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model.go
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model.go
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package referenceframe
import (
"encoding/binary"
"encoding/json"
"math"
"math/rand"
"strings"
"sync"
"github.com/pkg/errors"
"go.uber.org/multierr"
pb "go.viam.com/api/component/arm/v1"
"go.viam.com/rdk/spatialmath"
)
// errUnsupportedFileType is returned if we try to build a model from an inproper extension.
var errUnsupportedFileType = errors.New("only files with .json and .urdf file extensions are supported")
// ModelFramer has a method that returns the kinematics information needed to build a dynamic referenceframe.
type ModelFramer interface {
ModelFrame() Model
}
// A Model represents a frame that can change its name, and can return itself as a ModelConfig struct.
type Model interface {
Frame
ModelConfig() *ModelConfig
ChangeName(string)
}
// SimpleModel TODO.
type SimpleModel struct {
*baseFrame
// OrdTransforms is the list of transforms ordered from end effector to base
OrdTransforms []Frame
modelConfig *ModelConfig
poseCache *sync.Map
lock sync.RWMutex
}
// NewSimpleModel constructs a new model.
func NewSimpleModel(name string) *SimpleModel {
return &SimpleModel{
baseFrame: &baseFrame{name: name},
poseCache: &sync.Map{},
}
}
// GenerateRandomConfiguration generates a list of radian joint positions that are random but valid for each joint.
func GenerateRandomConfiguration(m Model, randSeed *rand.Rand) []float64 {
limits := m.DoF()
jointPos := make([]float64, 0, len(limits))
for i := 0; i < len(limits); i++ {
jRange := math.Abs(limits[i].Max - limits[i].Min)
// Note that rand is unseeded and so will produce the same sequence of floats every time
// However, since this will presumably happen at different positions to different joints, this shouldn't matter
newPos := randSeed.Float64()*jRange + limits[i].Min
jointPos = append(jointPos, newPos)
}
return jointPos
}
// ChangeName changes the name of this model - necessary for building frame systems.
func (m *SimpleModel) ChangeName(name string) {
m.name = name
}
// ModelConfig returns the ModelConfig object used to create this model.
func (m *SimpleModel) ModelConfig() *ModelConfig {
return m.modelConfig
}
// Transform takes a model and a list of joint angles in radians and computes the dual quaternion representing the
// cartesian position of the end effector. This is useful for when conversions between quaternions and OV are not needed.
func (m *SimpleModel) Transform(inputs []Input) (spatialmath.Pose, error) {
frames, err := m.inputsToFrames(inputs, false)
if err != nil && frames == nil {
return nil, err
}
return frames[0].transform, err
}
// InputFromProtobuf converts pb.JointPosition to inputs.
func (m *SimpleModel) InputFromProtobuf(jp *pb.JointPositions) []Input {
inputs := make([]Input, 0, len(jp.Values))
posIdx := 0
for _, transform := range m.OrdTransforms {
dof := len(transform.DoF()) + posIdx
jPos := jp.Values[posIdx:dof]
posIdx = dof
inputs = append(inputs, transform.InputFromProtobuf(&pb.JointPositions{Values: jPos})...)
}
return inputs
}
// ProtobufFromInput converts inputs to pb.JointPosition.
func (m *SimpleModel) ProtobufFromInput(input []Input) *pb.JointPositions {
jPos := &pb.JointPositions{}
posIdx := 0
for _, transform := range m.OrdTransforms {
dof := len(transform.DoF()) + posIdx
jPos.Values = append(jPos.Values, transform.ProtobufFromInput(input[posIdx:dof]).Values...)
posIdx = dof
}
return jPos
}
// Geometries returns an object representing the 3D space associeted with the staticFrame.
func (m *SimpleModel) Geometries(inputs []Input) (*GeometriesInFrame, error) {
frames, err := m.inputsToFrames(inputs, true)
if err != nil && frames == nil {
return nil, err
}
var errAll error
geometries := make([]spatialmath.Geometry, 0, len(frames))
for _, frame := range frames {
geometriesInFrame, err := frame.Geometries([]Input{})
if geometriesInFrame == nil {
// only propagate errors that result in nil geometry
multierr.AppendInto(&errAll, err)
continue
}
for _, geom := range geometriesInFrame.Geometries() {
placedGeom := geom.Transform(frame.transform)
placedGeom.SetLabel(m.name + ":" + geom.Label())
geometries = append(geometries, placedGeom)
}
}
return NewGeometriesInFrame(m.name, geometries), errAll
}
// CachedTransform will check a sync.Map cache to see if the exact given set of inputs has been computed yet. If so
// it returns without redoing the calculation. Thread safe, but so far has tended to be slightly slower than just doing
// the calculation. This may change with higher DOF models and longer runtimes.
