Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add "ChangedWorldPose" to ForwardStep::Output's expected data #238

Merged
merged 1 commit into from
Mar 24, 2021
+30 −17
Merged

Add "ChangedWorldPose" to ForwardStep::Output's expected data #238

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 5 additions & 5 deletions dartsim/src/SimulationFeatures.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -59,15 +59,15 @@ void SimulationFeatures::WorldForwardStep(

// TODO(MXG): Parse input
world->step();
this->WriteRequiredData(_h);
this->Write(_h.Get<ChangedWorldPoses>());
// TODO(MXG): Fill in state
}

void SimulationFeatures::Write(WorldPoses &_poses) const
void SimulationFeatures::Write(ChangedWorldPoses &_changedPoses) const
{
// remove link poses from the previous iteration
_poses.entries.clear();
_poses.entries.reserve(this->links.size());
_changedPoses.entries.clear();
_changedPoses.entries.reserve(this->links.size());

std::unordered_map<std::size_t, math::Pose3d> newPoses;

Expand All @@ -88,7 +88,7 @@ void SimulationFeatures::Write(WorldPoses &_poses) const
!iter->second.Pos().Equal(wp.pose.Pos(), 1e-6) ||
!iter->second.Rot().Equal(wp.pose.Rot(), 1e-6))
{
_poses.entries.push_back(wp);
_changedPoses.entries.push_back(wp);
newPoses[id] = wp.pose;
}
else
Expand Down
6 changes: 4 additions & 2 deletions dartsim/src/SimulationFeatures.hh
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@
#include <ignition/physics/CanWriteData.hh>
#include <ignition/physics/ForwardStep.hh>
#include <ignition/physics/GetContacts.hh>
#include <ignition/physics/SpecifyData.hh>

#include "Base.hh"

Expand All @@ -39,7 +40,8 @@ struct SimulationFeatureList : FeatureList<
> { };

class SimulationFeatures :
public CanWriteRequiredData<SimulationFeatures, ForwardStep::Output>,
public CanWriteExpectedData<SimulationFeatures,
ExpectData<ChangedWorldPoses>>,
public virtual Base,
public virtual Implements3d<SimulationFeatureList>
{
Expand All @@ -49,7 +51,7 @@ class SimulationFeatures :
ForwardStep::State &_x,
const ForwardStep::Input &_u) override;

public: void Write(WorldPoses &_poses) const;
public: void Write(ChangedWorldPoses &_changedPoses) const;

public: std::vector<ContactInternal> GetContactsFromLastStep(
const Identity &_worldID) const override;
Expand Down
2 changes: 1 addition & 1 deletion dartsim/src/SimulationFeatures_TEST.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -117,7 +117,7 @@ bool StepWorld(const TestWorldPtr &_world, bool _firstTime,
if (_firstTime && (i == 0))
{
EXPECT_FALSE(
output.Get<ignition::physics::WorldPoses>().entries.empty());
output.Get<ignition::physics::ChangedWorldPoses>().entries.empty());
checkedOutput = true;
}
}
Expand Down
11 changes: 10 additions & 1 deletion include/ignition/physics/ForwardStep.hh
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,15 @@ namespace ignition
std::string annotation;
};

/// \brief ChangedWorldPoses has the same definition as WorldPoses.
/// This type provides a way to keep track of which poses have changed in a
/// simulation step.
struct ChangedWorldPoses
{
std::vector<WorldPose> entries;
std::string annotation;
};

struct Point
{
ignition::math::Vector3d point;
Expand Down Expand Up @@ -150,7 +159,7 @@ namespace ignition

public: using Output = SpecifyData<
RequireData<WorldPoses>,
ExpectData<Contacts, JointPositions> >;
ExpectData<ChangedWorldPoses, Contacts, JointPositions> >;

public: using State = CompositeData;

Expand Down
10 changes: 5 additions & 5 deletions tpe/plugin/src/SimulationFeatures.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -62,14 +62,14 @@ void SimulationFeatures::WorldForwardStep(
}
}
world->Step();
this->WriteRequiredData(_h);
this->Write(_h.Get<ChangedWorldPoses>());
}

void SimulationFeatures::Write(WorldPoses &_poses) const
void SimulationFeatures::Write(ChangedWorldPoses &_changedPoses) const
{
// remove link poses from the previous iteration
_poses.entries.clear();
_poses.entries.reserve(this->links.size());
_changedPoses.entries.clear();
_changedPoses.entries.reserve(this->links.size());

std::unordered_map<std::size_t, math::Pose3d> newPoses;

Expand All @@ -90,7 +90,7 @@ void SimulationFeatures::Write(WorldPoses &_poses) const
WorldPose wp;
wp.pose = nextPose;
wp.body = id;
_poses.entries.push_back(wp);
_changedPoses.entries.push_back(wp);
newPoses[id] = nextPose;
}
else
Expand Down
6 changes: 4 additions & 2 deletions tpe/plugin/src/SimulationFeatures.hh
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@
#include <ignition/physics/CanWriteData.hh>
#include <ignition/physics/ForwardStep.hh>
#include <ignition/physics/GetContacts.hh>
#include <ignition/physics/SpecifyData.hh>

#include "Base.hh"

Expand All @@ -39,7 +40,8 @@ struct SimulationFeatureList : FeatureList<
> { };

class SimulationFeatures :
public CanWriteRequiredData<SimulationFeatures, ForwardStep::Output>,
public CanWriteExpectedData<SimulationFeatures,
ExpectData<ChangedWorldPoses>>,
public virtual Base,
public virtual Implements3d<SimulationFeatureList>
{
Expand All @@ -49,7 +51,7 @@ class SimulationFeatures :
ForwardStep::State &_x,
const ForwardStep::Input &_u) override;

public: void Write(WorldPoses &_poses) const;
public: void Write(ChangedWorldPoses &_changedPoses) const;

public: std::vector<ContactInternal> GetContactsFromLastStep(
const Identity &_worldID) const override;
Expand Down
2 changes: 1 addition & 1 deletion tpe/plugin/src/SimulationFeatures_TEST.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -116,7 +116,7 @@ bool StepWorld(const TestWorldPtr &_world, bool _firstTime,
if (_firstTime && (i == 0))
{
EXPECT_FALSE(
output.Get<ignition::physics::WorldPoses>().entries.empty());
output.Get<ignition::physics::ChangedWorldPoses>().entries.empty());
checkedOutput = true;
}
}
Expand Down