 +186,16 @@ def __str__(self): qvar = f"q{self.id}" cls = self.__class__.__name__ if self.isrevolute: - s = f"{cls}: θ={qvar}{offset}, d={self.d}, " \ - f"a={self.a}, ⍺={self.alpha}" + s = ( + f"{cls}: θ={qvar}{offset}, d={self.d}, " + f" a={self.a}, ⍺={self.alpha}" + ) elif self.isprismatic: - s = f"{cls}: theta={self.theta}, d={qvar}{offset}, " \ - f" a={self.a}, " \ + s = ( + f"{cls}: θ={self.theta}, d={qvar}{offset}, " + f" a={self.a}, " f"⍺={self.alpha}" + ) return s def __repr__(self): @@ -203,7 +210,7 @@ def __repr__(self): args.extend(super()._params()) return name + "(" + ", ".join(args) + ")" -# -------------------------------------------------------------------------- # + # -------------------------------------------------------------------------- # @property def theta(self): @@ -226,7 +233,7 @@ def theta(self, theta_new): else: self._theta = theta_new -# -------------------------------------------------------------------------- # + # -------------------------------------------------------------------------- # @property def d(self): @@ -249,7 +256,7 @@ def d(self, d_new): else: self._d = d_new -# -------------------------------------------------------------------------- # + # -------------------------------------------------------------------------- # @property def a(self): @@ -268,7 +275,8 @@ def a(self): @_listen_dyn def a(self, a_new): self._a = a_new -# -------------------------------------------------------------------------- # + + # -------------------------------------------------------------------------- # @property def alpha(self): @@ -288,7 +296,7 @@ def alpha(self): def alpha(self, alpha_new): self._alpha = alpha_new -# -------------------------------------------------------------------------- # + # -------------------------------------------------------------------------- # @property def sigma(self): @@ -310,7 +318,8 @@ def sigma(self): @_listen_dyn def sigma(self, sigma_new): self._sigma = sigma_new -# -------------------------------------------------------------------------- # + + # -------------------------------------------------------------------------- # @property def mdh(self): @@ -333,7 +342,7 @@ def mdh(self): def mdh(self, mdh_new): self._mdh = int(mdh_new) -# -------------------------------------------------------------------------- # + # -------------------------------------------------------------------------- # @property def offset(self): @@ -358,7 +367,7 @@ def offset(self): def offset(self, offset_new): self._offset = offset_new -# -------------------------------------------------------------------------- # + # -------------------------------------------------------------------------- # def A(self, q): r""" @@ -422,20 +431,24 @@ def A(self, q): if self.mdh == 0: # standard DH - T = np.array([ - [ct, -st * ca, st * sa, self.a * ct], - [st, ct * ca, -ct * sa, self.a * st], - [0, sa, ca, d], - [0, 0, 0, 1] - ]) + T = np.array( + [ + [ct, -st * ca, st * sa, self.a * ct], + [st, ct * ca, -ct * sa, self.a * st], + [0, sa, ca, d], + [0, 0, 0, 1], + ] + ) else: # modified DH - T = np.array([ - [ct, -st, 0, self.a], - [st * ca, ct * ca, -sa, -sa * d], - [st * sa, ct * sa, ca, ca * d], - [0, 0, 0, 1] - ]) + T = np.array( + [ + [ct, -st, 0, self.a], + [st * ca, ct * ca, -sa, -sa * d], + [st * sa, ct * sa, ca, ca * d], + [0, 0, 0, 1], + ] + ) return SE3(T, check=False) @@ -523,6 +536,7 @@ def ets(self): # -------------------------------------------------------------------------- # + class RevoluteDH(DHLink): r""" Class for revolute links using standard DH convention @@ -573,23 +587,25 @@ class RevoluteDH(DHLink): """ # noqa def __init__( - self, - d=0.0, - a=0.0, - alpha=0.0, - offset=0.0, - qlim=None, - flip=False, - **kwargs - ): + self, d=0.0, a=0.0, alpha=0.0, offset=0.0, qlim=None, flip=False, **kwargs + ): theta = 0.0 sigma = 0 mdh = False super().__init__( - d=d, alpha=alpha, theta=theta, a=a, sigma=sigma, mdh=mdh, - offset=offset, qlim=qlim, flip=flip, **kwargs) + d=d, + alpha=alpha, + theta=theta, + a=a, + sigma=sigma, + mdh=mdh, + offset=offset, + qlim=qlim, + flip=flip, + **kwargs, + ) class PrismaticDH(DHLink): @@ -644,23 +660,25 @@ class PrismaticDH(DHLink): """ # noqa def __init__( - self, - theta=0.0, - a=0.0, - alpha=0.0, - offset=0.0, - qlim=None, - flip=False, - **kwargs - ): + self, theta=0.0, a=0.0, alpha=0.0, offset=0.0, qlim=None, flip=False, **kwargs + ): d = 0.0 sigma = 1 mdh = False super().__init__( - theta=theta, d=d, a=a, alpha=alpha, sigma=sigma, mdh=mdh, - offset=offset, qlim=qlim, flip=flip, **kwargs) + theta=theta, + d=d, + a=a, + alpha=alpha, + sigma=sigma, + mdh=mdh, + offset=offset, + qlim=qlim, + flip=flip, + **kwargs, + ) class RevoluteMDH(DHLink): @@ -713,23 +731,25 @@ class RevoluteMDH(DHLink): """ # noqa def __init__( - self, - d=0.0, - a=0.0, - alpha=0.0, - offset=0.0, - qlim=None, - flip=False, - **kwargs - ): + self, d=0.0, a=0.0, alpha=0.0, offset=0.0, qlim=None, flip=False, **kwargs + ): theta = 0.0 sigma = 0 mdh = True super().__init__( - d=d, alpha=alpha, theta=theta, a=a, sigma=sigma, mdh=mdh, - offset=offset, qlim=qlim, flip=flip, **kwargs) + d=d, + alpha=alpha, + theta=theta, + a=a, + sigma=sigma, + mdh=mdh, + offset=offset, + qlim=qlim, + flip=flip, + **kwargs, + ) class PrismaticMDH(DHLink): @@ -784,20 +804,22 @@ class PrismaticMDH(DHLink): """ # noqa def __init__( - self, - theta=0.0, - a=0.0, - alpha=0.0, - offset=0.0, - qlim=None, - flip=False, - **kwargs - ): + self, theta=0.0, a=0.0, alpha=0.0, offset=0.0, qlim=None, flip=False, **kwargs + ): d = 0.0 sigma = 1 mdh = True super().__init__( - theta=theta, d=d, a=a, alpha=alpha, sigma=sigma, mdh=mdh, - offset=offset, qlim=qlim, flip=flip, **kwargs) + theta=theta, + d=d, + a=a, + alpha=alpha, + sigma=sigma, + mdh=mdh, + offset=offset, + qlim=qlim, + flip=flip, + **kwargs, + ) diff --git a/tests/test_Link.py b/tests/test_Link.py index cd3dc4ac2..35008495c 100644 --- a/tests/test_Link.py +++ b/tests/test_Link.py @@ -13,7 +13,6 @@ class TestDHLink(unittest.TestCase): - def test_link(self): rp.DHLink() @@ -48,17 +47,9 @@ def test_I(self): l1 = rp.DHLink(I=[0, 1, 2, 3, 4, 5]) l2 = rp.DHLink(I=np.eye(3)) - I0 = np.array([ - [1, 0, 0], - [0, 2, 0], - [0, 0, 3] - ]) + I0 = np.array([[1, 0, 0], [0, 2, 0], [0, 0, 3]]) - I1 = np.array([ - [0, 3, 5], - [3, 1, 4], - [5, 4, 2] - ]) + I1 = np.array([[0, 3, 5], [3, 1, 4], [5, 4, 2]]) I2 = np.eye(3) @@ -73,19 +64,13 @@ def test_A(self): l3 = rp.DHLink(sigma=1, mdh=1) l4 = rp.DHLink(flip=True) - T0 = sm.SE3(np.array([ - [-1, 0, 0, 0], - [0, -1, 0, 0], - [0, 0, 1, 0], - [0, 0, 0, 1] - ])) + T0 = sm.SE3( + np.array([[-1, 0, 0, 0], [0, -1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]) + ) - T1 = sm.SE3(np.array([ - [1, 0, 0, 0], - [0, 1, 0, 0], - [0, 0, 1, np.pi], - [0, 0, 0, 1] - ])) + T1 = sm.SE3( + np.array([[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, np.pi], [0, 0, 0, 1]]) + ) nt.assert_array_almost_equal(l0.A(np.pi).A, T0.A) nt.assert_array_almost_equal(l1.A(np.pi).A, T1.A) @@ -151,12 +136,8 @@ def test_str(self): s0 = l0.__str__() s1 = l1.__str__() - self.assertEqual( - s0, "PrismaticDH: theta=0.0, d=q, a=0.0, " - "alpha=0.0") - self.assertEqual( - s1, "RevoluteDH: theta=q, d=0.0, a=0.0, " - "alpha=0.0") + self.assertEqual(s0, "PrismaticDH: θ=0.0, d=q, a=0.0, ⍺=0.0") + self.assertEqual(s1, "RevoluteDH: θ=q, d=0.0, a=0.0, ⍺=0.0") def test_dyn(self): puma = rp.models.DH.Puma560() @@ -174,7 +155,8 @@ def test_dyn(self): B = 0.0015 Tc = 0.4(+) -0.43(-) G = -63 -qlim = -2.8 to 2.8""") # noqa +qlim = -2.8 to 2.8""", + ) # noqa puma.links[0].dyn(indent=2) @@ -237,6 +219,6 @@ def test_qlim_none(self): self.assertFalse(l0.islimit(0.1)) -if __name__ == '__main__': +if __name__ == "__main__": unittest.main() From 19ff60f0c201e502d206639e341a1df037af2cd8 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 13 Sep 2021 11:16:53 +1000 Subject: [PATCH 084/116] Move geometry copy --- roboticstoolbox/robot/ELink.py | 4 ++++ roboticstoolbox/robot/Link.py | 5 +++-- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/roboticstoolbox/robot/ELink.py b/roboticstoolbox/robot/ELink.py index 32f4053aa..c9834c6b7 100644 --- a/roboticstoolbox/robot/ELink.py +++ b/roboticstoolbox/robot/ELink.py @@ -61,6 +61,10 @@ def __str__(self): def copy(self, parent=None): new = super().copy() + + new._geometry = [shape.copy() for shape in self._geometry] + new._collision = [shape.copy() for shape in self._collision] + # invalidate references to parent, child new._parent = parent new._children = [] diff --git a/roboticstoolbox/robot/Link.py b/roboticstoolbox/robot/Link.py index eeee4b69a..122ac75c7 100644 --- a/roboticstoolbox/robot/Link.py +++ b/roboticstoolbox/robot/Link.py @@ -170,8 +170,9 @@ def copy(self): if k.startswith("_") and isinstance(v, np.ndarray): setattr(new, k, np.copy(v)) - new._geometry = [shape.copy() for shape in self._geometry] - new._collision = [shape.copy() for shape in self._collision] + # if isinstance(self, rtb.ELink): + # new._geometry = [shape.copy() for shape in self._geometry] + # new._collision = [shape.copy() for shape in self._collision] # print(new._geometry[0]._wT) # print(self._geometry[0]._wT) From 9f548831cef9ab76d778246555dfbd77fda666de Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 13 Sep 2021 11:17:12 +1000 Subject: [PATCH 085/116] Finish p_servo and tests --- roboticstoolbox/tools/__init__.py | 3 +- roboticstoolbox/tools/p_servo.py | 110 +++++++++++++----------------- tests/test_tools.py | 66 +++++++++--------- 3 files changed, 82 insertions(+), 97 deletions(-) diff --git a/roboticstoolbox/tools/__init__.py b/roboticstoolbox/tools/__init__.py index cde4e4a98..d2aef8f2b 100644 --- a/roboticstoolbox/tools/__init__.py +++ b/roboticstoolbox/tools/__init__.py @@ -1,5 +1,5 @@ from roboticstoolbox.tools.null import null -from roboticstoolbox.tools.p_servo import p_servo, p_servo_old +from roboticstoolbox.tools.p_servo import p_servo from roboticstoolbox.tools.Ticker import Ticker from roboticstoolbox.tools.urdf import * # noqa from roboticstoolbox.tools.trajectory import ( @@ -21,7 +21,6 @@ __all__ = [ "null", "p_servo", - "p_servo_old", "Ticker", "tpoly", "tpoly_func", diff --git a/roboticstoolbox/tools/p_servo.py b/roboticstoolbox/tools/p_servo.py index 6e817320a..ee79472ca 100644 --- a/roboticstoolbox/tools/p_servo.py +++ b/roboticstoolbox/tools/p_servo.py @@ -5,7 +5,30 @@ import math -def p_servo_old(wTe, wTep, gain=2, threshold=0.1): +def _angle_axis(T, Td): + e = np.empty(6) + e[:3] = Td[:3, -1] - T[:3, -1] + R = Td[:3, :3] @ T[:3, :3].T + li = np.array([R[2, 1] - R[1, 2], R[0, 2] - R[2, 0], R[1, 0] - R[0, 1]]) + + if base.iszerovec(li): + # diagonal matrix case + if np.trace(R) > 0: + # (1,1,1) case + a = np.zeros((3,)) + else: + a = np.pi / 2 * (np.diag(R) + 1) + else: + # non-diagonal matrix case + ln = base.norm(li) + a = math.atan2(ln, np.trace(R) - 1) * li / ln + + e[3:] = a + + return e + + +def p_servo(wTe, wTep, gain=1.0, threshold=0.1, method="rpy"): """ Position-based servoing. @@ -13,14 +36,19 @@ def p_servo_old(wTe, wTep, gain=2, threshold=0.1): the desired pose. :param wTe: The current pose of the end-effecor in the base frame. - :type wTe: SE3 + :type wTe: SE3 or ndarray :param wTep: The desired pose of the end-effecor in the base frame. - :type wTep: SE3 - :param gain: The gain for the controller - :type gain: float + :type wTep: SE3 or ndarray + :param gain: The gain for the controller. Can be vector corresponding to each + axis, or scalar corresponding to all axes. + :type gain: float, or array-like :param threshold: The threshold or tolerance of the final error between the robot's pose and desired pose :type threshold: float + :param method: The method used to calculate the error. Default is 'rpy' - + error in the end-effector frame. 'angle-axis' - error in the base frame + using angle-axis method. + :type method: string: 'rpy' or 'angle-axis' :returns v: The velocity of the end-effecotr which will casue the robot to approach wTep @@ -31,71 +59,31 @@ def p_servo_old(wTe, wTep, gain=2, threshold=0.1): """ - if not isinstance(wTe, SE3): - wTe = SE3(wTe) - - if not isinstance(wTep, SE3): - wTep = SE3(wTep) - - # Pose difference - eTep = wTe.inv() * wTep + if isinstance(wTe, SE3): + wTe = wTe.A - # Translational error - ev = eTep.t + if isinstance(wTep, SE3): + wTep = wTep.A - # Angular error - ew = eTep.rpy("rad") + if method == "rpy": + # Pose difference + eTep = np.linalg.inv(wTe) @ wTep + e = np.empty(6) - # Form error vector - e = np.r_[ev, ew] + # Translational error + e[:3] = eTep[:3, -1] - # Desired end-effector velocity - v = gain * e - - if np.sum(np.abs(e)) < threshold: - arrived = True + # Angular error + e[3:] = base.tr2rpy(eTep, unit="rad", order="zyx", check=False) else: - arrived = False - - return v, arrived + e = _angle_axis(wTe, wTep) - -def _angle_axis(T, Td): - e = np.zeros(6) - e[:3] = Td.t - T.t - R = Td.R @ T.R.T - li = np.array([R[2, 1] - R[1, 2], R[0, 2] - R[2, 0], R[1, 0] - R[0, 1]]) - - if base.iszerovec(li): - # diagonal matrix case - if np.trace(R) > 0: - # (1,1,1) case - a = np.zeros((3,)) - else: - a = np.pi / 2 * (np.diag(R) + 1) + if base.isscalar(gain): + k = gain * np.eye(6) else: - # non-diagonal matrix case - ln = base.norm(li) - a = math.atan2(ln, np.trace(R) - 1) * li / ln - - e[3:] = a - - return e - - -def p_servo(wTe, wTep, gain=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0], threshold=0.1): - if not isinstance(wTe, SE3): - wTe = SE3(wTe) - - if not isinstance(wTep, SE3): - wTep = SE3(wTep) - - k = np.diag(gain) - - e = _angle_axis(wTe, wTep) + k = np.diag(gain) v = k @ e - arrived = True if np.sum(np.abs(e)) < threshold else False return v, arrived diff --git a/tests/test_tools.py b/tests/test_tools.py index 6796ed5a3..d6ed8b972 100644 --- a/tests/test_tools.py +++ b/tests/test_tools.py @@ -11,39 +11,19 @@ class Testtools(unittest.TestCase): - def test_null(self): a0 = np.array([1, 2, 3]) - a1 = np.array([ - [1, 2, 3], - [4, 5, 6] - ]) - - a2 = np.array([ - [1, 2, 3], - [4, 5, 6], - [7, 8, 9] - ]) - - ans0 = np.array([ - [-0.5345, -0.8018], - [0.7745, -0.3382], - [-0.3382, 0.4927] - ]) - - ans1 = np.array([ - [0.4082], - [-0.8165], - [0.4082] - ]) - - ans2 = np.array([ - [-0.4082], - [0.8165], - [-0.4082] - ]) + a1 = np.array([[1, 2, 3], [4, 5, 6]]) + + a2 = np.array([[1, 2, 3], [4, 5, 6], [7, 8, 9]]) + + ans0 = np.array([[-0.5345, -0.8018], [0.7745, -0.3382], [-0.3382, 0.4927]]) + + ans1 = np.array([[0.4082], [-0.8165], [0.4082]]) + + ans2 = np.array([[-0.4082], [0.8165], [-0.4082]]) r0 = rp.null(a0) r1 = rp.null(a1) @@ -53,16 +33,33 @@ def test_null(self): nt.assert_array_almost_equal(np.abs(r1), np.abs(ans1), decimal=4) nt.assert_array_almost_equal(np.abs(r2), np.abs(ans2), decimal=4) - def test_p_servo(self): + def test_p_servo_rpy(self): + a = sm.SE3() + b = sm.SE3.Rx(0.7) * sm.SE3.Tx(1) + c = sm.SE3.Tz(0.59) + + v0, arrived0 = rp.p_servo(a, b, method="rpy") + v1, _ = rp.p_servo(a.A, b.A, method="rpy") + _, arrived1 = rp.p_servo(a, c, threshold=0.6, method="rpy") + + ans = np.array([1, 0, 0, 0.7, -0, 0]) + + nt.assert_array_almost_equal(v0, ans, decimal=4) + nt.assert_array_almost_equal(v1, ans, decimal=4) + + self.assertFalse(arrived0) + self.assertTrue(arrived1) + + def test_p_servo_angle_axis(self): a = sm.SE3() b = sm.SE3.Rx(0.7) * sm.SE3.Tx(1) c = sm.SE3.Tz(0.59) - v0, arrived0 = rp.p_servo(a, b) + v0, arrived0 = rp.p_servo(a, b, method="angle-axis") v1, _ = rp.p_servo(a.A, b.A) _, arrived1 = rp.p_servo(a, c, threshold=0.6) - ans = np.array([2, 0, 0, 1.4, -0, 0]) + ans = np.array([1, 0, 0, 0.7, -0, 0]) nt.assert_array_almost_equal(v0, ans, decimal=4) nt.assert_array_almost_equal(v1, ans, decimal=4) @@ -76,6 +73,7 @@ def test_jsingu(self): rp.jsingu(J) -if __name__ == '__main__': # pragma nocover + +if __name__ == "__main__": # pragma nocover unittest.main() - # pytest.main(['tests/test_SerialLink.py']) \ No newline at end of file + # pytest.main(['tests/test_SerialLink.py']) From 14570df14636017097b26c045c0f3fb37ad42160 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 13 Sep 2021 11:17:39 +1000 Subject: [PATCH 086/116] Upgrade omron collada model --- .../meshes/visual/omron.dae | 2233 ++++++++--------- 1 file changed, 1054 insertions(+), 1179 deletions(-) diff --git a/rtb-data/rtbdata/xacro/franka_description/meshes/visual/omron.dae b/rtb-data/rtbdata/xacro/franka_description/meshes/visual/omron.dae index 53fd9fdc0..06d448fb7 100644 --- a/rtb-data/rtbdata/xacro/franka_description/meshes/visual/omron.dae +++ b/rtb-data/rtbdata/xacro/franka_description/meshes/visual/omron.dae @@ -3,10 +3,10 @@ Blender User - Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44 + Blender 2.93.4 commit date:2021-08-31, commit time:09:23, hash:b7205031cec4 - 2021-03-04T07:32:56 - 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908 983 5231 908 983 5232 592 721 5233 902 1005 5234 908 983 5235 902 1005 5236 901 981 5237 901 981 5238 902 1005 5239 904 1006 5240 901 981 5241 904 1006 5242 905 979 5243 905 979 5244 904 1006 5245 897 978 5246 592 721 5247 591 719 5248 902 1005 5249 902 1005 5250 591 719 5251 903 1007 5252 902 1005 5253 903 1007 5254 904 1006 5255 904 1006 5256 903 1007 5257 898 1008 5258 904 1006 5259 898 1008 5260 897 978 5261 897 978 5262 898 1008 5263 894 977 5264 591 719 5265 590 712 5266 903 1007 5267 903 1007 5268 590 712 5269 899 1009 5270 903 1007 5271 899 1009 5272 898 1008 5273 898 1008 5274 899 1009 5275 895 1010 5276 898 1008 5277 895 1010 5278 894 977 5279 894 977 5280 895 1010 5281 891 976 5282 590 712 5283 589 713 5284 899 1009 5285 899 1009 5286 589 713 5287 896 1011 5288 899 1009 5289 896 1011 5290 895 1010 5291 895 1010 5292 896 1011 5293 892 1012 5294 895 1010 5295 892 1012 5296 891 976 5297 891 976 5298 892 1012 5299 885 968 5300 589 713 5301 588 715 5302 896 1011 5303 896 1011 5304 588 715 5305 893 1013 5306 896 1011 5307 893 1013 5308 892 1012 5309 892 1012 5310 893 1013 5311 886 1014 5312 892 1012 5313 886 1014 5314 885 968 5315 885 968 5316 886 1014 5317 890 969 5318 588 715 5319 587 717 5320 893 1013 5321 893 1013 5322 587 717 5323 887 1015 5324 893 1013 5325 887 1015 5326 886 1014 5327 886 1014 5328 887 1015 5329 889 972 5330 886 1014 5331 889 972 5332 890 969 5333 587 717 5334 586 656 5335 887 1015 5336 887 1015 5337 586 656 5338 888 974 5339 887 1015 5340 888 974 5341 889 972 5342 586 656 5343 585 654 5344 888 974 5345 926 975 5346 584 652 5347 928 1016 5348 928 1016 5349 584 652 5350 583 620 5351 928 1016 5352 583 620 5353 99 622 5354 99 622 5355 98 1017 5356 928 1016 5357 928 1016 5358 98 1017 5359 926 975 5360 926 975 5361 98 1017 5362 927 973 5363 927 973 5364 98 1017 5365 97 971 5366 91 993 5367 919 989 5368 918 991 5369

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2 1018 5370 1 1019 5371 935 1020 5372 935 1020 5373 1 1019 5374 934 1021 5375 934 1021 5376 1 1019 5377 932 1022 5378 934 1021 5379 932 1022 5380 933 1023 5381 0 1024 5382 929 1025 5383 1 1019 5384 1 1019 5385 929 1025 5386 930 1026 5387 1 1019 5388 930 1026 5389 932 1022 5390 932 1022 5391 930 1026 5392 931 1027 5393 942 1028 5394 6 1029 5395 947 1030 5396 947 1030 5397 6 1029 5398 5 1031 5399 947 1030 5400 5 1031 5401 945 1032 5402 945 1032 5403 5 1031 5404 4 1033 5405 945 1032 5406 4 1033 5407 944 1034 5408 944 1034 5409 4 1033 5410 3 1035 5411 944 1034 5412 3 1035 5413 948 1036 5414 948 1036 5415 3 1035 5416 2 1018 5417 948 1036 5418 2 1018 5419 943 1037 5420 943 1037 5421 2 1018 5422 935 1020 5423 943 1037 5424 935 1020 5425 951 1038 5426 951 1038 5427 935 1020 5428 934 1021 5429 951 1038 5430 934 1021 5431 956 1039 5432 956 1039 5433 934 1021 5434 933 1023 5435 956 1039 5436 933 1023 5437 959 1040 5438 959 1040 5439 933 1023 5440 932 1022 5441 959 1040 5442 932 1022 5443 931 1027 5444 959 1040 5445 931 1027 5446 962 1041 5447 962 1041 5448 931 1027 5449 930 1026 5450 962 1041 5451 930 1026 5452 965 1042 5453 965 1042 5454 930 1026 5455 929 1025 5456 965 1042 5457 929 1025 5458 0 1024 5459 0 1024 5460 65 1043 5461 965 1042 5462 965 1042 5463 65 1043 5464 968 1044 5465 965 1042 5466 968 1044 5467 969 1045 5468 969 1045 5469 968 1044 5470 64 1046 5471 969 1045 5472 64 1046 5473 63 1047 5474 65 1043 5475 64 1046 5476 968 1044 5477 62 1048 5478 936 1049 5479 63 1047 5480 63 1047 5481 936 1049 5482 970 1050 5483 63 1047 5484 970 1050 5485 969 1045 5486 969 1045 5487 970 1050 5488 966 1051 5489 969 1045 5490 966 1051 5491 965 1042 5492 965 1042 5493 966 1051 5494 962 1041 5495 970 1050 5496 936 1049 5497 967 1052 5498 967 1052 5499 936 1049 5500 937 1053 5501 967 1052 5502 937 1053 5503 964 1054 5504 964 1054 5505 937 1053 5506 938 1055 5507 964 1054 5508 938 1055 5509 961 1056 5510 961 1056 5511 938 1055 5512 939 1057 5513 961 1056 5514 939 1057 5515 958 1058 5516 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16 1072 5797 1014 1129 5798 1014 1129 5799 16 1072 5800 15 1130 5801 1014 1129 5802 15 1130 5803 1013 1131 5804 1013 1131 5805 15 1130 5806 14 1132 5807 1013 1131 5808 14 1132 5809 1012 1133 5810 1012 1133 5811 14 1132 5812 1011 1134 5813 1012 1133 5814 1011 1134 5815 1025 1135 5816 1025 1135 5817 1011 1134 5818 1024 1136 5819 1025 1135 5820 1024 1136 5821 1040 1137 5822 1040 1137 5823 1024 1136 5824 1039 1138 5825 1040 1137 5826 1039 1138 5827 1055 1139 5828 1055 1139 5829 1039 1138 5830 1054 1140 5831 1055 1139 5832 1054 1140 5833 1073 1141 5834 1073 1141 5835 1054 1140 5836 1072 1142 5837 1073 1141 5838 1072 1142 5839 1090 1143 5840 1090 1143 5841 1072 1142 5842 1089 1144 5843 1090 1143 5844 1089 1144 5845 1114 1145 5846 1114 1145 5847 1089 1144 5848 1115 1146 5849 1114 1145 5850 1115 1146 5851 1107 1147 5852 1107 1147 5853 1115 1146 5854 1106 1148 5855 1107 1147 5856 1106 1148 5857 1149 1149 5858 1149 1149 5859 1106 1148 5860 1150 1150 5861 1149 1149 5862 1150 1150 5863 1142 1151 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5304 588 715 5305 893 1013 5306 896 1011 5307 893 1013 5308 892 1012 5309 892 1012 5310 893 1013 5311 886 1014 5312 892 1012 5313 886 1014 5314 885 968 5315 885 968 5316 886 1014 5317 890 969 5318 588 715 5319 587 717 5320 893 1013 5321 893 1013 5322 587 717 5323 887 1015 5324 893 1013 5325 887 1015 5326 886 1014 5327 886 1014 5328 887 1015 5329 889 972 5330 886 1014 5331 889 972 5332 890 969 5333 587 717 5334 586 656 5335 887 1015 5336 887 1015 5337 586 656 5338 888 974 5339 887 1015 5340 888 974 5341 889 972 5342 586 656 5343 585 654 5344 888 974 5345 926 975 5346 584 652 5347 928 1016 5348 928 1016 5349 584 652 5350 583 620 5351 928 1016 5352 583 620 5353 99 622 5354 99 622 5355 98 1017 5356 928 1016 5357 928 1016 5358 98 1017 5359 926 975 5360 926 975 5361 98 1017 5362 927 973 5363 927 973 5364 98 1017 5365 97 971 5366 91 993 5367 919 989 5368 918 991 5369

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2017 10796 1444 1704 10797 1803 1993 10798 1445 1805 10799 1445 1805 10800 1803 1993 10801 1806 2030 10802 1445 1805 10803 1806 2030 10804 1809 2026 10805 1809 2026 10806 1806 2030 10807 1805 2031 10808 1809 2026 10809 1805 2031 10810 1808 2032 10811 1808 2032 10812 1805 2031 10813 1804 2011 10814 1808 2032 10815 1804 2011 10816 1807 2013 10817 1794 1990 10818 1791 1989 10819 1790 2000 10820 1790 2000 10821 1789 2002 10822 1793 2033 10823 1793 2033 10824 1789 2002 10825 1792 2004 10826 1793 2033 10827 1792 2004 10828 1796 2009 10829 1797 1991 10830 1794 1990 10831 1793 2033 10832 1793 2033 10833 1794 1990 10834 1790 2000 10835 1797 1991 10836 1793 2033 10837 1796 2009 10838 1800 1992 10839 1797 1991 10840 1796 2009 10841 1806 2030 10842 1803 1993 10843 1802 1995 10844 1804 2011 10845 1805 2031 10846 1801 1997 10847 1801 1997 10848 1805 2031 10849 1802 1995 10850 1805 2031 10851 1806 2030 10852 1802 1995 10853 1811 2027 10854 1809 2026 10855 1808 2032 10856 1788 2015 10857 1810 2028 10858 1807 2013 10859 1807 2013 10860 1810 2028 10861 1808 2032 10862 1810 2028 10863 1811 2027 10864 1808 2032 10865 1816 2021 10866 1817 2025 10867 1813 2029 10868 1813 2029 10869 1817 2025 10870 1812 2024 10871 1815 2019 10872 1816 2021 10873 1814 2017 10874 1814 2017 10875 1816 2021 10876 1813 2029 10877 35 2005 10878 34 2034 10879 1781 2006 10880 1781 2006 10881 34 2034 10882 1782 2007 10883 1782 2007 10884 34 2034 10885 1783 2010 10886 1783 2010 10887 34 2034 10888 1784 1998 10889 1784 1998 10890 34 2034 10891 1785 1999 10892 1785 1999 10893 34 2034 10894 1786 2012 10895 1786 2012 10896 34 2034 10897 1787 2014 10898 1787 2014 10899 34 2034 10900 33 2016 10901

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72.1083 0.01119655 71.7792 0.02239316 71.7792 0.02239316 72.1083 0.01119655 72.1083 0.02239316 71.7792 0.02239316 72.1083 0.02239316 71.7792 0.03358978 71.7792 0.03358978 72.1083 0.02239316 72.1083 0.03358978 71.7792 0.03358978 72.1083 0.03358978 71.7792 0.044784 71.7792 0.044784 72.1083 0.03358978 72.1083 0.044784 71.7792 0.044784 72.1083 0.044784 71.7792 0.05598205 71.7792 0.05598205 72.1083 0.044784 72.1083 0.05598205 71.7792 0.05598205 72.1083 0.05598205 71.7792 0.06717777 71.7792 0.06717777 72.1083 0.05598205 72.1083 0.06717777 71.7792 0.06717777 72.1083 0.06717777 71.7792 0.07837349 71.91362 4.9157e-6 72.24736 6.37872e-6 72.1083 0.01119655 72.1083 0.01119655 72.24736 6.37872e-6 72.2659 0.01119655 72.1083 0.01119655 72.2659 0.01119655 72.1083 0.02239316 72.1083 0.02239316 72.2659 0.01119655 72.2659 0.02239316 72.1083 0.02239316 72.2659 0.02239316 72.1083 0.03358978 72.1083 0.03358978 72.2659 0.02239316 72.2659 0.03358978 72.1083 0.03358978 72.2659 0.03358978 72.1083 0.044784 72.1083 0.044784 72.2659 0.03358978 72.2659 0.044784 72.1083 0.044784 72.2659 0.044784 72.1083 0.05598205 72.1083 0.05598205 72.2659 0.044784 72.2659 0.05598205 72.1083 0.05598205 72.2659 0.05598205 72.1083 0.06717777 72.24736 6.37872e-6 73.02608 0 72.2659 0.01119655 72.2659 0.01119655 73.02608 0 72.46985 0.01119655 72.2659 0.01119655 72.46985 0.01119655 72.2659 0.02239316 72.2659 0.02239316 72.46985 0.01119655 72.46985 0.02239316 72.2659 0.02239316 72.46985 0.02239316 72.2659 0.03358978 72.2659 0.03358978 72.46985 0.02239316 72.46985 0.03358978 72.2659 0.03358978 72.46985 0.03358978 72.2659 0.044784 72.2659 0.044784 72.46985 0.03358978 72.46985 0.044784 72.2659 0.044784 72.46985 0.044784 72.2659 0.05598205 74.36103 0 73.91605 0.01119655 73.02608 0 73.02608 0 73.91605 0.01119655 73.24858 0.01119655 73.02608 0 73.24858 0.01119655 72.80359 0.01119655 72.80359 0.01119655 73.24858 0.01119655 72.80359 0.02239316 72.80359 0.01119655 72.80359 0.02239316 72.46985 0.02239316 72.46985 0.02239316 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0.2217007 44.68138 0.2217007 42.25157 0.277126 42.25157 0.277126 44.68138 0.2217007 44.68138 0.277126 42.25157 0.277126 44.68138 0.277126 42.25157 0.3325512 42.25157 0.3325512 44.68138 0.277126 44.68138 0.3325512 42.25157 0.3325512 44.68138 0.3325512 42.25157 0.3879764 42.25157 0.3879764 44.68138 0.3325512 44.68138 0.3879764 42.25157 0.3879764 44.68138 0.3879764 42.28715 0.4433983 42.28715 0.4433983 44.68138 0.3879764 45.82867 0.4434012 45.82867 0.4434012 44.68138 0.3879764 47.1112 0.3879764 45.82867 0.4434012 47.1112 0.3879764 49.40303 0.443401 49.40303 0.443401 47.1112 0.3879764 49.54101 0.3879764 49.40303 0.443401 49.54101 0.3879764 51.97082 0.3879764 51.97082 0.3879764 49.54101 0.3879764 51.97082 0.3325512 51.97082 0.3879764 51.97082 0.3325512 54.40064 0.3325512 54.40064 0.3325512 51.97082 0.3325512 54.40064 0.277126 54.40064 0.3325512 54.40064 0.277126 56.83045 0.277126 56.83045 0.277126 54.40064 0.277126 56.83045 0.2217007 56.83045 0.277126 56.83045 0.2217007 59.26027 0.2217007 59.26027 0.2217007 56.83045 0.2217007 59.26027 0.1662756 59.26027 0.2217007 59.26027 0.1662756 61.69009 0.1662756 61.69009 0.1662756 59.26027 0.1662756 61.69009 0.1108503 61.69009 0.1662756 61.69009 0.1108503 62.15866 0.1108503 62.15866 0.1108503 61.69009 0.1108503 62.15866 0.05542516 62.15866 0.1108503 62.15866 0.05542516 62.62723 0.05542516 62.62723 0.05542516 62.15866 0.05542516 62.57094 0 62.62723 0.05542516 62.57094 0 63.30485 0 42.28533 6.03118e-7 44.81755 1.79943e-6 44.68138 0.05542516 44.68138 0.05542516 44.81755 1.79943e-6 47.1112 0.05542516 44.68138 0.05542516 47.1112 0.05542516 44.68138 0.1108503 44.68138 0.1108503 47.1112 0.05542516 47.1112 0.1108503 44.68138 0.1108503 47.1112 0.1108503 44.68138 0.1662756 44.68138 0.1662756 47.1112 0.1108503 47.1112 0.1662756 44.68138 0.1662756 47.1112 0.1662756 44.68138 0.2217007 44.68138 0.2217007 47.1112 0.1662756 47.1112 0.2217007 44.68138 0.2217007 47.1112 0.2217007 44.68138 0.277126 44.68138 0.277126 47.1112 0.2217007 47.1112 0.277126 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0.2217007 59.26027 0.2217007 61.69009 0.2217007 59.26027 0.277126 59.26027 0.2217007 59.26027 0.277126 56.83045 0.277126 56.83045 0.277126 59.26027 0.277126 56.83045 0.3325512 34.96212 0.1662756 34.96212 0.1108503 37.39194 0.1108503 37.39194 0.1108503 34.96212 0.1108503 37.39194 0.05542516 34.96212 0.1662756 37.39194 0.1108503 37.39194 0.1662756 15.74145 0.1662756 15.74145 0.1108503 18.3425 0.1108503 18.3425 0.1108503 15.74145 0.1108503 18.3425 0.05542516 15.74145 0.1662756 18.3425 0.1108503 18.3425 0.1662756 62.62723 0.1108503 62.62723 0.1662756 62.15866 0.1662756 62.15866 0.1662756 62.62723 0.1662756 62.15866 0.2217007 62.15866 0.1662756 62.15866 0.2217007 61.69009 0.2217007 61.69009 0.2217007 62.15866 0.2217007 61.69009 0.277126 61.69009 0.2217007 61.69009 0.277126 59.26027 0.277126 59.26027 0.277126 61.69009 0.277126 59.26027 0.3325512 59.26027 0.277126 59.26027 0.3325512 56.83045 0.3325512 56.83045 0.3325512 59.26027 0.3325512 56.83045 0.3879764 34.96212 0.2217007 34.96212 0.1662756 37.39194 0.1662756 34.96212 0.2217007 37.39194 0.1662756 37.39194 0.2217007 15.74145 0.2217007 15.74145 0.1662756 18.3425 0.1662756 15.74145 0.2217007 18.3425 0.1662756 18.3425 0.2217007 62.62723 0.1662756 62.62723 0.2217007 62.15866 0.2217007 62.15866 0.2217007 62.62723 0.2217007 62.15866 0.277126 62.15866 0.2217007 62.15866 0.277126 61.69009 0.277126 61.69009 0.277126 62.15866 0.277126 61.69009 0.3325512 61.69009 0.277126 61.69009 0.3325512 59.26027 0.3325512 59.26027 0.3325512 61.69009 0.3325512 59.26027 0.3879764 59.26027 0.3325512 59.26027 0.3879764 56.83045 0.3879764 34.96212 0.277126 34.96212 0.2217007 37.39194 0.2217007 34.96212 0.277126 37.39194 0.2217007 37.39194 0.277126 15.74145 0.277126 15.74145 0.2217007 18.3425 0.2217007 15.74145 0.277126 18.3425 0.2217007 18.3425 0.277126 62.62723 0.2217007 62.62723 0.277126 62.15866 0.277126 62.15866 0.277126 62.62723 0.277126 62.15866 0.3325512 62.15866 0.277126 62.15866 0.3325512 61.69009 0.3325512 61.69009 0.3325512 62.15866 0.3325512 61.69009 0.3879764 61.69009 0.3325512 61.69009 0.3879764 59.26027 0.3879764 34.96212 0.3325512 34.96212 0.277126 37.39194 0.277126 34.96212 0.3325512 37.39194 0.277126 37.39194 0.3325512 15.74145 0.3325512 15.74145 0.277126 18.3425 0.277126 15.74145 0.3325512 18.3425 0.277126 18.3425 0.3325512 62.62723 0.277126 62.62723 0.3325512 62.15866 0.3325512 62.15866 0.3325512 62.62723 0.3325512 62.15866 0.3879764 62.15866 0.3325512 62.15866 0.3879764 61.69009 0.3879764 62.62723 0.3879764 62.15866 0.3879764 62.62723 0.3325512 34.96212 0.3879764 34.96212 0.3325512 37.39194 0.3325512 34.96212 0.3879764 37.39194 0.3325512 37.39194 0.3879764 15.74145 0.3879764 15.74145 0.3325512 18.3425 0.3325512 15.74145 0.3879764 18.3425 0.3325512 18.3425 0.3879764 15.16564 0.04061806 15.16238 0 21.18275 0.06309592 21.18275 0.06309592 15.16238 0 21.83652 4.24084e-7 21.18275 0.06309592 21.83652 4.24084e-7 23.74196 0.06309592 23.74196 0.06309592 21.83652 4.24084e-7 25.17032 0 23.74196 0.06309592 25.17032 0 26.30117 0.06309592 26.30117 0.06309592 25.17032 0 28.50441 1.8102e-7 26.30117 0.06309592 28.50441 1.8102e-7 28.86038 0.06309592 28.86038 0.06309592 28.50441 1.8102e-7 31.41959 0.06309592 28.86038 0.06309592 31.41959 0.06309592 28.86038 0.1261919 28.86038 0.1261919 31.41959 0.06309592 31.41959 0.1261919 28.86038 0.1261919 31.41959 0.1261919 28.86038 0.1892878 28.86038 0.1892878 31.41959 0.1261919 31.41959 0.1892878 28.86038 0.1892878 31.41959 0.1892878 28.86038 0.2523838 28.86038 0.2523838 31.41959 0.1892878 31.41959 0.2523838 28.86038 0.2523838 31.41959 0.2523838 28.86038 0.3154797 28.86038 0.3154797 31.41959 0.2523838 31.41959 0.3154797 28.86038 0.3154797 31.41959 0.3154797 28.86038 0.3785757 28.86038 0.3785757 31.41959 0.3154797 31.41959 0.3785757 28.86038 0.3785757 31.41959 0.3785757 28.86038 0.4416716 28.86038 0.4416716 31.41959 0.3785757 31.41959 0.4416716 28.86038 0.4416716 31.41959 0.4416716 28.64048 0.504764 28.64048 0.504764 31.41959 0.4416716 31.9398 0.5047652 31.9398 0.5047652 31.41959 0.4416716 33.9788 0.4416716 31.9398 0.5047652 33.9788 0.4416716 35.23913 0.5047651 35.23913 0.5047651 33.9788 0.4416716 36.53802 0.4416716 35.23913 0.5047651 36.53802 0.4416716 38.53844 0.5047668 38.53844 0.5047668 36.53802 0.4416716 39.09722 0.4416716 38.53844 0.5047668 39.09722 0.4416716 41.83779 0.5047675 41.83779 0.5047675 39.09722 0.4416716 41.65644 0.4416716 41.83779 0.5047675 41.65644 0.4416716 44.21565 0.4416716 44.21565 0.4416716 41.65644 0.4416716 44.21565 0.3785757 44.21565 0.4416716 44.21565 0.3785757 46.77486 0.3785757 46.77486 0.3785757 44.21565 0.3785757 46.77486 0.3154797 46.77486 0.3785757 46.77486 0.3154797 49.33407 0.3154797 49.33407 0.3154797 46.77486 0.3154797 49.33407 0.2523838 49.33407 0.3154797 49.33407 0.2523838 51.89328 0.2523838 51.89328 0.2523838 49.33407 0.2523838 51.89328 0.1892878 51.89328 0.2523838 51.89328 0.1892878 54.45249 0.1892878 54.45249 0.1892878 51.89328 0.1892878 54.45249 0.1261919 54.45249 0.1892878 54.45249 0.1261919 57.0117 0.1261919 57.0117 0.1261919 54.45249 0.1261919 57.0117 0.06309592 57.0117 0.1261919 57.0117 0.06309592 59.57091 0.06309592 59.57091 0.06309592 57.0117 0.06309592 58.50903 1.36371e-7 59.57091 0.06309592 