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[choreo] Add Lane Constraint to UI #845

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merged 17 commits into from
Oct 7, 2024
Merged

[choreo] Add Lane Constraint to UI #845

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bd4592b
[trajoptlib] Expose lane constraint to Rust
spacey-sooty Oct 6, 2024
447765a
start work on UI
spacey-sooty Oct 6, 2024
5b3deab
Merge branch 'main' into lane-constraint-ui-v2
calcmogul Oct 6, 2024
db26845
Update src-core/src/generation/transformers/constraints.rs
calcmogul Oct 7, 2024
b958a25
Update src-core/src/generation/transformers/constraints.rs
calcmogul Oct 7, 2024
209c870
Merge branch 'main' into lane-constraint-ui-v2
calcmogul Oct 7, 2024
726695c
Change constraint to just tolerance param; fix UI overlay
shueja Oct 7, 2024
9f59ab4
Update derivation in PointLineRegionConstraint
shueja Oct 7, 2024
c322081
Remove hardcoded origin robot point
shueja Oct 7, 2024
2fb4ccf
Fix prior commit
shueja Oct 7, 2024
8c72582
Merge branch 'main' into lane-constraint-ui-v2
shueja Oct 7, 2024
7ad6d4e
Clean up notation a bit
calcmogul Oct 7, 2024
cebfb7c
Remove unused import
shueja Oct 7, 2024
09e3d4e
Fix typescript
shueja Oct 7, 2024
d0d9ca2
Merge branch 'main' into lane-constraint-ui-v2
shueja Oct 7, 2024
ac491fc
Fix rust warning
shueja Oct 7, 2024
6f22941
Merge branch 'lane-constraint-ui-v2' of https://github.com/spacey-soo…
shueja Oct 7, 2024
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107 changes: 92 additions & 15 deletions src-core/src/generation/transformers/constraints.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,10 @@ use trajoptlib::PathBuilder;

use crate::spec::trajectory::{ConstraintData, ConstraintIDX, ConstraintScope};

use super::{DifferentialGenerationTransformer, FeatureLockedTransformer, GenerationContext, SwerveGenerationTransformer};
use super::{
DifferentialGenerationTransformer, FeatureLockedTransformer, GenerationContext,
SwerveGenerationTransformer,
};

fn fix_scope(idx: usize, removed_idxs: &[usize]) -> usize {
let mut to_subtract: usize = 0;
Expand All @@ -16,7 +19,7 @@ fn fix_scope(idx: usize, removed_idxs: &[usize]) -> usize {

pub struct ConstraintSetter {
guess_points: Vec<usize>,
constraint_idx: Vec<ConstraintIDX<f64>>
constraint_idx: Vec<ConstraintIDX<f64>>,
}

impl ConstraintSetter {
Expand All @@ -26,7 +29,9 @@ impl ConstraintSetter {
let mut constraint_idx = Vec::<ConstraintIDX<f64>>::new();
let num_wpts = ctx.params.waypoints.len();

ctx.params.waypoints.iter()
ctx.params
.waypoints
.iter()
.enumerate()
.filter(|(_, w)| w.is_initial_guess && !w.fix_heading && !w.fix_translation)
.for_each(|(idx, _)| guess_points.push(idx));
Expand Down Expand Up @@ -64,7 +69,7 @@ impl ConstraintSetter {
from: fixed_from,
to: fixed_to,
data: constraint.data,
enabled: constraint.enabled
enabled: constraint.enabled,
});
}
}
Expand All @@ -73,7 +78,7 @@ impl ConstraintSetter {

