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Merged in dot_generator (pull request #437)
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Generate DOT from SDF

Approved-by: Ashton Larkin <ashton@openrobotics.org>
Approved-by: Nate Koenig <natekoenig@gmail.com>
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@nkoenig
nkoenig committed Apr 8, 2020
2 parents aeabab7 + 8a476fc commit 2f63e31
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11 changes: 11 additions & 0 deletions subt_ign/CMakeLists.txt
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Expand Up @@ -134,6 +134,7 @@ set(connection_validator_name ConnectionValidator)
add_library(${connection_validator_name} SHARED
src/ConnectionValidator.cc
src/ConnectionValidatorPrivate.cc
src/ConnectionHelper.cc
src/SimpleDOTParser.cc)
target_link_libraries(${connection_validator_name}
PRIVATE
Expand Down Expand Up @@ -276,6 +277,16 @@ target_link_libraries(log_checker
install(TARGETS log_checker
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

add_executable(dot_generator src/dot_generator.cc src/ConnectionHelper.cc)
target_link_libraries(dot_generator
ignition-math6::ignition-math6
ignition-common3::ignition-common3
sdformat8::sdformat8)
target_include_directories(dot_generator
PRIVATE ${CATKIN_DEVEL_PREFIX}/include)
install(TARGETS dot_generator
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

###########
## Tests ##
###########
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207 changes: 207 additions & 0 deletions subt_ign/src/ConnectionHelper.cc
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/*
* Copyright (C) 2020 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/


#include <ignition/common/Console.hh>

#include "ConnectionHelper.hh"

std::map<std::string, std::vector<ignition::math::Vector3d>>
subt::ConnectionHelper::connectionPoints =
{
{"Urban Straight", {{0, 20, 0}, {0, -20, 0}}},
{"Urban Straight Lights", {{0, 20, 0}, {0, -20, 0}}},
{"Urban Bend Right", {{0, -20, 0}, {20, 0, 0}}},
{"Urban Bend Left", {{0, -20, 0}, {-20, 0, 0}}},
{"Urban Bend Left Lights", {{0, -20, 0}, {-20, 0, 0}}},
{"Urban Superpose", {{0, 20, 0}, {0, -20, 0}, {-20, 0, 10}, {20, 0, 10}}},
{"Urban 3-Way Right Intersection", {{0, 20, 0}, {0, -20, 0}, {20, 0, 0}}},
{"Urban Straight Door Right",
{{20, 0, 0}, {-20, 0, 0}, {-16.021, 3.94, 0.94}}},
{"Urban Straight Door Left",
{{20, 0, 0}, {-20, 0, 0}, {-16.021, -3.94, 0.94}}},
{"Urban Straight Door Right Flipped",
{{20, 0, 0}, {-20, 0, 0}, {-16.021, 3.94, 0.94}}},
{"Urban Straight Door Right Flipped Lights",
{{20, 0, 0}, {-20, 0, 0}, {-16.021, 3.94, 0.94}}},
{"Urban Straight Door Left Flipped",
{{20, 0, 0}, {-20, 0, 0}, {-16.021, -3.94, 0.94}}},
{"Urban Straight Door Right Extension",
{{20, 0, 0}, {-20, 0, 0}, {0, 20, 0}}},
{"Urban Straight Door Right Extension Lights",
{{20, 0, 0}, {-20, 0, 0}, {0, 20, 0}}},
{"Urban Service Room Centered", {{0, 20, 0}}},
{"Urban Service Room Centered Lights", {{0, 20, 0}}},
{"Urban Service Room", {{-16.023, 3.906, 0.919}}},
{"Urban Service Room Lights", {{-16.023, 3.906, 0.919}}},
{"Urban Service Room Straight", {{0, -20, 0}, {0, 20, 0}}},
{"Urban Service Room Straight Lights", {{0, -20, 0}, {0, 20, 0}}},
{"Urban Platform", {{20, 0, 0}, {-20, 0, 0}, {0, 20, 1.7},
{23.979, 3.906, 0.94}, {-23.979, 3.906, 0.94}}},
{"Urban Platform Open", {{20, 0, 0}, {-20, 0, 0}, {0, 20, 0},
{23.979, 3.906, 0.919}, {-23.979, 3.906, 0.919},
{23.982, 11.743, 0.919}}},
{"Urban Stairwell Platform", {{0, 20, 11.69}, {0, -20, 1.69}}},
{"Urban Stairwell Platform Lights", {{0, 20, 11.69}, {0, -20, 1.69}}},
{"Urban Stairwell Platform Centered", {{0, 20, 10}, {0, -20, 0}}},
{"Urban Stairwell Platform Centered Lights", {{0, 20, 10}, {0, -20, 0}}},
{"Urban Starting Area", {{-16.021, 3.94, 0.919}}},
{"Urban Elevation Up", {{0, 20, 5}, {0, -20, 0}}},
{"Urban Elevation Up Lights", {{0, 20, 5}, {0, -20, 0}}},
{"Urban Elevation Down", {{0, 20, 0}, {0, -20, 5}}},
{"Urban 2 Story", {{0, 20, 10}, {0, -20, 0}, {-20, 0, 10}, {20, 0, 0}}},
{"Urban 2 Story Lights",
{{0, 20, 10}, {0, -20, 0}, {-20, 0, 10}, {20, 0, 0}}},
{"Urban 2 Story Large Side 1 Lights", {{0, 20, 10}, {0, -20, 0}}},
{"Urban 2 Story Large Side 2 Lights", {{0, -20, 0}, {0, 20, 0}}},
{"Urban Large Room Split", {{0, -20, 0}, {-20, 0, 0}, {0, 20, 0}}},
{"Urban Large Room Split Lights", {{0, -20, 0}, {-20, 0, 0}, {0, 20, 0}}},
{"Cave Starting Area", {{12.5, 0, 0}}},
{"Cave Straight 01", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 02", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 03", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 04", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Straight 05", {{0, 12.5, 0}, {0, -12.5, 0}}},
{"Cave Corner 01", {{-12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Corner 02", {{-12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave 3 Way 01", {{12.5, 0, 0}, {-12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Elevation", {{0, 12.5, 0}, {0, -12.5, 10}}},
{"Cave Vertical Shaft", {{0, 12.5, 20}, {0, -12.5, 0}}},
{"Cave Cavern Split 01", {{0, 25, 25}, {12.5, 0, 0}, {-12.5, 0, 0}}},
{"Cave Cavern Split 02", {{12.5, 0, 0}, {-12.5, 0, 0}}},
{"Cave Corner 30", {{12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Corner 30F", {{-12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Corner 30 D", {{12.5, 0, 0}, {0, 12.5, 0}}},
{"Cave Corner 30F D", {{12.5, 0, 0}, {0, -12.5, 0}}}
};