58.50903 1.36371e-7 61.84267 0 28.50441 1.8102e-7 31.83832 0 31.41959 0.06309592 31.41959 0.06309592 31.83832 0 33.9788 0.06309592 31.41959 0.06309592 33.9788 0.06309592 31.41959 0.1261919 31.41959 0.1261919 33.9788 0.06309592 33.9788 0.1261919 31.41959 0.1261919 33.9788 0.1261919 31.41959 0.1892878 31.41959 0.1892878 33.9788 0.1261919 33.9788 0.1892878 31.41959 0.1892878 33.9788 0.1892878 31.41959 0.2523838 31.41959 0.2523838 33.9788 0.1892878 33.9788 0.2523838 31.41959 0.2523838 33.9788 0.2523838 31.41959 0.3154797 31.41959 0.3154797 33.9788 0.2523838 33.9788 0.3154797 31.41959 0.3154797 33.9788 0.3154797 31.41959 0.3785757 31.41959 0.3785757 33.9788 0.3154797 33.9788 0.3785757 31.41959 0.3785757 33.9788 0.3785757 31.41959 0.4416716 31.41959 0.4416716 33.9788 0.3785757 33.9788 0.4416716 31.83832 0 35.17215 0 33.9788 0.06309592 33.9788 0.06309592 35.17215 0 36.53802 0.06309592 33.9788 0.06309592 36.53802 0.06309592 33.9788 0.1261919 33.9788 0.1261919 36.53802 0.06309592 36.53802 0.1261919 33.9788 0.1261919 36.53802 0.1261919 33.9788 0.1892878 33.9788 0.1892878 36.53802 0.1261919 36.53802 0.1892878 33.9788 0.1892878 36.53802 0.1892878 33.9788 0.2523838 33.9788 0.2523838 36.53802 0.1892878 36.53802 0.2523838 33.9788 0.2523838 36.53802 0.2523838 33.9788 0.3154797 33.9788 0.3154797 36.53802 0.2523838 36.53802 0.3154797 33.9788 0.3154797 36.53802 0.3154797 33.9788 0.3785757 33.9788 0.3785757 36.53802 0.3154797 36.53802 0.3785757 33.9788 0.3785757 36.53802 0.3785757 33.9788 0.4416716 33.9788 0.4416716 36.53802 0.3785757 36.53802 0.4416716 35.17215 0 38.50592 0 36.53802 0.06309592 36.53802 0.06309592 38.50592 0 39.09722 0.06309592 36.53802 0.06309592 39.09722 0.06309592 36.53802 0.1261919 36.53802 0.1261919 39.09722 0.06309592 39.09722 0.1261919 36.53802 0.1261919 39.09722 0.1261919 36.53802 0.1892878 36.53802 0.1892878 39.09722 0.1261919 39.09722 0.1892878 36.53802 0.1892878 39.09722 0.1892878 36.53802 0.2523838 36.53802 0.2523838 39.09722 0.1892878 39.09722 0.2523838 36.53802 0.2523838 39.09722 0.2523838 36.53802 0.3154797 36.53802 0.3154797 39.09722 0.2523838 39.09722 0.3154797 36.53802 0.3154797 39.09722 0.3154797 36.53802 0.3785757 36.53802 0.3785757 39.09722 0.3154797 39.09722 0.3785757 36.53802 0.3785757 39.09722 0.3785757 36.53802 0.4416716 36.53802 0.4416716 39.09722 0.3785757 39.09722 0.4416716 38.50592 0 41.83879 0 39.09722 0.06309592 39.09722 0.06309592 41.83879 0 41.65644 0.06309592 39.09722 0.06309592 41.65644 0.06309592 39.09722 0.1261919 39.09722 0.1261919 41.65644 0.06309592 41.65644 0.1261919 39.09722 0.1261919 41.65644 0.1261919 39.09722 0.1892878 39.09722 0.1892878 41.65644 0.1261919 41.65644 0.1892878 39.09722 0.1892878 41.65644 0.1892878 39.09722 0.2523838 39.09722 0.2523838 41.65644 0.1892878 41.65644 0.2523838 39.09722 0.2523838 41.65644 0.2523838 39.09722 0.3154797 39.09722 0.3154797 41.65644 0.2523838 41.65644 0.3154797 39.09722 0.3154797 41.65644 0.3154797 39.09722 0.3785757 39.09722 0.3785757 41.65644 0.3154797 41.65644 0.3785757 39.09722 0.3785757 41.65644 0.3785757 39.09722 0.4416716 39.09722 0.4416716 41.65644 0.3785757 41.65644 0.4416716 41.65644 0.06309592 41.83879 0 44.21565 0.06309592 44.21565 0.06309592 41.83879 0 45.17349 0 44.21565 0.06309592 45.17349 0 46.77486 0.06309592 46.77486 0.06309592 45.17349 0 48.50727 0 46.77486 0.06309592 48.50727 0 49.33407 0.06309592 49.33407 0.06309592 48.50727 0 51.84109 0 49.33407 0.06309592 51.84109 0 51.89328 0.06309592 51.89328 0.06309592 51.84109 0 54.45249 0.06309592 51.89328 0.06309592 54.45249 0.06309592 51.89328 0.1261919 51.89328 0.1261919 54.45249 0.06309592 54.45249 0.1261919 51.89328 0.1261919 54.45249 0.1261919 51.89328 0.1892878 51.84109 0 55.17501 1.88513e-7 54.45249 0.06309592 54.45249 0.06309592 55.17501 1.88513e-7 57.0117 0.06309592 54.45249 0.06309592 57.0117 0.06309592 54.45249 0.1261919 55.17501 1.88513e-7 58.50903 1.36371e-7 57.0117 0.06309592 59.57091 0.06309592 61.84267 0 62.13012 0.06309592 62.13012 0.06309592 61.84267 0 62.62634 3.00297e-6 62.13012 0.06309592 62.62634 3.00297e-6 68.51197 0.04076159 68.51197 0.04076159 62.62634 3.00297e-6 63.46796 0 68.51197 0.04076159 63.46796 0 65.15068 0 65.15068 0 68.5152 0 68.51197 0.04076159 68.51197 0.04076159 68.50521 0.07933127 62.13012 0.06309592 62.13012 0.06309592 68.50521 0.07933127 62.13012 0.1261919 62.13012 0.06309592 62.13012 0.1261919 59.57091 0.1261919 59.57091 0.1261919 62.13012 0.1261919 59.57091 0.1892878 59.57091 0.1261919 59.57091 0.1892878 57.0117 0.1892878 57.0117 0.1892878 59.57091 0.1892878 57.0117 0.2523838 57.0117 0.1892878 57.0117 0.2523838 54.45249 0.2523838 54.45249 0.2523838 57.0117 0.2523838 54.45249 0.3154797 54.45249 0.2523838 54.45249 0.3154797 51.89328 0.3154797 51.89328 0.3154797 54.45249 0.3154797 51.89328 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7.682138 40.43821 7.682138 41.54755 7.682138 40.43821 11.52321 40.43821 11.52321 41.54755 7.682138 41.54755 11.52321 40.43821 11.52321 41.54755 11.52321 40.43821 15.36428 40.43821 15.36428 41.54755 11.52321 41.54755 15.36428 38.71021 3.841069 40.05421 0.278836 38.83821 3.841069 39.54221 3.841069 40.43821 3.841069 39.54221 7.682138 39.54221 7.682138 40.43821 3.841069 40.43821 7.682138 39.54221 7.682138 40.43821 7.682138 39.54221 11.52321 39.54221 11.52321 40.43821 7.682138 40.43821 11.52321 39.54221 11.52321 40.43821 11.52321 39.54221 15.36428 39.54221 15.36428 40.43821 11.52321 40.43821 15.36428 38.83821 3.841069 38.71021 7.682138 38.71021 3.841069 38.71021 3.841069 38.71021 7.682138 37.49421 7.682138 38.71021 3.841069 37.49421 7.682138 37.49421 3.841069 37.49421 3.841069 37.49421 7.682138 36.72435 7.682138 46.62473 3.841069 46.62473 7.682138 44.73091 7.682138 44.73091 7.682138 46.62473 7.682138 44.73091 11.52321 44.73091 7.682138 44.73091 11.52321 44.25745 11.52321 44.25745 11.52321 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0.3037813 40.03915 0.3037813 40.03915 0.3505621 39.53232 0.3505619 40.03915 0.3037813 39.53232 0.3505619 39.53232 0.3037813 39.53232 0.3037813 39.53232 0.3505619 38.77208 0.3505617 39.53232 0.3037813 38.77208 0.3505617 38.77208 0.3037813 38.77208 0.3037813 38.77208 0.3505617 38.01185 0.3505614 38.77208 0.3037813 38.01185 0.3505614 38.01185 0.3037813 38.01185 0.3037813 38.01185 0.3505614 37.25161 0.3505612 38.01185 0.3037813 37.25161 0.3505612 37.25161 0.3037813 37.25161 0.3037813 37.25161 0.3505612 36.49137 0.3505609 37.25161 0.3037813 36.49137 0.3505609 36.49137 0.3037813 36.49137 0.3037813 36.49137 0.3505609 35.73114 0.3505607 36.49137 0.3037813 35.73114 0.3505607 35.73114 0.3037813 35.73114 0.3037813 35.73114 0.3505607 34.9709 0.3505604 35.73114 0.3037813 34.9709 0.3505604 34.9709 0.3037813 24.32759 0.4382688 24.32758 0.3505569 24.7077 0.3972525 24.7077 0.3972525 24.32758 0.3505569 24.7077 0.350557 24.7077 0.3972525 24.7077 0.350557 25.08782 0.3505572 25.08782 0.3505572 24.7077 0.350557 25.08782 0.3037813 25.08782 0.3505572 25.08782 0.3037813 25.46794 0.3037813 25.46794 0.3037813 25.08782 0.3037813 25.46794 0.2570458 25.46794 0.3037813 25.46794 0.2570458 25.84806 0.2570458 25.84806 0.2570458 25.46794 0.2570458 25.84806 0.1285228 25.84806 0.2570458 25.84806 0.1285228 26.10147 0.1285228 26.10147 0.1285228 25.84806 0.1285228 25.84806 0 26.10147 0.1285228 25.84806 0 26.22817 0 24.7077 0.350557 24.32758 0.3505569 24.7077 0.3037813 24.7077 0.3037813 24.32758 0.3505569 24.32758 0.2629317 24.7077 0.3037813 24.32758 0.2629317 24.7077 0.2570458 24.7077 0.2570458 24.32758 0.2629317 24.32758 0.1752415 24.7077 0.2570458 24.32758 0.1752415 24.7077 0.1285228 24.7077 0.1285228 24.32758 0.1752415 24.51764 0 24.7077 0.1285228 24.51764 0 24.7077 0 24.32758 0.1752415 24.32758 0 24.51764 0 24.7077 0 24.89776 0 24.7077 0.1285228 24.7077 0.1285228 24.89776 0 25.08782 0.1285228 24.7077 0.1285228 25.08782 0.1285228 24.7077 0.2570458 24.7077 0.2570458 25.08782 0.1285228 25.08782 0.2570458 24.7077 0.2570458 25.08782 0.2570458 24.7077 0.3037813 24.7077 0.3037813 25.08782 0.2570458 25.08782 0.3037813 24.7077 0.3037813 25.08782 0.3037813 24.7077 0.350557 24.89776 0 25.08782 0 25.08782 0.1285228 25.08782 0.1285228 25.08782 0 25.27788 0 25.08782 0.1285228 25.27788 0 25.46794 0.1285228 25.46794 0.1285228 25.27788 0 25.46794 0 25.46794 0.1285228 25.46794 0 25.84806 0 26.3232 0 26.60829 0 26.41823 0.1285228 26.41823 0.1285228 26.60829 0 26.51326 0.1285228 26.41823 0.1285228 26.51326 0.1285228 26.41823 0.2570458 26.41823 0.2570458 26.51326 0.1285228 26.51326 0.2570458 26.41823 0.2570458 26.51326 0.2570458 26.41823 0.3037813 26.41823 0.3037813 26.51326 0.2570458 26.51326 0.3037813 26.41823 0.3037813 26.51326 0.3037813 26.41823 0.3505576 26.41823 0.3505576 26.51326 0.3037813 26.51326 0.3505576 26.41823 0.3505576 26.51326 0.3505576 26.41823 0.3972525 26.41823 0.3972525 26.51326 0.3505576 26.51326 0.3972525 26.41823 0.3972525 26.51326 0.3972525 26.41823 0.4439881 26.41823 0.4439881 26.51326 0.3972525 26.51326 0.4439881 26.41823 0.4439881 26.51326 0.4439881 26.41823 0.5024076 26.41823 0.5024076 26.51326 0.4439881 26.51326 0.5024076 26.41823 0.5024076 26.51326 0.5024076 26.41823 0.5608271 26.41823 0.5608271 26.51326 0.5024076 26.51326 0.5608271 26.41823 0.5608271 26.51326 0.5608271 26.41823 0.7014468 26.41823 0.7014468 26.51326 0.5608271 26.51326 0.7014471 26.41823 0.7014468 26.51326 0.7014471 26.41823 0.8505878 26.41823 0.8505878 26.51326 0.7014471 26.51326 0.8505878 26.41823 0.8505878 26.51326 0.8505878 26.41823 1.03753 26.41823 1.03753 26.51326 0.8505878 26.51326 1.03753 26.41823 1.03753 26.51326 1.03753 26.41823 1.186774 26.41823 1.186774 26.51326 1.03753 26.51326 1.186776 26.41823 1.186774 26.51326 1.186776 26.41823 1.261861 26.41823 1.261861 26.51326 1.186776 26.51326 1.261861 26.79835 0 26.70332 0.1285228 26.60829 0 26.60829 0 26.70332 0.1285228 26.60829 0.1285228 26.60829 0 26.60829 0.1285228 26.51326 0.1285228 26.51326 0.1285228 26.60829 0.1285228 26.51326 0.2570458 27.2735 0 26.79835 0.1285228 26.79835 0 26.79835 0 26.79835 0.1285228 26.735 0.1285228 26.79835 0 26.735 0.1285228 26.70332 0.1285228 26.70332 0.1285228 26.735 0.1285228 26.70332 0.2570458 26.70332 0.1285228 26.70332 0.2570458 26.60829 0.2570458 26.60829 0.2570458 26.70332 0.2570458 26.60829 0.3037813 26.60829 0.2570458 26.60829 0.3037813 26.51326 0.3037813 26.51326 0.3037813 26.60829 0.3037813 26.51326 0.3505576 28.27471 0 27.74865 0.1285228 27.2735 0 27.2735 0 27.74865 0.1285228 27.71697 0.1285228 27.2735 0 27.71697 0.1285228 27.65362 0.1285228 27.65362 0.1285228 27.71697 0.1285228 27.65362 0.2570458 27.65362 0.1285228 27.65362 0.2570458 27.59027 0.2570458 27.59027 0.2570458 27.65362 0.2570458 27.59027 0.3037813 27.59027 0.2570458 27.59027 0.3037813 27.55859 0.3037813 27.55859 0.3037813 27.59027 0.3037813 27.55859 0.350558 27.55859 0.3037813 27.55859 0.350558 27.49524 0.350558 27.49524 0.350558 27.55859 0.350558 27.49524 0.3972525 27.49524 0.350558 27.49524 0.3972525 27.46356 0.3972525 27.46356 0.3972525 27.49524 0.3972525 27.46356 0.4439881 31.16971 0 29.64924 0.1285228 28.27471 0 28.27471 0 29.64924 0.1285228 29.52254 0.1285228 28.27471 0 29.52254 0.1285228 29.26912 0.1285228 29.26912 0.1285228 29.52254 0.1285228 29.26912 0.2570458 29.26912 0.1285228 29.26912 0.2570458 29.14242 0.2570458 29.14242 0.2570458 29.26912 0.2570458 29.14242 0.3037813 29.14242 0.2570458 29.14242 0.3037813 29.07906 0.3037813 29.07906 0.3037813 29.14242 0.3037813 29.07906 0.3505585 34.32062 0 32.69019 0.1285228 31.16971 0 31.16971 0 32.69019 0.1285228 32.43677 0.1285228 31.16971 0 32.43677 0.1285228 32.31007 0.1285228 32.31007 0.1285228 32.43677 0.1285228 32.31007 0.2570458 32.31007 0.1285228 32.31007 0.2570458 31.92995 0.2570458 31.92995 0.2570458 32.31007 0.2570458 31.92995 0.3037813 31.92995 0.2570458 31.92995 0.3037813 31.54983 0.3037813 31.54983 0.3037813 31.92995 0.3037813 31.54983 0.3505593 31.54983 0.3037813 31.54983 0.3505593 31.16971 0.3505592 31.16971 0.3505592 31.54983 0.3505593 31.16971 0.3972525 31.16971 0.3505592 31.16971 0.3972525 30.7896 0.3972525 30.7896 0.3972525 31.16971 0.3972525 30.7896 0.4439881 30.7896 0.3972525 30.7896 0.4439881 30.40948 0.4439881 30.40948 0.4439881 30.7896 0.4439881 30.40948 0.5024076 30.40948 0.4439881 30.40948 0.5024076 30.02936 0.5024076 30.02936 0.5024076 30.40948 0.5024076 30.02936 0.5608271 30.02936 0.5024076 30.02936 0.5608271 29.64924 0.5608271 29.64924 0.5608271 30.02936 0.5608271 29.64924 0.701458 29.64924 0.5608271 29.64924 0.701458 29.52254 0.7014576 29.52254 0.7014576 29.64924 0.701458 29.52254 0.8505878 29.52254 0.7014576 29.52254 0.8505878 29.26912 0.8505878 29.26912 0.8505878 29.52254 0.8505878 29.26912 1.03753 29.26912 0.8505878 29.26912 1.03753 29.14242 1.03753 29.14242 1.03753 29.26912 1.03753 29.14242 1.186813 29.14242 1.03753 29.14242 1.186813 29.07906 1.186812 29.07906 1.186812 29.14242 1.186813 29.07906 1.261861 34.9709 0.1285228 34.32062 0 35.73114 0.1285228 35.73114 0.1285228 34.32062 0 37.30659 0 35.73114 0.1285228 37.30659 0 36.49137 0.1285228 36.49137 0.1285228 37.30659 0 37.25161 0.1285228 36.49137 0.1285228 37.25161 0.1285228 36.49137 0.2570458 36.49137 0.2570458 37.25161 0.1285228 37.25161 0.2570458 36.49137 0.2570458 37.25161 0.2570458 36.49137 0.3037813 36.49137 0.3037813 37.25161 0.2570458 37.25161 0.3037813 40.29256 0 38.77208 0.1285228 37.30659 0 37.30659 0 38.77208 0.1285228 38.01185 0.1285228 37.30659 0 38.01185 0.1285228 37.25161 0.1285228 37.25161 0.1285228 38.01185 0.1285228 37.25161 0.2570458 40.36654 0 40.29256 0.1285228 40.29256 0 40.29256 0 40.29256 0.1285228 40.03915 0.1285228 40.29256 0 40.03915 0.1285228 39.53232 0.1285228 39.53232 0.1285228 40.03915 0.1285228 39.53232 0.2570458 39.53232 0.1285228 39.53232 0.2570458 38.77208 0.2570458 38.77208 0.2570458 39.53232 0.2570458 38.77208 0.3037813 38.77208 0.2570458 38.77208 0.3037813 38.01185 0.3037813 43.33351 0 41.81303 0.1285228 40.36654 0 40.36654 0 41.81303 0.1285228 41.43291 0.1285228 40.36654 0 41.43291 0.1285228 41.05279 0.1285228 41.05279 0.1285228 41.43291 0.1285228 41.05279 0.2570458 41.05279 0.1285228 41.05279 0.2570458 40.67267 0.2570458 40.67267 0.2570458 41.05279 0.2570458 40.67267 0.3037813 40.67267 0.2570458 40.67267 0.3037813 40.41926 0.3037813 46.41244 0 44.85398 0.1285228 43.33351 0 43.33351 0 44.85398 0.1285228 44.72727 0.1285228 43.33351 0 44.72727 0.1285228 44.47386 0.1285228 44.47386 0.1285228 44.72727 0.1285228 44.47386 0.2570458 44.47386 0.1285228 44.47386 0.2570458 44.09374 0.2570458 44.09374 0.2570458 44.47386 0.2570458 44.09374 0.3037813 44.09374 0.2570458 44.09374 0.3037813 43.71362 0.3037813 46.65954 0 46.37445 0.1285228 46.41244 0 46.41244 0 46.37445 0.1285228 46.27942 0.1285228 46.41244 0 46.27942 0.1285228 46.21607 0.1285228 46.21607 0.1285228 46.27942 0.1285228 46.21607 0.2570458 46.21607 0.1285228 46.21607 0.2570458 46.18439 0.2570458 46.18439 0.2570458 46.21607 0.2570458 46.18439 0.3037813 46.18439 0.2570458 46.18439 0.3037813 46.08936 0.3037813 46.94463 0 46.75457 0.1285228 46.65954 0 46.65954 0 46.75457 0.1285228 46.65954 0.1285228 46.65954 0 46.65954 0.1285228 46.56451 0.1285228 46.56451 0.1285228 46.65954 0.1285228 46.56451 0.2570458 46.56451 0.1285228 46.56451 0.2570458 46.50116 0.2570458 46.50116 0.2570458 46.56451 0.2570458 46.50116 0.3037813 46.50116 0.2570458 46.50116 0.3037813 46.46948 0.3037813 47.32475 0 47.13469 0.1285228 46.94463 0 46.94463 0 47.13469 0.1285228 46.94463 0.1285228 46.94463 0 46.94463 0.1285228 46.75457 0.1285228 46.75457 0.1285228 46.94463 0.1285228 46.75457 0.2570458 46.75457 0.1285228 46.75457 0.2570458 46.65954 0.2570458 46.65954 0.2570458 46.75457 0.2570458 46.65954 0.3037813 46.65954 0.2570458 46.65954 0.3037813 46.56451 0.3037813 47.13469 0.1285228 47.32475 0 47.32475 0.1285228 47.32475 0.1285228 47.32475 0 47.51481 0 47.32475 0.1285228 47.51481 0 47.51481 0.1285228 47.51481 0.1285228 47.51481 0 47.70487 0.1285228 47.51481 0.1285228 47.70487 0.1285228 47.51481 0.2570458 47.51481 0.2570458 47.70487 0.1285228 47.70487 0.2570458 47.51481 0.2570458 47.70487 0.2570458 47.51481 0.3037813 47.51481 0.3037813 47.70487 0.2570458 47.70487 0.3037813 47.51481 0 47.89493 0 47.70487 0.1285228 47.70487 0.1285228 47.89493 0 47.76822 0.1285228 47.70487 0.1285228 47.76822 0.1285228 47.70487 0.2570458 47.70487 0.2570458 47.76822 0.1285228 47.76822 0.2570458 47.70487 0.2570458 47.76822 0.2570458 47.70487 0.3037813 47.70487 0.3037813 47.76822 0.2570458 47.76822 0.3037813 47.76822 0.1285228 47.89493 0 47.89493 0.1285228 47.89493 0.1285228 47.89493 0 48.08499 0 47.89493 0.1285228 48.08499 0 48.14834 0.1285228 48.14834 0.1285228 48.08499 0 48.27505 0 48.14834 0.1285228 48.27505 0 48.27505 0.1285228 48.27505 0.1285228 48.27505 0 48.4651 0 48.27505 0.1285228 48.4651 0 48.65516 0 48.65516 0 48.65516 0.1752519 48.27505 0.1285228 48.27505 0.1285228 48.65516 0.1752519 48.27505 0.2570458 48.27505 0.1285228 48.27505 0.2570458 48.14834 0.2570458 48.14834 0.2570458 48.27505 0.2570458 48.14834 0.3037813 48.14834 0.2570458 48.14834 0.3037813 47.89493 0.3037813 48.65516 0.1752519 48.65516 0.262965 48.27505 0.2570458 48.27505 0.2570458 48.65516 0.262965 48.27505 0.3037813 48.27505 0.2570458 48.27505 0.3037813 48.14834 0.3037813 48.65516 0.262965 48.65516 0.3505649 48.27505 0.3037813 48.27505 0.5024076 48.65516 0.5262846 48.27505 0.5608271 48.27505 0.5608271 48.65516 0.5262846 48.65516 0.6137615 48.27505 0.5608271 48.65516 0.6137615 48.27505 0.7015227 48.27505 0.7015227 48.65516 0.6137615 48.65516 0.701524 48.27505 0.7015227 48.65516 0.701524 48.27505 0.8505878 48.27505 0.8505878 48.65516 0.701524 48.65516 0.9244622 48.27505 0.8505878 48.65516 0.9244622 48.27505 1.03753 48.27505 1.03753 48.65516 0.9244622 48.65516 1.147592 48.27505 1.03753 48.65516 1.147592 48.27518 1.182726 47.89497 1.215759 48.14834 1.187083 48.27518 1.182726 48.27518 1.182726 48.14834 1.187083 48.14834 1.03753 48.27518 1.182726 48.14834 1.03753 48.27505 1.03753 48.27505 1.03753 48.14834 1.03753 48.27505 0.8505878 47.51479 1.24604 47.70487 1.187077 47.89497 1.215759 47.89497 1.215759 47.70487 1.187077 47.76822 1.187077 47.89497 1.215759 47.76822 1.187077 47.89493 1.187079 47.89493 1.187079 47.76822 1.187077 47.89493 1.03753 47.89493 1.187079 47.89493 1.03753 48.14834 1.03753 48.14834 1.03753 47.89493 1.03753 48.14834 0.8505878 48.14834 1.03753 48.14834 0.8505878 48.27505 0.8505878 48.27505 0.8505878 48.14834 0.8505878 48.27505 0.7015227 47.06031 1.277305 46.75458 1.293816 46.94463 1.261861 46.94463 1.261861 46.75458 1.293816 46.75457 1.261861 46.75457 1.261861 46.75458 1.293816 46.65954 1.261861 46.65954 1.261861 46.75458 1.293816 46.56451 1.302555 46.65954 1.261861 46.56451 1.302555 46.56451 1.261861 46.56451 1.261861 46.56451 1.302555 46.50116 1.261861 46.50116 1.261861 46.56451 1.302555 46.46948 1.261861 46.46948 1.261861 46.56451 1.302555 46.27943 1.309341 46.46948 1.261861 46.27943 1.309341 46.37445 1.261861 46.37445 1.261861 46.27943 1.309341 46.27942 1.261861 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0.5608271 28.69894 0.5024076 29.14242 0.5608271 29.26912 0.5608271 29.14242 0.7014563 29.14242 0.7014563 29.26912 0.5608271 29.26912 0.7014567 29.14242 0.7014563 29.26912 0.7014567 29.14242 0.8505878 29.26912 0.7014567 29.26912 0.5608271 29.52254 0.5608271 29.52254 0.5608271 29.26912 0.5608271 29.52254 0.5024076 29.52254 0.5608271 29.52254 0.5024076 29.64924 0.5024076 29.64924 0.5024076 29.52254 0.5024076 29.64924 0.4439881 29.64924 0.5024076 29.64924 0.4439881 30.02936 0.4439881 30.02936 0.4439881 29.64924 0.4439881 30.02936 0.3972525 30.02936 0.4439881 30.02936 0.3972525 30.40948 0.3972525 30.40948 0.3972525 30.02936 0.3972525 30.40948 0.3505589 30.40948 0.3972525 30.40948 0.3505589 30.7896 0.3505591 30.7896 0.3505591 30.40948 0.3505589 30.7896 0.3037813 30.7896 0.3505591 30.7896 0.3037813 31.16971 0.3037813 31.16971 0.3037813 30.7896 0.3037813 31.16971 0.2570458 31.16971 0.3037813 31.16971 0.2570458 31.54983 0.2570458 31.54983 0.2570458 31.16971 0.2570458 31.54983 0.1285228 31.54983 0.2570458 31.54983 0.1285228 31.92995 0.1285228 31.92995 0.1285228 31.54983 0.1285228 31.16971 0 29.26912 0.5608271 29.14242 0.5608271 29.26912 0.5024076 29.26912 0.5024076 29.14242 0.5608271 29.14242 0.5024076 29.26912 0.5024076 29.14242 0.5024076 29.26912 0.4439881 29.26912 0.4439881 29.14242 0.5024076 29.14242 0.4439881 29.26912 0.4439881 29.14242 0.4439881 29.26912 0.3972525 29.26912 0.3972525 29.14242 0.4439881 29.14242 0.3972525 29.26912 0.3972525 29.14242 0.3972525 29.26912 0.3505586 29.26912 0.3505586 29.14242 0.3972525 29.14242 0.3505585 29.26912 0.3505586 29.14242 0.3505585 29.26912 0.3037813 29.26912 0.3037813 29.14242 0.3505585 29.14242 0.3037813 29.26912 0.3037813 29.14242 0.3037813 29.26912 0.2570458 30.02936 0.7014594 29.64924 0.701458 30.02936 0.5608271 30.02936 0.7014594 30.02936 0.5608271 30.40948 0.5608271 30.40948 0.5608271 30.02936 0.5608271 30.40948 0.5024076 30.40948 0.5608271 30.40948 0.5024076 30.7896 0.5024076 30.7896 0.5024076 30.40948 0.5024076 30.7896 0.4439881 30.7896 0.5024076 30.7896 0.4439881 31.16971 0.4439881 31.16971 0.4439881 30.7896 0.4439881 31.16971 0.3972525 31.16971 0.4439881 31.16971 0.3972525 31.54983 0.3972525 31.54983 0.3972525 31.16971 0.3972525 31.54983 0.3505593 31.54983 0.3972525 31.54983 0.3505593 31.92995 0.3505594 31.92995 0.3505594 31.54983 0.3505593 31.92995 0.3037813 31.92995 0.3505594 31.92995 0.3037813 32.31007 0.3037813 32.31007 0.3037813 31.92995 0.3037813 32.31007 0.2570458 32.31007 0.3037813 32.31007 0.2570458 32.43677 0.2570458 32.43677 0.2570458 32.31007 0.2570458 32.43677 0.1285228 32.43677 0.2570458 32.43677 0.1285228 32.69019 0.1285228 31.16971 0.7014634 30.7896 0.701462 31.16971 0.5608271 31.54983 0.7014647 31.16971 0.7014634 31.54983 0.5608271 31.54983 0.5608271 31.16971 0.7014634 31.16971 0.5608271 31.54983 0.5608271 31.16971 0.5608271 31.54983 0.5024076 31.92995 0.701466 31.54983 0.7014647 31.92995 0.5608271 31.92995 0.5608271 31.54983 0.7014647 31.54983 0.5608271 31.92995 0.5608271 31.54983 0.5608271 31.92995 0.5024076 31.92995 0.5024076 31.54983 0.5608271 31.54983 0.5024076 31.92995 0.5024076 31.54983 0.5024076 31.92995 0.4439881 32.31007 0.7014673 31.92995 0.701466 32.31007 0.5608271 32.31007 0.5608271 31.92995 0.701466 31.92995 0.5608271 32.31007 0.5608271 31.92995 0.5608271 32.31007 0.5024076 32.31007 0.5024076 31.92995 0.5608271 31.92995 0.5024076 32.31007 0.5024076 31.92995 0.5024076 32.31007 0.4439881 32.31007 0.4439881 31.92995 0.5024076 31.92995 0.4439881 32.31007 0.4439881 31.92995 0.4439881 32.31007 0.3972525 32.31007 0.7014673 32.31007 0.5608271 32.43677 0.5608271 32.43677 0.5608271 32.31007 0.5608271 32.43677 0.5024076 32.43677 0.5608271 32.43677 0.5024076 32.69019 0.5024076 32.69019 0.5024076 32.43677 0.5024076 32.69019 0.4439881 32.69019 0.5024076 32.69019 0.4439881 33.19701 0.4439881 33.19701 0.4439881 32.69019 0.4439881 33.19701 0.3972525 33.19701 0.4439881 33.19701 0.3972525 33.45042 0.3972525 33.45042 0.3972525 33.19701 0.3972525 33.45042 0.3505599 33.45042 0.3972525 33.45042 0.3505599 34.21066 0.3505602 34.21066 0.3505602 33.45042 0.3505599 34.21066 0.3037813 32.43677 0.5024076 32.31007 0.5608271 32.31007 0.5024076 32.69019 0.7014686 32.43677 0.7014677 32.69019 0.5608271 32.69019 0.7014686 32.69019 0.5608271 33.19701 0.5608271 33.19701 0.5608271 32.69019 0.5608271 33.19701 0.5024076 33.19701 0.5608271 33.19701 0.5024076 33.45042 0.5024076 33.45042 0.5024076 33.19701 0.5024076 33.45042 0.4439881 33.45042 0.5024076 33.45042 0.4439881 34.21066 0.4439881 34.21066 0.4439881 33.45042 0.4439881 34.21066 0.3972525 34.21066 0.7014739 33.45042 0.7014712 34.21066 0.5608271 47.51481 0.70152 47.32475 0.7015194 47.51481 0.5608271 47.51481 0.5608271 47.32475 0.7015194 47.32475 0.5608271 47.51481 0.5608271 47.32475 0.5608271 47.51481 0.5024076 47.51481 0.5024076 47.32475 0.5608271 47.32475 0.5024076 47.51481 0.5024076 47.32475 0.5024076 47.51481 0.4439881 47.51481 0.4439881 47.32475 0.5024076 47.32475 0.4439881 47.51481 0.4439881 47.32475 0.4439881 47.51481 0.3972525 47.51481 0.3972525 47.32475 0.4439881 47.32475 0.3972525 47.51481 0.3972525 47.32475 0.3972525 47.51481 0.3505645 47.51481 0.3505645 47.32475 0.3972525 47.32475 0.3505645 47.51481 0.70152 47.51481 0.5608271 47.70487 0.5608271 47.70487 0.5608271 47.51481 0.5608271 47.70487 0.5024076 47.70487 0.5608271 47.70487 0.5024076 47.76822 0.5024076 47.76822 0.5024076 47.70487 0.5024076 47.76822 0.4439881 47.76822 0.5024076 47.76822 0.4439881 47.89493 0.4439881 47.89493 0.4439881 47.76822 0.4439881 47.89493 0.3972525 47.89493 0.4439881 47.89493 0.3972525 48.14834 0.3972525 48.14834 0.3972525 47.89493 0.3972525 48.14834 0.3505647 48.14834 0.3972525 48.14834 0.3505647 48.27505 0.3505648 47.70487 0.5024076 47.51481 0.5608271 47.51481 0.5024076 48.14834 0.7015222 47.89493 0.7015213 48.14834 0.5608271 48.27505 0.5024076 48.27505 0.5608271 48.14834 0.5608271 48.14834 0.5608271 48.27505 0.5608271 48.14834 0.7015222 26.735 0.5024076 26.70332 0.5024076 26.735 0.4439881 26.735 0.4439881 26.70332 0.5024076 26.70332 0.4439881 26.735 0.4439881 26.70332 0.4439881 26.735 0.3972525 26.735 0.3972525 26.70332 0.4439881 26.70332 0.3972525 26.735 0.3972525 26.70332 0.3972525 26.735 0.3505578 26.735 0.3505578 26.70332 0.3972525 26.70332 0.3505577 26.735 0.3505578 26.70332 0.3505577 26.735 0.3037813 26.735 0.3037813 26.70332 0.3505577 26.70332 0.3037813 26.735 0.3037813 26.70332 0.3037813 26.735 0.2570458 26.735 0.2570458 26.70332 0.3037813 26.70332 0.2570458 26.735 0.2570458 26.70332 0.2570458 26.735 0.1285228 27.65362 0.5024076 27.59027 0.5024076 27.65362 0.4439881 27.65362 0.4439881 27.59027 0.5024076 27.59027 0.4439881 27.65362 0.4439881 27.59027 0.4439881 27.65362 0.3972525 27.65362 0.3972525 27.59027 0.4439881 27.59027 0.3972525 27.65362 0.3972525 27.59027 0.3972525 27.65362 0.3505581 27.65362 0.3505581 27.59027 0.3972525 27.59027 0.350558 27.65362 0.3505581 27.59027 0.350558 27.65362 0.3037813 27.65362 0.3037813 27.59027 0.350558 27.59027 0.3037813 27.65362 0.3037813 27.59027 0.3037813 27.65362 0.2570458 28.12877 0.5024076 28.06542 0.5024076 28.12877 0.4439881 28.12877 0.4439881 28.06542 0.5024076 28.06542 0.4439881 28.12877 0.4439881 28.06542 0.4439881 28.12877 0.3972525 28.12877 0.3972525 28.06542 0.4439881 28.06542 0.3972525 28.12877 0.3972525 28.06542 0.3972525 28.12877 0.3505582 28.889 0.4439881 28.889 0.5024076 28.69894 0.5024076 28.889 0.4439881 28.69894 0.5024076 28.69894 0.4439881 29.26912 0.5608271 29.26912 0.5024076 29.52254 0.5024076 29.52254 0.5024076 29.26912 0.5024076 29.52254 0.4439881 29.52254 0.5024076 29.52254 0.4439881 29.64924 0.4439881 29.64924 0.4439881 29.52254 0.4439881 29.64924 0.3972525 29.64924 0.4439881 29.64924 0.3972525 30.02936 0.3972525 30.02936 0.3972525 29.64924 0.3972525 30.02936 0.3505588 30.02936 0.3972525 30.02936 0.3505588 30.40948 0.3505589 30.40948 0.3505589 30.02936 0.3505588 30.40948 0.3037813 30.40948 0.3505589 30.40948 0.3037813 30.7896 0.3037813 30.7896 0.3037813 30.40948 0.3037813 30.7896 0.2570458 30.7896 0.3037813 30.7896 0.2570458 31.16971 0.2570458 31.16971 0.2570458 30.7896 0.2570458 31.16971 0.1285228 31.16971 0.2570458 31.16971 0.1285228 31.54983 0.1285228 31.54983 0.1285228 31.16971 0.1285228 31.16971 0 29.52254 0.4439881 29.26912 0.5024076 29.26912 0.4439881 32.43677 0.5024076 32.31007 0.5024076 32.43677 0.4439881 32.43677 0.4439881 32.31007 0.5024076 32.31007 0.4439881 32.43677 0.4439881 32.31007 0.4439881 32.43677 0.3972525 32.43677 0.3972525 32.31007 0.4439881 32.31007 0.3972525 32.43677 0.3972525 32.31007 0.3972525 32.43677 0.3505596 47.70487 0.5024076 47.51481 0.5024076 47.70487 0.4439881 47.70487 0.4439881 47.51481 0.5024076 47.51481 0.4439881 47.70487 0.4439881 47.51481 0.4439881 47.70487 0.3972525 47.70487 0.3972525 47.51481 0.4439881 47.51481 0.3972525 47.70487 0.3972525 47.51481 0.3972525 47.70487 0.3505646 47.70487 0.3505646 47.51481 0.3972525 47.51481 0.3505645 26.735 0.3972525 26.79835 0.3972525 26.735 0.4439881 26.735 0.4439881 26.79835 0.3972525 26.79835 0.4439881 26.735 0.4439881 26.79835 0.4439881 26.735 0.5024076 26.79835 0.4439881 26.79835 0.3972525 26.83003 0.3972525 26.83003 0.3972525 26.79835 0.3972525 26.83003 0.3505578 26.83003 0.3972525 26.83003 0.3505578 26.86171 0.3505578 26.86171 0.3505578 26.83003 0.3505578 26.86171 0.3037813 26.86171 0.3505578 26.86171 0.3037813 26.89338 0.3037813 26.89338 0.3037813 26.86171 0.3037813 26.89338 0.2570458 26.89338 0.3037813 26.89338 0.2570458 26.95674 0.2570458 26.95674 0.2570458 26.89338 0.2570458 26.95674 0.1285228 26.95674 0.2570458 26.95674 0.1285228 26.98841 0.1285228 26.98841 0.1285228 26.95674 0.1285228 27.2735 0 26.79835 0.3972525 26.735 0.3972525 26.79835 0.3505578 26.79835 0.3505578 26.735 0.3972525 26.735 0.3505578 26.79835 0.3505578 26.735 0.3505578 26.79835 0.3037813 26.79835 0.3037813 26.735 0.3505578 26.735 0.3037813 26.79835 0.3037813 26.735 0.3037813 26.79835 0.2570458 26.79835 0.2570458 26.735 0.3037813 26.735 0.2570458 26.79835 0.2570458 26.735 0.2570458 26.79835 0.1285228 26.79835 0.1285228 26.735 0.2570458 26.735 0.1285228 27.49524 0.350558 27.46356 0.3972525 27.46356 0.350558 27.65362 0.3972525 27.71697 0.3972525 27.65362 0.4439881 27.65362 0.4439881 27.71697 0.3972525 27.71697 0.4439881 27.65362 0.4439881 27.71697 0.4439881 27.65362 0.5024076 27.71697 0.4439881 27.71697 0.3972525 27.74865 0.3972525 27.74865 0.3972525 27.71697 0.3972525 27.74865 0.3505581 27.74865 0.3972525 27.74865 0.3505581 27.812 0.3505581 27.812 0.3505581 27.74865 0.3505581 27.812 0.3037813 27.812 0.3505581 27.812 0.3037813 27.84368 0.3037813 27.84368 0.3037813 27.812 0.3037813 27.84368 0.2570458 27.84368 0.3037813 27.84368 0.2570458 27.93871 0.2570458 27.93871 0.2570458 27.84368 0.2570458 27.93871 0.1285228 27.93871 0.2570458 27.93871 0.1285228 28.06542 0.1285228 28.06542 0.1285228 27.93871 0.1285228 28.27471 0 27.71697 0.3972525 27.65362 0.3972525 27.71697 0.3505581 27.71697 0.3505581 27.65362 0.3972525 27.65362 0.3505581 27.71697 0.3505581 27.65362 0.3505581 27.71697 0.3037813 27.71697 0.3037813 27.65362 0.3505581 27.65362 0.3037813 27.71697 0.3037813 27.65362 0.3037813 27.71697 0.2570458 27.71697 0.2570458 27.65362 0.3037813 27.65362 0.2570458 27.71697 0.2570458 27.65362 0.2570458 27.71697 0.1285228 28.12877 0.3972525 28.31883 0.3972525 28.12877 0.4439881 28.12877 0.4439881 28.31883 0.3972525 28.31883 0.4439881 28.12877 0.4439881 28.31883 0.4439881 28.12877 0.5024076 28.31883 0.4439881 28.31883 0.3972525 28.50889 0.3972525 28.50889 0.3972525 28.31883 0.3972525 28.50889 0.3505583 28.50889 0.3972525 28.50889 0.3505583 28.69894 0.3505584 28.69894 0.3505584 28.50889 0.3505583 28.69894 0.3037813 28.69894 0.3505584 28.69894 0.3037813 28.889 0.3037813 28.889 0.3037813 28.69894 0.3037813 28.889 0.2570458 28.31883 0.3972525 28.12877 0.3972525 28.31883 0.3505582 28.31883 0.3505582 28.12877 0.3972525 28.12877 0.3505582 28.31883 0.3505582 28.12877 0.3505582 28.31883 0.3037813 28.889 0.4439881 28.69894 0.4439881 28.889 0.3972525 29.52254 0.4439881 29.26912 0.4439881 29.52254 0.3972525 29.52254 0.3972525 29.26912 0.4439881 29.26912 0.3972525 29.52254 0.3972525 29.26912 0.3972525 29.52254 0.3505586 29.52254 0.3505586 29.26912 0.3972525 29.26912 0.3505586 29.52254 0.3505586 29.26912 0.3505586 29.52254 0.3037813 29.52254 0.3037813 29.26912 0.3505586 29.26912 0.3037813 29.52254 0.3037813 29.26912 0.3037813 29.52254 0.2570458 29.52254 0.2570458 29.26912 0.3037813 29.26912 0.2570458 29.52254 0.2570458 29.26912 0.2570458 29.52254 0.1285228 29.52254 0.4439881 29.52254 0.3972525 29.64924 0.3972525 29.64924 0.3972525 29.52254 0.3972525 29.64924 0.3505587 29.64924 0.3972525 29.64924 0.3505587 30.02936 0.3505588 30.02936 0.3505588 29.64924 0.3505587 30.02936 0.3037813 30.02936 0.3505588 30.02936 0.3037813 30.40948 0.3037813 30.40948 0.3037813 30.02936 0.3037813 30.40948 0.2570458 30.40948 0.3037813 30.40948 0.2570458 30.7896 0.2570458 30.7896 0.2570458 30.40948 0.2570458 30.7896 0.1285228 30.7896 0.2570458 30.7896 0.1285228 31.16971 0.1285228 31.16971 0.1285228 30.7896 0.1285228 31.16971 0 29.64924 0.3505587 29.52254 0.3972525 29.52254 0.3505586 32.43677 0.3972525 32.69019 0.3972525 32.43677 0.4439881 32.43677 0.4439881 32.69019 0.3972525 32.69019 0.4439881 32.43677 0.4439881 32.69019 0.4439881 32.43677 0.5024076 32.69019 0.4439881 32.69019 0.3972525 33.19701 0.3972525 33.19701 0.3972525 32.69019 0.3972525 33.19701 0.3505598 33.19701 0.3972525 33.19701 0.3505598 33.45042 0.3505599 33.45042 0.3505599 33.19701 0.3505598 33.45042 0.3037813 33.45042 0.3505599 33.45042 0.3037813 34.21066 0.3037813 34.21066 0.3037813 33.45042 0.3037813 34.21066 0.2570458 32.69019 0.3972525 32.43677 0.3972525 32.69019 0.3505597 32.69019 0.3505597 32.43677 0.3972525 32.43677 0.3505596 32.69019 0.3505597 32.43677 0.3505596 32.69019 0.3037813 47.70487 0.3972525 47.76822 0.3972525 47.70487 0.4439881 47.70487 0.4439881 47.76822 0.3972525 47.76822 0.4439881 47.70487 0.4439881 47.76822 0.4439881 47.70487 0.5024076 47.76822 0.4439881 47.76822 0.3972525 47.89493 0.3972525 47.89493 0.3972525 47.76822 0.3972525 47.89493 0.3505647 47.89493 0.3972525 47.89493 0.3505647 48.14834 0.3505647 47.70487 0.3505646 47.76822 0.3505646 47.70487 0.3972525 47.70487 0.3972525 47.76822 0.3505646 47.76822 0.3972525 47.76822 0.3505646 47.89493 0.3505647 47.76822 0.3972525 25.46794 0.2570458 25.08782 0.3037813 25.08782 0.2570458 26.60829 0.2570458 26.51326 0.3037813 26.51326 0.2570458 26.79835 0.3037813 26.83003 0.3037813 26.79835 0.3505578 26.79835 0.3505578 26.83003 0.3037813 26.83003 0.3505578 26.79835 0.3505578 26.83003 0.3505578 26.79835 0.3972525 26.83003 0.3505578 26.83003 0.3037813 26.86171 0.3037813 26.86171 0.3037813 26.83003 0.3037813 26.86171 0.2570458 26.86171 0.3037813 26.86171 0.2570458 26.89338 0.2570458 26.89338 0.2570458 26.86171 0.2570458 26.89338 0.1285228 26.89338 0.2570458 26.89338 0.1285228 26.95674 0.1285228 26.95674 0.1285228 26.89338 0.1285228 27.2735 0 26.83003 0.3037813 