func (m *SimpleModel) CachedTransform(inputs []Input) (spatialmath.Pose, error) {
key := floatsToString(inputs)
if val, ok := m.poseCache.Load(key); ok {
if pose, ok := val.(spatialmath.Pose); ok {
return pose, nil
}
}
poses, err := m.inputsToFrames(inputs, false)
if err != nil && poses == nil {
return nil, err
}
m.poseCache.Store(key, poses[len(poses)-1].transform)
return poses[len(poses)-1].transform, err
}
// DoF returns the number of degrees of freedom within a model.
func (m *SimpleModel) DoF() []Limit {
m.lock.RLock()
if len(m.limits) > 0 {
return m.limits
}
m.lock.RUnlock()
limits := make([]Limit, 0, len(m.OrdTransforms))
for _, transform := range m.OrdTransforms {
if len(transform.DoF()) > 0 {
limits = append(limits, transform.DoF()...)
}
}
m.lock.Lock()
m.limits = limits
m.lock.Unlock()
return limits
}
// MarshalJSON serializes a Model.
func (m *SimpleModel) MarshalJSON() ([]byte, error) {
return json.Marshal(m.modelConfig)
}
// AlmostEquals returns true if the only difference between this model and another is floating point inprecision.
func (m *SimpleModel) AlmostEquals(otherFrame Frame) bool {
other, ok := otherFrame.(*SimpleModel)
if !ok {
return false
}
if m.name != other.name {
return false
}
if len(m.OrdTransforms) != len(other.OrdTransforms) {
return false
}
for idx, f := range m.OrdTransforms {
if !f.AlmostEquals(other.OrdTransforms[idx]) {
return false
}
}
return true
}
// TODO(rb) better comment
// takes a model and a list of joint angles in radians and computes the dual quaternion representing the
// cartesian position of each of the links up to and including the end effector. This is useful for when conversions
// between quaternions and OV are not needed.
func (m *SimpleModel) inputsToFrames(inputs []Input, collectAll bool) ([]*staticFrame, error) {
if len(m.DoF()) != len(inputs) {
return nil, NewIncorrectInputLengthError(len(inputs), len(m.DoF()))
}
var err error
poses := make([]*staticFrame, 0, len(m.OrdTransforms))
// Start at ((1+0i+0j+0k)+(+0+0i+0j+0k)ϵ)
composedTransformation := spatialmath.NewZeroPose()
posIdx := 0
// get quaternions from the base outwards.
for _, transform := range m.OrdTransforms {
dof := len(transform.DoF()) + posIdx
input := inputs[posIdx:dof]
posIdx = dof
pose, errNew := transform.Transform(input)
// Fail if inputs are incorrect and pose is nil, but allow querying out-of-bounds positions
if pose == nil || (err != nil && !strings.Contains(err.Error(), OOBErrString)) {
return nil, err
}
multierr.AppendInto(&err, errNew)
if collectAll {
tf, err := NewStaticFrameFromFrame(transform, composedTransformation)
if err != nil {
return nil, err
}
poses = append(poses, tf.(*staticFrame))
}
composedTransformation = spatialmath.Compose(composedTransformation, pose)
}
// TODO(rb) as written this will return one too many frames, no need to return zeroth frame
poses = append(poses, &staticFrame{&baseFrame{"", []Limit{}}, composedTransformation, nil})
return poses, err
}
// floatsToString turns a float array into a serializable binary representation
// This is very fast, about 100ns per call.
func floatsToString(inputs []Input) string {
b := make([]byte, len(inputs)*8)
for i, input := range inputs {
binary.BigEndian.PutUint64(b[8*i:8*i+8], math.Float64bits(input.Value))
}
return string(b)
}
// Create an ordered list of transforms given a parent mapping, keeping an eye out for a sentinel string (World).
func sortTransforms(unsorted map[string]Frame, parentMap map[string]string, start, finish string) ([]Frame, error) {
seen := map[string]bool{}
nextTransform := unsorted[start]
orderedTransforms := []Frame{nextTransform}
seen[start] = true
for {
parent := parentMap[nextTransform.Name()]
if seen[parent] {
return nil, ErrCircularReference
}
// Reserved word, we reached the end of the chain
if parent == finish {
break
}
seen[parent] = true
nextTransform = unsorted[parent]
orderedTransforms = append(orderedTransforms, nextTransform)
}
// After the above loop, the transforms are in reverse order, so we reverse the list.
for i, j := 0, len(orderedTransforms)-1; i < j; i, j = i+1, j-1 {
orderedTransforms[i], orderedTransforms[j] = orderedTransforms[j], orderedTransforms[i]
}
return orderedTransforms, nil
}
// ModelFromPath returns a Model from a given path.
func ModelFromPath(modelPath, name string) (Model, error) {
var (
model Model
err error
)
switch {
case strings.HasSuffix(modelPath, ".urdf"):
model, err = ParseURDFFile(modelPath, name)
case strings.HasSuffix(modelPath, ".json"):
model, err = ParseModelJSONFile(modelPath, name)
default:
return model, errUnsupportedFileType
}
return model, err
}