std::map<std::string, subt::ConnectionHelper::ConnectionType>
subt::ConnectionHelper::connectionTypes =
{
{"Urban Straight", subt::ConnectionHelper::STRAIGHT},
{"Urban Straight Lights", subt::ConnectionHelper::STRAIGHT},
{"Urban Bend Right", subt::ConnectionHelper::TURN},
{"Urban Bend Left", subt::ConnectionHelper::TURN},
{"Urban Bend Left Lights", subt::ConnectionHelper::TURN},
{"Urban Superpose", subt::ConnectionHelper::TURN},
{"Urban 3-Way Right Intersection", subt::ConnectionHelper::TURN},
{"Urban Straight Door Right", subt::ConnectionHelper::STRAIGHT},
{"Urban Straight Door Left", subt::ConnectionHelper::STRAIGHT},
{"Urban Straight Door Right Flipped", subt::ConnectionHelper::STRAIGHT},
{"Urban Straight Door Right Flipped Lights",
subt::ConnectionHelper::STRAIGHT},
{"Urban Straight Door Left Flipped", subt::ConnectionHelper::STRAIGHT},
{"Urban Straight Door Right Extension", subt::ConnectionHelper::TURN},
{"Urban Straight Door Right Extension Lights",
subt::ConnectionHelper::TURN},
{"Urban Service Room Centered", subt::ConnectionHelper::STRAIGHT},
{"Urban Service Room Centered Lights", subt::ConnectionHelper::STRAIGHT},
{"Urban Service Room", subt::ConnectionHelper::STRAIGHT},
{"Urban Service Room Lights", subt::ConnectionHelper::STRAIGHT},
{"Urban Service Room Straight", subt::ConnectionHelper::STRAIGHT},
{"Urban Service Room Straight Lights", subt::ConnectionHelper::STRAIGHT},
{"Urban Platform", subt::ConnectionHelper::TURN},
{"Urban Platform Open", subt::ConnectionHelper::TURN},
{"Urban Stairwell Platform", subt::ConnectionHelper::STRAIGHT},
{"Urban Stairwell Platform Lights", subt::ConnectionHelper::STRAIGHT},
{"Urban Stairwell Platform Centered", subt::ConnectionHelper::STRAIGHT},
{"Urban Stairwell Platform Centered Lights",
subt::ConnectionHelper::STRAIGHT},
{"Urban Starting Area", subt::ConnectionHelper::STRAIGHT},
{"Urban Elevation Up", subt::ConnectionHelper::STRAIGHT},
{"Urban Elevation Up Lights", subt::ConnectionHelper::STRAIGHT},
{"Urban Elevation Down", subt::ConnectionHelper::STRAIGHT},
{"Urban 2 Story", subt::ConnectionHelper::TURN},
{"Urban 2 Story Lights", subt::ConnectionHelper::TURN},
{"Urban 2 Story Large Side 1 Lights", subt::ConnectionHelper::TURN},
{"Urban 2 Story Large Side 2 Lights", subt::ConnectionHelper::TURN},
{"Urban Large Room Split", subt::ConnectionHelper::TURN},
{"Urban Large Room Split Lights", subt::ConnectionHelper::TURN},
{"Cave Starting Area", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 01", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 02", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 03", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 04", subt::ConnectionHelper::STRAIGHT},
{"Cave Straight 05", subt::ConnectionHelper::STRAIGHT},
{"Cave Corner 01", subt::ConnectionHelper::TURN},
{"Cave Corner 02", subt::ConnectionHelper::TURN},
{"Cave 3 Way 01", subt::ConnectionHelper::TURN},
{"Cave Elevation", subt::ConnectionHelper::STRAIGHT},
{"Cave Vertical Shaft", subt::ConnectionHelper::STRAIGHT},
{"Cave Cavern Split 01", subt::ConnectionHelper::TURN},
{"Cave Cavern Split 02", subt::ConnectionHelper::STRAIGHT},
{"Cave Corner 30", subt::ConnectionHelper::TURN},
{"Cave Corner 30F", subt::ConnectionHelper::TURN},
{"Cave Corner 30 D", subt::ConnectionHelper::TURN},
{"Cave Corner 30F D", subt::ConnectionHelper::TURN}
};