26.79835 0.3037813 26.83003 0.2570458 26.83003 0.2570458 26.79835 0.3037813 26.79835 0.2570458 26.83003 0.2570458 26.79835 0.2570458 26.83003 0.1285228 26.83003 0.1285228 26.79835 0.2570458 26.79835 0.1285228 26.83003 0.1285228 26.79835 0.1285228 27.2735 0 27.49524 0.350558 27.46356 0.350558 27.49524 0.3037813 27.49524 0.3037813 27.46356 0.350558 27.46356 0.3037813 27.49524 0.3037813 27.46356 0.3037813 27.49524 0.2570458 27.49524 0.2570458 27.46356 0.3037813 27.46356 0.2570458 27.49524 0.2570458 27.46356 0.2570458 27.49524 0.1285228 27.49524 0.1285228 27.46356 0.2570458 27.46356 0.1285228 27.49524 0.1285228 27.46356 0.1285228 27.2735 0 27.49524 0.350558 27.49524 0.3037813 27.55859 0.3037813 27.55859 0.3037813 27.49524 0.3037813 27.55859 0.2570458 27.55859 0.3037813 27.55859 0.2570458 27.59027 0.2570458 27.59027 0.2570458 27.55859 0.2570458 27.59027 0.1285228 27.59027 0.2570458 27.59027 0.1285228 27.65362 0.1285228 27.65362 0.1285228 27.59027 0.1285228 27.2735 0 27.55859 0.2570458 27.49524 0.3037813 27.49524 0.2570458 27.71697 0.3037813 27.74865 0.3037813 27.71697 0.3505581 27.71697 0.3505581 27.74865 0.3037813 27.74865 0.3505581 27.71697 0.3505581 27.74865 0.3505581 27.71697 0.3972525 27.74865 0.3505581 27.74865 0.3037813 27.812 0.3037813 27.812 0.3037813 27.74865 0.3037813 27.812 0.2570458 27.812 0.3037813 27.812 0.2570458 27.84368 0.2570458 27.84368 0.2570458 27.812 0.2570458 27.84368 0.1285228 27.84368 0.2570458 27.84368 0.1285228 27.93871 0.1285228 27.93871 0.1285228 27.84368 0.1285228 28.27471 0 27.74865 0.3037813 27.71697 0.3037813 27.74865 0.2570458 27.74865 0.2570458 27.71697 0.3037813 27.71697 0.2570458 27.74865 0.2570458 27.71697 0.2570458 27.74865 0.1285228 27.74865 0.1285228 27.71697 0.2570458 27.71697 0.1285228 28.31883 0.3037813 28.50889 0.3037813 28.31883 0.3505582 28.31883 0.3505582 28.50889 0.3037813 28.50889 0.3505583 28.31883 0.3505582 28.50889 0.3505583 28.31883 0.3972525 28.50889 0.3505583 28.50889 0.3037813 28.69894 0.3037813 28.69894 0.3037813 28.50889 0.3037813 28.69894 0.2570458 28.69894 0.3037813 28.69894 0.2570458 28.889 0.2570458 28.889 0.2570458 28.69894 0.2570458 28.889 0.1285228 28.69894 0.2570458 28.50889 0.3037813 28.50889 0.2570458 28.50889 0.2570458 28.50889 0.3037813 28.31883 0.3037813 29.14242 0.2570458 29.07906 0.3037813 29.07906 0.2570458 29.64924 0.3505587 29.52254 0.3505586 29.64924 0.3037813 29.64924 0.3037813 29.52254 0.3505586 29.52254 0.3037813 29.64924 0.3037813 29.52254 0.3037813 29.64924 0.2570458 29.64924 0.2570458 29.52254 0.3037813 29.52254 0.2570458 29.64924 0.2570458 29.52254 0.2570458 29.64924 0.1285228 29.64924 0.1285228 29.52254 0.2570458 29.52254 0.1285228 29.64924 0.3505587 29.64924 0.3037813 30.02936 0.3037813 30.02936 0.3037813 29.64924 0.3037813 30.02936 0.2570458 30.02936 0.3037813 30.02936 0.2570458 30.40948 0.2570458 30.40948 0.2570458 30.02936 0.2570458 30.40948 0.1285228 30.40948 0.2570458 30.40948 0.1285228 30.7896 0.1285228 30.7896 0.1285228 30.40948 0.1285228 31.16971 0 30.02936 0.2570458 29.64924 0.3037813 29.64924 0.2570458 32.69019 0.3037813 33.19701 0.3037813 32.69019 0.3505597 32.69019 0.3505597 33.19701 0.3037813 33.19701 0.3505598 32.69019 0.3505597 33.19701 0.3505598 32.69019 0.3972525 33.19701 0.3505598 33.19701 0.3037813 33.45042 0.3037813 33.45042 0.3037813 33.19701 0.3037813 33.45042 0.2570458 33.45042 0.3037813 33.45042 0.2570458 34.21066 0.2570458 34.21066 0.2570458 33.45042 0.2570458 34.21066 0.1285228 33.45042 0.2570458 33.19701 0.3037813 33.19701 0.2570458 33.19701 0.2570458 33.19701 0.3037813 32.69019 0.3037813 36.49137 0.2570458 36.49137 0.3037813 35.73114 0.3037813 35.73114 0.3037813 34.9709 0.3037813 35.73114 0.2570458 35.73114 0.2570458 34.9709 0.3037813 34.9709 0.2570458 35.73114 0.2570458 34.9709 0.2570458 35.73114 0.1285228 35.73114 0.1285228 34.9709 0.2570458 34.9709 0.1285228 38.01185 0.3037813 37.25161 0.3037813 38.01185 0.2570458 38.01185 0.2570458 37.25161 0.3037813 37.25161 0.2570458 38.01185 0.2570458 37.25161 0.2570458 38.01185 0.1285228 38.77208 0.3037813 39.53232 0.2570458 39.53232 0.3037813 39.53232 0.3037813 39.53232 0.2570458 40.03915 0.2570458 39.53232 0.3037813 40.03915 0.2570458 40.03915 0.3037813 40.03915 0.3037813 40.03915 0.2570458 40.29256 0.2570458 40.03915 0.3037813 40.29256 0.2570458 40.29256 0.3037813 40.29256 0.3037813 40.29256 0.2570458 40.41926 0.2570458 40.29256 0.3037813 40.41926 0.2570458 40.41926 0.3037813 40.41926 0.3037813 40.41926 0.2570458 40.67267 0.2570458 40.67267 0.3037813 41.05279 0.2570458 41.05279 0.3037813 41.05279 0.3037813 41.05279 0.2570458 41.43291 0.2570458 41.05279 0.3037813 41.43291 0.2570458 41.43291 0.3037813 41.43291 0.3037813 41.43291 0.2570458 41.81303 0.2570458 41.43291 0.3037813 41.81303 0.2570458 41.81303 0.3037813 41.81303 0.3037813 41.81303 0.2570458 42.19315 0.2570458 41.81303 0.3037813 42.19315 0.2570458 42.19315 0.3037813 42.19315 0.3037813 42.19315 0.2570458 42.57327 0.2570458 42.19315 0.3037813 42.57327 0.2570458 42.57327 0.3037813 42.57327 0.3037813 42.57327 0.2570458 42.95339 0.2570458 42.57327 0.3037813 42.95339 0.2570458 42.95339 0.3037813 42.95339 0.3037813 42.95339 0.2570458 43.33351 0.2570458 42.95339 0.3037813 43.33351 0.2570458 43.33351 0.3037813 43.33351 0.3037813 43.33351 0.2570458 43.71362 0.2570458 43.33351 0.3037813 43.71362 0.2570458 43.71362 0.3037813 43.71362 0.3037813 43.71362 0.2570458 44.09374 0.2570458 44.09374 0.3037813 44.47386 0.2570458 44.47386 0.3037813 44.47386 0.3037813 44.47386 0.2570458 44.72727 0.2570458 44.47386 0.3037813 44.72727 0.2570458 44.72727 0.3037813 44.72727 0.3037813 44.72727 0.2570458 44.85398 0.2570458 44.72727 0.3037813 44.85398 0.2570458 44.85398 0.3037813 44.85398 0.3037813 44.85398 0.2570458 44.91733 0.2570458 44.85398 0.3037813 44.91733 0.2570458 44.91733 0.3037813 44.91733 0.3037813 44.91733 0.2570458 45.04404 0.2570458 44.91733 0.3037813 45.04404 0.2570458 45.04404 0.3037813 45.04404 0.3037813 45.04404 0.2570458 45.2341 0.2570458 45.04404 0.3037813 45.2341 0.2570458 45.2341 0.3037813 45.2341 0.3037813 45.2341 0.2570458 45.42416 0.2570458 45.2341 0.3037813 45.42416 0.2570458 45.42416 0.3037813 45.42416 0.3037813 45.42416 0.2570458 45.61421 0.2570458 45.42416 0.3037813 45.61421 0.2570458 45.61421 0.3037813 45.61421 0.3037813 45.61421 0.2570458 45.74092 0.2570458 45.61421 0.3037813 45.74092 0.2570458 45.74092 0.3037813 45.74092 0.3037813 45.74092 0.2570458 45.80427 0.2570458 45.74092 0.3037813 45.80427 0.2570458 45.80427 0.3037813 45.80427 0.3037813 45.80427 0.2570458 45.83595 0.2570458 45.80427 0.3037813 45.83595 0.2570458 45.83595 0.3037813 45.83595 0.3037813 45.83595 0.2570458 45.89931 0.2570458 45.83595 0.3037813 45.89931 0.2570458 45.89931 0.3037813 45.89931 0.3037813 45.89931 0.2570458 45.99433 0.2570458 45.89931 0.3037813 45.99433 0.2570458 45.99433 0.3037813 45.99433 0.3037813 45.99433 0.2570458 46.08936 0.2570458 45.99433 0.3037813 46.08936 0.2570458 46.08936 0.3037813 46.08936 0.3037813 46.08936 0.2570458 46.18439 0.2570458 46.18439 0.3037813 46.21607 0.2570458 46.21607 0.3037813 46.21607 0.3037813 46.21607 0.2570458 46.27942 0.2570458 46.21607 0.3037813 46.27942 0.2570458 46.27942 0.3037813 46.27942 0.3037813 46.27942 0.2570458 46.37445 0.2570458 46.27942 0.3037813 46.37445 0.2570458 46.37445 0.3037813 46.37445 0.3037813 46.37445 0.2570458 46.46948 0.2570458 46.37445 0.3037813 46.46948 0.2570458 46.46948 0.3037813 46.46948 0.3037813 46.46948 0.2570458 46.50116 0.2570458 46.65954 0.2570458 46.56451 0.3037813 46.56451 0.2570458 46.56451 0.2570458 46.56451 0.3037813 46.50116 0.3037813 46.65954 0.3037813 46.75457 0.2570458 46.75457 0.3037813 46.75457 0.3037813 46.75457 0.2570458 46.94463 0.2570458 46.75457 0.3037813 46.94463 0.2570458 46.94463 0.3037813 46.94463 0.3037813 46.94463 0.2570458 47.13469 0.2570458 46.94463 0.3037813 47.13469 0.2570458 47.13469 0.3037813 47.13469 0.3037813 47.13469 0.2570458 47.32475 0.2570458 47.13469 0.3037813 47.32475 0.2570458 47.32475 0.3037813 47.32475 0.3037813 47.32475 0.2570458 47.51481 0.2570458 47.32475 0.3037813 47.51481 0.2570458 47.51481 0.3037813 47.89493 0.3037813 47.76822 0.3037813 47.89493 0.2570458 47.89493 0.2570458 47.76822 0.3037813 47.76822 0.2570458 47.89493 0.2570458 47.76822 0.2570458 47.89493 0.1285228 47.89493 0.1285228 47.76822 0.2570458 47.76822 0.1285228 25.08782 0.1285228 25.46794 0.1285228 25.08782 0.2570458 25.08782 0.2570458 25.46794 0.1285228 25.46794 0.2570458 26.70332 0.1285228 26.60829 0.2570458 26.60829 0.1285228 26.60829 0.1285228 26.60829 0.2570458 26.51326 0.2570458 26.83003 0.3037813 26.83003 0.2570458 26.86171 0.2570458 26.86171 0.2570458 26.83003 0.2570458 26.86171 0.1285228 26.86171 0.2570458 26.86171 0.1285228 26.89338 0.1285228 26.89338 0.1285228 26.86171 0.1285228 27.2735 0 26.86171 0.1285228 26.83003 0.2570458 26.83003 0.1285228 27.55859 0.2570458 27.49524 0.2570458 27.55859 0.1285228 27.55859 0.1285228 27.49524 0.2570458 27.49524 0.1285228 27.55859 0.1285228 27.49524 0.1285228 27.2735 0 27.74865 0.3037813 27.74865 0.2570458 27.812 0.2570458 27.812 0.2570458 27.74865 0.2570458 27.812 0.1285228 27.812 0.2570458 27.812 0.1285228 27.84368 0.1285228 27.84368 0.1285228 27.812 0.1285228 28.27471 0 27.812 0.1285228 27.74865 0.2570458 27.74865 0.1285228 28.889 0.1285228 28.69894 0.2570458 28.69894 0.1285228 28.69894 0.1285228 28.69894 0.2570458 28.50889 0.2570458 29.14242 0.2570458 29.07906 0.2570458 29.14242 0.1285228 29.14242 0.1285228 29.07906 0.2570458 29.07906 0.1285228 29.14242 0.1285228 29.07906 0.1285228 28.27471 0 30.02936 0.2570458 29.64924 0.2570458 30.02936 0.1285228 30.02936 0.1285228 29.64924 0.2570458 29.64924 0.1285228 30.02936 0.1285228 29.64924 0.1285228 31.16971 0 34.21066 0.1285228 33.45042 0.2570458 33.45042 0.1285228 33.45042 0.1285228 33.45042 0.2570458 33.19701 0.2570458 36.49137 0.1285228 36.49137 0.2570458 35.73114 0.2570458 35.73114 0.2570458 36.49137 0.2570458 35.73114 0.3037813 36.49137 0.1285228 35.73114 0.2570458 35.73114 0.1285228 38.01185 0.3037813 38.01185 0.2570458 38.77208 0.2570458 38.77208 0.2570458 38.01185 0.2570458 38.77208 0.1285228 38.77208 0.2570458 38.77208 0.1285228 39.53232 0.1285228 39.53232 0.1285228 38.77208 0.1285228 40.29256 0 38.77208 0.1285228 38.01185 0.2570458 38.01185 0.1285228 39.53232 0.2570458 40.03915 0.1285228 40.03915 0.2570458 40.03915 0.2570458 40.03915 0.1285228 40.29256 0.1285228 40.03915 0.2570458 40.29256 0.1285228 40.29256 0.2570458 40.29256 0.2570458 40.29256 0.1285228 40.41926 0.1285228 40.29256 0.2570458 40.41926 0.1285228 40.41926 0.2570458 40.41926 0.2570458 40.41926 0.1285228 40.67267 0.1285228 40.41926 0.2570458 40.67267 0.1285228 40.67267 0.2570458 40.67267 0.2570458 40.67267 0.1285228 41.05279 0.1285228 41.05279 0.2570458 41.43291 0.1285228 41.43291 0.2570458 41.43291 0.2570458 41.43291 0.1285228 41.81303 0.1285228 41.43291 0.2570458 41.81303 0.1285228 41.81303 0.2570458 41.81303 0.2570458 41.81303 0.1285228 42.19315 0.1285228 41.81303 0.2570458 42.19315 0.1285228 42.19315 0.2570458 42.19315 0.2570458 42.19315 0.1285228 42.57327 0.1285228 42.19315 0.2570458 42.57327 0.1285228 42.57327 0.2570458 42.57327 0.2570458 42.57327 0.1285228 42.95339 0.1285228 42.57327 0.2570458 42.95339 0.1285228 42.95339 0.2570458 42.95339 0.2570458 42.95339 0.1285228 43.33351 0.1285228 42.95339 0.2570458 43.33351 0.1285228 43.33351 0.2570458 43.33351 0.2570458 43.33351 0.1285228 43.71362 0.1285228 43.33351 0.2570458 43.71362 0.1285228 43.71362 0.2570458 43.71362 0.2570458 43.71362 0.1285228 44.09374 0.1285228 43.71362 0.2570458 44.09374 0.1285228 44.09374 0.2570458 44.09374 0.2570458 44.09374 0.1285228 44.47386 0.1285228 44.47386 0.2570458 44.72727 0.1285228 44.72727 0.2570458 44.72727 0.2570458 44.72727 0.1285228 44.85398 0.1285228 44.72727 0.2570458 44.85398 0.1285228 44.85398 0.2570458 44.85398 0.2570458 44.85398 0.1285228 44.91733 0.1285228 44.85398 0.2570458 44.91733 0.1285228 44.91733 0.2570458 44.91733 0.2570458 44.91733 0.1285228 45.04404 0.1285228 44.91733 0.2570458 45.04404 0.1285228 45.04404 0.2570458 45.04404 0.2570458 45.04404 0.1285228 45.2341 0.1285228 45.04404 0.2570458 45.2341 0.1285228 45.2341 0.2570458 45.2341 0.2570458 45.2341 0.1285228 45.42416 0.1285228 45.2341 0.2570458 45.42416 0.1285228 45.42416 0.2570458 45.42416 0.2570458 45.42416 0.1285228 45.61421 0.1285228 45.42416 0.2570458 45.61421 0.1285228 45.61421 0.2570458 45.61421 0.2570458 45.61421 0.1285228 45.74092 0.1285228 45.61421 0.2570458 45.74092 0.1285228 45.74092 0.2570458 45.74092 0.2570458 45.74092 0.1285228 45.80427 0.1285228 45.74092 0.2570458 45.80427 0.1285228 45.80427 0.2570458 45.80427 0.2570458 45.80427 0.1285228 45.83595 0.1285228 45.80427 0.2570458 45.83595 0.1285228 45.83595 0.2570458 45.83595 0.2570458 45.83595 0.1285228 45.89931 0.1285228 45.83595 0.2570458 45.89931 0.1285228 45.89931 0.2570458 45.89931 0.2570458 45.89931 0.1285228 45.99433 0.1285228 45.89931 0.2570458 45.99433 0.1285228 45.99433 0.2570458 45.99433 0.2570458 45.99433 0.1285228 46.08936 0.1285228 45.99433 0.2570458 46.08936 0.1285228 46.08936 0.2570458 46.08936 0.2570458 46.08936 0.1285228 46.18439 0.1285228 46.08936 0.2570458 46.18439 0.1285228 46.18439 0.2570458 46.18439 0.2570458 46.18439 0.1285228 46.21607 0.1285228 46.21607 0.2570458 46.27942 0.1285228 46.27942 0.2570458 46.27942 0.2570458 46.27942 0.1285228 46.37445 0.1285228 46.27942 0.2570458 46.37445 0.1285228 46.37445 0.2570458 46.37445 0.2570458 46.37445 0.1285228 46.46948 0.1285228 46.37445 0.2570458 46.46948 0.1285228 46.46948 0.2570458 46.46948 0.2570458 46.46948 0.1285228 46.50116 0.1285228 46.46948 0.2570458 46.50116 0.1285228 46.50116 0.2570458 46.50116 0.2570458 46.50116 0.1285228 46.56451 0.1285228 46.75457 0.1285228 46.65954 0.2570458 46.65954 0.1285228 46.65954 0.1285228 46.65954 0.2570458 46.56451 0.2570458 46.75457 0.2570458 46.94463 0.1285228 46.94463 0.2570458 46.94463 0.2570458 46.94463 0.1285228 47.13469 0.1285228 46.94463 0.2570458 47.13469 0.1285228 47.13469 0.2570458 47.13469 0.2570458 47.13469 0.1285228 47.32475 0.1285228 47.13469 0.2570458 47.32475 0.1285228 47.32475 0.2570458 47.32475 0.2570458 47.32475 0.1285228 47.51481 0.1285228 47.32475 0.2570458 47.51481 0.1285228 47.51481 0.2570458 47.89493 0.3037813 47.89493 0.2570458 48.14834 0.2570458 48.14834 0.2570458 47.89493 0.2570458 48.14834 0.1285228 48.14834 0.2570458 48.14834 0.1285228 48.27505 0.1285228 48.14834 0.1285228 47.89493 0.2570458 47.89493 0.1285228 25.84806 0 25.84806 0.1285228 25.46794 0.1285228 25.46794 0.1285228 25.84806 0.1285228 25.46794 0.2570458 27.2735 0 26.86171 0.1285228 26.83003 0.1285228 27.2735 0 27.59027 0.1285228 27.55859 0.1285228 27.55859 0.1285228 27.59027 0.1285228 27.55859 0.2570458 28.27471 0 27.812 0.1285228 27.74865 0.1285228 28.27471 0 29.26912 0.1285228 29.14242 0.1285228 29.14242 0.1285228 29.26912 0.1285228 29.14242 0.2570458 31.16971 0 30.40948 0.1285228 30.02936 0.1285228 30.02936 0.1285228 30.40948 0.1285228 30.02936 0.2570458 40.67267 0.1285228 40.41926 0.1285228 40.36654 0 40.36654 0 40.41926 0.1285228 40.29256 0.1285228 40.36654 0 41.05279 0.1285228 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0.8447745 15.94975 0.8447745 14.69618 1.169688 15.94975 0.8447745 15.94975 1.169688 15.94975 1.169688 15.94975 0.8447745 17.20332 0.8447745 15.94975 1.169688 17.20332 0.8447745 17.20332 1.169688 17.20332 1.169688 17.20332 0.8447745 18.45689 0.8447745 17.20332 1.169688 18.45689 0.8447745 18.45689 1.169688 18.45689 1.169688 18.45689 0.8447745 19.71045 0.8447745 18.45689 1.169688 19.71045 0.8447745 19.71045 1.169688 19.71045 1.169688 19.71045 0.8447745 20.96402 0.8447745 19.71045 1.169688 20.96402 0.8447745 20.96402 1.169688 20.96402 1.169688 20.96402 0.8447745 22.21759 0.8447745 20.96402 1.169688 22.21759 0.8447745 22.21759 1.169688 22.21759 1.169688 22.21759 0.8447745 23.47116 0.8447745 22.21759 1.169688 23.47116 0.8447745 23.47116 1.169688 23.47116 1.169688 23.47116 0.8447745 25.14259 0.8447745 23.47116 1.169688 25.14259 0.8447745 25.14259 1.169688 25.14259 1.169688 25.14259 0.8447745 25.9783 0.8447745 25.14259 1.169688 25.9783 0.8447745 25.9783 1.169688 25.9783 1.169688 25.9783 0.8447745 26.71854 0.8447745 25.9783 1.169688 26.71854 0.8447745 26.71854 1.169688 26.71854 1.169688 26.71854 0.8447745 27.45878 0.8447745 26.71854 1.169688 27.45878 0.8447745 27.45878 1.169688 27.45878 1.169688 27.45878 0.8447745 28.19903 0.8447745 27.45878 1.169688 28.19903 0.8447745 28.19903 1.169688 28.19903 1.169688 28.19903 0.8447745 28.93927 0.8447745 28.19903 1.169688 28.93927 0.8447745 28.93927 1.169688 28.93927 1.169688 28.93927 0.8447745 29.67951 0.8447745 28.93927 1.169688 29.67951 0.8447745 29.67951 1.169688 29.67951 1.169688 29.67951 0.8447745 30.41976 0.8447745 29.67951 1.169688 30.41976 0.8447745 30.41976 1.169688 30.41976 1.169688 30.41976 0.8447745 31.16 0.8447745 30.41976 1.169688 31.16 0.8447745 31.16 1.169688 31.16 1.169688 31.16 0.8447745 31.58172 0.902747 31.16 1.169688 31.58172 0.902747 31.6203 1.183307 0.3713824 0.4432749 0.7401497 0.5198612 0.357059 0.5944234 0.357059 0.5944234 0.7401497 0.5198612 0.7401497 0.6173352 0.357059 0.5944234 0.7401497 0.6173352 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0.6173352 14.69618 0.7797918 15.94975 0.6173352 15.94975 0.7797918 15.94975 0.7797918 15.94975 0.6173352 17.20332 0.6173352 15.94975 0.7797918 17.20332 0.6173352 17.20332 0.7797918 17.20332 0.7797918 17.20332 0.6173352 18.45689 0.6173352 17.20332 0.7797918 18.45689 0.6173352 18.45689 0.7797918 18.45689 0.7797918 18.45689 0.6173352 19.71045 0.6173352 18.45689 0.7797918 19.71045 0.6173352 19.71045 0.7797918 19.71045 0.7797918 19.71045 0.6173352 20.96402 0.6173352 19.71045 0.7797918 20.96402 0.6173352 20.96402 0.7797918 20.96402 0.7797918 20.96402 0.6173352 22.21759 0.6173352 20.96402 0.7797918 22.21759 0.6173352 22.21759 0.7797918 22.21759 0.7797918 22.21759 0.6173352 23.47116 0.6173352 22.21759 0.7797918 23.47116 0.6173352 23.47116 0.7797918 23.47116 0.7797918 23.47116 0.6173352 25.14259 0.6173352 23.47116 0.7797918 25.14259 0.6173352 25.14259 0.7797918 25.14259 0.7797918 25.14259 0.6173352 25.9783 0.6173352 25.14259 0.7797918 25.9783 0.6173352 25.9783 0.7797918 25.9783 0.7797918 25.9783 0.6173352 26.71854 0.6173352 25.9783 0.7797918 26.71854 0.6173352 26.71854 0.7797918 26.71854 0.7797918 26.71854 0.6173352 27.45878 0.6173352 26.71854 0.7797918 27.45878 0.6173352 27.45878 0.7797918 27.45878 0.7797918 27.45878 0.6173352 28.19903 0.6173352 27.45878 0.7797918 28.19903 0.6173352 28.19903 0.7797918 28.19903 0.7797918 28.19903 0.6173352 28.93927 0.6173352 28.19903 0.7797918 28.93927 0.6173352 28.93927 0.7797918 28.93927 0.7797918 28.93927 0.6173352 29.67951 0.6173352 28.93927 0.7797918 29.67951 0.6173352 29.67951 0.7797918 29.67951 0.7797918 29.67951 0.6173352 30.41976 0.6173352 29.67951 0.7797918 30.41976 0.6173352 30.41976 0.7797918 30.41976 0.7797918 30.41976 0.6173352 31.16 0.6173352 30.41976 0.7797918 31.16 0.6173352 31.16 0.7797918 31.16 0.7797918 31.16 0.6173352 31.58172 0.902747 31.16 0.7797918 31.58172 0.902747 31.16 0.8447745 0.3834459 0.2860274 0.7401497 0.3249133 0.3713824 0.4432749 0.3713824 0.4432749 0.7401497 0.3249133 0.7401497 0.4223873 0.3713824 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0.5198612 14.69618 0.4223873 15.94975 0.4223873 14.69618 0.5198612 15.94975 0.4223873 15.94975 0.5198612 15.94975 0.5198612 15.94975 0.4223873 17.20332 0.4223873 15.94975 0.5198612 17.20332 0.4223873 17.20332 0.5198612 17.20332 0.5198612 17.20332 0.4223873 18.45689 0.4223873 17.20332 0.5198612 18.45689 0.4223873 18.45689 0.5198612 18.45689 0.5198612 18.45689 0.4223873 19.71045 0.4223873 18.45689 0.5198612 19.71045 0.4223873 19.71045 0.5198612 19.71045 0.5198612 19.71045 0.4223873 20.96402 0.4223873 19.71045 0.5198612 20.96402 0.4223873 20.96402 0.5198612 20.96402 0.5198612 20.96402 0.4223873 22.21759 0.4223873 20.96402 0.5198612 22.21759 0.4223873 22.21759 0.5198612 22.21759 0.5198612 22.21759 0.4223873 23.47116 0.4223873 22.21759 0.5198612 23.47116 0.4223873 23.47116 0.5198612 23.47116 0.5198612 23.47116 0.4223873 25.14259 0.4223873 23.47116 0.5198612 25.14259 0.4223873 25.14259 0.5198612 25.14259 0.5198612 25.14259 0.4223873 25.9783 0.4223873 25.14259 0.5198612 25.9783 0.4223873 25.9783 0.5198612 25.9783 0.5198612 25.9783 0.4223873 26.71854 0.4223873 25.9783 0.5198612 26.71854 0.4223873 26.71854 0.5198612 26.71854 0.5198612 26.71854 0.4223873 27.45878 0.4223873 26.71854 0.5198612 27.45878 0.4223873 27.45878 0.5198612 27.45878 0.5198612 27.45878 0.4223873 28.19903 0.4223873 27.45878 0.5198612 28.19903 0.4223873 28.19903 0.5198612 28.19903 0.5198612 28.19903 0.4223873 28.93927 0.4223873 28.19903 0.5198612 28.93927 0.4223873 28.93927 0.5198612 28.93927 0.5198612 28.93927 0.4223873 29.67951 0.4223873 28.93927 0.5198612 29.67951 0.4223873 29.67951 0.5198612 29.67951 0.5198612 29.67951 0.4223873 30.41976 0.4223873 29.67951 0.5198612 30.41976 0.4223873 30.41976 0.5198612 30.41976 0.5198612 30.41976 0.4223873 31.16 0.4223873 30.41976 0.5198612 31.16 0.4223873 31.16 0.5198612 31.16 0.5198612 31.16 0.4223873 31.5288 0.4432884 31.16 0.5198612 31.5288 0.4432884 31.54311 0.5944368 0.3834459 0.2860274 1.030776 0.2786593 0.7401497 0.3249133 0.7401497 0.3249133 1.030776 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4.440898 0.2274392 4.368543 0.1057248 4.810973 0.2274392 4.440898 0.2274392 4.810973 0.2274392 4.440898 0.3249133 4.440898 0.3249133 4.810973 0.2274392 4.810973 0.3249133 4.440898 0.3249133 4.810973 0.3249133 4.440898 0.4223873 4.440898 0.4223873 4.810973 0.3249133 4.810973 0.4223873 4.368543 0.1057248 5.103617 0.05698847 4.810973 0.2274392 4.810973 0.2274392 5.103617 0.05698847 5.181048 0.2274392 4.810973 0.2274392 5.181048 0.2274392 4.810973 0.3249133 4.810973 0.3249133 5.181048 0.2274392 5.181048 0.3249133 4.810973 0.3249133 5.181048 0.3249133 4.810973 0.4223873 4.810973 0.4223873 5.181048 0.3249133 5.181048 0.4223873 5.806395 0.005976438 5.921197 0.03249132 5.103617 0.05698847 5.103617 0.05698847 5.921197 0.03249132 5.921197 0.2274392 5.103617 0.05698847 5.921197 0.2274392 5.181048 0.2274392 5.181048 0.2274392 5.921197 0.2274392 5.181048 0.3249133 8.737828 8.37611e-4 7.592622 0.03249132 5.806395 0.005976438 5.806395 0.005976438 7.592622 0.03249132 6.75691 0.03249132 5.806395 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0.8447745 26.71854 0.7797918 26.71854 0.8447745 26.71854 0.7797918 27.45878 0.7797918 26.71854 0.8447745 26.71854 0.8447745 27.45878 0.7797918 27.45878 0.8447745 27.45878 0.7797918 28.19903 0.7797918 27.45878 0.8447745 27.45878 0.8447745 28.19903 0.7797918 28.19903 0.8447745 28.19903 0.7797918 28.93927 0.7797918 28.19903 0.8447745 28.19903 0.8447745 28.93927 0.7797918 28.93927 0.8447745 28.93927 0.7797918 29.67951 0.7797918 28.93927 0.8447745 28.93927 0.8447745 29.67951 0.7797918 29.67951 0.8447745 31.16 0.7797918 31.16 0.8447745 30.41976 0.8447745 29.67951 0.7797918 30.41976 0.7797918 29.67951 0.8447745 29.67951 0.8447745 30.41976 0.7797918 30.41976 0.8447745 30.41976 0.7797918 31.16 0.7797918 30.41976 0.8447745 30.41976 0.5198612 31.16 0.5198612 30.41976 0.6173352 30.41976 0.6173352 31.16 0.5198612 31.16 0.6173352 29.67951 0.5198612 30.41976 0.5198612 29.67951 0.6173352 29.67951 0.6173352 30.41976 0.5198612 30.41976 0.6173352 28.93927 0.5198612 29.67951 0.5198612 28.93927 0.6173352 28.93927 0.6173352 29.67951 0.5198612 29.67951 0.6173352 28.19903 0.5198612 28.93927 0.5198612 28.19903 0.6173352 28.19903 0.6173352 28.93927 0.5198612 28.93927 0.6173352 27.45878 0.5198612 28.19903 0.5198612 27.45878 0.6173352 27.45878 0.6173352 28.19903 0.5198612 28.19903 0.6173352 26.71854 0.5198612 27.45878 0.5198612 26.71854 0.6173352 26.71854 0.6173352 27.45878 0.5198612 27.45878 0.6173352 25.9783 0.5198612 26.71854 0.5198612 25.9783 0.6173352 25.9783 0.6173352 26.71854 0.5198612 26.71854 0.6173352 25.14259 0.5198612 25.9783 0.5198612 25.14259 0.6173352 25.14259 0.6173352 25.9783 0.5198612 25.9783 0.6173352 23.47116 0.5198612 25.14259 0.5198612 23.47116 0.6173352 23.47116 0.6173352 25.14259 0.5198612 25.14259 0.6173352 22.21759 0.5198612 23.47116 0.5198612 22.21759 0.6173352 22.21759 0.6173352 23.47116 0.5198612 23.47116 0.6173352 20.96402 0.5198612 22.21759 0.5198612 20.96402 0.6173352 20.96402 0.6173352 22.21759 0.5198612 22.21759 0.6173352 19.71045 0.5198612 20.96402 0.5198612 19.71045 0.6173352 19.71045 0.6173352 20.96402 0.5198612 20.96402 0.6173352 18.45689 0.5198612 19.71045 0.5198612 18.45689 0.6173352 18.45689 0.6173352 19.71045 0.5198612 19.71045 0.6173352 17.20332 0.5198612 18.45689 0.5198612 17.20332 0.6173352 17.20332 0.6173352 18.45689 0.5198612 18.45689 0.6173352 15.94975 0.5198612 17.20332 0.5198612 15.94975 0.6173352 15.94975 0.6173352 17.20332 0.5198612 17.20332 0.6173352 14.69618 0.5198612 15.94975 0.5198612 14.69618 0.6173352 14.69618 0.6173352 15.94975 0.5198612 15.94975 0.6173352 13.44261 0.5198612 14.69618 0.5198612 13.44261 0.6173352 13.44261 0.6173352 14.69618 0.5198612 14.69618 0.6173352 12.18904 0.5198612 13.44261 0.5198612 12.18904 0.6173352 12.18904 0.6173352 13.44261 0.5198612 13.44261 0.6173352 10.93547 0.5198612 12.18904 0.5198612 10.93547 0.6173352 10.93547 0.6173352 12.18904 0.5198612 12.18904 0.6173352 9.681904 0.5198612 10.93547 0.5198612 9.681904 0.6173352 9.681904 0.6173352 10.93547 0.5198612 10.93547 0.6173352 8.428336 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5293 5501 124763 12571 22009 124764 5293 5501 124765 20914 22010 124766 20914 22010 124767 5293 5501 124768 5292 5472 124769 20914 22010 124770 5292 5472 124771 2879 21971 124772 2879 21971 124773 5292 5472 124774 5291 5471 124775 2879 21971 124776 5291 5471 124777 5290 5479 124778 5290 5479 124779 5289 5500 124780 2879 21971 124781 2879 21971 124782 5289 5500 124783 5288 5498 124784 9554 9689 124785 9553 9683 124786 12568 22013 124787 12568 22013 124788 9553 9683 124789 9552 9677 124790 12568 22013 124791 9552 9677 124792 9551 9675 124793 9551 9675 124794 9550 9676 124795 12568 22013 124796 6272 6591 124797 6271 6587 124798 12576 22004 124799 12576 22004 124800 6271 6587 124801 6270 6573 124802 12576 22004 124803 6270 6573 124804 6269 6559 124805 6269 6559 124806 6268 6545 124807 12576 22004 124808 6266 6280 124809 6265 6281 124810 12577 21982 124811 12577 21982 124812 6265 6281 124813 6264 6530 124814 12577 21982 124815 6264 6530 124816 6263 6505 124817 6263 6505 124818 6262 6484 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0.277126 56.8197 0.3325512 54.38451 0.3325512 56.8197 0.277126 54.38451 0.3325512 54.38451 0.277126 54.38451 0.277126 54.38451 0.3325512 51.94931 0.3325512 54.38451 0.277126 51.94931 0.3325512 51.94931 0.277126 51.94931 0.277126 51.94931 0.3325512 49.51412 0.3325512 51.94931 0.277126 49.51412 0.3325512 49.51412 0.277126 34.90295 0.3325512 34.90295 0.277126 37.33815 0.277126 34.90295 0.3325512 37.33815 0.277126 37.33815 0.3325512 15.74145 0.3325512 15.74145 0.277126 18.3425 0.277126 15.74145 0.3325512 18.3425 0.277126 18.3425 0.3325512 59.25489 0.3325512 56.8197 0.3879764 56.8197 0.3325512 56.8197 0.3325512 56.8197 0.3879764 54.38451 0.3879764 56.8197 0.3325512 54.38451 0.3879764 54.38451 0.3325512 54.38451 0.3325512 54.38451 0.3879764 51.94931 0.3879764 54.38451 0.3325512 51.94931 0.3879764 51.94931 0.3325512 51.94931 0.3325512 51.94931 0.3879764 49.51412 0.3879764 51.94931 0.3325512 49.51412 0.3879764 49.51412 0.3325512 34.90295 0.3879764 34.90295 0.3325512 37.33815 0.3325512 34.90295 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1.494601 25.9783 1.494601 25.9783 1.559584 25.14259 1.559583 31.16 0.4223873 31.5288 0.4432884 31.16 0.5198612 31.16 0.5198612 31.5288 0.4432884 31.54311 0.5944369 31.16 0.5198612 31.54311 0.5944369 31.16 0.6173352 31.16 0.6173352 31.54311 0.5944369 31.58172 0.9027471 31.16 0.6173352 31.58172 0.9027471 31.16 0.7797918 31.16 0.7797918 31.58172 0.9027471 31.16 0.8447745 31.16 0.7797918 31.16 0.8447745 30.41976 0.8447745 30.41976 0.8447745 31.16 0.8447745 30.41976 0.9747399 30.41976 0.8447745 30.41976 0.9747399 29.67951 0.9747399 29.67951 0.9747399 30.41976 0.9747399 29.67951 1.169688 29.67951 0.9747399 29.67951 1.169688 28.93927 1.169688 28.93927 1.169688 29.67951 1.169688 28.93927 1.494601 28.93927 1.169688 28.93927 1.494601 28.19903 1.494601 28.19903 1.494601 28.93927 1.494601 28.93906 1.505141 28.19903 1.494601 28.93906 1.505141 28.08563 1.526085 31.16 0.8447745 31.58172 0.9027471 31.16 0.9747399 31.16 0.9747399 31.58172 0.9027471 31.6203 1.183307 31.16 0.9747399 31.6203 1.183307 31.16 1.169688 31.16 1.169688 31.6203 1.183307 30.85554 1.48246 31.16 1.169688 30.85554 1.48246 30.41976 1.169688 30.41976 1.169688 30.85554 1.48246 29.92297 1.488759 30.41976 1.169688 29.92297 1.488759 29.67951 1.169688 29.67951 1.169688 29.92297 1.488759 28.93927 1.494601 31.6203 1.183307 31.65192 1.482637 30.85554 1.48246 29.92297 1.488759 28.93906 1.505141 28.93927 1.494601 28.19903 1.494601 28.08563 1.526085 27.45878 1.494601 27.45878 1.494601 28.08563 1.526085 27.64356 1.538357 27.45878 1.494601 27.64356 1.538357 27.14044 1.552429 26.71818 1.563665 26.71854 1.559584 27.14044 1.552429 27.14044 1.552429 26.71854 1.559584 26.71854 1.494601 27.14044 1.552429 26.71854 1.494601 27.45878 1.494601 27.45878 1.494601 26.71854 1.494601 27.45878 1.169688 27.45878 1.494601 27.45878 1.169688 28.19903 1.169688 28.19903 1.169688 27.45878 1.169688 28.19903 0.9747399 28.19903 1.169688 28.19903 0.9747399 28.93927 0.9747399 28.93927 0.9747399 28.19903 0.9747399 28.93927 0.8447745 28.93927 0.9747399 28.93927 0.8447745 29.67951 0.8447745 29.67951 0.8447745 28.93927 0.8447745 29.67951 0.7797918 29.67951 0.8447745 29.67951 0.7797918 30.41976 0.7797918 30.41976 0.7797918 29.67951 0.7797918 30.41976 0.6173352 30.41976 0.7797918 30.41976 0.6173352 31.16 0.6173352 31.16 0.6173352 30.41976 0.6173352 31.16 0.5198612 26.71818 1.563665 26.16135 1.574778 26.71854 1.559584 26.71854 1.559584 26.16135 1.574778 26.71854 1.494601 24.16176 1.578904 20.29434 1.581142 22.21759 1.559583 22.21759 1.559583 20.29434 1.581142 20.96402 1.559583 22.21759 1.559583 20.96402 1.559583 22.21759 1.494601 22.21759 1.494601 20.96402 1.559583 20.96402 1.494601 22.21759 1.494601 20.96402 1.494601 22.21759 1.169688 22.21759 1.169688 20.96402 1.494601 20.96402 1.169688 22.21759 1.169688 20.96402 1.169688 22.21759 0.9747399 22.21759 0.9747399 20.96402 1.169688 20.96402 0.9747399 22.21759 0.9747399 20.96402 0.9747399 22.21759 0.8447745 22.21759 0.8447745 20.96402 0.9747399 20.96402 0.8447745 22.21759 0.8447745 20.96402 0.8447745 22.21759 0.7797918 22.21759 0.7797918 20.96402 0.8447745 20.96402 0.7797918 22.21759 0.7797918 20.96402 0.7797918 22.21759 0.6173352 22.21759 0.6173352 20.96402 0.7797918 20.96402 0.6173352 22.21759 0.6173352 20.96402 0.6173352 22.21759 0.5198612 22.21759 0.5198612 20.96402 0.6173352 20.96402 0.5198612 22.21759 0.5198612 20.96402 0.5198612 22.21759 0.4223873 22.21759 0.4223873 20.96402 0.5198612 20.96402 0.4223873 22.21759 0.4223873 20.96402 0.4223873 22.21759 0.3249133 22.21759 0.3249133 20.96402 0.4223873 20.96402 0.3249133 22.21759 0.3249133 20.96402 0.3249133 22.21759 0.2274393 18.13884 1.583252 19.71045 1.559583 20.29434 1.581142 20.29434 1.581142 19.71045 1.559583 19.71045 1.494601 20.29434 1.581142 19.71045 1.494601 20.96402 1.494601 20.96402 1.494601 19.71045 1.494601 20.96402 1.169688 15.94975 1.583961 17.20332 1.559582 18.13884 1.583252 18.13884 1.583252 17.20332 1.559582 17.20332 1.494601 18.13884 1.583252 17.20332 1.494601 18.45689 1.494601 18.45689 1.494601 17.20332 1.494601 18.45689 1.169688 18.45689 1.494601 18.45689 1.169688 19.71045 1.169688 19.71045 1.169688 18.45689 1.169688 19.71045 0.9747399 19.71045 1.169688 19.71045 0.9747399 20.96402 0.9747399 20.96402 0.9747399 19.71045 0.9747399 20.96402 0.8447745 13.80467 1.583282 14.69618 1.559582 15.94975 1.583961 15.94975 1.583961 14.69618 1.559582 15.94975 1.559582 15.94975 1.583961 15.94975 1.559582 17.20332 1.559582 17.20332 1.559582 15.94975 1.559582 17.20332 1.494601 11.65028 1.581189 12.18904 1.559582 13.80467 1.583282 13.80467 1.583282 12.18904 1.559582 13.44261 1.559582 13.80467 1.583282 13.44261 1.559582 13.44261 1.494601 13.44261 1.494601 13.44261 1.559582 12.18904 1.559582 13.44261 1.494601 12.18904 1.559582 12.18904 1.494601 12.18904 1.494601 12.18904 1.559582 11.65028 1.581189 12.18904 1.494601 11.65028 1.581189 10.93547 1.494601 10.93547 1.494601 11.65028 1.581189 10.93547 1.559581 10.93547 1.494601 10.93547 1.559581 9.681904 1.559581 9.681904 1.559581 10.93547 1.559581 11.65028 1.581189 9.681904 1.559581 11.65028 1.581189 7.953679 1.578977 5.945221 1.576263 5.024921 1.559581 5.181048 1.559581 5.181048 1.559581 5.024921 1.559581 5.181048 1.494601 5.181048 1.494601 5.024921 1.559581 4.810973 1.494601 4.810973 1.494601 5.024921 1.559581 4.440726 1.543579 4.810973 1.494601 4.440726 1.543579 4.440898 1.494601 4.440898 1.494601 4.440726 1.543579 4.070823 1.494601 4.440898 1.494601 4.070823 1.494601 4.440898 1.169688 4.440898 1.169688 4.070823 1.494601 4.070823 1.169688 4.440898 1.169688 4.070823 1.169688 4.440898 0.9747399 4.440898 0.9747399 4.070823 1.169688 4.070823 0.9747399 4.440898 0.9747399 4.070823 0.9747399 4.440898 0.8447745 4.440898 0.8447745 4.070823 0.9747399 4.070823 0.8447745 4.440898 0.8447745 4.070823 0.8447745 4.440898 0.7797918 4.440898 0.7797918 4.070823 0.8447745 4.070823 0.7797918 4.440898 0.7797918 4.070823 0.7797918 4.440898 0.6173352 4.440898 0.6173352 4.070823 0.7797918 4.070823 0.6173352 4.440898 0.6173352 4.070823 0.6173352 4.440898 0.5198612 4.440898 0.5198612 4.070823 0.6173352 4.070823 0.5198612 4.440898 0.5198612 4.070823 0.5198612 4.440898 0.4223873 4.440898 0.4223873 4.070823 0.5198612 4.070823 0.4223873 4.440898 0.4223873 4.070823 0.4223873 4.440898 0.3249133 4.440898 0.3249133 4.070823 0.4223873 4.070823 0.3249133 4.440898 0.3249133 4.070823 0.3249133 4.440898 0.2274393 4.440726 1.543579 3.997269 1.531172 4.070823 1.494601 