{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "# Geometry, shapes and collision checking\n", "\n", "We first have to get some administration out of the way." ] }, { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [], "source": [ "# point to source, not to installed version\n", "import sys\n", "import os\n", "abs_path = os.path.abspath(os.path.join(os.getcwd(), '../..'))\n", "sys.path.insert(0, abs_path)\n", "del abs_path\n", "\n", "# show the plot below the corresponding codeblock\n", "%matplotlib inline\n", "\n", "# import the stuff we use on this page\n", "import numpy as np\n", "import matplotlib.pyplot as plt\n", "from acrobotics.geometry import Shape, Collection\n", "from acrobotics.util import get_default_axes3d\n", "from acrobotics.util import pose_z, plot_reference_frame" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Shapes\n", "\n", "Shapes are geometric objects to represent robots or other things in the planning environment.\n", "You can use them for:\n", "\n", ":visualization:\n", " A shape has a **plot** function to display them as a wireframe in matplotlib axes.\n", "\n", ":collision checking:\n", " A shape has a **is_in_collision** function to check if they collide with other shapes.\n", "\n", ":representation:\n", " One can get different aspects of a shape such as the vertices or edges.\n", " These are used for plotting but are also useful for optimization algorithms for example.\n", "\n", "In the current version only boxes are implemented.\n", "\n", "## Shape position and orientation\n", "\n", "**A shape has no inherent position!** To get something useful from a shape, you have to supply the position and orientation (in one word, the pose). The pose of a shape is expected as a homogeneous transform matrix.\n", "For example, if I want all the edges of a box of 1x2x2, with the box at the origin, I do:" ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "[[-0.5 1. 1. ]\n", " [-0.5 1. -1. ]\n", " [-0.5 -1. 1. ]\n", " [-0.5 -1. -1. ]\n", " [ 0.5 1. 1. ]\n", " [ 0.5 1. -1. ]\n", " [ 0.5 -1. 1. ]\n", " [ 0.5 -1. -1. ]]\n" ] } ], "source": [ "box = Shape(1, 2, 2)\n", "tf_identity = np.eye(4)\n", "print(box.get_vertices(tf_identity))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "If I want the edges of the same box in a different position I give it a different transform." ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "[[-0.5 1. 1.6]\n", " [-0.5 1. -0.4]\n", " [-0.5 -1. 1.6]\n", " [-0.5 -1. -0.4]\n", " [ 0.5 1. 1.6]\n", " [ 0.5 1. -0.4]\n", " [ 0.5 -1. 1.6]\n", " [ 0.5 -1. -0.4]]\n" ] } ], "source": [ "tf = np.eye(4)\n", "tf[2, 3] = 0.6\n", "\n", "print(box.get_vertices(tf))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "See, the box moved! All other task handle shapes with this basic API.\n", "\n", "We can have a look at the shape. The module `acrobotics.util` has a convenience fucntion to get 3d compatible matplotlib axes. **Notice** that we have to specify where to plot the box, a shape has no inherent position." ] }, { "cell_type": "code", "execution_count": 4, "metadata": { "scrolled": true }, "outputs": [ { "data": { "image/png": "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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "import matplotlib.pyplot as plt\n", "\n", "fig, ax = get_default_axes3d()\n", "box.plot(ax, tf, c='green')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Collection of shapes\n", "\n", "Most objects are more complicated that just a box.\n", "Somethimes it is useful to associate a transform with a shape.\n", "The two points are addressed by `Collections`.\n", "They group a list of shapes with a list of transforms. `pose_z(angle, x, y, z)` is a convenience function from `acrobotics.util` to create a transform of a translation followd by rotation around the z-axis." ] }, { "cell_type": "code", "execution_count": 7, "metadata": {}, "outputs": [ { "data": { "image/png": "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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "box1, tf1 = Shape(1, 1, 1), np.eye(4)\n", "box2, tf2 = Shape(0.5, 0.5, 0.5), pose_z(0, 0, 0, 0.75)\n", "\n", "happy_family = Collection([box1, box2], [tf1, tf2])\n", "\n", "fig, ax = get_default_axes3d()\n", "happy_family.plot(ax, c='blue')\n", "plot_reference_frame(ax)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Notice how the defaul pose of a shape is centered around the origin. We plot a default reference frame (identity transform) with `plot_reference_frame` from `acrobotics.util`." ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.7.3" } }, "nbformat": 4, "nbformat_minor": 2 }