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geometry.go
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geometry.go
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package spatialmath
import (
"encoding/json"
"fmt"
"github.com/golang/geo/r3"
commonpb "go.viam.com/api/common/v1"
)
// Geometry is an entry point with which to access all types of collision geometries.
type Geometry interface {
Pose() Pose
AlmostEqual(Geometry) bool
Transform(Pose) Geometry
ToProtobuf() *commonpb.Geometry
CollidesWith(Geometry) (bool, error)
DistanceFrom(Geometry) (float64, error)
EncompassedBy(Geometry) (bool, error)
Label() string // Label is the name of the geometry
String() string // String is a string representation of the geometry data structure
ToPoints(float64) []r3.Vector
json.Marshaler
}
// GeometryType defines what geometry creator representations are known.
type GeometryType string
// The set of allowed representations for orientation.
const (
UnknownType = GeometryType("")
BoxType = GeometryType("box")
SphereType = GeometryType("sphere")
PointType = GeometryType("point")
CollisionBuffer = 1e-8 // objects must be separated by this many mm to not be in collision
)
// GeometryConfig specifies the format of geometries specified through the configuration file.
type GeometryConfig struct {
Type GeometryType `json:"type"`
// parameters used for defining a box's rectangular cross-section
X float64 `json:"x"`
Y float64 `json:"y"`
Z float64 `json:"z"`
// parameter used for defining a sphere's radius'
R float64 `json:"r"`
// define an offset to position the geometry
TranslationOffset r3.Vector `json:"translation,omitempty"`
OrientationOffset OrientationConfig `json:"orientation,omitempty"`
Label string
}
// NewGeometryConfig creates a config for a Geometry from an offset Pose.
func NewGeometryConfig(gc Geometry) (*GeometryConfig, error) {
config := &GeometryConfig{}
switch gcType := gc.(type) {
case *box:
config.Type = BoxType
config.X = gc.(*box).halfSize[0] * 2
config.Y = gc.(*box).halfSize[1] * 2
config.Z = gc.(*box).halfSize[2] * 2
config.Label = gc.(*box).label
case *sphere:
config.Type = SphereType
config.R = gc.(*sphere).radius
config.Label = gc.(*sphere).label
case *point:
config.Type = PointType
config.Label = gc.(*point).label
default:
return nil, fmt.Errorf("%w %s", ErrGeometryTypeUnsupported, fmt.Sprintf("%T", gcType))
}
offset := gc.Pose()
o := offset.Orientation()
config.TranslationOffset = Compose(NewPoseFromOrientation(OrientationInverse(o)), offset).Point()
orientationConfig, err := NewOrientationConfig(o)
if err != nil {
return nil, err
}
config.OrientationOffset = *orientationConfig
return config, nil
}
// ParseConfig converts a GeometryConfig into the correct GeometryCreator type, as specified in its Type field.
func (config *GeometryConfig) ParseConfig() (Geometry, error) {
// determine offset to use
orientation, err := config.OrientationOffset.ParseConfig()
if err != nil {
return nil, err
}
offset := Compose(NewPoseFromOrientation(orientation), NewPoseFromPoint(config.TranslationOffset))
// build GeometryCreator depending on specified type
switch config.Type {
case BoxType:
return NewBox(offset, r3.Vector{X: config.X, Y: config.Y, Z: config.Z}, config.Label)
case SphereType:
return NewSphere(offset, config.R, config.Label)
case PointType:
return NewPoint(offset.Point(), config.Label), nil
case UnknownType:
// no type specified, iterate through supported types and try to infer intent
boxDims := r3.Vector{X: config.X, Y: config.Y, Z: config.Z}
if boxDims.Norm() > 0 {
if creator, err := NewBox(offset, boxDims, config.Label); err == nil {
return creator, nil
}
}
if creator, err := NewSphere(offset, config.R, config.Label); err == nil {
return creator, nil
}
// never try to infer point geometry if nothing is specified
}
return nil, fmt.Errorf("%w %s", ErrGeometryTypeUnsupported, string(config.Type))
}
// NewGeometryFromProto instantiates a new Geometry from a protobuf Geometry message.
func NewGeometryFromProto(geometry *commonpb.Geometry) (Geometry, error) {
pose := NewPoseFromProtobuf(geometry.Center)
if box := geometry.GetBox().GetDimsMm(); box != nil {
return NewBox(pose, r3.Vector{X: box.X, Y: box.Y, Z: box.Z}, geometry.Label)
}
if sphere := geometry.GetSphere(); sphere != nil {
if sphere.RadiusMm == 0 {
return NewPoint(pose.Point(), geometry.Label), nil
}
return NewSphere(pose, sphere.RadiusMm, geometry.Label)
}
return nil, ErrGeometryTypeUnsupported
}
// ToProtobuf converts a GeometryConfig to Protobuf.
func (config *GeometryConfig) ToProtobuf() (*commonpb.Geometry, error) {
creator, err := config.ParseConfig()
if err != nil {
return nil, err
}
return creator.ToProtobuf(), nil
}