4.070823 1.494601 3.997269 1.531172 3.700748 1.494601 4.070823 1.494601 3.700748 1.494601 4.070823 1.169688 4.070823 1.169688 3.700748 1.494601 3.700748 1.169688 4.070823 1.169688 3.700748 1.169688 4.070823 0.9747399 4.070823 0.9747399 3.700748 1.169688 3.700748 0.9747399 4.070823 0.9747399 3.700748 0.9747399 4.070823 0.8447745 4.070823 0.8447745 3.700748 0.9747399 3.700748 0.8447745 4.070823 0.8447745 3.700748 0.8447745 4.070823 0.7797918 4.070823 0.7797918 3.700748 0.8447745 3.700748 0.7797918 4.070823 0.7797918 3.700748 0.7797918 4.070823 0.6173352 4.070823 0.6173352 3.700748 0.7797918 3.700748 0.6173352 4.070823 0.6173352 3.700748 0.6173352 4.070823 0.5198612 4.070823 0.5198612 3.700748 0.6173352 3.700748 0.5198612 4.070823 0.5198612 3.700748 0.5198612 4.070823 0.4223873 4.070823 0.4223873 3.700748 0.5198612 3.700748 0.4223873 4.070823 0.4223873 3.700748 0.4223873 4.070823 0.3249133 3.997269 1.531172 3.437294 1.516211 3.700748 1.494601 3.700748 1.494601 3.437294 1.516211 2.960599 1.494601 3.700748 1.494601 2.960599 1.494601 3.700748 1.169688 3.700748 1.169688 2.960599 1.494601 2.960599 1.169688 3.700748 1.169688 2.960599 1.169688 3.700748 0.9747399 3.700748 0.9747399 2.960599 1.169688 2.960599 0.9747399 3.700748 0.9747399 2.960599 0.9747399 3.700748 0.8447745 3.700748 0.8447745 2.960599 0.9747399 2.960599 0.8447745 3.700748 0.8447745 2.960599 0.8447745 3.700748 0.7797918 3.700748 0.7797918 2.960599 0.8447745 2.960599 0.7797918 3.700748 0.7797918 2.960599 0.7797918 3.700748 0.6173352 3.700748 0.6173352 2.960599 0.7797918 2.960599 0.6173352 3.700748 0.6173352 2.960599 0.6173352 3.700748 0.5198612 3.700748 0.5198612 2.960599 0.6173352 2.960599 0.5198612 3.700748 0.5198612 2.960599 0.5198612 3.700748 0.4223873 3.437294 1.516211 2.96058 1.505119 2.960599 1.494601 2.960599 1.494601 2.96058 1.505119 2.004655 1.489116 2.960599 1.494601 2.004655 1.489116 2.960599 1.169688 2.960599 1.169688 2.004655 1.489116 2.220449 1.169688 2.960599 1.169688 2.220449 1.169688 2.960599 0.9747399 2.960599 0.9747399 2.220449 1.169688 2.220449 0.9747399 2.960599 0.9747399 2.220449 0.9747399 2.960599 0.8447745 2.960599 0.8447745 2.220449 0.9747399 2.220449 0.8447745 2.960599 0.8447745 2.220449 0.8447745 2.960599 0.7797918 2.960599 0.7797918 2.220449 0.8447745 2.220449 0.7797918 2.960599 0.7797918 2.220449 0.7797918 2.960599 0.6173352 2.960599 0.6173352 2.220449 0.7797918 2.220449 0.6173352 2.960599 0.6173352 2.220449 0.6173352 2.960599 0.5198612 2.220449 1.169688 2.004655 1.489116 1.480299 1.169688 1.480299 1.169688 2.004655 1.489116 1.063624 1.482418 1.480299 1.169688 1.063624 1.482418 0.7401497 1.169688 28.93927 1.169688 28.19903 1.494601 28.19903 1.169688 28.19903 1.169688 28.19903 1.494601 27.45878 1.494601 27.45878 1.169688 26.71854 1.494601 26.71854 1.169688 26.71854 1.169688 26.71854 1.494601 25.9783 1.494601 25.9783 1.494601 26.71854 1.494601 26.16135 1.574778 25.14259 1.169688 23.47116 1.494601 23.47116 1.169688 20.29434 1.581142 20.96402 1.494601 20.96402 1.559583 20.96402 1.169688 19.71045 1.494601 19.71045 1.169688 19.71045 1.169688 19.71045 1.494601 18.45689 1.494601 18.45689 1.494601 19.71045 1.494601 18.45689 1.559583 18.45689 1.559583 19.71045 1.494601 19.71045 1.559583 18.45689 1.559583 19.71045 1.559583 18.13884 1.583252 17.20332 1.494601 15.94975 1.494601 17.20332 1.169688 17.20332 1.169688 15.94975 1.494601 15.94975 1.169688 17.20332 1.169688 15.94975 1.169688 17.20332 0.9747399 17.20332 0.9747399 15.94975 1.169688 15.94975 0.9747399 17.20332 0.9747399 15.94975 0.9747399 17.20332 0.8447745 17.20332 0.8447745 15.94975 0.9747399 15.94975 0.8447745 17.20332 0.8447745 15.94975 0.8447745 17.20332 0.7797918 17.20332 0.7797918 15.94975 0.8447745 15.94975 0.7797918 17.20332 0.7797918 15.94975 0.7797918 17.20332 0.6173352 18.45689 1.559583 18.13884 1.583252 18.45689 1.494601 15.94975 1.494601 14.69618 1.494601 15.94975 1.169688 15.94975 1.169688 14.69618 1.494601 14.69618 1.169688 15.94975 1.169688 14.69618 1.169688 15.94975 0.9747399 15.94975 0.9747399 14.69618 1.169688 14.69618 0.9747399 15.94975 0.9747399 14.69618 0.9747399 15.94975 0.8447745 15.94975 0.8447745 14.69618 0.9747399 14.69618 0.8447745 15.94975 0.8447745 14.69618 0.8447745 15.94975 0.7797918 17.20332 1.494601 15.94975 1.559582 15.94975 1.494601 15.94975 1.494601 15.94975 1.559582 14.69618 1.559582 15.94975 1.494601 14.69618 1.559582 14.69618 1.494601 14.69618 1.494601 14.69618 1.559582 13.80467 1.583282 14.69618 1.494601 13.80467 1.583282 13.44261 1.494601 14.69618 1.494601 13.44261 1.494601 14.69618 1.169688 14.69618 1.169688 13.44261 1.494601 13.44261 1.169688 14.69618 1.169688 13.44261 1.169688 14.69618 0.9747399 14.69618 0.9747399 13.44261 1.169688 13.44261 0.9747399 14.69618 0.9747399 13.44261 0.9747399 14.69618 0.8447745 13.44261 1.494601 12.18904 1.494601 13.44261 1.169688 13.44261 1.169688 12.18904 1.494601 12.18904 1.169688 13.44261 1.169688 12.18904 1.169688 13.44261 0.9747399 12.18904 1.494601 10.93547 1.494601 12.18904 1.169688 9.681904 1.494601 8.428336 1.494601 9.681904 1.169688 9.681904 1.169688 8.428336 1.494601 8.428336 1.169688 9.681904 1.169688 8.428336 1.169688 9.681904 0.9747399 8.428336 1.494601 9.681904 1.494601 8.428336 1.559581 6.75691 1.494601 5.921197 1.494601 6.75691 1.169688 6.75691 1.169688 5.921197 1.494601 5.921197 1.169688 6.75691 1.169688 5.921197 1.169688 6.75691 0.9747399 6.75691 0.9747399 5.921197 1.169688 5.921197 0.9747399 6.75691 0.9747399 5.921197 0.9747399 6.75691 0.8447745 6.75691 0.8447745 5.921197 0.9747399 5.921197 0.8447745 6.75691 0.8447745 5.921197 0.8447745 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4.440898 0.9747399 4.810973 0.8447745 4.810973 0.8447745 4.440898 0.9747399 4.440898 0.8447745 4.810973 0.8447745 4.440898 0.8447745 4.810973 0.7797918 4.810973 0.7797918 4.440898 0.8447745 4.440898 0.7797918 4.810973 0.7797918 4.440898 0.7797918 4.810973 0.6173352 4.810973 0.6173352 4.440898 0.7797918 4.440898 0.6173352 4.810973 0.6173352 4.440898 0.6173352 4.810973 0.5198612 4.810973 0.5198612 4.440898 0.6173352 4.440898 0.5198612 4.810973 0.5198612 4.440898 0.5198612 4.810973 0.4223873 4.810973 0.4223873 4.440898 0.5198612 4.440898 0.4223873 4.810973 0.4223873 4.440898 0.4223873 4.810973 0.3249133 4.810973 0.3249133 4.440898 0.4223873 4.440898 0.3249133 4.810973 0.3249133 4.440898 0.3249133 4.810973 0.2274393 4.810973 0.2274393 4.440898 0.3249133 4.440898 0.2274393 2.220449 0.9747399 2.220449 1.169688 1.480299 1.169688 1.480299 1.169688 0.7401497 1.169688 1.480299 0.9747399 1.480299 0.9747399 0.7401497 1.169688 0.7401497 0.9747399 1.480299 0.9747399 0.7401497 0.9747399 1.480299 0.8447745 1.480299 0.8447745 0.7401497 0.9747399 0.7401497 0.8447745 1.480299 0.8447745 0.7401497 0.8447745 1.480299 0.7797918 9.681904 1.494601 9.681904 1.169688 10.93547 1.169688 10.93547 1.169688 9.681904 1.169688 10.93547 0.9747399 10.93547 1.169688 10.93547 0.9747399 12.18904 0.9747399 12.18904 0.9747399 10.93547 0.9747399 12.18904 0.8447745 12.18904 0.9747399 12.18904 0.8447745 13.44261 0.8447745 13.44261 0.8447745 12.18904 0.8447745 13.44261 0.7797918 13.44261 0.8447745 13.44261 0.7797918 14.69618 0.7797918 14.69618 0.7797918 13.44261 0.7797918 14.69618 0.6173352 14.69618 0.7797918 14.69618 0.6173352 15.94975 0.6173352 15.94975 0.6173352 14.69618 0.6173352 15.94975 0.5198612 15.94975 0.6173352 15.94975 0.5198612 17.20332 0.5198612 17.20332 0.5198612 15.94975 0.5198612 17.20332 0.4223873 17.20332 0.5198612 17.20332 0.4223873 18.45689 0.4223873 18.45689 0.4223873 17.20332 0.4223873 18.45689 0.3249133 18.45689 0.4223873 18.45689 0.3249133 19.71045 0.3249133 19.71045 0.3249133 18.45689 0.3249133 19.71045 0.2274393 19.71045 0.3249133 19.71045 0.2274393 20.96402 0.2274393 20.96402 0.2274393 19.71045 0.2274393 20.96402 0.03249132 20.96402 0.2274393 20.96402 0.03249132 22.21759 0.03249132 10.93547 0.9747399 9.681904 1.169688 9.681904 0.9747399 17.20332 1.494601 17.20332 1.169688 18.45689 1.169688 18.45689 1.169688 17.20332 1.169688 18.45689 0.9747399 18.45689 1.169688 18.45689 0.9747399 19.71045 0.9747399 19.71045 0.9747399 18.45689 0.9747399 19.71045 0.8447745 19.71045 0.9747399 19.71045 0.8447745 20.96402 0.8447745 20.96402 0.8447745 19.71045 0.8447745 20.96402 0.7797918 18.45689 0.9747399 17.20332 1.169688 17.20332 0.9747399 20.96402 0.9747399 20.96402 1.169688 19.71045 1.169688 25.14259 1.169688 23.47116 1.169688 25.14259 0.9747399 25.14259 0.9747399 23.47116 1.169688 23.47116 0.9747399 25.14259 0.9747399 23.47116 0.9747399 25.14259 0.8447745 25.14259 0.8447745 23.47116 0.9747399 23.47116 0.8447745 25.14259 0.8447745 23.47116 0.8447745 25.14259 0.7797918 25.14259 0.7797918 23.47116 0.8447745 23.47116 0.7797918 25.14259 0.7797918 23.47116 0.7797918 25.14259 0.6173352 25.14259 0.6173352 23.47116 0.7797918 23.47116 0.6173352 25.14259 0.6173352 23.47116 0.6173352 25.14259 0.5198612 25.14259 0.5198612 23.47116 0.6173352 23.47116 0.5198612 25.14259 0.5198612 23.47116 0.5198612 25.14259 0.4223873 25.14259 0.4223873 23.47116 0.5198612 23.47116 0.4223873 25.14259 0.4223873 23.47116 0.4223873 25.14259 0.3249133 25.14259 0.3249133 23.47116 0.4223873 23.47116 0.3249133 25.14259 0.3249133 23.47116 0.3249133 25.14259 0.2274393 25.14259 0.2274393 23.47116 0.3249133 23.47116 0.2274393 25.14259 0.2274393 23.47116 0.2274393 25.14259 0.03249132 25.14259 0.03249132 23.47116 0.2274393 23.47116 0.03249132 28.19903 0.9747399 27.45878 1.169688 27.45878 0.9747399 27.45878 0.9747399 27.45878 1.169688 26.71854 1.169688 29.67951 0.9747399 28.93927 1.169688 28.93927 0.9747399 28.93927 0.9747399 28.93927 1.169688 28.19903 1.169688 31.16 0.9747399 31.16 1.169688 30.41976 1.169688 31.16 0.9747399 30.41976 1.169688 30.41976 0.9747399 30.41976 0.9747399 30.41976 1.169688 29.67951 1.169688 31.16 0.9747399 30.41976 0.9747399 31.16 0.8447745 30.41976 0.8447745 29.67951 0.9747399 29.67951 0.8447745 29.67951 0.8447745 29.67951 0.9747399 28.93927 0.9747399 28.93927 0.8447745 28.19903 0.9747399 28.19903 0.8447745 28.19903 0.8447745 28.19903 0.9747399 27.45878 0.9747399 25.9783 0.9747399 25.14259 0.9747399 25.9783 0.8447745 25.9783 0.8447745 25.14259 0.9747399 25.14259 0.8447745 25.9783 0.8447745 25.14259 0.8447745 25.9783 0.7797918 25.9783 0.7797918 25.14259 0.8447745 25.14259 0.7797918 25.9783 0.7797918 25.14259 0.7797918 25.9783 0.6173352 25.9783 0.6173352 25.14259 0.7797918 25.14259 0.6173352 25.9783 0.6173352 25.14259 0.6173352 25.9783 0.5198612 25.9783 0.5198612 25.14259 0.6173352 25.14259 0.5198612 25.9783 0.5198612 25.14259 0.5198612 25.9783 0.4223873 25.9783 0.4223873 25.14259 0.5198612 25.14259 0.4223873 25.9783 0.4223873 25.14259 0.4223873 25.9783 0.3249133 25.9783 0.3249133 25.14259 0.4223873 25.14259 0.3249133 25.9783 0.3249133 25.14259 0.3249133 25.9783 0.2274393 25.9783 0.2274393 25.14259 0.3249133 25.14259 0.2274393 25.9783 0.2274393 25.14259 0.2274393 25.9783 0.03249132 25.9783 0.03249132 25.14259 0.2274393 25.14259 0.03249132 25.14259 0.9747399 25.9783 0.9747399 25.14259 1.169688 18.45689 0.9747399 17.20332 0.9747399 18.45689 0.8447745 18.45689 0.8447745 17.20332 0.9747399 17.20332 0.8447745 18.45689 0.8447745 17.20332 0.8447745 18.45689 0.7797918 18.45689 0.7797918 17.20332 0.8447745 17.20332 0.7797918 18.45689 0.7797918 17.20332 0.7797918 18.45689 0.6173352 18.45689 0.6173352 17.20332 0.7797918 17.20332 0.6173352 18.45689 0.6173352 17.20332 0.6173352 18.45689 0.5198612 12.18904 0.8447745 10.93547 0.9747399 10.93547 0.8447745 10.93547 0.8447745 10.93547 0.9747399 9.681904 0.9747399 9.681904 0.8447745 8.428336 0.9747399 8.428336 0.8447745 2.220449 0.9747399 1.480299 0.9747399 2.220449 0.8447745 2.220449 0.8447745 1.480299 0.9747399 1.480299 0.8447745 2.220449 0.8447745 1.480299 0.8447745 2.220449 0.7797918 2.220449 0.7797918 1.480299 0.8447745 1.480299 0.7797918 2.220449 0.7797918 1.480299 0.7797918 2.220449 0.6173352 1.480299 0.9747399 2.220449 0.9747399 1.480299 1.169688 9.681904 0.8447745 8.428336 0.8447745 9.681904 0.7797918 9.681904 0.7797918 8.428336 0.8447745 8.428336 0.7797918 9.681904 0.7797918 8.428336 0.7797918 9.681904 0.6173352 9.681904 0.6173352 8.428336 0.7797918 8.428336 0.6173352 9.681904 0.6173352 8.428336 0.6173352 9.681904 0.5198612 9.681904 0.5198612 8.428336 0.6173352 8.428336 0.5198612 9.681904 0.5198612 8.428336 0.5198612 9.681904 0.4223873 9.681904 0.4223873 8.428336 0.5198612 8.428336 0.4223873 9.681904 0.4223873 8.428336 0.4223873 9.681904 0.3249133 9.681904 0.3249133 8.428336 0.4223873 8.428336 0.3249133 9.681904 0.3249133 8.428336 0.3249133 9.681904 0.2274393 9.681904 0.2274393 8.428336 0.3249133 8.428336 0.2274393 9.681904 0.2274393 8.428336 0.2274393 9.681904 0.03249132 9.681904 0.03249132 8.428336 0.2274393 8.428336 0.03249132 13.44261 0.7797918 12.18904 0.8447745 12.18904 0.7797918 12.18904 0.7797918 12.18904 0.8447745 10.93547 0.8447745 18.45689 0.9747399 18.45689 0.8447745 19.71045 0.8447745 19.71045 0.8447745 18.45689 0.8447745 19.71045 0.7797918 19.71045 0.8447745 19.71045 0.7797918 20.96402 0.7797918 20.96402 0.7797918 19.71045 0.7797918 20.96402 0.6173352 19.71045 0.7797918 18.45689 0.8447745 18.45689 0.7797918 29.67951 0.7797918 28.93927 0.8447745 28.93927 0.7797918 28.93927 0.7797918 28.93927 0.8447745 28.19903 0.8447745 31.16 0.7797918 30.41976 0.8447745 30.41976 0.7797918 30.41976 0.7797918 30.41976 0.8447745 29.67951 0.8447745 30.41976 0.7797918 31.16 0.6173352 31.16 0.7797918 31.16 0.5198612 30.41976 0.6173352 30.41976 0.5198612 30.41976 0.5198612 30.41976 0.6173352 29.67951 0.6173352 28.93927 0.7797918 29.67951 0.6173352 29.67951 0.7797918 29.67951 0.7797918 29.67951 0.6173352 30.41976 0.6173352 20.96402 0.6173352 19.71045 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3 2 4 3 5 4 1212 5 5259 5260 0 1

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+ @@ -2345,6 +1825,401 @@ + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + + + + + + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + + + 10 0 0 0 0 10 -2.84217e-14 0 0 2.84217e-14 10 0 0 0 0 1 + + 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 From 5dfb1cfcf2c99485205aab2e31c7c9ea6cb9af9c Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 13 Sep 2021 12:05:18 +1000 Subject: [PATCH 087/116] added plot labels --- roboticstoolbox/tools/trajectory.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/roboticstoolbox/tools/trajectory.py b/roboticstoolbox/tools/trajectory.py index 6e1a7fe27..0689d8555 100644 --- a/roboticstoolbox/tools/trajectory.py +++ b/roboticstoolbox/tools/trajectory.py @@ -172,14 +172,14 @@ def plot(self, block=False, plotargs=None, textargs=None): # accel phase tf = self.t[-1] k = self.t <= self.tblend - ax.plot(self.t[k], self.s[k], color="red", **plotopts) + ax.plot(self.t[k], self.s[k], color="red", label="acceleration", **plotopts) # coast phase k = (self.t > self.tblend) & (self.t <= (tf - self.tblend)) ax.plot(self.t[k], self.s[k], color="green", **plotopts) k = np.where(k)[0][0] ax.plot( - self.t[k - 1 : k + 1], self.s[k - 1 : k + 1], color="green", **plotopts + self.t[k - 1 : k + 1], self.s[k - 1 : k + 1], color="green", label="linear", **plotopts ) # decel phase @@ -187,7 +187,7 @@ def plot(self, block=False, plotargs=None, textargs=None): ax.plot(self.t[k], self.s[k], color="blue", **plotopts) k = np.where(k)[0][0] ax.plot( - self.t[k - 1 : k + 1], self.s[k - 1 : k + 1], color="blue", **plotopts + self.t[k - 1 : k + 1], self.s[k - 1 : k + 1], color="blue", label="deceleration", **plotopts ) ax.grid(True) From 370139a9ed40dc3a4479c446b080b3da3f24450d Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 13 Sep 2021 12:08:21 +1000 Subject: [PATCH 088/116] temp fix for #222 --- roboticstoolbox/robot/Robot.py | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/roboticstoolbox/robot/Robot.py b/roboticstoolbox/robot/Robot.py index 20e9c0da6..c0f87b7cb 100644 --- a/roboticstoolbox/robot/Robot.py +++ b/roboticstoolbox/robot/Robot.py @@ -409,9 +409,13 @@ def configurations_str(self): def angle(theta, fmt=None): if fmt is not None: - return fmt.format(theta * deg) + "\u00b0" - else: # pragma nocover - return str(theta * deg) + "\u00b0" + try: + return fmt.format(theta * deg) + "\u00b0" + except TypeError: + pass + + # pragma nocover + return str(theta * deg) + "\u00b0" # show named configurations if len(self._configdict) > 0: From 73cdc5f676e337d10dca0c7d818d26774ae8c4e8 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 13 Sep 2021 12:08:57 +1000 Subject: [PATCH 089/116] renaming of RTB data access functions --- roboticstoolbox/mobile/Animations.py | 2 +- roboticstoolbox/mobile/PoseGraph.py | 2 +- roboticstoolbox/tools/__init__.py | 7 +++--- roboticstoolbox/tools/data.py | 33 +++++++++++++++++++++++----- 4 files changed, 34 insertions(+), 10 deletions(-) diff --git a/roboticstoolbox/mobile/Animations.py b/roboticstoolbox/mobile/Animations.py index 6aae9c11c..8affbb2d7 100644 --- a/roboticstoolbox/mobile/Animations.py +++ b/roboticstoolbox/mobile/Animations.py @@ -14,7 +14,7 @@ import matplotlib.transforms as mtransforms from spatialmath import SE2, base -from roboticstoolbox import rtb_loaddata +from roboticstoolbox import rtb_load_data class VehicleAnimation(ABC): diff --git a/roboticstoolbox/mobile/PoseGraph.py b/roboticstoolbox/mobile/PoseGraph.py index 698b1f7c6..ffbae7183 100644 --- a/roboticstoolbox/mobile/PoseGraph.py +++ b/roboticstoolbox/mobile/PoseGraph.py @@ -98,7 +98,7 @@ def __init__(self, filename, laser=False, verbose=False): self.graph = pgraph.UGraph(verbose=verbose) - path = Path(rtb.path_to_datafile(filename)) + path = Path(rtb.rtb_path_to_datafile(filename)) if path.suffix == '.zip': zf = zipfile.ZipFile(path, 'r') diff --git a/roboticstoolbox/tools/__init__.py b/roboticstoolbox/tools/__init__.py index 7794230fb..04385146e 100644 --- a/roboticstoolbox/tools/__init__.py +++ b/roboticstoolbox/tools/__init__.py @@ -7,7 +7,7 @@ from roboticstoolbox.tools.numerical import jacobian_numerical, \ hessian_numerical from roboticstoolbox.tools.jsingu import jsingu -from roboticstoolbox.tools.data import rtb_loaddata, rtb_loadmat, rtb_path_to_datafile +from roboticstoolbox.tools.data import rtb_load_data, rtb_load_matfile, rtb_load_jsonfile, rtb_path_to_datafile __all__ = [ @@ -26,7 +26,8 @@ 'jsingu', 'jacobian_numerical', 'hessian_numerical', - 'rtb_loaddata', - 'rtb_loadmat', + 'rtb_load_data', + 'rtb_load_matfile', + 'rtb_load_jsonfile', 'rtb_path_to_datafile', ] diff --git a/roboticstoolbox/tools/data.py b/roboticstoolbox/tools/data.py index bd6da4e2f..800a453c6 100644 --- a/roboticstoolbox/tools/data.py +++ b/roboticstoolbox/tools/data.py @@ -3,8 +3,7 @@ import importlib - -def rtb_loadmat(filename): +def rtb_load_matfile(filename): """ Load toolbox mat format data file @@ -27,9 +26,33 @@ def rtb_loadmat(filename): """ from scipy.io import loadmat - return rtb_loaddata(filename, loadmat, squeeze_me=True, struct_as_record=False) + return rtb_load_data(filename, loadmat, squeeze_me=True, struct_as_record=False) + +def rtb_load_jsonfile(filename): + """ + Load toolbox JSON format data file + + :param filename: relative pathname of datafile + :type filename: str + :raises ValueError: File does not exist + :return: contents of JSON data file + :rtype: dict + + Reads a JSON format file which can contain multiple variables and return + a dict where the keys are the variable + names and the values are NumPy arrays. + + .. note:: + - If the filename has no path component, eg. ``map1.mat`, it will be + first be looked for in the folder ``roboticstoolbox/data``. + + :seealso: :func:`path_to_datafile` + """ + import json + + return rtb_load_data(filename, lambda f: json.load(open(f, 'r'))) -def rtb_loaddata(filename, handler, **kwargs): +def rtb_load_data(filename, handler, **kwargs): """ Load toolbox data file @@ -47,7 +70,7 @@ def rtb_loaddata(filename, handler, **kwargs): For example:: - data = rtb_loaddata('data/queensland.json', lambda f: json.load(open(f, 'r'))) + data = rtb_load_data('data/queensland.json', lambda f: json.load(open(f, 'r'))) .. note:: If the filename has no path component, eg. ``foo.dat``, it will From b512246fb2bd82b6c453c2f79549b61503ff9102 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 13 Sep 2021 12:10:36 +1000 Subject: [PATCH 090/116] added quadrotor mixer block --- roboticstoolbox/blocks/uav.py | 143 ++++++++++++++++++++++++++++------ 1 file changed, 119 insertions(+), 24 deletions(-) diff --git a/roboticstoolbox/blocks/uav.py b/roboticstoolbox/blocks/uav.py index 75f5c8b23..9942c0e52 100644 --- a/roboticstoolbox/blocks/uav.py +++ b/roboticstoolbox/blocks/uav.py @@ -4,7 +4,7 @@ import matplotlib.pyplot as plt import time -from bdsim.components import TransferBlock +from bdsim.components import TransferBlock, FunctionBlock from bdsim.graphics import GraphicsBlock # ------------------------------------------------------------------------ # @@ -135,11 +135,13 @@ def __init__(self, model, *inputs, groundcheck=True, speedcheck=True, x0=None, * self.speedcheck = speedcheck self.D = np.zeros((3,self.nrotors)) + self.theta = np.zeros((self.nrotors,)) for i in range(0, self.nrotors): theta = i / self.nrotors * 2 * pi # Di Rotor hub displacements (1x3) # first rotor is on the x-axis, clockwise order looking down from above self.D[:,i] = np.r_[ model['d'] * cos(theta), model['d'] * sin(theta), model['h']] + self.theta[i] = theta self.a1s = np.zeros((self.nrotors,)) self.b1s = np.zeros((self.nrotors,)) @@ -181,6 +183,7 @@ def output(self, t=None): out['w'] = iW @ self._x[9:12] # RPY rates mapped to body frame out['a1s'] = self.a1s out['b1s'] = self.b1s + out['X'] = self._x return [out] @@ -295,12 +298,91 @@ def deriv(self): do = np.linalg.inv(model['J']) @ (np.cross(-o, model['J'] @ o) + np.sum(tau, axis=1) + np.sum(Q, axis=1)) # row sum of torques - # stash the flapping information for plotting - self.a1s = a1s - self.b1s = b1s + # # stash the flapping information for plotting + # self.a1s = a1s + # self.b1s = b1s return np.r_[dz, dn, dv, do] # This is the state derivative vector +# ------------------------------------------------------------------------ # + +class MultiRotorMixer(FunctionBlock): + """ + :blockname:`MULTIROTORMIXER` + + .. table:: + :align: left + + +--------+---------+---------+ + | inputs | outputs | states | + +--------+---------+---------+ + | 4 | 1 | 0 | + +--------+---------+---------+ + | float | | | + +--------+---------+---------+ + """ + + nin = 4 + nout = 1 + inlabels = ('𝛕r', '𝛕p', '𝛕y', 'T') + outlabels = ('ω',) + + def __init__(self, maxw=1000, minw=5, **kwargs): + """ + Create a block that displays/animates a multi-rotor flying vehicle. + + :param maxw: maximum rotor speed in rad/s, defaults to 1000 + :type maxw: float + :param minw: minimum rotor speed in rad/s, defaults to 5 + :type minw: float + :param ``**kwargs``: common Block options + :return: a MULTIROTORMIXER block + :rtype: MultiRotorMixer instance + + + **Block ports** + + :input 𝛕r: roll torque + :input 𝛕p: pitch torque + :input 𝛕y: yaw torque + :input T: total thrust + + :output ω: 1D array of rotor speeds + + Derived from Simulink model by Pauline Pounds 2004 + """ + super().__init__(inputs=inputs, **kwargs) + self.type = 'multirotormixer' + self.minw = minw + self.maxw = maxw + + def output(self, t): + w = np.zeros((self.nrotors,)) + tau = self.inputs + for i in self.nrotors: + # roll and pitch coupling + w[i] += -tau[0] * sin(self.theta[i]) + tau[1] * cos(self.theta[i]) + + # yaw coupling + sign = 1 if i % 1 == 0 else -1 + w[i] += sign * tau[2] + + # overall thrust + w[i] += tau[3] / self.nrotors + + # clip the rotor speeds to the range [minw, maxw] + w = np.clip(w, self.minw, self.maxw) + + # convert to thrust + w = np.sqrt(w) / self.model['b'] + + # negate alterate rotors to indicate counter-rotation + for i in self.nrotors: + if i % 1 == 0: + w[i] = -w[i] + + return [w] + # ------------------------------------------------------------------------ # @@ -360,15 +442,18 @@ def __init__(self, model, *inputs, scale=[-2, 2, -2, 2, 10], flapscale=1, projec :param projection: 3D projection, one of: 'ortho' [default], 'perspective' :type projection: str :param ``**kwargs``: common Block options - :return: a MULTIROTOPLOT block - :rtype: MultiRobotPlot instance + :return: a MULTIROTORPLOT block + :rtype: MultiRotorPlot instance **Block ports** - :input ω: a dictionary signal that includes the item: + :input y: a dictionary signal that includes the item: - ``x`` pose in the world frame as :math:`[x, y, z, \theta_Y, \theta_P, \theta_R]` + - ``X`` pose in the world frame as :math:`[x, y, z, \theta_Y, \theta_P, \theta_R]` + - ``a1s`` + - ``b1s`` .. figure:: ../../figs/multirotorplot.png :width: 500px @@ -386,7 +471,7 @@ def __init__(self, model, *inputs, scale=[-2, 2, -2, 2, 10], flapscale=1, projec self.projection = projection self.flapscale = flapscale - def start(self): + def start(self, state): quad = self.model # vehicle dimensons @@ -411,6 +496,11 @@ def start(self): self.ax.set_xlabel('X') self.ax.set_ylabel('Y') self.ax.set_zlabel('-Z (height above ground)') + + self.panel = self.ax.text2D(0.05, 0.95, '', transform=self.ax.transAxes, + fontsize=10, family='monospace', verticalalignment='top', + bbox=dict(boxstyle='round', facecolor='white', edgecolor='black')) + # TODO allow user to set maximum height of plot volume self.ax.set_xlim(self.scale[0], self.scale[1]) @@ -418,8 +508,8 @@ def start(self): self.ax.set_zlim(0, self.scale[4]) # plot the ground boundaries and the big cross - self.ax.plot([self.scale[0], self.scale[2]], [self.scale[1], self.scale[3]], [0, 0], 'b-') - self.ax.plot([self.scale[0], self.scale[3]], [self.scale[1], self.scale[2]], [0, 0], 'b-') + self.ax.plot([self.scale[0], self.scale[1]], [self.scale[2], self.scale[3]], [0, 0], 'b-') + self.ax.plot([self.scale[0], self.scale[1]], [self.scale[3], self.scale[2]], [0, 0], 'b-') self.ax.grid(True) self.shadow, = self.ax.plot([0, 0], [0, 0], 'k--') @@ -440,32 +530,32 @@ def start(self): self.a1s = np.zeros((self.nrotors,)) self.b1s = np.zeros((self.nrotors,)) - def step(self): + + def step(self, state): def plot3(h, x, y, z): - h.set_data(x, y) - h.set_3d_properties(z) + h.set_data_3d(x, y, z) + # h.set_data(x, y) + # h.set_3d_properties(np.r_[z]) # READ STATE - z = self.inputs[0][0:3] - n = self.inputs[0][3:6] + z = self.inputs[0]['x'][0:3] + n = self.inputs[0]['x'][3:6] # TODO, check input dimensions, 12 or 12+2N, deal with flapping - a1s = self.a1s - b1s = self.b1s + a1s = self.inputs[0]['a1s'] + b1s = self.inputs[0]['b1s'] quad = self.model # vehicle dimensons - d = quad['d']; # Hub displacement from COG - r = quad['r']; # Rotor radius + d = quad['d'] # Hub displacement from COG + r = quad['r'] # Rotor radius # PREPROCESS ROTATION MATRIX - phi = n[0]; # Euler angles - the = n[1]; - psi = n[2]; - + phi, the, psi = n # Euler angles + # BBF > Inertial rotation matrix R = np.array([ [cos(the) * cos(phi), sin(psi) * sin(the) * cos(phi) - cos(psi) * sin(phi), cos(psi) * sin(the) * cos(phi) + sin(psi) * sin(phi)], @@ -512,7 +602,7 @@ def plot3(h, x, y, z): hub0 = F @ z # centre of vehicle for i in range(0, self.nrotors): # line from hub to centre plot3([hub(1,N) hub(1,S)],[hub(2,N) hub(2,S)],[hub(3,N) hub(3,S)],'-b') - plot3(self.arm[i], [hub[0,i], hub0[0]],[hub[1,i], hub0[1]],[hub[2,i], hub0[2]]) + plot3(self.arm[i], [hub[0,i], hub0[0]], [hub[1,i], hub0[1]], [hub[2,i], hub0[2]]) # plot a circle at the hub itself #plot3([hub(1,i)],[hub(2,i)],[hub(3,i)],'o') @@ -521,4 +611,9 @@ def plot3(h, x, y, z): plot3(self.shadow, [z[0], 0], [-z[1], 0], [0, 0]) plot3(self.groundmark, z[0], -z[1], 0) + textstr = f"t={state.t: .2f}\nh={z[2]: .2f}\nγ={n[0]: .2f}" + self.panel.set_text(textstr) + + super().step(state=state) + From c42d01ce160068783256da3833308320c5cc4dda Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 13 Sep 2021 12:11:33 +1000 Subject: [PATCH 091/116] vehicle animation classes added plot method, added some doco --- roboticstoolbox/mobile/Animations.py | 180 ++++++++++++++++++++++----- 1 file changed, 151 insertions(+), 29 deletions(-) diff --git a/roboticstoolbox/mobile/Animations.py b/roboticstoolbox/mobile/Animations.py index 8affbb2d7..87db86385 100644 --- a/roboticstoolbox/mobile/Animations.py +++ b/roboticstoolbox/mobile/Animations.py @@ -8,16 +8,84 @@ from math import pi, sin, cos, tan, atan2 import numpy as np from scipy import integrate, linalg, interpolate - +from pathlib import Path import matplotlib.pyplot as plt -from matplotlib import patches +from matplotlib import patches, colors import matplotlib.transforms as mtransforms from spatialmath import SE2, base from roboticstoolbox import rtb_load_data +""" +Class to support animation of a vehicle on Matplotlib plot + +There are three concrete subclasses: + +- ``VehicleMarker`` animates a Matplotlib marker +- ``VehiclePolygon`` animates a polygon, including predefined shapes +- ``VehicleIcon`` animates an image + + + +These can be used in two different ways, firstly:: + + a.add() + a.update(q) + +adds an instance of the animation shape to the plot and subsequent calls +to ``update`` will animate it. + +Secondly:: + + a.plot(q) + +adds an instance of the animation shape to the plot with the specified +configuration. It cannot be moved, but the method does return a reference +to the Matplotlib object added to the plot. + +Any of these can be passed to a Vehicle subclass object to make an animation +during simulation:: -class VehicleAnimation(ABC): + a = VehiclePolygon('car', color='r') + veh = Bicycle() + veh.run(animation=a) + + """ + +class VehicleAnimationBase(ABC): + """ + Class to support animation of a vehicle on Matplotlib plot + + There are three concrete subclasses: + + - ``VehicleMarker`` animates a Matplotlib marker + - ``VehiclePolygon`` animates a polygon, including predefined shapes + - ``VehicleIcon`` animates an image + + These can be used in two different ways, firstly:: + + a.add() + a.update(q) + + adds an instance of the animation shape to the plot and subsequent calls + to ``update`` will animate it. + + Secondly:: + + a.plot(q) + + adds an instance of the animation shape to the plot with the specified + configuration. It cannot be moved, but the method does return a reference + to the Matplotlib object added to the plot. + + Any of these can be passed to a Vehicle subclass object to make an animation + during simulation:: + + a = VehiclePolygon('car', color='r') + veh = Bicycle() + veh.run(animation=a) + + """ def __init__(self): self._object = None @@ -40,16 +108,34 @@ def add(self, ax=None, **kwargs): self._add(**kwargs) - def update(self, x): + def update(self, q): """ Update the vehicle animation - :param x: vehicle state - :type x: ndarray(2) or ndarray(3) + :param q: vehicle configuration + :type q: ndarray(2) or ndarray(3) The graphical depiction of the vehicle position or pose is updated. + + For ``AnimationMarker`` only position can be depicted so the third element + of ``q``, if given, is ignored. """ - self._update(x) + self._update(q) + + def plot(self, q, **kwargs): + """ + Add vehicle to the current plot + + :param q: vehicle configuration + :type q: ndarray(2) or ndarray(3) + :return: reference to Matplotlib object + + A reference to the animation object is kept, and it will be deleted + from the plot when the ``VehicleAnimation`` object is garbage collected. + """ + self.add(**kwargs) + self.update(q) + return self._object def __del__(self): @@ -58,18 +144,20 @@ def __del__(self): # ========================================================================= # -class VehicleMarker(VehicleAnimation): +class VehicleMarker(VehicleAnimationBase): def __init__(self, **kwargs): """ - Create graphical animation of vehicle as a marker + Create graphical animation of vehicle as a Matplotlib marker :param kwargs: additional arguments passed to matplotlib ``plot``. :return: animation object :rtype: VehicleAnimation Creates an object that can be passed to a ``Vehicle`` subclass to depict - the moving robot as a simple matplotlib marker during simulation:: + the moving robot as a simple matplotlib marker during simulation. + + For example, a blue filled square, is:: a = VehicleMarker(marker='s', markerfacecolor='b') veh = Bicycle(driver=RandomPath(10), animation=a) @@ -101,14 +189,14 @@ def _add(self, x=None, **kwargs): # ========================================================================= # -class VehiclePolygon(VehicleAnimation): +class VehiclePolygon(VehicleAnimationBase): def __init__(self, shape='car', scale=1, **kwargs): """ Create graphical animation of vehicle as a polygon - :param shape: polygon shape, defaults to 'car' - :type shape: str + :param shape: polygon shape as vertices or a predefined shape, defaults to 'car' + :type shape: ndarray(2,n) or str :param scale: Length of the vehicle on the plot, defaults to 1 :type scale: float :param kwargs: additional arguments passed to matplotlib patch such as @@ -120,7 +208,9 @@ def __init__(self, shape='car', scale=1, **kwargs): :rtype: VehicleAnimation Creates an object that can be passed to a ``Vehicle`` subclass to - depict the moving robot as a polygon during simulation:: + depict the moving robot as a polygon during simulation. + + For example, a red filled car-shaped polygon is:: a = VehiclePolygon('car', color='r') veh = Bicycle() @@ -128,10 +218,13 @@ def __init__(self, shape='car', scale=1, **kwargs): ``shape`` can be: - * ``"car"`` a rectangle with a pointy front + * ``"car"`` a rectangle with chamfered front corners * ``"triangle"`` a triangle * an Nx2 NumPy array of vertices, does not have to be closed. + The polygon is scaled to an image with a length of ``scale`` in the units of + the plot. + :seealso: :func:`~Vehicle` """ super().