Alessio Quaglino
e59720833e
PiperOrigin-RevId: 528783871 Change-Id: Icf3d060116826b01f68c9818a5153be4ce9511b0
74 lines
2.8 KiB
C++
74 lines
2.8 KiB
C++
// Copyright 2023 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_PLUGIN_SENSOR_TOUCH_GRID_H_
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#define MUJOCO_PLUGIN_SENSOR_TOUCH_GRID_H_
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#include <optional>
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#include <vector>
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjtnum.h>
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#include <mujoco/mjvisualize.h>
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namespace mujoco::plugin::sensor {
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// A touch grid sensor is associated with a site and senses contact forces
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// and torques between the site's parent body and all other bodies. The site's
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// frame determines the orientation of the sensor with the same convention used
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// for cameras and lights: the sensor points in the frame's negative-Z
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// direction, so the X and Y axes correspond to horizontal and vertical
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// directions respectively.
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//
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// The output of the sensor is a stack of 6 "touch images" corresponding to
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// forces and torques in the frame of the sensor. Forces and torques are in the
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// [z, x, y] order, corresponding to the ordering in contact frames:
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// [normal, tangent, tangent] and [torsional, rolling, rolling].
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//
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// The sensor has 6 parameters:
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// 1. (int) Number of channels [1-6]. Defaults to 1.
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// 2. (int) Horizontal resolution.
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// 3. (int) Vertical resolution.
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// 4. (float) Horizontal field-of-view (fov_x), in degrees.
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// 5. (float) Vertical field-of-view (fov_y), in degrees.
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// 6. (float) Foveal deformation. Defaults to 0.
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class TouchGrid {
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public:
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static TouchGrid* Create(const mjModel* m, mjData* d, int instance);
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TouchGrid(TouchGrid&&) = default;
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~TouchGrid() = default;
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void Reset(const mjModel* m, int instance);
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void Compute(const mjModel* m, mjData* d, int instance);
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void Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
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mjvScene* scn, int instance);
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static void RegisterPlugin();
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int nchannel_; // number of channels (1-6)
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int size_[2]; // horizontal and vertical resolution
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mjtNum fov_[2]; // horizontal and vertical field of view, in degrees
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mjtNum gamma_; // foveal deformation
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private:
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TouchGrid(const mjModel* m, mjData* d, int instance, int nchannel, int* size,
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mjtNum* fov_x, mjtNum gamma);
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std::vector<mjtNum> distance_;
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};
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} // namespace mujoco::plugin::sensor
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#endif // MUJOCO_PLUGIN_SENSOR_TOUCH_GRID_H_
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