FeatureLockedTransformer::always(Self {
guess_points,
constraint_idx
constraint_idx,
})
}
}
Expand All @@ -95,7 +100,7 @@ impl SwerveGenerationTransformer for ConstraintSetter {
flip,
} => match to_opt {
None => builder.wpt_point_at(from, x, y, tolerance, flip),
Some(to) => builder.sgmt_point_at(from, to, x, y, tolerance, flip)
Some(to) => builder.sgmt_point_at(from, to, x, y, tolerance, flip),
},
ConstraintData::MaxVelocity { max } => match to_opt {
None => builder.wpt_linear_velocity_max_magnitude(from, max),
Expand All @@ -114,7 +119,7 @@ impl SwerveGenerationTransformer for ConstraintSetter {
builder.wpt_linear_velocity_max_magnitude(from, 0.0f64);
builder.wpt_angular_velocity_max_magnitude(from, 0.0f64);
}
},
}
ConstraintData::KeepInCircle { x, y, r } => match to_opt {
None => builder.wpt_keep_in_circle(from, x, y, r),
Some(to) => builder.sgmt_keep_in_circle(from, to, x, y, r),
Expand All @@ -127,11 +132,45 @@ impl SwerveGenerationTransformer for ConstraintSetter {
Some(to) => builder.sgmt_keep_in_polygon(from, to, xs, ys),
}
}
ConstraintData::KeepOutCircle { x, y, r } => {
ConstraintData::KeepInLane {
below_start_x,
below_start_y,
below_end_x,
below_end_y,
above_start_x,
above_start_y,
above_end_x,
above_end_y,
} => {
let center_line_start_x = (below_start_x + above_start_x) / 2.0;
let center_line_start_y = (below_start_y + above_start_y) / 2.0;
let center_line_end_x = (below_end_x + above_end_x) / 2.0;
let center_line_end_y = (below_end_y + above_end_y) / 2.0;
let tolerance = 1.0; // TODO how
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match to_opt {
None => builder.wpt_keep_out_circle(from, x, y, r),
Some(to) => builder.sgmt_keep_out_circle(from, to, x, y, r),
None => builder.wpt_keep_in_lane(
from,
center_line_start_x,
center_line_start_y,
center_line_end_x,
center_line_end_y,
tolerance,
),
Some(to) => builder.sgmt_keep_in_lane(
from,
to,
center_line_start_x,
center_line_start_y,
center_line_end_x,
center_line_end_y,
tolerance,
),
}
}
ConstraintData::KeepOutCircle { x, y, r } => match to_opt {
None => builder.wpt_keep_out_circle(from, x, y, r),
Some(to) => builder.sgmt_keep_out_circle(from, to, x, y, r),
},
};
}
Expand All @@ -152,7 +191,11 @@ impl DifferentialGenerationTransformer for ConstraintSetter {
y,
tolerance,
flip,
} => if to_opt.is_none() { builder.wpt_point_at(from, x, y, tolerance, flip) },
} => {
if to_opt.is_none() {
builder.wpt_point_at(from, x, y, tolerance, flip)
}
}
ConstraintData::MaxVelocity { max } => match to_opt {
None => builder.wpt_linear_velocity_max_magnitude(from, max),
Some(to) => builder.sgmt_linear_velocity_max_magnitude(from, to, max),
Expand All @@ -170,7 +213,7 @@ impl DifferentialGenerationTransformer for ConstraintSetter {
builder.wpt_linear_velocity_max_magnitude(from, 0.0f64);
builder.wpt_angular_velocity_max_magnitude(from, 0.0f64);
}
},
}
ConstraintData::KeepInCircle { x, y, r } => match to_opt {
None => builder.wpt_keep_in_circle(from, x, y, r),
Some(to) => builder.sgmt_keep_in_circle(from, to, x, y, r),
Expand All @@ -183,11 +226,45 @@ impl DifferentialGenerationTransformer for ConstraintSetter {
Some(to) => builder.sgmt_keep_in_polygon(from, to, xs, ys),
}
}
ConstraintData::KeepOutCircle { x, y, r } => {
ConstraintData::KeepInLane {
below_start_x,
below_start_y,
below_end_x,
below_end_y,
above_start_x,
above_start_y,