__init__() @@ -142,6 +235,7 @@ def __init__(self, shape='car', scale=1, **kwargs): c = 0.5 # centre x coordinate w = 1 # width in x direction + if isinstance(shape, str): if shape == 'car': self._coords = np.array([ [-c, h], @@ -149,38 +243,40 @@ def __init__(self, shape='car', scale=1, **kwargs): [w - c, 0], [t - c, -h], [-c, -h], - ]).T * scale + ]).T elif shape == 'triangle': self._coords = np.array([ [-c, h], [ w, 0], [-c, -h], - ]).T * scale + ]).T else: raise ValueError('unknown vehicle shape name') - + elif isinstance(shape, np.ndarray) and shape.shape[1] == 2: self._coords = shape else: raise TypeError('unknown shape argument') - + self._coords *= scale self._args = kwargs def _add(self, **kwargs): # color is fillcolor + edgecolor # facecolor if None is default self._ax = plt.gca() - self._object = patches.Polygon(self._coords.T, **self._args) + self._object = patches.Polygon(self._coords.T, **{**self._args, **kwargs}) self._ax.add_patch(self._object) def _update(self, x): - xy = SE2(x) * self._coords - self._object.set_xy(xy.T) + if self._object is not None: + # if animation is initialized + xy = SE2(x) * self._coords + self._object.set_xy(xy.T) # ========================================================================= # -class VehicleIcon(VehicleAnimation): +class VehicleIcon(VehicleAnimationBase): def __init__(self, filename, origin=None, scale=1, rotation=0): """ @@ -199,7 +295,9 @@ def __init__(self, filename, origin=None, scale=1, rotation=0): :rtype: VehicleAnimation Creates an object that can be passed to a ``Vehicle`` subclass to - depict the moving robot as a polygon during simulation:: + depict the moving robot as a polygon during simulation. + + For example, the image of a red car is:: a = VehicleIcon('redcar', scale=2) veh = Bicycle() @@ -209,13 +307,18 @@ def __init__(self, filename, origin=None, scale=1, rotation=0): * ``"greycar"`` a grey and white car (top view) * ``"redcar"`` a red car (top view) + * ``"piano"`` a piano (top view) * path to an image file, including extension - .. image:: ../../roboticstoolbox/data/greycar.png + .. image:: ../../rtb-data/rtbdata/data/greycar.png :width: 200px :align: center - .. image:: ../../roboticstoolbox/data/redcar.png + .. image:: ../../rtb-data/rtbdata/data/redcar.png + :width: 300px + :align: center + + .. image:: ../../rtb-data/rtbdata/data/piano.png :width: 300px :align: center @@ -241,7 +344,7 @@ def __init__(self, filename, origin=None, scale=1, rotation=0): if '.' not in filename: try: # try the default folder first - image = rtb_loaddata(filename + ".png", plt.imread) + image = rtb_load_data(Path("data") / Path(filename + ".png"), plt.imread) except FileNotFoundError: raise ValueError(f"{filename} is not a provided icon") else: @@ -271,7 +374,7 @@ def __init__(self, filename, origin=None, scale=1, rotation=0): def _add(self, ax=None, **kwargs): def imshow_affine(ax, z, *args, **kwargs): - im = ax.imshow(z, *args, **kwargs, zorder=3) + im = ax.imshow(z, *args, **kwargs) x1, x2, y1, y2 = im.get_extent() # im._image_skew_coordinate = (x2, y1) return im @@ -283,10 +386,27 @@ def imshow_affine(ax, z, *args, **kwargs): (1 - self._origin[1]) * self._width ] self._ax = plt.gca() + + args = {} + if 'color' in kwargs and self._image.ndim == 2: + color = kwargs['color'] + del kwargs['color'] + rgb = colors.to_rgb(color) + cmapdata = {'red': [(0.0, 0.0, 0.0), (1.0, rgb[0], 0.0)], + 'green': [(0.0, 0.0, 0.0), (1.0, rgb[1], 0.0)], + 'blue': [(0.0, 0.0, 0.0), (1.0, rgb[2], 0.0)] + } + cmap = colors.LinearSegmentedColormap('linear', segmentdata=cmapdata, N=256) + args = {'cmap': cmap} + elif self._image.ndim == 2: + args = {'cmap': 'gray'} + if 'zorder' not in kwargs: + args['zorder'] = 3 + self._object = imshow_affine(self._ax, self._image, interpolation='none', extent=extent, clip_on=True, - alpha=1) + **{**kwargs, **args}) def _update(self, x): @@ -304,6 +424,8 @@ def _update(self, x): if __name__ == "__main__": from math import pi + from roboticstoolbox import Bicycle, RandomPath + V = np.diag(np.r_[0.02, 0.5 * pi / 180] ** 2) v = VehiclePolygon() From 945192fdcf3f30074906cfa2373f4e340b70e7ba Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 13 Sep 2021 12:12:18 +1000 Subject: [PATCH 092/116] handles dynamic replanning --- roboticstoolbox/mobile/DstarPlanner.py | 150 +++++++++++-------------- 1 file changed, 65 insertions(+), 85 deletions(-) diff --git a/roboticstoolbox/mobile/DstarPlanner.py b/roboticstoolbox/mobile/DstarPlanner.py index f55225951..3e5cf5c9a 100644 --- a/roboticstoolbox/mobile/DstarPlanner.py +++ b/roboticstoolbox/mobile/DstarPlanner.py @@ -70,27 +70,12 @@ def get_neighbors(self, state): for i, j in self._neighbours: try: - if state.x + i > 0 and state.y + j > 0: + if state.x + i >= 0 and state.y + j >= 0: state_list.append(self.map[state.y + j][state.x + i]) except IndexError: pass return state_list - - # def set_cost(self, region, cost, modify=None): - - # xmin = max(0, region[0]) - # xmax = min(self.col, region[1]) - # ymin = max(0, region[2]) - # ymax = min(self.row, region[3]) - - # self.costmap[ymin:ymax, xmin:xmax] = cost - - # if modify is not None: - # for x in range(xmin, xmax): - # for y in range(ymin, ymax): - # modify.modify_cost(self.map[y][x]) - _root2 = np.sqrt(2) def cost(self, state1, state2): @@ -127,11 +112,12 @@ def show_h(self): # - replace equality tests with math.isclose() which is faster than np.isclose() # - add an offset to inequality tests, X > Y becomes X > Y + tol class Dstar: - def __init__(self, map): + def __init__(self, map, tol=1e-6): self.map = map # self.open_list = set() self.open_list = [] self.nexpand = 0 + self.tol = tol def process_state(self, verbose=False): if verbose: @@ -150,25 +136,27 @@ def process_state(self, verbose=False): if verbose: print(f"EXPAND {x}, {k_old:.1f}") - if x.h > k_old + 1e-6: + if x.h > k_old + self.tol: # RAISE state if verbose: print(' raise') for y in self.map.get_neighbors(x): - if y.t is not Tag.NEW and y.h <= k_old and x.h > y.h + self.map.cost(x, y) + 1e-6: + if (y.t is not Tag.NEW and + y.h <= k_old - self.tol and + x.h > y.h + self.map.cost(x, y) + self.tol): if verbose: print(f" {x} cost from {x.h:.1f} to {y.h + self.map.cost(x, y):.1f}; parent from {x.parent} to {y}") x.parent = y x.h = y.h + self.map.cost(x, y) - if math.isclose(x.h, k_old, rel_tol=0, abs_tol=1e-6): + if math.isclose(x.h, k_old, rel_tol=0, abs_tol=self.tol): # normal state if verbose: print(' normal') for y in self.map.get_neighbors(x): if y.t is Tag.NEW \ - or (y.parent == x and not math.isclose(y.h, x.h + self.map.cost(x, y), rel_tol=0, abs_tol=1e-6)) \ - or (y.parent != x and y.h > x.h + self.map.cost(x, y) + 1e-6): + or (y.parent == x and not math.isclose(y.h, x.h + self.map.cost(x, y), rel_tol=0, abs_tol=self.tol)) \ + or (y.parent != x and y.h > x.h + self.map.cost(x, y) + self.tol): if verbose: print(f" reparent {y} from {y.parent} to {x}") y.parent = x @@ -178,19 +166,19 @@ def process_state(self, verbose=False): if verbose: print(' raise/lower') for y in self.map.get_neighbors(x): - if y.t is Tag.NEW or (y.parent == x and not math.isclose(y.h, x.h + self.map.cost(x, y), rel_tol=0, abs_tol=1e-6)): + if y.t is Tag.NEW or (y.parent == x and not math.isclose(y.h, x.h + self.map.cost(x, y), rel_tol=0, abs_tol=self.tol)): if verbose: print(f" {y} cost from {y.h:.1f} to {y.h + self.map.cost(x, y):.1f}; parent from {y.parent} to {x}; add to frontier") y.parent = x self.insert(y, x.h + self.map.cost(x, y)) else: - if y.parent != x and y.h > x.h + self.map.cost(x, y) + 1e-6 and x.t is Tag.CLOSED: + if y.parent != x and y.h > x.h + self.map.cost(x, y) + self.tol and x.t is Tag.CLOSED: self.insert(x, x.h) if verbose: print(f" {x}, {x.h:.1f} add to frontier") else: - if y.parent != x and x.h > y.h + self.map.cost(y, x) + 1e-6 \ - and y.t is Tag.CLOSED and y.h > k_old + 1e-6: + if y.parent != x and x.h > y.h + self.map.cost(y, x) + self.tol \ + and y.t is Tag.CLOSED and y.h > k_old + self.tol: self.insert(y, y.h) if verbose: print(f" {y}, {y.h:.1f} add to frontier") @@ -212,28 +200,32 @@ def insert(self, state, h_new): state.k = h_new elif state.t is Tag.OPEN: - # k_new = min(state.k, h_new) - # if state.k == k_new: - # # k hasn't changed, leave vertex in frontier - # return - # else: - # state.k = k_new - # # remove the item from the open list - # # print('node already in open list, remove it first') - # #TODO use bisect on old state.k to find the entry - # for i, item in enumerate(self.open_list): - # if item[1] is state: - # del self.open_list[i] - # break - - state.k = min(state.k, h_new) - # remove the item from the open list - # print('node already in open list, remove it first') - #TODO use bisect on old state.k to find the entry - for i, item in enumerate(self.open_list): - if item[1] is state: - del self.open_list[i] - break + k_new = min(state.k, h_new) + if state.k == k_new: + # k hasn't changed, and vertex already in frontier + # just update h and be done + state.h = h_new + return + else: + # k has changed, we need to remove the vertex from the list + # and re-insert it + state.k = k_new + + # scan the list to find vertex, then remove it + # this is quite slow + for i, item in enumerate(self.open_list): + if item[1] is state: + del self.open_list[i] + break + + # state.k = min(state.k, h_new) + # # remove the item from the open list + # # print('node already in open list, remove it first') + # #TODO use bisect on old state.k to find the entry + # for i, item in enumerate(self.open_list): + # if item[1] is state: + # del self.open_list[i] + # break elif state.t is Tag.CLOSED: state.k = min(state.h, h_new) @@ -244,50 +236,33 @@ def insert(self, state, h_new): # self.open_list.add(state) heapq.heappush(self.open_list, (state.k, state)) - # def remove(self, state): - # if state.t is Tag.OPEN: - # state.t = Tag.CLOSED - # else: - # state.t = Tag.CLOSED - # print('removing non open state') - # self.open_list.remove(state) - def modify_cost(self, x, newcost): self.map.costmap[x.y, x.x] = newcost if x.t is Tag.CLOSED: self.insert(x, x.parent.h + self.map.cost(x, x.parent)) - # return self.get_kmin() if len(self.open_list) == 0: return -1 else: # lowest priority item is always at index 0 according to docs return self.open_list[0][0] - # def modify(self, state): - # self.modify_cost(state) - # while True: - # k_min = self.process_state() - # if k_min == -1 or k_min >= state.h: - # break - - # def showparents(self): - # return - # for y in range(self.map.row): - # if y == 0: - # print(" ", end='') - # for x in range(self.map.col): - # print(f" {x} ", end='') - # print() - # print(f"{y}: ", end='') - # for x in range(self.map.col): - # x = self.map.map[y][x] - # par = x.parent - # if par is None: - # print(' G ', end='') - # else: - # print(f"({par.x},{par.y}) ", end='') - # print() - # print() + def showparents(self): + for y in range(self.map.row-1, -1, -1): + if y == self.map.row-1: + print(" ", end='') + for x in range(self.map.col): + print(f" {x} ", end='') + print() + print(f"{y}: ", end='') + for x in range(self.map.col): + x = self.map.map[y][x] + par = x.parent + if par is None: + print(' G ', end='') + else: + print(f"({par.x},{par.y}) ", end='') + print() + print() class DstarPlanner(PlannerBase): r""" D* path planner @@ -322,7 +297,7 @@ def __init__(self, occ_grid=None, self.costmap = np.where(self.occgrid.grid > 0, np.inf, 1) self.map = Map(self.costmap.shape[0], self.costmap.shape[1]) self.map.costmap = self.costmap - self.dstar = Dstar(self.map) + self.dstar = Dstar(self.map) #, tol=0) def plan(self, goal, animate=False, progress=True): @@ -356,6 +331,9 @@ def plan(self, goal, animate=False, progress=True): print(self.dstar.ninsert, self.dstar.nin) + @property + def nexpand(self): + return self.dstar.nexpand def query(self, start, sensor=None, animate=False, verbose=False): self.start = start @@ -385,16 +363,18 @@ def query(self, start, sensor=None, animate=False, verbose=False): val = self.dstar.modify_cost(X, newcost) # propagate the changes to plan print('propagate') + # self.dstar.showparents() while val != -1 and val < tmp.h: val = self.dstar.process_state(verbose=verbose) # print('open set', len(self.dstar.open_list)) + # self.dstar.showparents() tmp = tmp.parent # print('move to ', tmp) status = namedtuple('DstarStatus', ['cost',]) - return np.array(path).T, status(cost) + return np.array(path), status(cost) # # Just feed self._h into plot function from parent as p @@ -439,7 +419,7 @@ def sensorfunc(pos): changes = [] for x in range(3, 6): for y in range(0, 4): - changes.append((x, y, 5)) + changes.append((x, y, 100)) return changes path2, status2 = ds.query(start=start, sensor=sensorfunc, verbose=False) From cd350cf04a6d03ff7787caaaacf487ce15a7d986 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 13 Sep 2021 12:13:56 +1000 Subject: [PATCH 093/116] workable set of planners plus occgrid/polygon maps --- .../mobile/CurvaturePolyPlanner.py | 152 ++++----- .../mobile/DistanceTransformPlanner.py | 31 +- roboticstoolbox/mobile/DubinsPlanner.py | 2 +- roboticstoolbox/mobile/LatticePlanner.py | 89 +++-- roboticstoolbox/mobile/OccGrid.py | 128 +++++-- roboticstoolbox/mobile/PRMPlanner.py | 168 +++------- roboticstoolbox/mobile/PlannerBase.py | 79 +++-- roboticstoolbox/mobile/QuinticPolyPlanner.py | 6 +- roboticstoolbox/mobile/RRTPlanner.py | 314 +++++++++--------- roboticstoolbox/mobile/ReedsSheppPlanner.py | 2 +- roboticstoolbox/mobile/__init__.py | 35 +- 11 files changed, 514 insertions(+), 492 deletions(-) diff --git a/roboticstoolbox/mobile/CurvaturePolyPlanner.py b/roboticstoolbox/mobile/CurvaturePolyPlanner.py index d2a024ce7..adcbcd228 100644 --- a/roboticstoolbox/mobile/CurvaturePolyPlanner.py +++ b/roboticstoolbox/mobile/CurvaturePolyPlanner.py @@ -5,134 +5,81 @@ import numpy as np import matplotlib.pyplot as plt from collections import namedtuple -from roboticstoolbox.mobile.PlannerBase import PlannerBase +from roboticstoolbox.mobile import * - -def solvepath(poly, s_f, x0=[0, 0, 0], **kwargs): - # poly is 4 coeffs of curvature polynomial - # x0 is initial state of the vehicle +def solvepath(x, q0=[0, 0, 0], **kwargs): + # x[:4] is 4 coeffs of curvature polynomial + # x[4] is total path length + # q0 is initial state of the vehicle maxcurvature = 0 - def dotfunc(s, x, poly): - # x = (x, y, θ) - # xdot = (cosθ, sinθ, ϰ) + def dotfunc(s, q, poly): + # q = (x, y, θ) + # qdot = (cosθ, sinθ, ϰ) k = poly[0] * s ** 3 + poly[1] * s ** 2 + poly[2] * s + poly[3] + # k = ((poly[0] * s + poly[1]) * s + poly[2]) * s + poly[3] # save maximum curvature for this path solution nonlocal maxcurvature maxcurvature = max(maxcurvature, abs(k)) - theta = x[2] + theta = q[2] return math.cos(theta), math.sin(theta), k - sol = scipy.integrate.solve_ivp(dotfunc, [0, s_f], x0, args=(poly,), **kwargs) + cpoly = x[:4] + s_f = x[4] + sol = scipy.integrate.solve_ivp(dotfunc, [0, s_f], q0, args=(cpoly,), **kwargs) return sol.y, maxcurvature -def costfunc(unknowns, start, goal, curvature): +def xcurvature(x): + # inequality constraint function, must be non-negative + _, maxcurvature = solvepath(x, q0=(0, 0, 0)) + return maxcurvature + +def costfunc(x, start, goal): # final cost of path from start with params - # p[0:4] is polynomial + # p[0:4] is polynomial: k0, a, b, c # p[4] is s_f # integrate the path for this curvature polynomial and length - path, maxcurvature = solvepath(poly=unknowns[:4], s_f=unknowns[4], x0=start) + # path is 3xN + path, _ = solvepath(x, q0=start) # cost is configuration error at end of path e = np.linalg.norm(path[:, -1] - np.r_[goal]) - if curvature is not None and maxcurvature > curvature: - # e *= np.exp(maxcurvature - curvature) - e += 0.1 * (maxcurvature - curvature) - # print(e, path[:, -1], np.r_[goal]) return e class CurvaturePolyPlanner(PlannerBase): - r""" - Curvature polynomial planner - - :return: curvature polynomial path planner - :rtype: CurvaturePolyPlanner instance - - ================== ======================== - Feature Capability - ================== ======================== - Plan Configuration space - Obstacle avoidance No - Curvature Continuous - Motion Forwards only - ================== ======================== - - Creates a planner that finds the path between two configurations in the - plane using forward motion only. The path is a continuous cubic polynomial - in curvature: - - .. math:: - - \kappa(s) = \kappa_0 + as + b s^2 + c s^3, 0 \le s \le s_f - - where :math:`\kappa_0` is the initial path curvature. This is integrated along the path - - .. math:: - - \theta(s) &= \theta_0 + \kappa_0 s + \frac{a}{2}s^2 + \frac{b}{3}s^3 + \frac{c}{4}s^4 \\ - x(s) &= x_0 + \int_0^s \cos \theta(t) dt \\ - y(s) &= y_0 + \int_0^s \sin \theta(t) dt - - where the initial configuration is :math:`(x_0, y_0, \theta_0)` and the final - configuration is :math:`(x_{s_f}, y_{s_f}, \theta_{s_f})`. - - Numerical optimization is used to find the parameters path length - :math:`s_f` and the polynomial coefficients :math:`(\kappa_0, a, b, c)`. - - :reference: Mobile Robotics, Cambridge 2013. Alonzo Kelly - - :seealso: :class:`Planner` - """ - def __init__(self, curvature=None): super().__init__(ndims=3) self.curvature = curvature def query(self, start, goal): - r""" - Find a curvature polynomial path - - :param start: start configuration :math:`(x, y, \theta)` - :type start: array_like(3), optional - :param goal: goal configuration :math:`(x, y, \theta)` - :type goal: array_like(3), optional - :return: path and status - :rtype: ndarray(N,3), namedtuple - - The returned status value has elements: - - ========== =================================================== - Element Description - ========== =================================================== - ``length`` the length of the path, :math:`s_f` - ``poly`` the polynomial coefficients :math:`(\kappa_0, a, b, c)` - - ========== =================================================== - - :seealso: :meth:`Planner.query` - """ goal = np.r_[goal] start = np.r_[start] self._start = start self._goal = goal - delta = goal[:2] - start[:2] - d = np.linalg.norm(delta) - # theta = math.atan2(delta[1], delta[0]) - sol = scipy.optimize.minimize(costfunc, [0, 0, 1, 0, d], - bounds=[(None, None), (None, None), (None, None), (None, None), (d, None)], - args=(start, goal, self.curvature)) + # initial estimate of path length is Euclidean distance + d = np.linalg.norm(goal[:2] - start[:2]) + # state vector is kappa_0, a, b, c, s_f - path, maxcurvature = solvepath(sol.x[:4], s_f=sol.x[4], x0=start, dense_output=True, max_step = 1e-2) + if self.curvature is not None: + nlcontraints = (scipy.optimize.NonlinearConstraint(xcurvature, 0, self.curvature),) + else: + nlcontraints = () - status = namedtuple('CurvaturePolyStatus', - ['length', 'maxcurvature', 'poly', 'success', 'iterations', 'message']) + sol = scipy.optimize.minimize(costfunc, [0, 0, 0, 0, d], + constraints=nlcontraints, + bounds=[(None, None), (None, None), (None, None), (None, None), (d, None)], + args=(start, goal)) + print(sol) + path, maxcurvature = solvepath(sol.x, q0=start, dense_output=True, max_step = 1e-2) - return path, status(sol.x[4], maxcurvature, sol.x[:4], sol.success, sol.nit, sol.message) + status = namedtuple('CurvaturePolyStatus', ['length', 'maxcurvature', 'poly'])(sol.x[4], maxcurvature, sol.x[:4]) + + return path.T, status if __name__ == '__main__': from math import pi @@ -142,13 +89,26 @@ def query(self, start, goal): start = (0, 0, -pi/4) goal = (1, 2, pi/4) - # start = (0, 0, pi/2) - # goal = (1, 0, pi/2) + start = (0, 0, pi/2) + goal = (1, 0, pi/2) - planner = CurvaturePolyPlanner(curvature=1) + planner = CurvaturePolyPlanner() path, status = planner.query(start, goal) - print('start', path[:, 0]) - print('goal', path[:, -1]) + print('start', path[0,:]) + print('goal', path[-1, :]) print(status) planner.plot(path, block=True) + + ## attempt polynomial scaling, doesnt seem to work + # sf = status.s_f + # c = status.poly + # print(c) + + # print(solvepath(np.r_[c, sf], start)) + + # for i in range(4): + # c[i] /= sf ** (3-i) + + # print(solvepath(np.r_[c, 1], start)) + # print(c) \ No newline at end of file diff --git a/roboticstoolbox/mobile/DistanceTransformPlanner.py b/roboticstoolbox/mobile/DistanceTransformPlanner.py index 0345c7e20..d8e0935dc 100644 --- a/roboticstoolbox/mobile/DistanceTransformPlanner.py +++ b/roboticstoolbox/mobile/DistanceTransformPlanner.py @@ -74,7 +74,7 @@ def __str__(self): def goal_change(self, goal): self._distancemap = np.array([]) - def plan(self, goal=None, animate=False): + def plan(self, goal=None, animate=False, verbose=False): # show = None # if animate: # show = 0.05 @@ -88,7 +88,8 @@ def plan(self, goal=None, animate=False): raise ValueError('No goal specified here or in constructor') self._distancemap = distancexform(self.occgrid.grid, - goal=self._goal, metric=self._metric, animate=animate) + goal=self._goal, metric=self._metric, animate=animate, + verbose=verbose) # Use plot from parent class @@ -155,25 +156,9 @@ def plot_3d(self, p=None, ls=None): return ax -# Sourced from: https://stackoverflow.com/questions/28995146/matlab-ind2sub-equivalent-in-python/28995315#28995315 -def sub2ind(array_shape, rows, cols): - ind = rows*array_shape[1] + cols - ind[ind < 0] = -1 - ind[ind >= array_shape[0]*array_shape[1]] = -1 - return ind - - -def ind2sub(array_shape, ind): - ind[ind < 0] = -1 - ind[ind >= array_shape[0]*array_shape[1]] = -1 - rows = (ind.astype('int') / array_shape[1]) - cols = ind % array_shape[1] - return rows, cols - - import numpy as np -def distancexform(occgrid, goal, metric='cityblock', animate=False): +def distancexform(occgrid, goal, metric='cityblock', animate=False, verbose=False): """ Distance transform for path planning @@ -273,7 +258,8 @@ def distancexform(occgrid, goal, metric='cityblock', animate=False): ninf = ninfnow - print(f"{count:d} iterations, {ninf:d} unreachable cells") + if verbose: + print(f"{count:d} iterations, {ninf:d} unreachable cells") return distance def grassfire_step(G, D): @@ -311,7 +297,7 @@ def grassfire_step(G, D): # print(dx) - from roboticstoolbox import DistanceTransformPlanner, loadmat + from roboticstoolbox import DistanceTransformPlanner, rtb_loadmat house = rtb_loadmat('data/house.mat') floorplan = house['floorplan'] @@ -321,4 +307,5 @@ def grassfire_step(G, D): print(dx) dx.goal = [1,2] dx.plan(places.kitchen) - dx.plot() \ No newline at end of file + path = dx.query(places.br3) + dx.plot(path, block=True) \ No newline at end of file diff --git a/roboticstoolbox/mobile/DubinsPlanner.py b/roboticstoolbox/mobile/DubinsPlanner.py index 24ba123b0..af19d19e7 100644 --- a/roboticstoolbox/mobile/DubinsPlanner.py +++ b/roboticstoolbox/mobile/DubinsPlanner.py @@ -394,7 +394,7 @@ def query(self, start, goal, **kwargs): print(path) print(status) - dubins.plot(path, twod=True) + dubins.plot(path, configspace=True) plt.show(block=True) # plt.plot(path_x, path_y, label="final course " + "".join(mode)) diff --git a/roboticstoolbox/mobile/LatticePlanner.py b/roboticstoolbox/mobile/LatticePlanner.py index a6fe9f176..25087b8e2 100644 --- a/roboticstoolbox/mobile/LatticePlanner.py +++ b/roboticstoolbox/mobile/LatticePlanner.py @@ -3,8 +3,8 @@ from spatialmath import SE2 import matplotlib.pyplot as plt import itertools -from roboticstoolbox.mobile.OccGrid import OccupancyGrid from roboticstoolbox.mobile.PlannerBase import PlannerBase +from roboticstoolbox.mobile.OccGrid import BinaryOccupancyGrid from collections import namedtuple def make_arc(dir, radius=1, npoints=20): @@ -51,10 +51,25 @@ def __init__(self, v1, v2, cost, pose, move): self.move = move self.arc = arcs[move] - def plot(self, **kwargs): + def plot(self, configspace=False, unwrap=False, **kwargs): T = self.pose xy = self.pose * self.arc - plt.plot(xy[0, :], xy[1, :], **kwargs) + if configspace: + # 3D plot + theta0 = self.pose.theta() + if self.move == 'L': + thetaf = theta0 + np.pi / 2 + elif self.move == 'R': + thetaf = theta0 - np.pi / 2 + elif self.move == 'S': + thetaf = theta0 + theta = np.linspace(theta0, thetaf, self.arc.shape[1]) + if unwrap: + theta = np.unwrap(theta) + plt.plot(xy[0, :], xy[1, :], theta, **kwargs) + else: + # 2D plot + plt.plot(xy[0, :], xy[1, :], **kwargs) class LatticePlanner(PlannerBase): @@ -250,25 +265,57 @@ def query(self, qs, qg): return np.array([p.coord for p in path]), status(cost, segments, edges) def plot(self, path=None, **kwargs): - super().plot(twod=True, **kwargs) + super().plot(**kwargs) - for k, vertex in enumerate(self.graph): - # for every node - if k == 0: - plt.plot(vertex.coord[0], vertex.coord[1], 'k>', markersize=10) - else: - plt.plot(vertex.coord[0], vertex.coord[1], 'bo') - - for edge in self.graph.edges(): - edge.plot(color='k') - - if path is not None: - for p, n in zip(path[:-1], path[1:]): - # turn coordinaets back into vertices - vp, _ = self.graph.closest(p) - vn, _ = self.graph.closest(n) - e = vp.edgeto(vn) - e.plot(color='b', linewidth=4) + if kwargs.get('configspace', False): + + # 3D plot + for k, vertex in enumerate(self.graph): + # for every node + if k == 0: + plt.plot(vertex.coord[0], vertex.coord[1], vertex.coord[2], 'k>', markersize=10) + else: + plt.plot(vertex.coord[0], vertex.coord[1], vertex.coord[2], 'bo') + + for edge in self.graph.edges(): + edge.plot(color='k', **kwargs) + + if path is not None: + for p, n in zip(path[:-1], path[1:]): + # turn coordinaets back into vertices + vp, _ = self.graph.closest(p) + vn, _ = self.graph.closest(n) + e = vp.edgeto(vn) + + #e.plot(color='b', linewidth=4) + + e.plot(color='k', linewidth=4) + e.plot(color='yellow', linewidth=3, dashes=(4,4)) + else: + # 2D plot + for k, vertex in enumerate(self.graph): + # for every node + if k == 0: + plt.plot(vertex.coord[0], vertex.coord[1], 'k>', markersize=10) + else: + plt.plot(vertex.coord[0], vertex.coord[1], 'bo') + + for edge in self.graph.edges(): + edge.plot(color='k') + + if path is not None: + for p, n in zip(path[:-1], path[1:]): + # turn coordinaets back into vertices + vp, _ = self.graph.closest(p) + vn, _ = self.graph.closest(n) + e = vp.edgeto(vn) + + #e.plot(color='b', linewidth=4) + + e.plot(color='k', linewidth=4) + e.plot(color='yellow', linewidth=3, dashes=(4,4)) + + if __name__ == "__main__": diff --git a/roboticstoolbox/mobile/OccGrid.py b/roboticstoolbox/mobile/OccGrid.py index 971f52b23..8299f0925 100644 --- a/roboticstoolbox/mobile/OccGrid.py +++ b/roboticstoolbox/mobile/OccGrid.py @@ -3,11 +3,23 @@ from spatialmath import base import scipy.ndimage as sp from abc import ABC -class BaseOccupancyGrid(ABC): +from spatialmath import base + +from spatialmath.geom2d import Polygon2 + +class BaseMap(ABC): + def __init__(self, workspace=None, name=None, **unused): + if workspace is not None: + workspace = base.expand_dims(workspace) + self._workspace = workspace + self.dx = workspace[1] - workspace[0] + self.dy = workspace[3] - workspace[2] + self._name = name + +class BaseOccupancyGrid(BaseMap): - def __init__(self, grid=None, origin=(0, 0), - workspace=None, - value=0, cellsize=1, name=None): + def __init__(self, grid=None, origin=(0, 0), + value=0, cellsize=1, **kwargs): """ Create an occupancy grid instance @@ -25,19 +37,18 @@ def __init__(self, grid=None, origin=(0, 0), World coordinates are converted to grid coordinates to lookup the occupancy status. """ + super().__init__(**kwargs) + if grid is not None: self._grid = grid self._origin = base.getvector(origin, 2) - elif workspace is not None: - dx = workspace[1] - workspace[0] - dy = workspace[3] - workspace[2] - self._grid = np.full(np.floor(np.r_[dx, dy] / cellsize).astype(int) + 1, value) - self._origin = np.r_[workspace[0], workspace[2]] + elif self._workspace is not None: + self._grid = np.full(np.floor(np.r_[self.dx, self.dy] / cellsize).astype(int) + 1, value) + self._origin = np.r_[self._workspace[0], self._workspace[2]] self._cellsize = cellsize - self._name = name def copy(self): """ @@ -54,7 +65,7 @@ def __str__(self): s += f"[{self._name}]" s += f": {self._grid.shape[1]} x {self._grid.shape[0]}" s += f", cell size={self._cellsize}" - s += f", x: {self.xmin} - {self.xmax}, y: {self.ymin} - {self.ymax}" + s += f", x = [{self.xmin}, {self.xmax}], y = [{self.ymin}, {self.ymax}]" return s @property @@ -163,6 +174,11 @@ def name(self, name): """ self._name = name + def set(self, region, value): + bl = self.w2g([region[0], region[2]]) + tr = self.w2g([region[1], region[3]]) + self.grid[bl[1]:tr[1]+1,bl[0]:tr[0]+1] = value + def g2w(self, p): """ Convert grid coordinate to world coordinate @@ -216,11 +232,12 @@ def plot(self, map=None, ax=None, block=False, **kwargs): """ ax = base.axes_logic(ax, 2) - extent = self.workspace + if map is None: map = self._grid + kwargs['extent'] = self.workspace - ax.imshow(map, extent=extent, origin='lower', interpolation='none', **kwargs) + ax.imshow(map, origin='lower', interpolation=None, **kwargs) #extent=extent, ax.set_xlabel('x') ax.set_ylabel('y') plt.show(block=block) @@ -312,6 +329,50 @@ def __str__(self): s += f", min {g.min()}, max {g.max()}, mean {g.mean()}" return s +class PolygonMap(BaseMap): + + def __init__(self, workspace=None, polygons=[]): + super().__init__(workspace=workspace) + + self.polygons = polygons + + def add(self, polygon): + + if isinstance(polygon, Polygon2): + self.polygons.append(polygon) + else: + self.polygons.append(Polygon2(polygon)) + + def iscollision(self, polygon): + return polygon.intersects(self.polygons) + + def plot(self, block=False): + base.plotvol2(self.workspace) + + for polygon in self.polygons: + polygon.plot(color='r') + + plt.show(block=block) + + def isoccupied(self, p): + for polygon in self.polygons: + if polygon.contains(p): + return True + + return False + + @property + def workspace(self): + """ + Bounds of the occupancy grid + + :return: workspace bounds [xmin, xmax, ymin, ymax] + :rtype: ndarray(4) + + Returns the bounds of the occupancy grid. + """ + return self._workspace + if __name__ == "__main__": # g = np.zeros((100, 100)) @@ -330,22 +391,35 @@ def __str__(self): # plt.figure() # og2.plot(block=True) - g = np.zeros((10,10)) - g[2:3, 4:5] = 1 - og = BinaryOccupancyGrid(g) - print(og) + # g = np.zeros((10,10)) + # g[2:3, 4:5] = 1 + # og = BinaryOccupancyGrid(g) + # print(og) + + # r = og.ravel + # print(r[24]) + + # og = BinaryOccupancyGrid(workspace=[2,3,4,5], cellsize=0.2) + # print(og) - r = og.ravel - print(r[24]) + # og = BinaryOccupancyGrid(workspace=[2,3,4,5], cellsize=0.2, value=True) + # print(og) - og = BinaryOccupancyGrid(workspace=[2,3,4,5], cellsize=0.2) - print(og) + # og = OccupancyGrid(workspace=[2,3,4,5], cellsize=0.2, value=3) + # print(og) - og = BinaryOccupancyGrid(workspace=[2,3,4,5], cellsize=0.2, value=True) - print(og) + # og = OccupancyGrid(workspace=[2,3,4,5], cellsize=0.2, value=3.0) + # print(og) - og = OccupancyGrid(workspace=[2,3,4,5], cellsize=0.2, value=3) - print(og) + map = PolygonMap(workspace=[0, 10]) + map.add([(5, 50), (5, 6), (6, 6), (6, 50)]) + map.add([(5, 4), (5, -50), (6, -50), (6, 4)]) + map.plot() - og = OccupancyGrid(workspace=[2,3,4,5], cellsize=0.2, value=3.0) - print(og) \ No newline at end of file + og = BinaryOccupancyGrid(workspace=[-5, 5, -5, 5], value=False) + # np.set_printoptions(linewidth=300) + # og = BinaryOccupancyGrid(workspace=[-10, 10, -10, 10], value=False) + # print(og) + # og.set([1,10, -10, 10], True) + # print(og.grid) + # print(og.isoccupied((0,0))) \ No newline at end of file diff --git a/roboticstoolbox/mobile/PRMPlanner.py b/roboticstoolbox/mobile/PRMPlanner.py index 9612e2d06..aa81d3e5c 100644 --- a/roboticstoolbox/mobile/PRMPlanner.py +++ b/roboticstoolbox/mobile/PRMPlanner.py @@ -17,6 +17,7 @@ from matplotlib import cm, pyplot as plt from roboticstoolbox.mobile.PlannerBase import PlannerBase from pgraph import UGraph +from progress.bar import FillingCirclesBar class PRMPlanner(PlannerBase): @@ -113,46 +114,69 @@ def v_path(self): def create_roadmap(self, animate=None): - a = Animate(animate, 'fps', 5) + # a = Animate(animate, fps=5) + self.progress_start(self.npoints) + x = None y = None for j in range(self.npoints): + # find a random point in freespace while True: # pick a random unoccupied point x = self.random.uniform(self.occgrid.xmin, self.occgrid.xmax) y = self.random.uniform(self.occgrid.ymin, self.occgrid.ymax) if not self.occgrid.isoccupied((x, y)): break - new = np.r_[x, y] - - # compute distance from new node to all other nodes - distances = [] - for v in self.graph: - distances.append((v, v.distance(new))) - - vnew = self.graph.add_vertex(new) - - if len(distances) > 0: - # sort into ascending order - distances.sort(key=lambda x: x[1]) - for v, d in distances: - if d > self.dist_thresh: - continue - if not self.test_path(new, v.coord): - continue - self.graph.add_edge(v, vnew) + # add it as a vertex to the graph + vnew = self.graph.add_vertex([x, y]) - if animate is not None: - self.plot() - if not np.empty(movie): - a.add() - def test_path(self, p1, p2, npoints = 100): - dir = p2 - p1 + # compute distance between vertices + for vertex in self.graph: + # find distance from vertex to all other vertices + distances = [] + for othervertex in self.graph: + # skip self + if vertex is othervertex: + continue + # add (distance, vertex) tuples to list + distances.append((vertex.distance(othervertex), othervertex)) + + # sort into ascending distance + distances.sort(key=lambda x:x[0]) + + # create edges to vertex if permissible + for distance, othervertex in distances: + # test if below distance threshold + if self.dist_thresh is not None and distance > self.dist_thresh: + break # sorted into ascending order, so we are done + + # test if obstacle free path connecting them + if self.test_path(vertex, othervertex): + # add an edge + self.graph.add_edge(vertex, othervertex, cost=distance) + self.progress_next() + + self.progress_end() + # if animate is not None: + # self.plot() + # if not np.empty(movie): + # a.add() + + def test_path(self, v1, v2, npoints=None): + # vector from v1 to v2 + dir = v2.coord - v1.coord + + # figure the number of points, essentially the line length + # TODO: should delegate this test to the OccGrid object and do it + # world units + if npoints is None: + npoints = int(round(np.linalg.norm(dir))) + # test each point along the line from v1 to v2 for s in np.linspace(0, 1, npoints): - if self.occgrid.isoccupied(p1 + s * dir): + if self.occgrid.isoccupied(v1.coord + s * dir): return False return True @@ -182,6 +206,8 @@ def plan(self, npoints=None, dist_thresh=None, animate=None): self._graph = UGraph() self._v_path = np.array([]) + + self.randinit() # reset the random number generator self.create_roadmap(animate) def query(self, start, goal, **kwargs): @@ -204,23 +230,6 @@ def query(self, start, goal, **kwargs): path.append(goal) return np.array(path) - # def closest(self, vertex, v_component): - # component = None - # if v_component is not None: - # component = self.graph.component[v_component] - # d, v = self.graph.distances(vertex) - # c = np.array([]) - - # for i in range(0, len(d)): - # if v_component is not None: - # if self._graph.component(v[i]) != component: - # continue - # if not self.test_path(vertex, self._graph.coord(v(i))): - # continue - # c = v[i] - # break - - # return c def next(self, p): if all(p[:] == self.goal): @@ -252,79 +261,6 @@ def plot(self, *args, vertex=None, edge=None, **kwargs): edge=dict(linewidth=0.5) self.graph.plot(text=False, vertex=vertex, edge=edge) - # def char(self): - # s = "\ngraph size: " + self._npoints - # s = s + "\nndist thresh: " + self._dist_thresh - # s = s + "\nGraph: " + self.graph - # return s - - # self.create_roadmap(self, animate) - -# def bresenham(p0, p1): -# # https://rosettacode.org/wiki/Bitmap/Bresenham%27s_line_algorithm#Python -# x0, y0 = p0 -# x1, y1 = p1 -# line = [] - -# dx = abs(x1 - x0) -# dy = abs(y1 - y0) -# x, y = x0, y0 -# sx = -1 if x0 > x1 else 1 -# sy = -1 if y0 > y1 else 1 -# if dx > dy: -# err = dx / 2.0 -# while x != x1: -# line.append((x, y)) -# err -= dy -# if err < 0: -# y += sy -# err += dx -# x += sx -# else: -# err = dy / 2.0 -# while y != y1: -# line.append((x, y)) -# err -= dx -# if err < 0: -# x += sx -# err += dy -# y += sy -# line.append((x, y)) -# return np.array(line).T - -# def hom_line(x1, y1, x2, y2): -# line = np.cross(np.array([x1, y1, 1]), np.array([x2, y2, 1])) - -# # normalize so that the result of x*l' is the pixel distance -# # from the line -# line = line / np.linalg.norm(line[0:2]) -# return line - - -# # Sourced from: https://stackoverflow.com/questions/28995146/matlab-ind2sub-equivalent-in-python/28995315#28995315 -# def sub2ind(array_shape, rows, cols): -# ind = rows * array_shape[1] + cols -# ind[ind < 0] = -1 -# ind[ind >= array_shape[0] * array_shape[1]] = -1 -# return ind - - -# def ind2sub(array_shape, ind): -# ind[ind < 0] = -1 -# ind[ind >= array_shape[0] * array_shape[1]] = -1 -# rows = (ind.astype('int') / array_shape[1]) -# cols = ind % array_shape[1] -# return rows, cols - -# def col_norm(x): -# y = np.array([]) -# if x.ndim > 1: -# x = np.column_stack(x) -# for vector in x: -# y = np.append(y, np.linalg.norm(vector)) -# else: -# y = np.linalg.norm(x) -# return y if __name__ == "__main__": diff --git a/roboticstoolbox/mobile/PlannerBase.py b/roboticstoolbox/mobile/PlannerBase.py index 88b5a3267..6fdacf1c3 100644 --- a/roboticstoolbox/mobile/PlannerBase.py +++ b/roboticstoolbox/mobile/PlannerBase.py @@ -8,6 +8,7 @@ from abc import ABC from scipy import integrate +from scipy.ndimage import interpolation from spatialmath.base.transforms2d import * from spatialmath.base.vectors import * from spatialmath import SE2, SE3 @@ -20,6 +21,11 @@ from roboticstoolbox.mobile.Animations import VehiclePolygon from colored import fg, attr +try: + from progress.bar import FillingCirclesBar + _progress = True +except: + _progress = False class PlannerBase(ABC): r""" @@ -56,7 +62,7 @@ class PlannerBase(ABC): def __init__(self, occgrid=None, inflate=0, ndims=None, verbose=False, msgcolor='yellow', - marker=None, seed=None, **unused): + progress=True, marker=None, seed=None, **unused): self._occgrid = None if ndims is None: @@ -70,6 +76,7 @@ def __init__(self, occgrid=None, inflate=0, ndims=None, self._start = None self._goal = None + self._progress = progress and _progress self.marker = marker @@ -100,6 +107,9 @@ def __str__(self): s += f"\n Goal: {self.goal}" return s + def __repr__(self): + return str(self) + @property def occgrid(self): """ @@ -254,6 +264,16 @@ def validate_endpoint(self, p, dtype=None): raise ValueError("Point is inside obstacle") return p + def progress_start(self, n): + self._bar = FillingCirclesBar(self.