| // Copyright 2023 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. | |
| namespace mujoco::plugin::sensor { | |
| // A touch grid sensor is associated with a site and senses contact forces | |
| // and torques between the site's parent body and all other bodies. The site's | |
| // frame determines the orientation of the sensor with the same convention used | |
| // for cameras and lights: the sensor points in the frame's negative-Z | |
| // direction, so the X and Y axes correspond to horizontal and vertical | |
| // directions respectively. | |
| // | |
| // The output of the sensor is a stack of 6 "touch images" corresponding to | |
| // forces and torques in the frame of the sensor. Forces and torques are in the | |
| // [z, x, y] order, corresponding to the ordering in contact frames: | |
| // [normal, tangent, tangent] and [torsional, rolling, rolling]. | |
| // | |
| // The sensor has 6 parameters: | |
| // 1. (int) Number of channels [1-6]. Defaults to 1. | |
| // 2. (int) Horizontal resolution. | |
| // 3. (int) Vertical resolution. | |
| // 4. (float) Horizontal field-of-view (fov_x), in degrees. | |
| // 5. (float) Vertical field-of-view (fov_y), in degrees. | |
| // 6. (float) Foveal deformation. Defaults to 0. | |
| class TouchGrid { | |
| public: | |
| static TouchGrid* Create(const mjModel* m, mjData* d, int instance); | |
| TouchGrid(TouchGrid&&) = default; | |
| ~TouchGrid() = default; | |
| void Reset(const mjModel* m, int instance); | |
| void Compute(const mjModel* m, mjData* d, int instance); | |
| void Visualize(const mjModel* m, mjData* d, const mjvOption* opt, | |
| mjvScene* scn, int instance); | |
| static void RegisterPlugin(); | |
| int nchannel_; // number of channels (1-6) | |
| int size_[2]; // horizontal and vertical resolution | |
| mjtNum fov_[2]; // horizontal and vertical field of view, in degrees | |
| mjtNum gamma_; // foveal deformation | |
| private: | |
| TouchGrid(const mjModel* m, mjData* d, int instance, int nchannel, int* size, | |
| mjtNum* fov_x, mjtNum gamma); | |
| std::vector<mjtNum> distance_; | |
| }; | |
| } // namespace mujoco::plugin::sensor | |