above_end_x,
above_end_y,
} => {
let center_line_start_x = (below_start_x + above_start_x) / 2.0;
let center_line_start_y = (below_start_y + above_start_y) / 2.0;
let center_line_end_x = (below_end_x + above_end_x) / 2.0;
let center_line_end_y = (below_end_y + above_end_y) / 2.0;
let tolerance = 1.0; // TODO how
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match to_opt {
None => builder.wpt_keep_out_circle(from, x, y, r),
Some(to) => builder.sgmt_keep_out_circle(from, to, x, y, r),
None => builder.wpt_keep_in_lane(
from,
center_line_start_x,
center_line_start_y,
center_line_end_x,
center_line_end_y,
tolerance,
),
Some(to) => builder.sgmt_keep_in_lane(
from,
to,
center_line_start_x,
center_line_start_y,
center_line_end_x,
center_line_end_y,
tolerance,
),
}
}
ConstraintData::KeepOutCircle { x, y, r } => match to_opt {
None => builder.wpt_keep_out_circle(from, x, y, r),
Some(to) => builder.sgmt_keep_out_circle(from, to, x, y, r),
},
};
}
Expand Down
30 changes: 30 additions & 0 deletions src-core/src/spec/trajectory.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -147,6 +147,17 @@ pub enum ConstraintData<T: SnapshottableType> {
KeepInCircle { x: T, y: T, r: T },
/// A constraint to contain the bumpers within a rectangular region of the field
KeepInRectangle { x: T, y: T, w: T, h: T },
/// A constraint to contain the bumpers within two line
KeepInLane {
below_start_x: T,
below_start_y: T,
below_end_x: T,
below_end_y: T,
above_start_x: T,
above_start_y: T,
above_end_x: T,
above_end_y: T,
},
/// A constraint to contain the bumpers outside a circlular region of the field
KeepOutCircle { x: T, y: T, r: T },
}
Expand Down Expand Up @@ -195,6 +206,25 @@ impl<T: SnapshottableType> ConstraintData<T> {
w: w.snapshot(),
h: h.snapshot(),
},
ConstraintData::KeepInLane {
below_start_x,
below_start_y,
below_end_x,
below_end_y,
above_start_x,
above_start_y,
above_end_x,
above_end_y,
} => ConstraintData::KeepInLane {
below_start_x: below_start_x.snapshot(),
below_start_y: below_start_y.snapshot(),
below_end_x: below_end_x.snapshot(),
below_end_y: below_end_y.snapshot(),
above_start_x: above_start_x.snapshot(),
above_start_y: above_start_y.snapshot(),
above_end_x: above_end_x.snapshot(),
above_end_y: above_end_y.snapshot(),
},
ConstraintData::KeepOutCircle { x, y, r } => ConstraintData::KeepOutCircle {
x: x.snapshot(),
y: y.snapshot(),
Expand Down
8 changes: 8 additions & 0 deletions src/components/field/svg/constraintDisplay/FieldConstraintDisplayLayer.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@ import KeepInCircleOverlay from "./KeepInCircleOverlay";
import KeepInRectangleOverlay from "./KeepInRectangleOverlay";
import PointAtOverlay from "./PointAtOverlay";
import KeepOutCircleOverlay from "./KeepOutCircleOverlay";
import KeepInLaneOverlay from "./KeepInLaneOverlay";

const overlays = {
PointAt: (
Expand Down Expand Up @@ -42,6 +43,13 @@ const overlays = {
lineColor={lineColor}
></KeepInRectangleOverlay>
),
KeepInLane: (constraint: IConstraintStoreKeyed<"KeepInLane">) => (
<KeepInLaneOverlay
data={constraint.data}
start={constraint.getStartWaypoint()}
end={constraint.getEndWaypoint()}
></KeepInLaneOverlay>
),
KeepOutCircle: (
constraint: IConstraintStoreKeyed<"KeepOutCircle">,
lineColor: string
Expand Down
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