File size: 2,662 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 | // Copyright 2022 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MUJOCO_PLUGIN_SDF_SDF_H_
#define MUJOCO_PLUGIN_SDF_SDF_H_
#include <map>
#include <stdexcept>
#include <string>
#include <vector>
#include <mujoco/mujoco.h>
namespace mujoco::plugin::sdf {
inline mjtNum Union(mjtNum a, mjtNum b) {
return mju_min(a, b);
}
inline mjtNum Intersection(mjtNum a, mjtNum b) {
return mju_max(a, b);
}
inline mjtNum Subtraction(mjtNum a, mjtNum b) {
return mju_max(a, -b);
}
inline mjtNum Fract(mjtNum x) {
return x - floor(x);
}
// reads numeric attributes
bool CheckAttr(const char* name, const mjModel* m, int instance);
// converts attributes to numeric or returns default if not present
template <typename T>
class SdfDefault {
public:
SdfDefault() {
for (int i = 0; i < T::nattribute; i++) {
default_[T::names[i]] = T::defaults[i];
}
}
// get a single default value
mjtNum GetDefault(const char* name, const char* value) {
if (std::string(value).empty()) {
return default_[name];
}
try {
mjtNum num = std::stod(value);
return num;
} catch (const std::invalid_argument& e) {
mju_error("invalid attribute value for '%s'", name);
return 0;
}
}
// populate attribute array
void GetDefaults(mjtNum* attribute, const char* names[],
const char* values[]) {
for (int i = 0; i < default_.size(); i++) {
attribute[i] = GetDefault(names[i], values[i]);
}
}
private:
std::map<std::string, mjtNum> default_;
};
// stores the history of gradient descent iterations
class SdfVisualizer {
public:
SdfVisualizer();
void Visualize(const mjModel* m, const mjData* d, const mjvOption* opt,
mjvScene* scn, int instance);
void AddPoint(const mjtNum point[3]);
void Reset();
void Next(); // adds a new gradient descent trajectory to be visualized
private:
std::vector<mjtNum> points_; // query points
std::vector<int> npoints_; // number of iterations from the starting point
};
} // namespace mujoco::plugin::sdf
#endif // MUJOCO_PLUGIN_SDF_SDF_H_
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