__class__.__name__, max=n, + suffix = '%(percent).1f%% - %(eta)ds') + + def progress_next(self): + self._bar.next() + + def progress_end(self): + self._bar.finish() + def query(self, start=None, goal=None, dtype=None, next=True, animate=False, movie=None): """ Find a path from start to goal using plan (superclass) @@ -302,7 +322,7 @@ def query(self, start=None, goal=None, dtype=None, next=True, animate=False, mov # are we are done? if robot is None: path.append(self._goal) - return np.array(path).astype(int).T + return np.array(path).astype(int) path.append(robot) @@ -321,7 +341,7 @@ def plot(self, path=None, Plot vehicle path :param path: path, defaults to None - :type path: ndarray(2, N) or ndarray(3, N) + :type path: ndarray(N, 2) or ndarray(N, 3) :param style: line style: 'striped' [default] or 'line' :type style: str :param stripe: striped line style for forward motion @@ -447,10 +467,11 @@ def plot(self, path=None, ndims = self._ndims - if ndims == 3 and not configspace and path is not None: - path0 = path - path = path[:2, :] + if ndims == 3 and not configspace: ndims = 2 + if path is not None: + path = path[:, :2] + if configspace and ndims < 3 and path is not None: raise ValueError(f"path should have {ndims} rows") @@ -467,7 +488,7 @@ def plot(self, path=None, # 2D case if direction is not None: direction = np.array(direction) - if direction.shape[0] != path.shape[1]: + if direction.shape[0] != path.shape[0]: raise ValueError('direction vector must have same length as path') while len(direction) > 0: @@ -483,33 +504,33 @@ def plot(self, path=None, xstripe = stripe else: xstripe = stripe_r - ax.plot(path[0, :k], path[1, :k], color=xstripe[0][0], linewidth=xstripe[0][1]) - ax.plot(path[0, :k], path[1, :k], color=xstripe[1][0], linewidth=xstripe[1][1], dashes=(5,5)) + ax.plot(path[:k, 0], path[:k, 1], color=xstripe[0][0], linewidth=xstripe[0][1]) + ax.plot(path[:k, 0], path[:k, 1], color=xstripe[1][0], linewidth=xstripe[1][1], dashes=(5,5)) elif style == 'line': if dir > 0: - ax.plot(path[0, :], path[1, :], **line) + ax.plot(path[:, 0], path[:, 1], **line) else: - ax.plot(path[0, :], path[1, :], **line_r) + ax.plot(path[:, 0], path[:, 1], **line_r) if len(change) == 0: break direction = direction[k-1:] direction[0] = direction[1] - path = path[:, k-1:] + path = path[k-1:, :] else: if style == 'striped': - ax.plot(path[0, :], path[1, :], color=stripe[0][0], linewidth=stripe[0][1]) - ax.plot(path[0, :], path[1, :], color=stripe[1][0], linewidth=stripe[1][1], dashes=(5,5)) + ax.plot(path[:, 0], path[:, 1], color=stripe[0][0], linewidth=stripe[0][1], zorder=9) + ax.plot(path[:, 0], path[:, 1], color=stripe[1][0], linewidth=stripe[1][1], dashes=(5,5), zorder=9) elif style == 'line': - ax.plot(path[0, :], path[1, :], **kwargs) + ax.plot(path[:, 0], path[:, 1], **kwargs) elif ndims == 3: # 3D case if direction is not None: direction = np.array(direction) - if direction.shape[0] != path.shape[1]: + if direction.shape[0] != path.shape[0]: raise ValueError('direction vector must have same length as path') - theta = path[2, :] + theta = path[:, 2] if unwrap: theta = np.unwrap(theta) @@ -527,30 +548,30 @@ def plot(self, path=None, xstripe = stripe else: xstripe = stripe_r - ax.plot(path[0, :k], path[1, :k], theta[:k], color=xstripe[0][0], linewidth=xstripe[0][1]) - ax.plot(path[0, :k], path[1, :k], theta[:k], color=xstripe[1][0], linewidth=xstripe[1][1], dashes=(5,5)) + ax.plot(path[:k, 0], path[:k, 1], theta[:k], color=xstripe[0][0], linewidth=xstripe[0][1]) + ax.plot(path[:k, 0], path[:k, 1], theta[:k], color=xstripe[1][0], linewidth=xstripe[1][1], dashes=(5,5)) elif style == 'line': if dir > 0: - ax.plot(path[0, :], path[1, :], **line) + ax.plot(path[:, 0], path[:, 1], **line) else: - ax.plot(path[0, :], path[1, :], **line_r) + ax.plot(path[:, 0], path[:, 1], **line_r) if len(change) == 0: break direction = direction[k-1:] direction[0] = direction[1] - path = path[:, k-1:] + path = path[k-1:, :] theta = theta[k-1:] else: - theta = path[2, :] + theta = path[:, 2] if unwrap: theta = np.unwrap(theta) if style == 'striped': - ax.plot(path[0, :], path[1, :], theta, color=stripe[0][0], linewidth=stripe[0][1]) - ax.plot(path[0, :], path[1, :], theta, color=stripe[1][0], linewidth=stripe[1][1], dashes=(5,5)) + ax.plot(path[:, 0], path[:, 1], theta, color=stripe[0][0], linewidth=stripe[0][1]) + ax.plot(path[:, 0], path[:, 1], theta, color=stripe[1][0], linewidth=stripe[1][1], dashes=(5,5)) elif style == 'line': - ax.plot(path[0, :], path[1, :], **line) + ax.plot(path[:, 0], path[:, 1], **line) # mark start and goal if requested if start is not None: @@ -652,7 +673,10 @@ def plot_bg(self, distance=None, cmap='gray', if self._occgrid is None: return - ax = base.axes_logic(ax, 2) + if isinstance(self._occgrid, BaseOccupancyGrid): + ax = base.plotvol2(dim=self._occgrid.workspace, ax=ax) + else: + ax = base.axes_logic(ax, 2) # create color map for free space + obstacle: # free space, color index = 1, white, alpha=0 to allow background and grid lines to show @@ -692,6 +716,7 @@ def plot_bg(self, distance=None, cmap='gray', # display image norm = mpl.colors.Normalize(vmin=0, vmax=vmax, clip=False) ax.imshow(distance, origin='lower', + interpolation=None, cmap=c_map, norm=norm, ) diff --git a/roboticstoolbox/mobile/QuinticPolyPlanner.py b/roboticstoolbox/mobile/QuinticPolyPlanner.py index fdacc51cd..e5026fc8c 100644 --- a/roboticstoolbox/mobile/QuinticPolyPlanner.py +++ b/roboticstoolbox/mobile/QuinticPolyPlanner.py @@ -36,7 +36,7 @@ show_animation = True -class _QuinticPolynomial: +class QuinticPolynomial: def __init__(self, xs, vxs, axs, xe, vxe, axe, time): # calc coefficient of quintic polynomial @@ -120,8 +120,8 @@ def quintic_polynomials_planner(sx, sy, syaw, sv, sa, gx, gy, gyaw, gv, ga, max_ time, rx, ry, ryaw, rv, ra, rj = [], [], [], [], [], [], [] for T in np.arange(MIN_T, MAX_T, MIN_T): - xqp = _QuinticPolynomial(sx, vxs, axs, gx, vxg, axg, T) - yqp = _QuinticPolynomial(sy, vys, ays, gy, vyg, ayg, T) + xqp = QuinticPolynomial(sx, vxs, axs, gx, vxg, axg, T) + yqp = QuinticPolynomial(sy, vys, ays, gy, vyg, ayg, T) time, rx, ry, ryaw, rv, ra, rj = [], [], [], [], [], [], [] diff --git a/roboticstoolbox/mobile/RRTPlanner.py b/roboticstoolbox/mobile/RRTPlanner.py index 9c8ca6660..82d666469 100644 --- a/roboticstoolbox/mobile/RRTPlanner.py +++ b/roboticstoolbox/mobile/RRTPlanner.py @@ -1,197 +1,185 @@ -""" -Python RRT -@Author: Kristian Gibson -TODO: Comments + Sphynx Docs Structured Text -TODO: Bug-fix, testing - -Not ready for use yet. -""" -from scipy import integrate -from spatialmath.base.transforms2d import * -from spatialmath.base.vectors import * -from spatialmath.pose2d import SE2 -from spatialmath.base import * -from spatialmath.base.animate import * -from scipy.ndimage import * -from matplotlib import cm -from roboticstoolbox.mobile.Planner import Planner -from pgraph import DGraph, DVertex -from roboticstoolbox.mobile.DubinsPlanner import path_planning - -class RRTVertex(DVertex): - - def __init__(self, *args, **kwargs): - super().__init__(*args, **kwargs) - self.vel = 0 - self.path = [] - - -class RRTPlanner(Planner): - - def __init__(self, vehicle=None, - private=False, reset=False, - npoints=100, simtime=0.5, speed=1, root=(0, 0, 0), - rev_cost=1, **kwargs): - - super().__init__(**kwargs) - self._graph = None - self._vehicle = vehicle - self._npoints = npoints - self._simtime = simtime - self._speed = speed - self._root = root - self._rev_cost = rev_cost - self._v_goal = None - self._v_start = None - - @property - def npoints(self): - return self._npoints - - @property - def graph(self): - return self._graph - - @property - def vehicle(self): - return self._vehicle - - @property - def v_goal(self): - return self._v_goal - - @property - def v_start(self): - return self._v_start - - def plan(self, progress=True, samples=False, goalsampling=0.1, root=None, goal=None, maxlen=np.Inf): - - self.message('create the graph') - self._graph = DGraph(metric=lambda x: np.linalg.norm(x[:2])) - - # if np.empty(self._root): - # Error('no root node specified') - - # if not isvector(self._root, 3): - # Error('root must be 3-vector') - - assert(not self.isoccupied(root[:2]), 'root node cell is occupied') - - vroot = RRTVertex(root) - v_root = self._graph.add_vertex(vroot) - - npoints = 0 - curvature = self.vehicle.curvature_max - - while npoints < self.npoints: - if goal is not None and self.random.uniform() > goalsampling: - # pick a random unoccupied point - while True: - x = self.random.uniform(self.occgrid.xmin, self.occgrid.xmax) - y = self.random.uniform(self.occgrid.ymin, self.occgrid.ymax) - if not self.occgrid.isoccupied((x, y)): - break - - theta = self.random.uniform(-np.pi, np.pi) - rand = np.r_[x, y, theta] +import math +from collections import namedtuple +from roboticstoolbox.mobile.OccGrid import PolygonMap +import rvcprint +from roboticstoolbox import * +import numpy as np +import matplotlib.pyplot as plt + +from spatialmath import Polygon2, SE2, base +from roboticstoolbox.mobile.PlannerBase import PlannerBase +from roboticstoolbox.mobile.DubinsPlanner import DubinsPlanner +# from roboticstoolbox.mobile.OccupancyGrid import OccupancyGrid +from pgraph import DGraph + +class RRTPlanner(PlannerBase): + + def __init__(self, + map=None, + vehicle=None, + curvature=None, + expand_dis=3.0, + path_resolution=0.5, + stepsize=0.2, + showsamples=False, + npoints=50, **kwargs): + + super().__init__(ndims=2, **kwargs) + + self.expand_dis = expand_dis + self.path_resolution = path_resolution + self.npoints = npoints + self.map = map + self.showsamples = showsamples + + self.g = DGraph(metric='SE2') + + self.vehicle = vehicle + if curvature is None: + if vehicle is not None: + curvature = vehicle.curvature_max else: - # with probability goalsampling give the goal - rand = goal + curvature = 1 - vnear, d = self.graph.closest(rand) + print('curvature', curvature) + self.dubins = DubinsPlanner(curvature=curvature, stepsize=stepsize) - if d > maxlen: - continue + # self.goal_yaw_th = np.deg2rad(1.0) + # self.goal_xy_th = 0.5 + + def plan(self, goal, animation=True, search_until_npoints=True): + """ + execute planning + + animation: flag for animation on or off + """ + # TODO use validate + self.goal = np.r_[goal] + # self.goal = np.r_[goal] + self.randinit() + + v = self.g.add_vertex(coord=goal) + v.path = None + + self.progress_start(self.npoints) + count = 0 + while count < self.npoints: - near = vnear.coord + random_point = self.qrandom_free() - self.message(f"random point ({rand[:2]}) node {vnear.name}") + if self.showsamples: + plt.plot(random_point[0], random_point[1], 'ok', markersize=2) - path, length, *_ = self.find_path(near, rand, curvature) + vnearest, d = self.g.closest(random_point) - for p in path: - if self.isoccupied(p[:2]): - self.message('path cross an obstacle') + if d > 6: + continue + path, pstatus = self.dubins.query(random_point, vnearest.coord) + if path is None: + continue + + collision = False + for config in path: + if self.map.iscollision(self.vehicle.polygon(config)): + collision = True break - else: - vnew = RRTVertex(rand) - vnew.path = path - self.graph.add_vertex(vnew) - self.graph.add_edge(vnear, vnew, cost=length) + if collision: + # print('collision') + continue + + if pstatus.length > 6: + # print('too long') + continue - npoints += 1 + # we have a valid configuration to add to the graph + count += 1 + self.progress_next() - self.message('graph create done') + # add new vertex to graph + vnew = self.g.add_vertex(random_point) + self.g.add_edge(vnew, vnearest, cost=pstatus.length) + vnew.path = path - def query(self, start, goal): - if self.graph.n == 0: - Error('RTB:PRM:noplan:query: no plan: run the planner') - self.check_points(start, goal, dim=3) + self.vehicle.polygon(random_point).plot(color='b', alpha=0.1) + plt.show() - # find vertices closest to start and goal - vstart, _ = self.graph.closest(self.start) - vgoal, _ = self.graph.closest(self.goal) + self.progress_end() - out = self.graph.path_Astar(vstart, vgoal) - if out is None: - print('no path found') - return None + def query(self, start): + self._start = start + vstart, d = self.g.closest(start) - self.astar = out - self.message(f"A* path cost {out[1]}") + vpath, cost, _ = self.g.path_UCS(vstart, self.g[0]) - path = [self._start] - path.extend([v.coord for v in out[0]]) - path.append(self._goal) + print(vpath) + # stack the Dubins path segments + path = np.empty((0, 3)) + for vertex in vpath: + if vertex.path is not None: + path = np.vstack((path, vertex.path)) - return np.array(path) + status = namedtuple('RRTStatus', ['length', 'initial_d', 'vertices'])(cost, d, vpath) - def __str__(self): - s = str(self) - s += "\nregion: X: " + str(self._x_range) + " Y:" + str(self._y_range) - s += "\nsim time: " + str(self._simtime) - s += "\nspeed: " + str(self._speed) - s += "\nGraph:" - s += "\n" + str(self._graph) - if self.vehicle is not None: - s += "\n Vehicle: " + self.vehicle - return s + return path, status - def find_path(self, x0=None, xg=None, curvature=1, N=None): + def generate_final_course(self, goal_ind): + path = [[self.end.x, self.end.y]] + node = self.node_list[goal_ind] + while node.parent is not None: + path.append([node.x, node.y]) + node = node.parent + path.append([node.x, node.y]) - path = path_planning(x0, xg, curvature, step_size=0.1) return path + def calc_dist_to_goal(self, x, y): + + dx = x - self.goal.x + dy = y - self.end.y + return math.hypot(dx, dy) + + def qrandom(self): + return self.random.uniform( + low=(self.map.workspace[0], self.map.workspace[2], -np.pi), + high=(self.map.workspace[1], self.map.workspace[3], np.pi)) + + def qrandom_free(self): + + # iterate for a random freespace configuration + while True: + q = self.random() + if not self.map.iscollision(self.vehicle.polygon(q)): + return q + + def iscollision(self, q): + return self.map.iscollision(self.vehicle.polygon(q)) if __name__ == "__main__": from roboticstoolbox.mobile.Vehicle import Bicycle - # start and goal position - start = (10, 10, 0) - goal = (50, 50, 0) - robot_size = 5.0 # [m] + # start and goal configuration + qs = (2, 8, -np.pi/2) + qg = (8, 2, -np.pi/2) + + # obstacle map + map = PolygonMap(workspace=[0, 10]) + map.add([(5, 50), (5, 6), (6, 6), (6, 50)]) + # map.add([(5, 0), (6, 0), (6, 4), (5, 4)]) + map.add([(5, 4), (5, -50), (6, -50), (6, 4)]) - occgrid = np.zeros((100, 100)) - occgrid[20:40, 15:30] = 1 + l=3 + w=1.5 + v0 = Polygon2([(-l/2, w/2), (-l/2, -w/2), (l/2, -w/2), (l/2, w/2)]) - vehicle = Bicycle(steer_max=0.4, l=2) + vehicle = Bicycle(steer_max=0.4, l=2, polygon=v0) - rrt = RRTPlanner(occgrid=occgrid, vehicle=vehicle, verbose=False, inflate=5, seed=0) + rrt = RRTPlanner(map=map, vehicle=vehicle, verbose=False, seed=0) - rrt.plan(root=start, goal=goal) - path = rrt.query(start, goal) - print(path) + rrt.plan(goal=qg) + path, status = rrt.query(start=qs) + rrt.plot(path) - path = [] - for vertex in rrt.astar[0]: - path.extend(vertex.path) - path = np.array(path) - rrt.plot(path[:,:2], path_marker=dict(zorder=8, linewidth=2, markersize=6, color='k')) - for vertex in rrt.graph: - path = np.array(vertex.path) - if path.size > 0: - plt.plot(path[:,0], path[:,1]) plt.show(block=True) \ No newline at end of file diff --git a/roboticstoolbox/mobile/ReedsSheppPlanner.py b/roboticstoolbox/mobile/ReedsSheppPlanner.py index 9cf4e10e7..e230fffae 100644 --- a/roboticstoolbox/mobile/ReedsSheppPlanner.py +++ b/roboticstoolbox/mobile/ReedsSheppPlanner.py @@ -490,5 +490,5 @@ def query(self, start, goal, **kwargs): # plt.axis("equal") # plt.show(block=True) - reedsshepp.plot(path=path, direction=status.direction, twod=True) + reedsshepp.plot(path=path, direction=status.direction, configspace=True) plt.show(block=True) \ No newline at end of file diff --git a/roboticstoolbox/mobile/__init__.py b/roboticstoolbox/mobile/__init__.py index 77a5f86c0..507ac76f2 100644 --- a/roboticstoolbox/mobile/__init__.py +++ b/roboticstoolbox/mobile/__init__.py @@ -1,42 +1,47 @@ # motion models -from roboticstoolbox.mobile.Vehicle import Vehicle, Bicycle, Unicycle +from roboticstoolbox.mobile.Vehicle import VehicleBase, Bicycle, Unicycle, DiffSteer + # planners -from roboticstoolbox.mobile.Bug2 import Bug2 from roboticstoolbox.mobile.PlannerBase import PlannerBase from roboticstoolbox.mobile.DistanceTransformPlanner import DistanceTransformPlanner from roboticstoolbox.mobile.DstarPlanner import DstarPlanner from roboticstoolbox.mobile.PRMPlanner import PRMPlanner - -# from roboticstoolbox.mobile.LatticePlanner import LatticePlanner - +from roboticstoolbox.mobile.LatticePlanner import LatticePlanner from roboticstoolbox.mobile.DubinsPlanner import DubinsPlanner from roboticstoolbox.mobile.ReedsSheppPlanner import ReedsSheppPlanner - from roboticstoolbox.mobile.CurvaturePolyPlanner import CurvaturePolyPlanner from roboticstoolbox.mobile.QuinticPolyPlanner import QuinticPolyPlanner -from roboticstoolbox.mobile.PRMPlanner import PRMPlanner -from roboticstoolbox.mobile.OccGrid import BinaryOccupancyGrid, OccupancyGrid +from roboticstoolbox.mobile.RRTPlanner import RRTPlanner + +from roboticstoolbox.mobile.Bug2 import Bug2 + +from roboticstoolbox.mobile.OccGrid import BinaryOccupancyGrid, OccupancyGrid, PolygonMap # localization and state estimation from roboticstoolbox.mobile.landmarkmap import LandmarkMap from roboticstoolbox.mobile.sensors import RangeBearingSensor from roboticstoolbox.mobile.drivers import * -from roboticstoolbox.mobile.animations import * +from roboticstoolbox.mobile.Animations import VehicleAnimationBase, VehicleMarker, VehiclePolygon, VehicleIcon -# from roboticstoolbox.mobile.PoseGraph import * +from roboticstoolbox.mobile.PoseGraph import * from roboticstoolbox.mobile.EKF import EKF from roboticstoolbox.mobile.ParticleFilter import ParticleFilter __all__ = [ - "Vehicle", + "VehicleBase", "Bicycle", "Unicycle", + "DiffSteer", + "VehicleAnimationBase", + "VehicleMarker", + "VehiclePolygon", + "VehicleIcon", "Bug2", "DistanceTransformPlanner", "DstarPlanner", "DubinsPlanner", - # "LatticePlanner", + "LatticePlanner", "ReedsSheppPlanner", "CurvaturePolyPlanner", "PRMPlanner", @@ -48,16 +53,16 @@ "PurePursuit", "LandmarkMap", "RangeBearingSensor", - # "PoseGraph", + "PoseGraph", + "PolygonMap", "BinaryOccupancyGrid", "OccupancyGrid", "PlannerBase", + "RRTPlanner", "EKF", "ParticleFilter", ] -# 'LatticePlanner', - # __doc__ = """ # The Robotics Toolbox for Python From 12ca41297983d9e967e0d131984fa77a4255e5be Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 13 Sep 2021 12:14:20 +1000 Subject: [PATCH 094/116] tidy up graphics --- roboticstoolbox/mobile/Bug2.py | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/roboticstoolbox/mobile/Bug2.py b/roboticstoolbox/mobile/Bug2.py index aa74fc0b5..278fcaa1a 100644 --- a/roboticstoolbox/mobile/Bug2.py +++ b/roboticstoolbox/mobile/Bug2.py @@ -68,7 +68,7 @@ def m_line(self): return self._m_line # override query method of base class - def run(self, start=None, goal=None, animate=False, trail=True, movie=None, **kwargs): + def run(self, start=None, goal=None, animate=False, pause=0.001, trail=True, movie=None, **kwargs): """ Find a path using Bug2 reactive navigation algorithm @@ -122,7 +122,7 @@ def run(self, start=None, goal=None, animate=False, trail=True, movie=None, **kw path = robot h = None - trail_line, = plt.plot(0, 0, 'y.') + trail_line, = plt.plot(0, 0, 'y.', label='robot path') trail_head, = plt.plot(0, 0, 'ko', zorder=10) # iterate using the next() method until we reach the goal @@ -132,7 +132,8 @@ def run(self, start=None, goal=None, animate=False, trail=True, movie=None, **kw if trail: trail_line.set_data(path.T) - plt.pause(0.001) + if pause > 0: + plt.pause(pause) # plt.draw() # plt.show(block=False) # plt.gcf().canvas.flush_events() @@ -165,7 +166,7 @@ def plot_m_line(self, ls=None): if self._m_line[1] == 0: # handle the case that the line is vertical plt.plot([self._start[0], self._start[0]], - [y_min, y_max], 'k--') + [y_min, y_max], 'k--', label='m-line') else: # regular line x = np.array([ @@ -173,7 +174,7 @@ def plot_m_line(self, ls=None): [x_max, 1] ]) y = -x @ np.r_[self._m_line[0], self._m_line[2]] y = y / self._m_line[1] - plt.plot([x_min, x_max], y, ls, zorder=10) + plt.plot([x_min, x_max], y, ls, zorder=10, label='m-line') def next(self, position): From bb96f4167efd22c9d0336248ed3ad555386fe06c Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 13 Sep 2021 12:15:46 +1000 Subject: [PATCH 095/116] working EFK, map, sensor model --- roboticstoolbox/mobile/EKF.py | 234 +++++++++++++++++++------- roboticstoolbox/mobile/landmarkmap.py | 15 +- roboticstoolbox/mobile/sensors.py | 24 +-- 3 files changed, 194 insertions(+), 79 deletions(-) diff --git a/roboticstoolbox/mobile/EKF.py b/roboticstoolbox/mobile/EKF.py index 5184cc822..e757ffdb0 100644 --- a/roboticstoolbox/mobile/EKF.py +++ b/roboticstoolbox/mobile/EKF.py @@ -16,21 +16,20 @@ import matplotlib.pyplot as plt from spatialmath.base.animate import Animate -from spatialmath import base -from roboticstoolbox.mobile import Vehicle +from spatialmath import base, SE2 +from roboticstoolbox.mobile import VehicleBase from roboticstoolbox.mobile.landmarkmap import LandmarkMap from roboticstoolbox.mobile.sensors import Sensor - class EKF: def __init__(self, robot=None, sensor=None, map=None, P0=None, x_est=None, joseph=True, - landmarks=None, + landmarks=None, animate=True, x0=[0, 0, 0], verbose=False, history=True, dim=None): if robot is not None: if not isinstance(robot, tuple) or len(robot) != 2 \ - or not isinstance(robot[0], Vehicle): + or not isinstance(robot[0], VehicleBase): raise TypeError('robot must be tuple (vehicle, V_est)') self._robot = robot[0] # reference to the robot vehicle self._V_est = robot[1] # estimate of vehicle state covariance V @@ -49,7 +48,19 @@ def __init__(self, robot=None, sensor=None, map=None, raise TypeError('map must be LandmarkMap instance') self._ekf_map = map # prior map for localization - self._P0 = P0 # initial system covariance + if animate: + if map is not None: + self._workspace = map.workspace + self._robot._workspace = map.workspace + elif sensor is not None: + self._workspace = sensor[0].map.workspace + self._robot._workspace = sensor[0].map.workspace + elif self.robot.workspace is None: + raise ValueError('for animation robot must have a defined workspace') + self.animate = animate + + self._P0 = P0 # initial system covariance + self._x0 = x0 # initial vehicle state self._x_est = x_est # estimated state self._landmarks = landmarks # ekf_map state @@ -71,7 +82,7 @@ def __init__(self, robot=None, sensor=None, map=None, self._verbose = verbose self._keep_history = history # keep history - self._htuple = namedtuple("EKFlog", "t xest odo P innov S K") + self._htuple = namedtuple("EKFlog", "t xest odo P innov S K lm z") if dim is None: # TODO get world size from landmark map, else @@ -114,6 +125,8 @@ def __init__(self, robot=None, sensor=None, map=None, self.init() + self.xxdata = ([], []) + def __str__(self): s = f"EKF object: {len(self._x_est)} states" @@ -213,6 +226,20 @@ def workspace(self): """ return self._workspace + def landmark(self, lm_id): + """ + Landmark information + + :param lm: landmark index + :type lm: int + :return: number of times seen, order in which it was first seen, index in the state vector + :rtype: int, int, int + """ + if lm_id in self._landmarks: + l = self._landmarks[lm_id] + return l[1], l[0] // 2, l[0] + else: + raise ValueError(f"unknown landmark {lm_id}") def init(self): #EKF.init Reset the filter @@ -232,16 +259,19 @@ def init(self): self._P_est = np.empty((0, 0)) else: # noisy odometry case - self._x_est = self.robot.x - self._P_est = self.P0 + self._x_est = self._x0 + self._P_est = self._P0 self._estVehicle = True if self.sensor is not None: - self._landmarks = np.zeros((2, len(self.sensor.map)), dtype=int) + # landmark dictionary maps lm_id to list[index, nseen] + self._landmarks = {} + + # np.full((2, len(self.sensor.map)), -1, dtype=int) - def run(self, T, plot=True, movie=np.array([])): + def run(self, T, animate=False, movie=np.array([])): self.init() - if plot: + if animate: if self.sensor is not None: self.sensor.map.plot() elif self._dim is not None: @@ -255,14 +285,14 @@ def run(self, T, plot=True, movie=np.array([])): elif len(self._dim) == 4: plt.axis(self._dim) else: - plot = False + animate = False plt.xlabel('X') plt.ylabel('Y') # anim = Animate(movie) for k in range(round(T / self.robot.dt)): - if plot: + if animate: self.robot.plot() self.step() # anim.add() @@ -273,6 +303,7 @@ def run(self, T, plot=True, movie=np.array([])): # TODO: Make the following methods private. def step(self, z_pred=None): + # move the robot odo = self.robot.step() # ================================================================= @@ -347,13 +378,15 @@ def step(self, z_pred=None): # P R O C E S S O B S E R V A T I O N S # ================================================================= - sensorReading = False + if self.sensor is not None: # read the sensor z, lm_id = self.sensor.reading() - - # test if the sensor has returned a reading at this time interval sensorReading = z is not None + else: + lm_id = None # keep history saving happy + z = None + sensorReading = False if sensorReading: # here for MBL, MM, SLAM @@ -368,13 +401,22 @@ def step(self, z_pred=None): if self._est_ekf_map: # the ekf_map is estimated MM or SLAM case if self.isseenbefore(lm_id): - + # landmark is previously seen + # get previous estimate of its state - jx = self._landmarks[0, lm_id] + jx = self.landmark_index(lm_id) xf = xm_pred[jx: jx+2] # compute Jacobian for this particular landmark + # xf = self.sensor.g(xv_pred, z) # HACK Hx_k = self.sensor.Hp(xv_pred, xf) + + z_pred = self.sensor.h(xv_pred, xf) + innov = np.array([ + z[0] - z_pred[0], + base.angdiff(z[1], z_pred[1]) + ]) + # create the Jacobian for all landmarks Hx = np.zeros((2, len(xm_pred))) Hx[:, jx:jx+2] = Hx_k @@ -386,13 +428,27 @@ def step(self, z_pred=None): Hxv = self.sensor.Hx(xv_pred, xf) Hx = np.block([Hxv, Hx]) + self.landmark_increment(lm_id) # update the count + if self._verbose: + print(f"landmark {lm_id} seen {self.landmark_count(lm_id)} times, state_idx={self.landmark_index(lm_id)}") doUpdatePhase = True + else: - # get the extended state + # new landmark, seen for the first time + + # extend the state vector and covariance x_pred, P_pred = self.extend_map(P_pred, xv_pred, xm_pred, z, lm_id) + # if lm_id == 17: + # print(P_pred) + # # print(x_pred[-2:], self._sensor._map.landmark(17), base.norm(x_pred[-2:] - self._sensor._map.landmark(17))) + + self.landmark_add(lm_id) + if self._verbose: + print(f"landmark {lm_id} seen for first time, state_idx={self.landmark_index(lm_id)}") doUpdatePhase = False else: + # LBL Hx = self.sensor.Hx(xv_pred, lm_id) Hw = self.sensor.Hw(xv_pred, lm_id) doUpdatePhase = True @@ -421,7 +477,7 @@ def step(self, z_pred=None): K = P_pred @ Hx.T @ np.linalg.inv(S) # update the state vector - x_est = x_pred + K @ innov.T + x_est = x_pred + K @ innov if self._est_vehicle: # wrap heading state for a vehicle @@ -455,7 +511,9 @@ def step(self, z_pred=None): P_est.copy(), innov.copy() if innov is not None else None, S.copy() if S is not None else None, - K.copy() if K is not None else None + K.copy() if K is not None else None, + lm_id if lm_id is not None else -1, + z.copy() if z is not None else None, ) self._history.append(hist) @@ -464,14 +522,25 @@ def isseenbefore(self, lm_id): # _landmarks[0, id] is the index in state vector # _landmarks[1, id] is the occurence count - if self._landmarks[1, lm_id] > 0: - if self._verbose: - print(f"landmark {lm_id} seen {self._landmarks[1, lm_id]} times before, state_idx={self._landmarks[0,lm_id]}") - self._landmarks[1, lm_id] += 1 # update the count - s = True - else: - s = False - return s + return lm_id in self._landmarks + + def landmark_increment(self, lm_id): + self._landmarks[lm_id][1] += 1 # update the count + + def landmark_count(self, lm_id): + return self._landmarks[lm_id][1] + + def landmark_add(self, lm_id): + self._landmarks[lm_id] = [len(self._landmarks) * 2, 1] + + def landmark_index(self, lm_id): + return self._landmarks[lm_id][0] + + def landmark_x(self, lm_id): + jx = self._landmarks[lm_id][0] + if self._est_vehicle: + jx += 3 + return self._x_est[jx: jx+2] def extend_map(self, P, xv, xm, z, lm_id): # this is a new landmark, we haven't seen it before @@ -479,8 +548,6 @@ def extend_map(self, P, xv, xm, z, lm_id): # noisy sensor reading and current vehicle pose M = None - if self._verbose: - print(f'landmark {lm_id} first sighted') # estimate its position based on observation and vehicle state xf = self.sensor.g(xv, z) @@ -495,26 +562,27 @@ def extend_map(self, P, xv, xm, z, lm_id): Gz = self.sensor.Gz(xv, z) # extend the covariance matrix + n = len(self._x_est) if self._est_vehicle: + # estimating vehicle state Gx = self.sensor.Gx(xv, z) - n = len(self._x_est) # fmt: off - M = np.block([ + Yz = np.block([ [np.eye(n), np.zeros((n, 2)) ], [Gx, np.zeros((2, n-3)), Gz] ]) # fmt: on - P_ext = M @ block_diag(P, self._W_est) @ M.T else: - P_ext = block_diag(P, Gz @ self._W_est @ Gz.T) - - # record the position in the state vector where this - # landmark's state starts - self._landmarks[0, lm_id] = len(xm) # position in map state vector - self._landmarks[1, lm_id] = 1 # seen once + # estimating landmarks only + #P_ext = block_diag(P, Gz @ self._W_est @ Gz.T) + # fmt: off + Yz = np.block([ + [np.eye(n), np.zeros((n, 2)) ], + [np.zeros((2, n)), Gz] + ]) + # fmt: on + P_ext = Yz @ block_diag(P, self._W_est) @ Yz.T - if self._verbose: - print('extend state vector') return x_ext, P_ext def get_xy(self): @@ -536,7 +604,7 @@ def get_xy(self): xyt = None return xyt - def plot_xy(self, block=False, **kwargs): + def plot_xy(self, *args, block=False, **kwargs): """ %EKF.plot_xy Plot vehicle position % % E.plot_xy() overlay the current plot with the estimated vehicle path in @@ -551,8 +619,10 @@ def plot_xy(self, block=False, **kwargs): :param block: [description], defaults to False :type block: bool, optional """ + if args is None and 'color' not in kwargs: + kwargs['color'] = 'r' xyt = self.get_xy() - plt.plot(xyt[:, 0], xyt[:, 1], **kwargs) + plt.plot(xyt[:, 0], xyt[:, 1], *args, **kwargs) # plt.show(block=block) def plot_ellipse(self, confidence=0.95, N=10, **kwargs): @@ -664,22 +734,17 @@ def plot_error(self, bgcolor='r', confidence=0.95, **kwargs): def get_ekf_map(self): xy = [] - for ix, n in self._landmarks.T: - if n == 0: - # this landmark never observed - xy.append((np.nan, np.nan)) - continue - else: - # n is an index into the *landmark* part of the state - # vector, we need to offset it to account for the vehicle - # state if we are estimating vehicle as well - if self._est_vehicle: - n += 3 - xf = self._x_est[ix: ix+2] - xy.append(xf) + for lm_id, (jx, n) in self._landmarks.items(): + # jx is an index into the *landmark* part of the state + # vector, we need to offset it to account for the vehicle + # state if we are estimating vehicle as well + if self._est_vehicle: + jx += 3 + xf = self._x_est[jx: jx+2] + xy.append(xf) return np.array(xy) - def plot_map(self, confidence = 0.95, **kwargs): + def plot_map(self, marker=None, ellipse=None, confidence = 0.95): """ %EKF.plot_map Plot landmarks % % E.plot_map(OPTIONS) overlay the current plot with the estimated landmark @@ -696,16 +761,43 @@ def plot_map(self, confidence = 0.95, **kwargs): % TODO: some option to plot map evolution, layered ellipses """ - xf = self.get_ekf_map() - for i in range(xf.shape[0]): - Pi = self.P_est[i: i+2, i: i+2] - # % TODO reinstate the interval landmark - base.plot_ellipse(Pi, centre=xf[i, :], confidence=confidence, inverted=True, **kwargs) + if marker is None: + marker = { + 'marker': '+', + 'markersize': 10, + 'markerfacecolor': 'red', + 'linewidth': 0 + } + + xm = self._x_est + P = self._P_est + if self._est_vehicle: + xm = xm[3:] + P = P[3:, 3:] + + # mark the estimate as a point + xm = xm.reshape((-1, 2)) # arrange as Nx2 + plt.plot(xm[:, 0], xm[:, 1], label='estimated landmark', **marker) + + # add an ellipse + if ellipse is not None: + for i in range(xm.shape[0]): + Pi = self.P_est[i: i+2, i: i+2] + if i == 0: + base.plot_ellipse(Pi, centre=xm[i, :], confidence=confidence, inverted=True, label='confidence', **ellipse) + else: + base.plot_ellipse(Pi, centre=xm[i, :], confidence=confidence, inverted=True, **ellipse) # plot_ellipse( P * chi2inv_rtb(opt.confidence, 2), xf, args{:}); - plt.plot(xf[:, 0], xf[:, 1], 'ro', markerfacecolor='none') + def get_P(self, k=None): + if k is not None: + return self._history[k].P + else: + return [h.P for h in self._history] + + def get_Pnorm(self, k=None): if k is not None: return np.sqrt(np.linalg.det(self._history[k].P)) else: @@ -726,7 +818,19 @@ def show_P(self, P): plt.xlabel('State') plt.ylabel('State') + def transform(self, map): + p = [] + q = [] + + for lm_id in self._landmarks.keys(): + p.append(map.landmark(lm_id)) + q.append(self.landmark_x(lm_id)) + + p = np.array(p) + q = np.array(q) + T = base.points2tr2(p, q) + return SE2(T) if __name__ == "__main__": diff --git a/roboticstoolbox/mobile/landmarkmap.py b/roboticstoolbox/mobile/landmarkmap.py index 5d18316fb..e7b471df2 100644 --- a/roboticstoolbox/mobile/landmarkmap.py +++ b/roboticstoolbox/mobile/landmarkmap.py @@ -124,7 +124,7 @@ def landmark(self, k): """ return self._map[:,k] - def plot(self, block=False, **kwargs): + def plot(self, block=False, labels=False, **kwargs): """ Plot the map % @@ -148,10 +148,19 @@ def plot(self, block=False, **kwargs): kwargs = { 'linewidth': 0, 'marker': 'x', - 'color': 'b', + 'color': 'black', + 'linestyle': 'None', } - plt.plot(self._map[0,:], self._map[1,:], **kwargs) + if 'label' not in kwargs: + kwargs['label'] = 'landmark' + + # plt.plot(self._map[0,:], self._map[1,:], , **kwargs) + if labels: + labels = "#{}" + else: + labels = None + base.plot_point(self._map, text=labels, **kwargs) plt.grid(True) plt.show(block=block) diff --git a/roboticstoolbox/mobile/sensors.py b/roboticstoolbox/mobile/sensors.py index c6249d679..8533945d7 100644 --- a/roboticstoolbox/mobile/sensors.py +++ b/roboticstoolbox/mobile/sensors.py @@ -340,15 +340,17 @@ def reading(self): # check conditions for NOT returning a value z = [] - lm_id = 0 + lm_id = -1 # sample interval if self._count % self._every != 0: + self._landmarklog.append(lm_id) return (None, None) # simulated failure, fail is a list of 2-tuples giving (start,end) times # for a sensor failure if self._fail is not None: if any([start <= self._count < end for start, end in self._fail]): + self._landmarklog.append(lm_id) return (None, None) # create a polygon to indicate the active sensing area based on range+angle limits @@ -487,7 +489,7 @@ def h(self, xv, landmark=None): else: return z - def Hx(self, xv, lm_id): + def Hx(self, xv, arg): """ Jacobian dh/dx % @@ -498,14 +500,14 @@ def Hx(self, xv, lm_id): % # See also RangeBearingSensor.h. """ - if base.isinteger(lm_id): + if base.isinteger(arg): # landmark index provided - xf = self.map.landmark(lm_id) + xf = self.map.landmark(arg) else: # assume it is a coordinate - xf = base.getvector(lm_id, 2) + xf = base.getvector(arg, 2) - Delta = xf - xv[0:2] + Delta = xf - xv[:2] r = base.norm(Delta) # fmt: off return np.array([ @@ -514,7 +516,7 @@ def Hx(self, xv, lm_id): ]) # fmt: on - def Hp(self, xv, lm_id): + def Hp(self, xv, arg): """ Jacobian dh/dp % @@ -525,13 +527,13 @@ def Hp(self, xv, lm_id): % # See also RangeBearingSensor.h. """ - if base.isinteger(lm_id): - xf = self.map.landmark(lm_id) + if base.isinteger(arg): + xf = self.map.landmark(arg) else: - xf = lm_id + xf = arg xv = base.getvector(xv, 3) - Delta = xf - xv[0:2] + Delta = xf - xv[:2] r = base.norm(Delta) # fmt: off return np.array([ From d5a21af63a2a5164c5d95fb1efb74819468c51bc Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 13 Sep 2021 12:16:45 +1000 Subject: [PATCH 096/116] reinstate plot_pdf graphics tidyup --- roboticstoolbox/mobile/ParticleFilter.py | 38 ++++++++++++------------ 1 file changed, 19 insertions(+), 19 deletions(-) diff --git a/roboticstoolbox/mobile/ParticleFilter.py b/roboticstoolbox/mobile/ParticleFilter.py index 685b7c812..7fc5603b4 100644 --- a/roboticstoolbox/mobile/ParticleFilter.py +++ b/roboticstoolbox/mobile/ParticleFilter.py @@ -285,7 +285,7 @@ def run(self, T=10, x0=None): # display the initial particles if self.robot._animation is not None: - self.h, = plt.plot(self.x[:, 0], self.x[:, 1], 'go', zorder=0, markersize=3, markeredgecolor='none', alpha=0.3) + self.h, = plt.plot(self.x[:, 0], self.x[:, 1], 'go', zorder=0, markersize=3, markeredgecolor='none', alpha=0.3, label='particle') # set(self.h, 'Tag', 'particles') # self.robot.plot() @@ -346,24 +346,24 @@ def step(self): ) self._history.append(hist) - # def plot_pdf(self): - # #ParticleFilter.plot_pdf Plot particles as a PDF - # # - # # PF.plot_pdf() plots a sparse PDF as a series of vertical line - # # segments of height equal to particle weight. - # clf - # hold on - # for p = 1:self.nparticles - # x = self.x(p,:) - # plot3([x[0] x[0]], [x[1] x[1]], [0 self.weight(p)], 'r') - # plot3([x[0] x[0]], [x[1] x[1]], [0 self.weight(p)], 'k.', 'MarkerSize', 12) - - # end - # grid on - # xyzlabel - # zlabel('particle weight') - # view[29,59] - # rotate3d on + def plot_pdf(self): + #ParticleFilter.plot_pdf Plot particles as a PDF + # + # PF.plot_pdf() plots a sparse PDF as a series of vertical line + # segments of height equal to particle weight. + ax = base.plotvol3() + for (x, y, t), weight in zip(self.x, self.weight): + # ax.plot([x, x], [y, y], [0, weight], 'r') + ax.plot([x, x], [y, y], [0, weight], 'skyblue', linewidth=3) + ax.plot(x, y, weight, 'k.', markersize=6) + + + plt.grid(True) + plt.xlabel('X') + plt.ylabel('Y') + plt.xlim() + ax.set_zlabel('particle weight') + ax.view_init(29, 59) # def plot_xy(self, varargin): From d3dd8de2d9f7b132667033b842ce86187a6670b3 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 13 Sep 2021 12:18:16 +1000 Subject: [PATCH 097/116] exclude max range points --- roboticstoolbox/mobile/PoseGraph.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/roboticstoolbox/mobile/PoseGraph.py b/roboticstoolbox/mobile/PoseGraph.py index ffbae7183..63684943e 100644 --- a/roboticstoolbox/mobile/PoseGraph.py +++ b/roboticstoolbox/mobile/PoseGraph.py @@ -259,9 +259,11 @@ def scan(self, i): def scanxy(self, i): range, theta = self.scan(i) + range = np.where(range < self._maxrange, range, np.nan) x = range * np.cos(theta) y = range * np.sin(theta) + return np.c_[x, y].T def plot_scan(self, n): From f43c6e0b781e0a65ecc7837eb0fc18c14835ef78 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 13 Sep 2021 12:18:37 +1000 Subject: [PATCH 098/116] improve graphics, doco --- roboticstoolbox/mobile/PoseGraph.py | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) diff --git a/roboticstoolbox/mobile/PoseGraph.py b/roboticstoolbox/mobile/PoseGraph.py index 63684943e..8b52fc920 100644 --- a/roboticstoolbox/mobile/PoseGraph.py +++ b/roboticstoolbox/mobile/PoseGraph.py @@ -114,8 +114,14 @@ def __init__(self, filename, laser=False, verbose=False): # indices into ROBOTLASER1 record for the 3x3 info matrix in column major # order + # IXX IXY IXT IYY IYT ITT + # 6 7 8 9 10 11 + # 0 1 2 3 4 5 g2o = [0, 1, 2, 1, 3, 4, 2, 4, 5] - toro = [0, 1, 4, 1, 2, 5, 4, 5, 3] + # IXX IXY IYY ITT IXT IYT + # 6 7 8 9 10 11 + # 0 1 2 3 4 5 + toro = [0, 1, 4, 1, 2, 5, 4, 5, 3] # we keep an array self. = vindex(gi) to map g2o vertex index to PGraph vertex index @@ -192,7 +198,7 @@ def __init__(self, filename, laser=False, verbose=False): # IXX IXY IYY ITT IXT IYT # 6 7 8 9 10 11 d = np.array([float(x) for x in tokens[6:12]]) - info = d[g2o].reshape((3,3)) + info = d[toro].reshape((3,3)) # create the edge v1 = self.graph[v1] @@ -239,7 +245,7 @@ def __init__(self, filename, laser=False, verbose=False): filetype = "TORO/LAGO" else: filetype = "g2o" - print(f"loaded {filetype} format file: {self.graph.n} nodes, {self.graph.ne} edges") + print(f"loaded {filetype} format file: {self.graph.n} vertices, {self.graph.ne} edges") if nlaser > 0: lasermeta = [float(x) for x in lasermeta] @@ -280,7 +286,11 @@ def time(self, i): return self.vindex[i].time def plot(self, **kwargs): - self.graph.plot(**kwargs) + if not 'vertex' in kwargs: + kwargs['vertex'] = dict(markersize=8, markerfacecolor='blue', markeredgecolor='None') + if not 'edge' in kwargs: + kwargs['edge'] = dict(linewidth=1, color='black') + self.graph.plot(colorcomponents=False, **kwargs) plt.xlabel('x') plt.ylabel('y') plt.grid(True) From 41c755a78b238f054735320506e4297e232c26ba Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 13 Sep 2021 12:19:24 +1000 Subject: [PATCH 099/116] take workspace attr of passed workspace arg graphics tidyup --- roboticstoolbox/mobile/drivers.py | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/roboticstoolbox/mobile/drivers.py b/roboticstoolbox/mobile/drivers.py index eeb223b16..4b9426618 100644 --- a/roboticstoolbox/mobile/drivers.py +++ b/roboticstoolbox/mobile/drivers.py @@ -120,8 +120,11 @@ def __init__(self, workspace, speed=1, dthresh=0.05, seed=0, headinggain=0.3, go # TODO options to specify region, maybe accept a Map object? - - self._workspace = base.expand_dims(workspace) + if hasattr(workspace, 'workspace'): + # workspace can be defined by an object with a workspace attribute + self._workspace = base.expand_dims(workspace.workspace) + else: + self._workspace = base.expand_dims(workspace) self._speed = speed self._dthresh = dthresh * np.diff(self._workspace[0:2]) @@ -131,6 +134,7 @@ def __init__(self, workspace, speed=1, dthresh=0.05, seed=0, headinggain=0.3, go 'marker': 'D', 'markersize': 6, 'color': 'r', + 'linestyle': 'None', } else: self._goal_marker_style = goalmarkerstyle @@ -230,7 +234,7 @@ def init(self, ax=None): # delete(driver.h_goal); % delete the goal # driver.h_goal = []; if ax is not None: - self._goal_marker = plt.plot(np.nan, np.nan, **self._goal_marker_style)[0] + self._goal_marker = plt.plot(np.nan, np.nan, **self._goal_marker_style, label='random waypoint')[0] def demand(self): """ From c75e5f324385c41cf24d08687bf53a4092d025bb Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 13 Sep 2021 12:20:12 +1000 Subject: [PATCH 100/116] working version --- roboticstoolbox/mobile/Vehicle.py | 167 ++++++++++++++++++------------ 1 file changed, 103 insertions(+), 64 deletions(-) diff --git a/roboticstoolbox/mobile/Vehicle.py b/roboticstoolbox/mobile/Vehicle.py index 3eef8ba31..f2199974b 100644 --- a/roboticstoolbox/mobile/Vehicle.py +++ b/roboticstoolbox/mobile/Vehicle.py @@ -15,12 +15,13 @@ from spatialmath import SE2, base from roboticstoolbox.mobile.drivers import VehicleDriver -from roboticstoolbox.mobile.animations import VehiclePolygon +from roboticstoolbox.mobile.Animations import VehiclePolygon -class Vehicle(ABC): - def __init__(self, covar=None, speed_max=np.inf, accel_max=np.inf, x0=None, dt=0.1, - control=None, seed=0, animation=None, verbose=False, plot=False, workspace=None): +class VehicleBase(ABC): + def __init__(self, covar=None, speed_max=np.inf, accel_max=np.inf, x0=[0, 0, 0], dt=0.1, + control=None, seed=0, animation=None, verbose=False, plot=False, workspace=None, + polygon=None): r""" Superclass for vehicle kinematic models @@ -62,13 +63,14 @@ def __init__(self, covar=None, speed_max=np.inf, accel_max=np.inf, x0=None, dt=0 if len(x0) not in (2,3): raise ValueError('x0 must be length 2 or 3') self._x0 = x0 - self._x = x0 + self._x = x0.copy() self._random = np.random.default_rng(seed) self._seed = seed self._speed_max = speed_max self._accel_max = accel_max self._v_prev = 0 + self._polygon = polygon if isinstance(animation, str): animation = VehiclePolygon(animation) @@ -85,6 +87,9 @@ def __init__(self, covar=None, speed_max=np.inf, accel_max=np.inf, x0=None, dt=0 self._verbose = verbose self._plot = False + self._control = None + self._x_hist = [] + if workspace: self._workspace = base.expand_dims(workspace) else: @@ -111,7 +116,12 @@ def workspace(self): Returns the bounds of the workspace as specified by constructor option ``workspace`` """ - return self._workspace + + # get workspace specified for Vehicle or from its driver + if self._workspace is not None: + return self._workspace + if self._control is not None: + return self._control._workspace @property def x(self): @@ -123,6 +133,16 @@ def x(self): """ return self._x + @property + def q(self): + """ + Get vehicle state/configuration (superclass method) + + :return: Vehicle state :math:`(x, y, \theta)` + :rtype: ndarray(3) + """ + return self._x + @property def x0(self): """ @@ -140,7 +160,7 @@ def x0(self): """ return self._x0 - @property + @x0.setter def x0(self, x0): """ Set vehicle initial state/configuration (superclass method) @@ -288,9 +308,7 @@ def control(self, control): Control can be: * a constant tuple as the control inputs to the vehicle - * a function called as ``f(vehicle, t, x)`` that returns a tuple - * an interpolator called as f(t) that returns a tuple, see - SciPy interp1d + * a driver agent, subclass of :func:`VehicleDriver` Example: @@ -303,11 +321,17 @@ def control(self, control): :seealso: :func:`eval_control`, :func:`RandomPath`, :func:`PurePursuit` """ + # * a function called as ``f(vehicle, t, x)`` that returns a tuple + # * an interpolator called as f(t) that returns a tuple, see + # SciPy interp1d + self._control = control if isinstance(control, VehicleDriver): # if this is a driver agent, connect it to the vehicle control.vehicle = self + def polygon(self, q): + return self._polygon.transformed(SE2(q)) # This function is overridden by the child class @abstractmethod @@ -399,7 +423,7 @@ def init(self, x0=None, control=None): if x0 is not None: self._x = base.getvector(x0, 3) else: - self._x = self._x0 + self._x = self._x0.copy() self._x_hist = [] @@ -407,6 +431,7 @@ def init(self, x0=None, control=None): self._random = np.random.default_rng(self._seed) if control is not None: + # override control self._control = control if self._control is not None: @@ -418,12 +443,12 @@ def init(self, x0=None, control=None): if self._animation is not None: # setup the plot - self._ax = base.plotvol2(self._workspace) + self._ax = base.plotvol2(self.workspace) self._ax.set_xlabel('x') self._ax.set_ylabel('y') self._ax.set_aspect('equal') - self._ax.figure.canvas.set_window_title( + self._ax.figure.canvas.manager.set_window_title( f"Robotics Toolbox for Python (Figure {self._ax.figure.number})") self._animation.add(ax=self._ax) # add vehicle animation to axis @@ -433,16 +458,15 @@ def init(self, x0=None, control=None): if isinstance(self._control, VehicleDriver): self._control.init(ax=self._ax) - def step(self, u1=None, u2=None): + def step(self, u=None, animate=False): """ Step simulator by one time step (superclass method) :return: odometry :math:`(\delta_d, \delta_\theta)` :rtype: ndarray(2) - - ``veh.step(vel, steer)`` for a Bicycle vehicle model - - ``veh.step((vel, steer))`` as above but control is a tuple - - ``veh.step(vel, vel_diff)`` for a Unicycle vehicle model + - ``veh.step((vel, steer))`` for a Bicycle vehicle model + - ``veh.step((vel, vel_diff))`` for a Unicycle vehicle model - ``veh.step()`` as above but control is taken from the ``control`` attribute which might be a function or driver agent. @@ -466,11 +490,8 @@ def step(self, u1=None, u2=None): :seealso: :func:`control`, :func:`update`, :func:`run` """ # determine vehicle control - if u1 is not None: - if u2 is not None: - u = self.eval_control((u1, u2), self._x) - else: - u = self.eval_control(u1, self._x) + if u is not None: + u = self.eval_control(u, self._x) else: u = self.eval_control(self._control, self._x) @@ -490,7 +511,7 @@ def step(self, u1=None, u2=None): odo += self.random.multivariate_normal((0, 0), self._V) # do the graphics - if self._animation: + if animate and self._animation: self._animation.update(self._x) if self._timer is not None: self._timer.set_text(f"t = {self._t:.2f}") @@ -502,7 +523,6 @@ def step(self, u1=None, u2=None): if self._verbose: print(f"{self._t:8.2f}: u=({u[0]:8.2f}, {u[1]:8.2f}), x=({self._x[0]:8.2f}, {self._x[1]:8.2f}, {self._x[2]:8.2f})") - return odo @@ -595,6 +615,8 @@ def plot(self, x=None, shape='box', block=False, size=True, **kwargs): base.plot_poly(SE2(x) * vertices, close=True, **kwargs) def plot_xy(self, *args, block=False, **kwargs): + if args is None and 'color' not in kwargs: + kwargs['color'] = 'b' xyt = self.x_hist plt.plot(xyt[:, 0], xyt[:, 1], *args, **kwargs) plt.show(block=block) @@ -620,14 +642,17 @@ def limits_va(self, v): is reset at the start of each simulation. """ # acceleration limit - if (v - self._v_prev) / self._dt > self._accel_max: - v = self._v_prev + self._accelmax * self._dt; - elif (v - self._v_prev) / self._dt < -self._accel_max: - v = self._v_prev - self._accel_max * self._dt; + if self._accel_max is not None: + if (v - self._v_prev) / self._dt > self._accel_max: + v = self._v_prev + self._accelmax * self._dt; + elif (v - self._v_prev) / self._dt < -self._accel_max: + v = self._v_prev - self._accel_max * self._dt; self._v_prev = v # speed limit - return min(self._speed_max, max(v, -self._speed_max)); + if self._speed_max is not None: + v = np.clip(v, -self._speed_max, self._speed_max) + return v def path(self, t=10, u=None, x0=None): @@ -681,18 +706,18 @@ def dynamics(t, x, vehicle, u): return (sol.t, sol.y.T) # ========================================================================= # -class Bicycle(Vehicle): +class Bicycle(VehicleBase): def __init__(self, - l=1, + L=1, steer_max=0.45 * pi, **kwargs ): r""" Create new bicycle kinematic model - :param l: wheel base, defaults to 1 - :type l: float, optional + :param L: wheel base, defaults to 1 + :type L: float, optional :param steer_max: [description], defaults to :math:`0.45\pi` :type steer_max: float, optional :param **kwargs: additional arguments passed to :class:`Vehicle` @@ -702,7 +727,7 @@ def __init__(self, """ super().__init__(**kwargs) - self._l = l + self._l = L self._steer_max = steer_max def __str__(self): @@ -867,7 +892,7 @@ def Fv(self, x, odo): # fmt: on return J - def deriv(self, x, u): + def deriv(self, x, u, limits=True): r""" Time derivative of state @@ -880,12 +905,13 @@ def deriv(self, x, u): Returns the time derivative of state (3x1) at the state ``x`` with inputs ``u``. - - .. note:: Vehicle speed and steering limits are not applied here """ # unpack some variables theta = x[2] + + if limits: + u = self.u_limited(u) v = u[0] gamma = u[1] @@ -900,29 +926,29 @@ def u_limited(self, u): # limit speed and steer angle ulim = np.array(u) ulim[0] = self.limits_va(u[0]) - ulim[1] = np.maximum(-self._steer_max, np.minimum(self._steer_max, u[1])) + ulim[1] = np.clip(u[1], -self._steer_max, self._steer_max) return ulim # ========================================================================= # -class Unicycle(Vehicle): +class Unicycle(VehicleBase): def __init__(self, - w=1, + W=1, **kwargs): r""" Create new unicycle kinematic model - :param w: vehicle width, defaults to 1 - :type w: float, optional + :param W: vehicle width, defaults to 1 + :type W: float, optional :param **kwargs: additional arguments passed to :class:`Vehicle` constructor :seealso: :class:`.Vehicle` """ super().__init__(**kwargs) - self._w = w + self._w = W def __str__(self): @@ -1070,39 +1096,52 @@ def u_limited(self, u): return ulim +class DiffSteer(Unicycle): + pass if __name__ == "__main__": - from math import pi - V = np.diag(np.r_[0.02, 0.5 * pi / 180] ** 2) + from roboticstoolbox import RandomPath + + V = np.eye(2) * 0.001 + robot = Bicycle(covar=V, animation="car") + odo = robot.step((1, 0.3), animate=False) + + robot.control = RandomPath(workspace=10) + + robot.run(T=10) + + # from math import pi + + # V = np.diag(np.r_[0.02, 0.5 * pi / 180] ** 2) - v = VehiclePolygon() - # v = VehicleIcon('greycar2', scale=2, rotation=90) + # v = VehiclePolygon() + # # v = VehicleIcon('greycar2', scale=2, rotation=90) - veh = Bicycle(covar=V, animation=v, control=RandomPath(10), verbose=False) - print(veh) + # veh = Bicycle(covar=V, animation=v, control=RandomPath(10), verbose=False) + # print(veh) - odo = veh.step(1, 0.3) - print(odo) + # odo = veh.step(1, 0.3) + # print(odo) - print(veh.x) + # print(veh.x) - print(veh.f([0, 0, 0], odo)) + # print(veh.f([0, 0, 0], odo)) - def control(v, t, x): - goal = (6,6) - goal_heading = atan2(goal[1]-x[1], goal[0]-x[0]) - d_heading = base.angdiff(goal_heading, x[2]) - v.stopif(base.norm(x[0:2] - goal) < 0.1) + # def control(v, t, x): + # goal = (6,6) + # goal_heading = atan2(goal[1]-x[1], goal[0]-x[0]) + # d_heading = base.angdiff(goal_heading, x[2]) + # v.stopif(base.norm(x[0:2] - goal) < 0.1) - return (1, d_heading) + # return (1, d_heading) - veh.control=RandomPath(10) - p = veh.run(1000, plot=True) - # plt.show() - print(p) + # veh.control=RandomPath(10) + # p = veh.run(1000, plot=True) + # # plt.show() + # print(p) - veh.plot_xyt_t() + # veh.plot_xyt_t() # veh.plot(p) # t, x = veh.path(5, u=control) From 0d9abfa36b35220bb117906582c38ab06f499c18 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Mon, 13 Sep 2021 12:20:41 +1000 Subject: [PATCH 101/116] pass border option to list() --- roboticstoolbox/models/list.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/roboticstoolbox/models/list.py b/roboticstoolbox/models/list.py index 3673d59ef..888cfccab 100644 --- a/roboticstoolbox/models/list.py +++ b/roboticstoolbox/models/list.py @@ -6,7 +6,7 @@ # import importlib -def list(keywords=None, dof=None, mtype=None): +def list(keywords=None, dof=None, mtype=None, border=None): """ Display all robot models in summary form @@ -38,7 +38,7 @@ def list(keywords=None, dof=None, mtype=None): # module = importlib.import_module( # '.' + os.path.splitext(file)[0], package='bdsim.blocks') - def make_table(border): + def make_table(border=None): table = ANSITable( Column("class", headalign="^", colalign="<"), Column("name", headalign="^", colalign="<"), @@ -100,11 +100,11 @@ def make_table(border): table.print() - # make_table(border='') + make_table(border=border) if __name__ == "__main__": # pragma nocover - list() - list(keywords=("dynamics",)) + list(border='ascii') + list(keywords=("dynamics",), border='thin') list(dof=6) list(keywords=("dynamics",), dof=6) From d58b5f7ccb9079dec4cc0d7bc9e3d34d8cb87d22 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 13 Sep 2021 12:31:57 +1000 Subject: [PATCH 102/116] use first EE or gripper, with warning #243 --- roboticstoolbox/robot/ERobot.py | 17 ++++++++--------- 1 file changed, 8 insertions(+), 9 deletions(-) diff --git a/roboticstoolbox/robot/ERobot.py b/roboticstoolbox/robot/ERobot.py index 792887472..471b9bcdc 100644 --- a/roboticstoolbox/robot/ERobot.py +++ b/roboticstoolbox/robot/ERobot.py @@ -892,20 +892,19 @@ def _get_limit_links(self, end=None, start=None): tool = None if end is None: - # if we have a gripper, use it - if len(self.grippers) == 1: + if len(self.grippers) > 0: end = self.grippers[0].links[0] tool = self.grippers[0].tool - elif len(self.grippers) > 1: - # if more than one gripper, user must choose - raise ValueError("Must specify which gripper") + if len(self.grippers) > 1: + # Warn user: more than one gripper + print("More than one gripper present, using robot.grippers[0]") # no grippers, use ee link if just one - elif len(self.ee_links) == 1: + elif len(self.ee_links) > 0: end = self.ee_links[0] - else: - # if more than one EE, user must choose - raise ValueError("Must specify which end-effector") + if len(self.ee_links) > 1: + # Warn user: more than one EE + print("More than one end-effector present, using robot.ee_links[0]") # Cache result self._cache_end = end From 0a6e425f123f7f866cc407de7d71b662f31755fa Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 13 Sep 2021 12:45:36 +1000 Subject: [PATCH 103/116] allow for uniform use with ERobot --- roboticstoolbox/robot/DHRobot.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/roboticstoolbox/robot/DHRobot.py b/roboticstoolbox/robot/DHRobot.py index c0eaf1bca..89a8707dc 100644 --- a/roboticstoolbox/robot/DHRobot.py +++ b/roboticstoolbox/robot/DHRobot.py @@ -804,7 +804,7 @@ def ets(self): return ets - def fkine(self, q): + def fkine(self, q, **kwargs): """ Forward kinematics @@ -940,7 +940,7 @@ def fkine_all(self, q=None, old=True): Tall.append(Tj) return Tall - def jacobe(self, q, half=None): + def jacobe(self, q, half=None, **kwargs): r""" Manipulator Jacobian in end-effector frame From fe6fc531efe4d177001bfcf084a77b37be2b11dc Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 13 Sep 2021 12:46:17 +1000 Subject: [PATCH 104/116] end added #243 --- roboticstoolbox/robot/IK.py | 34 +++++++++++++++++++++++++--------- 1 file changed, 25 insertions(+), 9 deletions(-) diff --git a/roboticstoolbox/robot/IK.py b/roboticstoolbox/robot/IK.py index bc167849f..24bc03ca9 100644 --- a/roboticstoolbox/robot/IK.py +++ b/roboticstoolbox/robot/IK.py @@ -118,6 +118,7 @@ def ikine_LM( search=False, slimit=100, transpose=None, + end=None, ): """ Numerical inverse kinematics by Levenberg-Marquadt optimization @@ -248,6 +249,9 @@ def ikine_LM( if not isinstance(T, SE3): raise TypeError("argument must be SE3") + if isinstance(self, rtb.DHRobot): + end = None + solutions = [] if search: @@ -323,14 +327,14 @@ def ikine_LM( failure = f"iteration limit {ilimit} exceeded" break - e = base.tr2delta(self.fkine(q).A, Tk.A) + e = base.tr2delta(self.fkine(q, end=end).A, Tk.A) # Are we there yet? if base.norm(W @ e) < tol: break # Compute the Jacobian - J = self.jacobe(q) + J = self.jacobe(q, end=end) JtJ = J.T @ W @ J @@ -356,7 +360,7 @@ def ikine_LM( qnew = q + dq # And figure out the new error - enew = base.tr2delta(self.fkine(qnew).A, Tk.A) + enew = base.tr2delta(self.fkine(qnew, end=end).A, Tk.A) # Was it a good update? if np.linalg.norm(W @ enew) < np.linalg.norm(W @ e): @@ -404,7 +408,9 @@ def ikine_LM( # --------------------------------------------------------------------- # - def ikine_LMS(self, T, q0=None, mask=None, ilimit=500, tol=1e-10, wN=1e-3, Lmin=0): + def ikine_LMS( + self, T, q0=None, mask=None, ilimit=500, tol=1e-10, wN=1e-3, Lmin=0, end=None + ): """ Numerical inverse kinematics by Levenberg-Marquadt optimization (Robot superclass) @@ -512,6 +518,9 @@ def ikine_LMS(self, T, q0=None, mask=None, ilimit=500, tol=1e-10, wN=1e-3, Lmin= if not isinstance(T, SE3): raise TypeError("argument must be SE3") + if isinstance(self, rtb.DHRobot): + end = None + solutions = [] if q0 is None: @@ -545,7 +554,7 @@ def ikine_LMS(self, T, q0=None, mask=None, ilimit=500, tol=1e-10, wN=1e-3, Lmin= failure = f"iteration limit {ilimit} exceeded" break - e = _angle_axis(self.fkine(q).A, Tk.A) + e = _angle_axis(self.fkine(q, end=end).A, Tk.A) # Are we there yet? E = 0.5 * e.T @ W @ e @@ -553,7 +562,7 @@ def ikine_LMS(self, T, q0=None, mask=None, ilimit=500, tol=1e-10, wN=1e-3, Lmin= break # Compute the Jacobian and projection matrices - J = self.jacob0(q) + J = self.jacob0(q, end=end) WN = E * np.eye(self.n) + wN * np.eye(self.n) H = J.T @ W @ J + WN # n x n g = J.T @ W @ e # n x 1 @@ -607,6 +616,7 @@ def ikine_min( stiffness=0, costfun=None, options={}, + end=None, ): r""" Inverse kinematics by optimization with joint limits (Robot superclass) @@ -715,6 +725,9 @@ def ikine_min( if not isinstance(T, SE3): raise TypeError("argument must be SE3") + if isinstance(self, rtb.DHRobot): + end = None + if q0 is None: q0 = np.zeros((self.n)) else: @@ -745,7 +758,7 @@ def ikine_min( def cost(q, T, weight, costfun, stiffness): # T, weight, costfun, stiffness = args - e = _angle_axis(self.fkine(q).A, T) * weight + e = _angle_axis(self.fkine(q, end=end).A, T) * weight E = (e ** 2).sum() if stiffness > 0: @@ -785,7 +798,7 @@ def cost(q, T, weight, costfun, stiffness): # --------------------------------------------------------------------- # def ikine_global( - self, T, qlim=False, ilimit=1000, tol=1e-16, method=None, options={} + self, T, qlim=False, ilimit=1000, tol=1e-16, method=None, options={}, end=None ): r""" .. warning:: Experimental code for using SciPy global optimizers. @@ -804,6 +817,9 @@ def ikine_global( if not isinstance(T, SE3): raise TypeError("argument must be SE3") + if isinstance(self, rtb.DHRobot): + end = None + solutions = [] # wr = 1 / self.reach @@ -833,7 +849,7 @@ def ikine_global( def cost(q, T, weight): # T, weight, costfun, stiffness = args - e = _angle_axis(self.fkine(q).A, T) * weight + e = _angle_axis(self.fkine(q, end=end).A, T) * weight return (e ** 2).sum() for _ in T: From 7951daeba9a095c245255d962e29488dc08a6912 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 13 Sep 2021 12:46:33 +1000 Subject: [PATCH 105/116] fix pyplot test --- tests/test_PyPlot.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/tests/test_PyPlot.py b/tests/test_PyPlot.py index 321b39ef6..1d6ce4f26 100644 --- a/tests/test_PyPlot.py +++ b/tests/test_PyPlot.py @@ -6,15 +6,16 @@ # import numpy.testing as nt # import numpy as np import roboticstoolbox as rp + # import spatialmath as sm import unittest class TestPyPlot(unittest.TestCase): - def test_PyPlot(self): panda = rp.models.DH.Panda() from roboticstoolbox.backends.PyPlot import PyPlot + env = PyPlot() env.launch() env.add(panda) @@ -25,6 +26,7 @@ def test_PyPlot(self): def test_PyPlot_invisible(self): panda = rp.models.DH.Panda() from roboticstoolbox.backends.PyPlot import PyPlot + env = PyPlot() env.launch() env.add(panda, display=False) @@ -35,13 +37,14 @@ def test_PyPlot_invisible(self): def test_unimplemented(self): # TODO remove these as implemented from roboticstoolbox.backends.PyPlot import PyPlot + env = PyPlot() env.reset() env.restart() - env.remove() + env.remove(0) -if __name__ == '__main__': +if __name__ == "__main__": unittest.main() From bab65bc09d5929a62bc8d182104d69990fa22c2f Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 13 Sep 2021 13:42:26 +1000 Subject: [PATCH 106/116] fix #252 --- roboticstoolbox/robot/DHRobot.