using namespace ignition;
using namespace subt;

/////////////////////////////////////////////////
bool ConnectionHelper::ComputePoint(VertexData *_tile1, VertexData *_tile2,
ignition::math::Vector3d& _pt)
{
if (!ConnectionHelper::connectionPoints.count(_tile1->tileType))
{
ignwarn << "No connection information for: " << _tile1->tileType
<< std::endl;
return false;
}

if (!ConnectionHelper::connectionPoints.count(_tile2->tileType))
{
ignwarn << "No connection information for: " << _tile2->tileType
<< std::endl;
return false;
}

for (const auto& pt1 : ConnectionHelper::connectionPoints[_tile1->tileType])
{
auto pt1tf = _tile1->model.Pose().CoordPositionAdd(pt1);
for (const auto& pt2 : ConnectionHelper::connectionPoints[_tile2->tileType])
{
auto pt2tf = _tile2->model.Pose().CoordPositionAdd(pt2);
if (pt1tf.Equal(pt2tf, 1))
{
_pt = pt1tf;
return true;
}
}
}

ignwarn << "Failed to connect: " << _tile1->tileType << " "
<< _tile2->tileType << std::endl;

for (const auto& pt1 : ConnectionHelper::connectionPoints[_tile1->tileType])
{
auto pt1tf = _tile1->model.Pose().CoordPositionAdd(pt1);
for (const auto& pt2 :
ConnectionHelper::connectionPoints[_tile2->tileType])
{
auto pt2tf = _tile2->model.Pose().CoordPositionAdd(pt2);
igndbg <<
_tile1->tileType << " [" << _tile1->model.Pose() << "] -- " <<
_tile2->tileType << " [" << _tile2->model.Pose() << "]"
<< " [" << pt1tf << "] [" << pt2tf << "]"
<< std::endl;
}
}

return false;
}
79 changes: 79 additions & 0 deletions subt_ign/src/ConnectionHelper.hh
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@@ -0,0 +1,79 @@
/*
* Copyright (C) 2020 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/

#ifndef SUBT_IGN_CONNECTIONHELPER_HH_
#define SUBT_IGN_CONNECTIONHELPER_HH_

#include <string>
#include <map>
#include <vector>
#include <ignition/math/Vector3.hh>

#include <sdf/Root.hh>
#include <sdf/Model.hh>

namespace subt
{
/// \brief Data about vertex (tile) in the environment
struct VertexData
{
/// \brief ID of the vertex (from dot graph)
int id;

/// \brief Type of the tile (eg "Urban Straight")
std::string tileType;

/// \brief Name of the tile as it appears in the SDF file. (eg "tile_1")
std::string tileName;

/// \brief SDF model content for the tile
sdf::Model model;
};

/// \brief Helper class for creating and validating connection points
class ConnectionHelper
{
/// \brief Enum of connection type
public: enum ConnectionType
{
/// \brief Straight tile
STRAIGHT = 0,
/// \brief Turn tile (includes corners, 3 way, and intersections)
TURN = 1,
};

/// \brief Compute the connection point between two tiles.
/// This uses a reference list of connection points for each tile type.
/// The function iterates over the connection points transformed into the
/// world coordinate frame to find the location where the tiles meet.
/// \param[in] _tile1 vertex data for first connected tile
/// \param[in] _tile2 vertex data for second connected tile
/// \param[out] _pt Populated point data
/// \return True if connection point was found, false otherwise.
public: static bool ComputePoint(VertexData *_tile1, VertexData *_tile2,
ignition::math::Vector3d& _pt);

/// \brief Map of tile type to a vector of connection points
public: static std::map<std::string, std::vector<ignition::math::Vector3d>>
connectionPoints;

/// \brief Map of tile type to connection type
public: static std::map<std::string, subt::ConnectionHelper::ConnectionType>
connectionTypes;
};
}
#endif

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