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worldstate.go
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worldstate.go
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package referenceframe
import (
"strconv"
"github.com/jedib0t/go-pretty/v6/table"
commonpb "go.viam.com/api/common/v1"
"go.viam.com/rdk/spatialmath"
)
const unnamedWorldStateGeometryPrefix = "unnamedWorldStateGeometry_"
// WorldState is a struct to store the data representation of the robot's environment.
type WorldState struct {
obstacleNames map[string]bool
obstacles []*GeometriesInFrame
transforms []*LinkInFrame
}
// NewEmptyWorldState is a constructor for a WorldState object that has no obstacles or transforms.
func NewEmptyWorldState() *WorldState {
return &WorldState{
obstacleNames: make(map[string]bool),
obstacles: make([]*GeometriesInFrame, 0),
transforms: make([]*LinkInFrame, 0),
}
}
// NewWorldState is a constructor for a WorldState object.
func NewWorldState(obstacles []*GeometriesInFrame, transforms []*LinkInFrame) (*WorldState, error) {
ws := &WorldState{
obstacleNames: make(map[string]bool),
obstacles: make([]*GeometriesInFrame, 0),
transforms: transforms,
}
unnamedCount := 0
for _, gf := range obstacles {
geometries := gf.Geometries()
checkedGeometries := make([]spatialmath.Geometry, 0, len(geometries))
// iterate over geometries and make sure that each one that is added to the WorldState has a unique name
for _, geometry := range geometries {
name := geometry.Label()
if name == "" {
name = unnamedWorldStateGeometryPrefix + strconv.Itoa(unnamedCount)
geometry.SetLabel(name)
unnamedCount++
}
if _, present := ws.obstacleNames[name]; present {
return nil, NewDuplicateGeometryNameError(name)
}
ws.obstacleNames[name] = true
checkedGeometries = append(checkedGeometries, geometry)
}
ws.obstacles = append(ws.obstacles, NewGeometriesInFrame(gf.frame, checkedGeometries))
}
return ws, nil
}
// WorldStateFromProtobuf takes the protobuf definition of a WorldState and converts it to a rdk defined WorldState.
func WorldStateFromProtobuf(proto *commonpb.WorldState) (*WorldState, error) {
transforms, err := LinkInFramesFromTransformsProtobuf(proto.GetTransforms())
if err != nil {
return nil, err
}
allGeometries := make([]*GeometriesInFrame, 0)
for _, protoGeometries := range proto.GetObstacles() {
geometries, err := ProtobufToGeometriesInFrame(protoGeometries)
if err != nil {
return nil, err
}
allGeometries = append(allGeometries, geometries)
}
return NewWorldState(allGeometries, transforms)
}
// ToProtobuf takes an rdk WorldState and converts it to the protobuf definition of a WorldState.
func (ws *WorldState) ToProtobuf() (*commonpb.WorldState, error) {
if ws == nil {
return &commonpb.WorldState{}, nil
}
convertGeometriesToProto := func(allGeometries []*GeometriesInFrame) []*commonpb.GeometriesInFrame {
list := make([]*commonpb.GeometriesInFrame, 0, len(allGeometries))
for _, geometries := range allGeometries {
list = append(list, GeometriesInFrameToProtobuf(geometries))
}
return list
}
transforms, err := LinkInFramesToTransformsProtobuf(ws.transforms)
if err != nil {
return nil, err
}
return &commonpb.WorldState{
Obstacles: convertGeometriesToProto(ws.obstacles),
Transforms: transforms,
}, nil
}
// String returns a string representation of the geometries in the WorldState.
func (ws *WorldState) String() string {
if ws == nil {
return ""
}
t := table.NewWriter()
t.AppendHeader(table.Row{"Name", "Geometry Type", "Parent"})
for _, geometries := range ws.obstacles {
for _, geometry := range geometries.geometries {
t.AppendRow([]interface{}{
geometry.Label(),
geometry.String(),
geometries.frame,
})
}
}
return t.Render()
}
// ObstacleNames returns the set of geometry names that have been registered in the WorldState, represented as a map.
func (ws *WorldState) ObstacleNames() map[string]bool {
if ws == nil {
return map[string]bool{}
}
copiedMap := make(map[string]bool)
for key, value := range ws.obstacleNames {
copiedMap[key] = value
}
return copiedMap
}
// Transforms returns the transforms that have been added to the WorldState.
func (ws *WorldState) Transforms() []*LinkInFrame {
if ws == nil {
return []*LinkInFrame{}
}
return ws.transforms
}
// ObstaclesInWorldFrame takes a frame system and a set of inputs for that frame system and converts all the obstacles
// in the WorldState such that they are in the frame system's World reference frame.
func (ws *WorldState) ObstaclesInWorldFrame(fs FrameSystem, inputs map[string][]Input) (*GeometriesInFrame, error) {
if ws == nil {
return NewGeometriesInFrame(World, []spatialmath.Geometry{}), nil
}
allGeometries := make([]spatialmath.Geometry, 0, len(ws.obstacles))
for _, gf := range ws.obstacles {
tf, err := fs.Transform(inputs, gf, World)
if err != nil {
return nil, err
}
allGeometries = append(allGeometries, tf.(*GeometriesInFrame).Geometries()...)
}
return NewGeometriesInFrame(World, allGeometries), nil
}