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/roboticstoolbox/robot/DHRobot.py b/roboticstoolbox/robot/DHRobot.py index 89a8707dc..c9455db2e 100644 --- a/roboticstoolbox/robot/DHRobot.py +++ b/roboticstoolbox/robot/DHRobot.py @@ -1415,8 +1415,8 @@ def removesmall(x): if self._base is not None: Rb = t2r(self.base.A).T - w = Rb @ wd - wd = Rb @ wdd + w = Rb @ w + wd = Rb @ wd vd = Rb @ gravity # ---------------- initialize some variables ----------------- # From c05f4cad4f0bc875c4ffc552288efb3fcc86455e Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 13 Sep 2021 13:52:38 +1000 Subject: [PATCH 107/116] Fix #253 --- roboticstoolbox/tools/urdf/urdf.py | 43 ++++++++++-------------------- 1 file changed, 14 insertions(+), 29 deletions(-) diff --git a/roboticstoolbox/tools/urdf/urdf.py b/roboticstoolbox/tools/urdf/urdf.py index b645b084c..ed2573935 100644 --- a/roboticstoolbox/tools/urdf/urdf.py +++ b/roboticstoolbox/tools/urdf/urdf.py @@ -1693,37 +1693,22 @@ def __init__( rot = joint.rpy # Check if axis of rotation/tanslation is not 1 - # if np.sum(np.abs(np.array(joint.axis))) == 1 and 1 in np.abs( - # np.array(joint.axis) - # ): - # print("not") - childlink._ets = rtb.ETS.SE3(trans, rot) - # else: - - # phi = np.arctan2( - # np.sqrt(joint.axis[0] * joint.axis[0] + joint.axis[1] * joint.axis[1]), - # joint.axis[2], - # ) - # print(phi) - # theta = np.arctan2(joint.axis[1], -joint.axis[0]) - # print(theta) - - # joint.axis = [1, 0, 0] - - # new_axis = [0, 0, 1] - - # v = np.cross(joint.axis, new_axis) - # theta = np.arccos(np.dot(joint.axis, new_axis)) - # new_rot = sm.SO3.AngVec(theta, v) - - # print(joint.axis) - # print(new_rot.rpy()) + if np.sum(np.abs(np.array(joint.axis))) == 1 and 1 in np.abs( + np.array(joint.axis) + ): + childlink._ets = rtb.ETS.SE3(trans, rot) + else: + # Normalise the joint axis to be along or about z axis + # Convert rest to static ETS + v = joint.axis + u, n = sm.base.unitvec_norm(v) + R = sm.base.angvec2r(n, u) - # childlink._ets = rtb.ETS.SE3(trans, rot) * rtb.ETS.SE3( - # [0, 0, 0], new_rot.rpy() - # ) + R_total = sm.SE3.RPY(joint.rpy) * R + rpy = sm.base.tr2rpy(R_total) - # joint.axis = [0, 0, 1] + childlink._ets = rtb.ETS.SE3(trans, rpy) + joint.axis = [0, 0, 1] childlink._init_Ts() From 9bd463c66eaa06b8abd0f562ec4037a383c9a9d2 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 13 Sep 2021 14:01:15 +1000 Subject: [PATCH 108/116] fix axes count --- roboticstoolbox/tools/urdf/urdf.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/roboticstoolbox/tools/urdf/urdf.py b/roboticstoolbox/tools/urdf/urdf.py index ed2573935..8a1ab849b 100644 --- a/roboticstoolbox/tools/urdf/urdf.py +++ b/roboticstoolbox/tools/urdf/urdf.py @@ -1693,9 +1693,7 @@ def __init__( rot = joint.rpy # Check if axis of rotation/tanslation is not 1 - if np.sum(np.abs(np.array(joint.axis))) == 1 and 1 in np.abs( - np.array(joint.axis) - ): + if np.count_nonzero(joint.axis) < 2: childlink._ets = rtb.ETS.SE3(trans, rot) else: # Normalise the joint axis to be along or about z axis From 538a86854424bf1f7f92fd24082ca34142ae3021 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 13 Sep 2021 16:42:30 +1000 Subject: [PATCH 109/116] Fixed twist3 names --- roboticstoolbox/robot/DHRobot.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/roboticstoolbox/robot/DHRobot.py b/roboticstoolbox/robot/DHRobot.py index c9455db2e..69c8c6cc2 100644 --- a/roboticstoolbox/robot/DHRobot.py +++ b/roboticstoolbox/robot/DHRobot.py @@ -750,9 +750,9 @@ def twists(self, q=None): # MDH case for j, link in enumerate(self): if link.sigma == 0: - tw[j] = Twist3.Revolute(T[j].a, T[j].t) + tw[j] = Twist3.UnitRevolute(T[j].a, T[j].t) else: - tw[j] = Twist3.Prismatic(T[j].a) + tw[j] = Twist3.UnitPrismatic(T[j].a) else: # DH case for j, link in enumerate(self): @@ -760,15 +760,15 @@ def twists(self, q=None): # first link case if link.sigma == 0: # revolute - tw[j] = Twist3.Revolute([0, 0, 1], [0, 0, 0]) + tw[j] = Twist3.UnitRevolute([0, 0, 1], [0, 0, 0]) else: - tw[j] = Twist3.Prismatic([0, 0, 1]) # prismatic + tw[j] = Twist3.UnitPrismatic([0, 0, 1]) # prismatic else: # subsequent links if link.sigma == 0: - tw[j] = Twist3.Revolute(T[j - 1].a, T[j - 1].t) # revolute + tw[j] = Twist3.UnitRevolute(T[j - 1].a, T[j - 1].t) # revolute else: - tw[j] = Twist3.Prismatic(T[j - 1].a) # prismatic + tw[j] = Twist3.UnitPrismatic(T[j - 1].a) # prismatic return tw, T[-1] From 1542ae3d6d84c878aea49f98868bb6f033c4e1e6 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 13 Sep 2021 16:43:03 +1000 Subject: [PATCH 110/116] commented out __main__ section --- .../mobile/DistanceTransformPlanner.py | 108 ++++++++++-------- 1 file changed, 59 insertions(+), 49 deletions(-) diff --git a/roboticstoolbox/mobile/DistanceTransformPlanner.py b/roboticstoolbox/mobile/DistanceTransformPlanner.py index d8e0935dc..d1ca88ecb 100644 --- a/roboticstoolbox/mobile/DistanceTransformPlanner.py +++ b/roboticstoolbox/mobile/DistanceTransformPlanner.py @@ -41,12 +41,13 @@ class DistanceTransformPlanner(PlannerBase): Also known as wavefront, grassfire or brushfire planning algorithm. Creates a planner that finds the path between two points in the - plane using forward motion. The path comprises a set of points in + plane using forward motion. The path comprises a set of points in adjacent cells. :author: Peter Corke_ :seealso: :class:`Planner` """ + def __init__(self, occgrid=None, metric="euclidean", **kwargs): super().__init__(occgrid=occgrid, ndims=2, **kwargs) @@ -85,11 +86,15 @@ def plan(self, goal=None, animate=False, verbose=False): self.goal = goal if self._goal is None: - raise ValueError('No goal specified here or in constructor') + raise ValueError("No goal specified here or in constructor") - self._distancemap = distancexform(self.occgrid.grid, - goal=self._goal, metric=self._metric, animate=animate, - verbose=verbose) + self._distancemap = distancexform( + self.occgrid.grid, + goal=self._goal, + metric=self._metric, + animate=animate, + verbose=verbose, + ) # Use plot from parent class @@ -97,17 +102,20 @@ def next(self, position): if self.distancemap is None: Error("No distance map computed, you need to plan.") - directions = np.array([ - # dy dx - [-1, -1], - [ 0, -1], - [ 1, -1], - [-1, 0], - [ 0, 0], - [ 1, 0], - [ 0, 1], - [ 1, 1], - ], dtype=int) + directions = np.array( + [ + # dy dx + [-1, -1], + [0, -1], + [1, -1], + [-1, 0], + [0, 0], + [1, 0], + [0, 1], + [1, 1], + ], + dtype=int, + ) x = int(position[0]) y = int(position[1]) @@ -137,28 +145,30 @@ def next(self, position): def plot_3d(self, p=None, ls=None): fig = plt.figure() - ax = fig.gca(projection='3d') + ax = fig.gca(projection="3d") distance = self._distancemap X, Y = np.meshgrid(np.arange(distance.shape[1]), np.arange(distance.shape[0])) - surf = ax.plot_surface(X, Y, distance, #cmap='gray', - linewidth=1, antialiased=False) + surf = ax.plot_surface( + X, Y, distance, linewidth=1, antialiased=False # cmap='gray', + ) if p is not None: # k = sub2ind(np.shape(self._distancemap), p[:, 1], p[:, 0]) - height = distance[p[:,1], p[:,0]] + height = distance[p[:, 1], p[:, 0]] ax.plot(p[:, 0], p[:, 1], height) - plt.xlabel('x') - plt.ylabel('y') - ax.set_zlabel('z') + plt.xlabel("x") + plt.ylabel("y") + ax.set_zlabel("z") plt.show() return ax import numpy as np -def distancexform(occgrid, goal, metric='cityblock', animate=False, verbose=False): + +def distancexform(occgrid, goal, metric="cityblock", animate=False, verbose=False): """ Distance transform for path planning @@ -180,7 +190,7 @@ def distancexform(occgrid, goal, metric='cityblock', animate=False, verbose=Fals ``metric``. In addition: - Obstacle cells will be set to ``nan`` - - Unreachable cells, ie. free cells _inside obstacles_ will be set + - Unreachable cells, ie. free cells _inside obstacles_ will be set to ``inf`` The cells of the passed occupancy grid are: @@ -197,11 +207,11 @@ def distancexform(occgrid, goal, metric='cityblock', animate=False, verbose=Fals distance = occgrid.astype(np.float32) distance[occgrid > 0] = np.nan # assign nan to obstacle cells - distance[occgrid==0] = np.inf # assign inf to other cells + distance[occgrid == 0] = np.inf # assign inf to other cells distance[goal[1], goal[0]] = 0 # assign zero to goal - + # create the appropriate distance matrix D - if metric.lower() in ('manhattan', 'cityblock'): + if metric.lower() in ("manhattan", "cityblock"): # fmt: off D = np.array([ [ np.inf, 1, np.inf], @@ -209,7 +219,7 @@ def distancexform(occgrid, goal, metric='cityblock', animate=False, verbose=Fals [ np.inf, 1, np.inf] ]) # fmt: on - elif metric.lower() == 'euclidean': + elif metric.lower() == "euclidean": r2 = np.sqrt(2) # fmt: off D = np.array([ @@ -236,15 +246,15 @@ def distancexform(occgrid, goal, metric='cityblock', animate=False, verbose=Fals display[np.isinf(display)] = 0 if h is None: plt.figure() - plt.xlabel('x') - plt.ylabel('y') + plt.xlabel("x") + plt.ylabel("y") ax = plt.gca() plt.pause(0.001) - cmap = cm.get_cmap('gray') - cmap.set_bad('red') - cmap.set_over('white') + cmap = cm.get_cmap("gray") + cmap.set_bad("red") + cmap.set_over("white") h = plt.imshow(display, cmap=cmap) - plt.colorbar(label='distance') + plt.colorbar(label="distance") else: h.remove() h = plt.imshow(display, cmap=cmap) @@ -262,12 +272,13 @@ def distancexform(occgrid, goal, metric='cityblock', animate=False, verbose=Fals print(f"{count:d} iterations, {ninf:d} unreachable cells") return distance + def grassfire_step(G, D): # pad with inf - H = np.pad(G, max(D.shape) // 2, 'constant', constant_values=np.inf) + H = np.pad(G, max(D.shape) // 2, "constant", constant_values=np.inf) rows, columns = G.shape - + # inspired by https://landscapearchaeology.org/2018/numpy-loops/ minimum = np.full(G.shape, np.inf) for y in range(3): @@ -280,7 +291,7 @@ def grassfire_step(G, D): if __name__ == "__main__": - + pass # # make a simple map, as per the MOOCs # occgrid = np.zeros((10,10)) @@ -296,16 +307,15 @@ def grassfire_step(G, D): # dx = distancexform(occgrid, goal, metric='Euclidean') # print(dx) + # from roboticstoolbox import DistanceTransformPlanner, rtb_loadmat - from roboticstoolbox import DistanceTransformPlanner, rtb_loadmat + # house = rtb_loadmat('data/house.mat') + # floorplan = house['floorplan'] + # places = house['places'] - house = rtb_loadmat('data/house.mat') - floorplan = house['floorplan'] - places = house['places'] - - dx = DistanceTransformPlanner(floorplan) - print(dx) - dx.goal = [1,2] - dx.plan(places.kitchen) - path = dx.query(places.br3) - dx.plot(path, block=True) \ No newline at end of file + # dx = DistanceTransformPlanner(floorplan) + # print(dx) + # dx.goal = [1,2] + # dx.plan(places.kitchen) + # path = dx.query(places.br3) + # dx.plot(path, block=True) From 8ec5cacd40ea4f254197010780ec7b2a35f40626 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 13 Sep 2021 16:43:21 +1000 Subject: [PATCH 111/116] commented out rvcprint import --- roboticstoolbox/mobile/RRTPlanner.py | 57 ++++++++++++++++------------ 1 file changed, 32 insertions(+), 25 deletions(-) diff --git a/roboticstoolbox/mobile/RRTPlanner.py b/roboticstoolbox/mobile/RRTPlanner.py index 82d666469..c8c9dfdcc 100644 --- a/roboticstoolbox/mobile/RRTPlanner.py +++ b/roboticstoolbox/mobile/RRTPlanner.py @@ -1,7 +1,8 @@ import math from collections import namedtuple from roboticstoolbox.mobile.OccGrid import PolygonMap -import rvcprint + +# import rvcprint from roboticstoolbox import * import numpy as np import matplotlib.pyplot as plt @@ -9,20 +10,24 @@ from spatialmath import Polygon2, SE2, base from roboticstoolbox.mobile.PlannerBase import PlannerBase from roboticstoolbox.mobile.DubinsPlanner import DubinsPlanner + # from roboticstoolbox.mobile.OccupancyGrid import OccupancyGrid from pgraph import DGraph -class RRTPlanner(PlannerBase): - def __init__(self, - map=None, - vehicle=None, - curvature=None, - expand_dis=3.0, - path_resolution=0.5, - stepsize=0.2, - showsamples=False, - npoints=50, **kwargs): +class RRTPlanner(PlannerBase): + def __init__( + self, + map=None, + vehicle=None, + curvature=None, + expand_dis=3.0, + path_resolution=0.5, + stepsize=0.2, + showsamples=False, + npoints=50, + **kwargs + ): super().__init__(ndims=2, **kwargs) @@ -32,7 +37,7 @@ def __init__(self, self.map = map self.showsamples = showsamples - self.g = DGraph(metric='SE2') + self.g = DGraph(metric="SE2") self.vehicle = vehicle if curvature is None: @@ -41,7 +46,7 @@ def __init__(self, else: curvature = 1 - print('curvature', curvature) + print("curvature", curvature) self.dubins = DubinsPlanner(curvature=curvature, stepsize=stepsize) # self.goal_yaw_th = np.deg2rad(1.0) @@ -68,7 +73,7 @@ def plan(self, goal, animation=True, search_until_npoints=True): random_point = self.qrandom_free() if self.showsamples: - plt.plot(random_point[0], random_point[1], 'ok', markersize=2) + plt.plot(random_point[0], random_point[1], "ok", markersize=2) vnearest, d = self.g.closest(random_point) @@ -100,8 +105,7 @@ def plan(self, goal, animation=True, search_until_npoints=True): self.g.add_edge(vnew, vnearest, cost=pstatus.length) vnew.path = path - - self.vehicle.polygon(random_point).plot(color='b', alpha=0.1) + self.vehicle.polygon(random_point).plot(color="b", alpha=0.1) plt.show() self.progress_end() @@ -119,7 +123,9 @@ def query(self, start): if vertex.path is not None: path = np.vstack((path, vertex.path)) - status = namedtuple('RRTStatus', ['length', 'initial_d', 'vertices'])(cost, d, vpath) + status = namedtuple("RRTStatus", ["length", "initial_d", "vertices"])( + cost, d, vpath + ) return path, status @@ -142,7 +148,8 @@ def calc_dist_to_goal(self, x, y): def qrandom(self): return self.random.uniform( low=(self.map.workspace[0], self.map.workspace[2], -np.pi), - high=(self.map.workspace[1], self.map.workspace[3], np.pi)) + high=(self.map.workspace[1], self.map.workspace[3], np.pi), + ) def qrandom_free(self): @@ -155,13 +162,14 @@ def qrandom_free(self): def iscollision(self, q): return self.map.iscollision(self.vehicle.polygon(q)) + if __name__ == "__main__": from roboticstoolbox.mobile.Vehicle import Bicycle # start and goal configuration - qs = (2, 8, -np.pi/2) - qg = (8, 2, -np.pi/2) + qs = (2, 8, -np.pi / 2) + qg = (8, 2, -np.pi / 2) # obstacle map map = PolygonMap(workspace=[0, 10]) @@ -169,9 +177,9 @@ def iscollision(self, q): # map.add([(5, 0), (6, 0), (6, 4), (5, 4)]) map.add([(5, 4), (5, -50), (6, -50), (6, 4)]) - l=3 - w=1.5 - v0 = Polygon2([(-l/2, w/2), (-l/2, -w/2), (l/2, -w/2), (l/2, w/2)]) + l = 3 + w = 1.5 + v0 = Polygon2([(-l / 2, w / 2), (-l / 2, -w / 2), (l / 2, -w / 2), (l / 2, w / 2)]) vehicle = Bicycle(steer_max=0.4, l=2, polygon=v0) @@ -181,5 +189,4 @@ def iscollision(self, q): path, status = rrt.query(start=qs) rrt.plot(path) - - plt.show(block=True) \ No newline at end of file + plt.show(block=True) From 2c3361b6d90a963f98de10a02fef80ff69317c56 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 13 Sep 2021 16:43:30 +1000 Subject: [PATCH 112/116] Fixed cube -> cuboid --- roboticstoolbox/models/ETS/Omni.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/roboticstoolbox/models/ETS/Omni.py b/roboticstoolbox/models/ETS/Omni.py index abe73463d..e6c8567c3 100644 --- a/roboticstoolbox/models/ETS/Omni.py +++ b/roboticstoolbox/models/ETS/Omni.py @@ -47,7 +47,9 @@ def __init__(self): g0 = ELink(name="gripper", parent=b2) - b2.geometry = sg.Box([l, w, h], base=sm.SE3(0, 0, h / 2), color=(163, 157, 134)) + b2.geometry = sg.Cuboid( + [l, w, h], base=sm.SE3(0, 0, h / 2), color=(163, 157, 134) + ) elinks = [b0, b1, b2, g0] From e52b241b5db3d220cb44835a55cb84f31c9bea5e Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 13 Sep 2021 16:44:02 +1000 Subject: [PATCH 113/116] Commented erronous tests --- tests/test_mobile.py | 175 +++++++++++++++++++++---------------------- 1 file changed, 87 insertions(+), 88 deletions(-) diff --git a/tests/test_mobile.py b/tests/test_mobile.py index 08403a47e..38a082826 100644 --- a/tests/test_mobile.py +++ b/tests/test_mobile.py @@ -9,70 +9,73 @@ import spatialmath.base as sm import unittest -from roboticstoolbox import Bug2, DistanceTransformPlanner, rtb_loadmat +# from roboticstoolbox import Bug2, DistanceTransformPlanner, rtb_loadmat +from roboticstoolbox import Bug2 from roboticstoolbox.mobile.Bug2 import edgelist from roboticstoolbox.mobile.landmarkmap import * from roboticstoolbox.mobile.drivers import * from roboticstoolbox.mobile.sensors import * from roboticstoolbox.mobile.Vehicle import * -from roboticstoolbox.mobile import Planner + +# from roboticstoolbox.mobile import Planner # ======================================================================== # -class TestNavigation(unittest.TestCase): +class TestNavigation(unittest.TestCase): def test_edgelist(self): - im = np.array([ - [0, 0, 0, 0, 0, 0, 0, 0], - [0, 0, 0, 0, 0, 0, 0, 0], - [0, 0, 0, 1, 1, 1, 0, 0], - [0, 0, 0, 1, 1, 1, 0, 0], - [0, 0, 1, 1, 1, 1, 0, 0], - [0, 0, 0, 1, 1, 1, 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], - ]) + im = np.array( + [ + [0, 0, 0, 0, 0, 0, 0, 0], + [0, 0, 0, 0, 0, 0, 0, 0], + [0, 0, 0, 1, 1, 1, 0, 0], + [0, 0, 0, 1, 1, 1, 0, 0], + [0, 0, 1, 1, 1, 1, 0, 0], + [0, 0, 0, 1, 1, 1, 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], + ] + ) seeds = [(2, 4), (3, 5), (5, 5), (3, 4), (1, 4), (2, 5), (3, 6), (1, 5)] for seed in seeds: - # clockwise - edge, _ = edgelist(im, seed) - for e in edge: - self.assertEqual( im[e[1],e[0]], im[seed[1], seed[0]] ) - - # counter clockwise - edge, _ = edgelist(im, seed, -1); - for e in edge: - self.assertEqual( im[e[1],e[0]], im[seed[1], seed[0]] ) + # clockwise + edge, _ = edgelist(im, seed) + for e in edge: + self.assertEqual(im[e[1], e[0]], im[seed[1], seed[0]]) + # counter clockwise + edge, _ = edgelist(im, seed, -1) + for e in edge: + self.assertEqual(im[e[1], e[0]], im[seed[1], seed[0]]) - def test_map(self): - map = np.zeros((10,10)) - map[2,3] = 1 + # def test_map(self): + # map = np.zeros((10, 10)) + # map[2, 3] = 1 - # instantiate a noname planner - nav = Planner(occgrid=map, ndims=2) + # # instantiate a noname planner + # nav = Planner(occgrid=map, ndims=2) - ## test isoccupied method - self.assertTrue( nav.isoccupied([3,2])) - self.assertFalse( nav.isoccupied([3,3])) + # ## test isoccupied method + # self.assertTrue(nav.isoccupied([3, 2])) + # self.assertFalse(nav.isoccupied([3, 3])) - # out of bounds - self.assertTrue( nav.isoccupied([20, 20])) + # # out of bounds + # self.assertTrue(nav.isoccupied([20, 20])) - ## test inflation option - nav = Bug2(occgrid=map, inflate=1); - self.assertTrue( nav.isoccupied([3,2])) - self.assertTrue( nav.isoccupied([3,3])) - self.assertFalse( nav.isoccupied([3,4])) + # ## test inflation option + # nav = Bug2(occgrid=map, inflate=1) + # self.assertTrue(nav.isoccupied([3, 2])) + # self.assertTrue(nav.isoccupied([3, 3])) + # self.assertFalse(nav.isoccupied([3, 4])) # ======================================================================== # -class RangeBearingSensorTest(unittest.TestCase): +class RangeBearingSensorTest(unittest.TestCase): def setUp(self): self.veh = rtb.Bicycle() self.map = rtb.LandmarkMap(20) @@ -81,7 +84,7 @@ def setUp(self): def test_init(self): self.assertIsInstance(self.rs.map, rtb.LandmarkMap) - self.assertIsInstance(self.rs.robot, rtb.Vehicle) + # self.assertIsInstance(self.rs.robot, rtb.Vehicle) self.assertIsInstance(str(self.rs), str) @@ -107,29 +110,30 @@ def test_reading(self): def test_h(self): xv = np.r_[2, 3, 0.5] - p = np.r_[3,4] + p = np.r_[3, 4] z = self.rs.h(xv, 10) self.assertIsInstance(z, np.ndarray) self.assertEqual(z.shape, (2,)) - self.assertAlmostEqual(z[0], - np.linalg.norm(self.rs.map.landmark(10) - xv[:2])) + self.assertAlmostEqual(z[0], np.linalg.norm(self.rs.map.landmark(10) - xv[:2])) theta = z[1] + xv[2] - nt.assert_almost_equal(self.rs.map.landmark(10), - xv[:2] + z[0] * np.r_[np.cos(theta), np.sin(theta)]) + nt.assert_almost_equal( + self.rs.map.landmark(10), + xv[:2] + z[0] * np.r_[np.cos(theta), np.sin(theta)], + ) - z = self.rs.h(xv, [3,4]) + z = self.rs.h(xv, [3, 4]) self.assertIsInstance(z, np.ndarray) self.assertEqual(z.shape, (2,)) - self.assertAlmostEqual(z[0], - np.linalg.norm(p - xv[:2])) + self.assertAlmostEqual(z[0], np.linalg.norm(p - xv[:2])) theta = z[1] + 0.5 - nt.assert_almost_equal([3, 4], - xv[:2] + z[0] * np.r_[np.cos(theta), np.sin(theta)]) + nt.assert_almost_equal( + [3, 4], xv[:2] + z[0] * np.r_[np.cos(theta), np.sin(theta)] + ) # all landmarks z = self.rs.h(xv) self.assertIsInstance(z, np.ndarray) - self.assertEqual(z.shape, (20,2)) + self.assertEqual(z.shape, (20, 2)) for k in range(20): nt.assert_almost_equal(z[k, :], self.rs.h(xv, k)) @@ -142,9 +146,9 @@ def test_h(self): xv = np.array([[2, 3, 0.5], [3, 4, 0], [4, 5, -0.5]]) z = self.rs.h(xv, 10) self.assertIsInstance(z, np.ndarray) - self.assertEqual(z.shape, (3,2)) + self.assertEqual(z.shape, (3, 2)) for i in range(3): - nt.assert_almost_equal(z[i,:], self.rs.h(xv[i,:], 10)) + nt.assert_almost_equal(z[i, :], self.rs.h(xv[i, :], 10)) # xv = np.r_[2, 3, 0.5] # p = np.array([[1, 2], [3, 4], [5, 6]]).T @@ -155,56 +159,50 @@ def test_h(self): # nt.assert_almost_equal(z[i,:], self.rs.h(xv, p[i,:])) def test_H_jacobians(self): - xv = np.r_[1, 2, pi/4] + xv = np.r_[1, 2, pi / 4] p = np.r_[5, 7] id = 10 nt.assert_almost_equal( - self.rs.Hx(xv, id), - base.numjac(lambda x: self.rs.h(x, id), xv), - decimal=4) + self.rs.Hx(xv, id), base.numjac(lambda x: self.rs.h(x, id), xv), decimal=4 + ) nt.assert_almost_equal( - self.rs.Hp(xv, p), - base.numjac(lambda p: self.rs.h(xv, p), p), - decimal=4) + self.rs.Hp(xv, p), base.numjac(lambda p: self.rs.h(xv, p), p), decimal=4 + ) - xv = [1, 2, pi/4] + xv = [1, 2, pi / 4] p = [5, 7] id = 10 nt.assert_almost_equal( - self.rs.Hx(xv, id), - base.numjac(lambda x: self.rs.h(x, id), xv), - decimal=4) + self.rs.Hx(xv, id), base.numjac(lambda x: self.rs.h(x, id), xv), decimal=4 + ) nt.assert_almost_equal( - self.rs.Hp(xv, p), - base.numjac(lambda p: self.rs.h(xv, p), p), - decimal=4) + self.rs.Hp(xv, p), base.numjac(lambda p: self.rs.h(xv, p), p), decimal=4 + ) def test_g(self): - xv = np.r_[1, 2, pi/4] + xv = np.r_[1, 2, pi / 4] p = np.r_[5, 7] z = self.rs.h(xv, p) nt.assert_almost_equal(p, self.rs.g(xv, z)) def test_G_jacobians(self): - xv = np.r_[1, 2, pi/4] + xv = np.r_[1, 2, pi / 4] p = np.r_[5, 7] z = self.rs.h(xv, p) nt.assert_almost_equal( - self.rs.Gx(xv, z), - base.numjac(lambda x: self.rs.g(x, z), xv), - decimal=4) + self.rs.Gx(xv, z), base.numjac(lambda x: self.rs.g(x, z), xv), decimal=4 + ) nt.assert_almost_equal( - self.rs.Gz(xv, z), - base.numjac(lambda z: self.rs.g(xv, z), z), - decimal=4) + self.rs.Gz(xv, z), base.numjac(lambda z: self.rs.g(xv, z), z), decimal=4 + ) def test_plot(self): @@ -212,10 +210,11 @@ def test_plot(self): # map.plot(block=False) pass + # ======================================================================== # -class LandMarkTest(unittest.TestCase): +class LandMarkTest(unittest.TestCase): def test_init(self): map = LandmarkMap(20) @@ -230,12 +229,12 @@ def test_init(self): self.assertEqual(map.x.shape, (20,)) self.assertEqual(map.y.shape, (20,)) - self.assertEqual(map.xy.shape, (2,20)) + self.assertEqual(map.xy.shape, (2, 20)) def test_range(self): map = LandmarkMap(1000, workspace=[-10, 10, 100, 200]) - self.assertTrue(map._map.shape, (2,1000)) + self.assertTrue(map._map.shape, (2, 1000)) x = map.x y = map.y @@ -247,10 +246,11 @@ def test_plot(self): map = LandmarkMap(20) map.plot(block=False) + # ======================================================================== # -class DriversTest(unittest.TestCase): +class DriversTest(unittest.TestCase): def test_init(self): rp = rtb.RandomPath(10) @@ -270,6 +270,7 @@ def test_init(self): self.assertIsInstance(u, np.ndarray) self.assertTrue(u.shape, (2,)) + class TestBicycle(unittest.TestCase): # def test_deriv(self): @@ -284,19 +285,17 @@ class TestBicycle(unittest.TestCase): # decimal=4) def test_jacobians(self): - xv = np.r_[1, 2, pi/4] + xv = np.r_[1, 2, pi / 4] odo = np.r_[0.1, 0.2] veh = Bicycle() nt.assert_almost_equal( - veh.Fx(xv, odo), - base.numjac(lambda x: veh.f(x, odo), xv), - decimal=4) + veh.Fx(xv, odo), base.numjac(lambda x: veh.f(x, odo), xv), decimal=4 + ) nt.assert_almost_equal( - veh.Fv(xv, odo), - base.numjac(lambda d: veh.f(xv, d), odo), - decimal=4) + veh.Fv(xv, odo), base.numjac(lambda d: veh.f(xv, d), odo), decimal=4 + ) # function setupOnce(testCase) @@ -541,6 +540,6 @@ def test_jacobians(self): # -if __name__ == '__main__': # pragma nocover +if __name__ == "__main__": # pragma nocover unittest.main() # pytest.main(['tests/test_SerialLink.py']) From fc2dab17fcd149b9a1185bc46e850166a20dc3e1 Mon Sep 17 00:00:00 2001 From: Jesse Haviland Date: Mon, 13 Sep 2021 16:59:18 +1000 Subject: [PATCH 114/116] Update setup.py --- setup.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/setup.py b/setup.py index 90aa197aa..cdde27d07 100644 --- a/setup.py +++ b/setup.py @@ -11,13 +11,13 @@ req = [ 'numpy>=1.18.0', - 'spatialmath-python>=0.9.6', - 'spatialgeometry>=0.1.2', + 'spatialmath-python>=0.11', + 'spatialgeometry>=0.2.0', 'pgraph-python', 'scipy', 'matplotlib', 'ansitable', - 'swift-sim>=0.9.5', + 'swift-sim>=0.10.0', 'qpsolvers', 'rtb-data' ] @@ -95,7 +95,7 @@ def package_files(directory): setup( name='roboticstoolbox-python', - version='0.10.1', + version='0.11.0', description='A Python library for robotic education and research', From 82c87d4c78b5df84890b2498f517320e27acbafc Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 13 Sep 2021 17:22:16 +1000 Subject: [PATCH 115/116] added req --- setup.py | 154 ++++++++++++++++++++++--------------------------------- 1 file changed, 60 insertions(+), 94 deletions(-) diff --git a/setup.py b/setup.py index cdde27d07..f44ccd84f 100644 --- a/setup.py +++ b/setup.py @@ -10,45 +10,33 @@ here = os.path.abspath(os.path.dirname(__file__)) req = [ - 'numpy>=1.18.0', - 'spatialmath-python>=0.11', - 'spatialgeometry>=0.2.0', - 'pgraph-python', - 'scipy', - 'matplotlib', - 'ansitable', - 'swift-sim>=0.10.0', - 'qpsolvers', - 'rtb-data' + "numpy>=1.18.0", + "spatialmath-python>=0.11", + "spatialgeometry>=0.2.0", + "pgraph-python", + "scipy", + "matplotlib", + "ansitable", + "swift-sim>=0.10.0", + "qpsolvers", + "rtb-data", + "progress", ] -collision_req = [ - 'pybullet' -] +collision_req = ["pybullet"] -vp_req = [ - 'vpython', - 'numpy-stl', - 'imageio', - 'imageio-ffmpeg' -] +vp_req = ["vpython", "numpy-stl", "imageio", "imageio-ffmpeg"] -dev_req = [ - 'pytest', - 'pytest-cov', - 'flake8', - 'pyyaml', - 'sympy' -] +dev_req = ["pytest", "pytest-cov", "flake8", "pyyaml", "sympy"] docs_req = [ - 'sphinx', - 'sphinx_rtd_theme', - 'sphinx-autorun', + "sphinx", + "sphinx_rtd_theme", + "sphinx-autorun", ] # Get the long description from the README file -with open(os.path.join(here, 'README.md'), encoding='utf-8') as f: +with open(os.path.join(here, "README.md"), encoding="utf-8") as f: long_description = f.read() # list all data folders here, to ensure they get packaged @@ -57,7 +45,7 @@ # 'roboticstoolbox/models/URDF/xacro', # 'roboticstoolbox/models/DH/meshes', # 'roboticstoolbox/data', - 'roboticstoolbox/core', + "roboticstoolbox/core", ] @@ -65,7 +53,7 @@ def package_files(directory): paths = [] for (pathhere, _, filenames) in os.walk(directory): for filename in filenames: - paths.append(os.path.join('..', pathhere, filename)) + paths.append(os.path.join("..", pathhere, filename)) return paths @@ -74,87 +62,65 @@ def package_files(directory): extra_files += package_files(extra_folder) frne = Extension( - 'frne', + "frne", sources=[ - './roboticstoolbox/core/vmath.c', - './roboticstoolbox/core/ne.c', - './roboticstoolbox/core/frne.c'], - include_dirs=[ - './roboticstoolbox/core/' - ]) + "./roboticstoolbox/core/vmath.c", + "./roboticstoolbox/core/ne.c", + "./roboticstoolbox/core/frne.c", + ], + include_dirs=["./roboticstoolbox/core/"], +) fknm = Extension( - 'fknm', - sources=[ - './roboticstoolbox/core/fknm.c'], - include_dirs=[ - './roboticstoolbox/core/', - numpy.get_include() - ]) + "fknm", + sources=["./roboticstoolbox/core/fknm.c"], + include_dirs=["./roboticstoolbox/core/", numpy.get_include()], +) setup( - name='roboticstoolbox-python', - - version='0.11.0', - - description='A Python library for robotic education and research', - + name="roboticstoolbox-python", + version="0.11.0", + description="A Python library for robotic education and research", long_description=long_description, - - long_description_content_type='text/markdown', - - url='https://github.com/petercorke/robotics-toolbox-python', - - author='Jesse Haviland and Peter Corke', - - license='MIT', - + long_description_content_type="text/markdown", + url="https://github.com/petercorke/robotics-toolbox-python", + author="Jesse Haviland and Peter Corke", + license="MIT", classifiers=[ # 3 - Alpha # 4 - Beta # 5 - Production/Stable - 'Development Status :: 4 - Beta', - + "Development Status :: 4 - Beta", # Indicate who your project is intended for - 'Intended Audience :: Developers', + "Intended Audience :: Developers", # Pick your license as you wish (should match "license" above) - 'License :: OSI Approved :: MIT License', - + "License :: OSI Approved :: MIT License", # Specify the Python versions you support here. In particular, ensure # that you indicate whether you support Python 2, Python 3 or both. - 'Programming Language :: Python :: 3.6', - 'Programming Language :: Python :: 3.7', - 'Programming Language :: Python :: 3.8', - 'Programming Language :: Python :: 3.9', + "Programming Language :: Python :: 3.6", + "Programming Language :: Python :: 3.7", + "Programming Language :: Python :: 3.8", + "Programming Language :: Python :: 3.9", ], - - python_requires='>=3.6', - + python_requires=">=3.6", project_urls={ - 'Documentation': 'https://petercorke.github.io/roboticstoolbox-python', - 'Source': 'https://github.com/petercorke/roboticstoolbox-python', - 'Tracker': 'https://github.com/petercorke/roboticstoolbox-python/issues', - 'Coverage': 'https://codecov.io/gh/petercorke/roboticstoolbox-python' + "Documentation": "https://petercorke.github.io/roboticstoolbox-python", + "Source": "https://github.com/petercorke/roboticstoolbox-python", + "Tracker": "https://github.com/petercorke/roboticstoolbox-python/issues", + "Coverage": "https://codecov.io/gh/petercorke/roboticstoolbox-python", }, - ext_modules=[frne, fknm], - - keywords='python robotics robotics-toolbox kinematics dynamics' \ - ' motion-planning trajectory-generation jacobian hessian' \ - ' control simulation robot-manipulator mobile-robot', - + keywords="python robotics robotics-toolbox kinematics dynamics" + " motion-planning trajectory-generation jacobian hessian" + " control simulation robot-manipulator mobile-robot", packages=find_packages(exclude=["tests", "notebooks"]), - - package_data={'roboticstoolbox': extra_files}, - - scripts=['roboticstoolbox/bin/rtbtool'], - + package_data={"roboticstoolbox": extra_files}, + scripts=["roboticstoolbox/bin/rtbtool"], install_requires=req, - extras_require={ - 'collision': collision_req, - 'dev': dev_req, - 'docs': docs_req, - 'vpython': vp_req - } + "collision": collision_req, + "dev": dev_req, + "docs": docs_req, + "vpython": vp_req, + }, ) From f5d53d9c1c9dfbb12b5b04ca53f8fb6b6fc7dc48 Mon Sep 17 00:00:00 2001 From: jhavl Date: Mon, 13 Sep 2021 17:24:24 +1000 Subject: [PATCH 116/116] updated rtb-data version --- rtb-data/setup.py | 51 ++++++++++++++++++----------------------------- 1 file changed, 19 insertions(+), 32 deletions(-) diff --git a/rtb-data/setup.py b/rtb-data/setup.py index 6f3443d75..670a0e417 100644 --- a/rtb-data/setup.py +++ b/rtb-data/setup.py @@ -3,18 +3,19 @@ import pkg_resources import os import sys + here = os.path.abspath(os.path.dirname(__file__)) # Get the long description from the README file -with open(os.path.join(here, 'README.md'), encoding='utf-8') as f: +with open(os.path.join(here, "README.md"), encoding="utf-8") as f: long_description = f.read() -release = "0.9.1" +release = "0.10.0" # list all data folders here, to ensure they get packaged data_folders = [ - 'rtbdata', + "rtbdata", ] # https://stackoverflow.com/questions/18725137/how-to-obtain-arguments-passed-to-setup-py-from-pip-with-install-option @@ -25,7 +26,7 @@ def package_files(directory): paths = [] for (pathhere, _, filenames) in os.walk(directory): for filename in filenames: - paths.append(os.path.join('..', pathhere, filename)) + paths.append(os.path.join("..", pathhere, filename)) return paths @@ -37,50 +38,36 @@ def package_files(directory): print(find_packages(exclude=["test_*", "TODO*"])) setup( - name='rtb-data', - + name="rtb-data", version=release, - # This is a one-line description or tagline of what your project does. This # corresponds to the "Summary" metadata field: - description='Data files for the Robotics Toolbox for Python.', # TODO - + description="Data files for the Robotics Toolbox for Python.", # TODO long_description=long_description, - long_description_content_type='text/markdown', - + long_description_content_type="text/markdown", classifiers=[ # 3 - Alpha # 4 - Beta # 5 - Production/Stable - 'Development Status :: 5 - Production/Stable', - + "Development Status :: 5 - Production/Stable", # Indicate who your project is intended for - 'Intended Audience :: Developers', + "Intended Audience :: Developers", # Pick your license as you wish (should match "license" above) - 'License :: OSI Approved :: MIT License', - + "License :: OSI Approved :: MIT License", # Specify the Python versions you support here. In particular, ensure # that you indicate whether you support Python 2, Python 3 or both. - 'Programming Language :: Python :: 3 :: Only'], - + "Programming Language :: Python :: 3 :: Only", + ], project_urls={ - 'Source': 'https://github.com/petercorke/roboticstoolbox-python', + "Source": "https://github.com/petercorke/roboticstoolbox-python", }, - - url='https://github.com/petercorke/roboticstoolbox-python', - - author='Peter Corke', - - author_email='rvc@petercorke.com', # TODO - - keywords='python robotics', - + url="https://github.com/petercorke/roboticstoolbox-python", + author="Peter Corke", + author_email="rvc@petercorke.com", # TODO + keywords="python robotics", # license='MIT', - - package_data={'rtbdata': extra_files}, + package_data={"rtbdata": extra_files}, # include_package_data=True, # data_files = [('mvtbimages', ["../image-data/monalisa.png", "../image-data/street.png"]),], - packages=find_packages(exclude=["test_*", "TODO*"]), - )