diff --git a/.cpplint.cfg b/.cpplint.cfg index 70348dc..c0bdd3f 100644 --- a/.cpplint.cfg +++ b/.cpplint.cfg @@ -11,6 +11,9 @@ filter=-build/c++17 # Per our style guide, we want to allow the use of non-const reference passing for output parameters filter=-runtime/references +# Catch2 idiom is `CHECK(a == b)` with expression decomposition; CHECK_EQ is a gtest macro and not applicable here +filter=-readability/check + # Disable all formatting checks, this is handled by clang-format filter=-readability/braces filter=-whitespace/braces diff --git a/.gitignore b/.gitignore index ce0d030..ee3b474 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,15 @@ -# Colcon +# Colcon (when built from the workspace root, build/ lives there) /build/ /install/ /log/ + +# Python / uv +.venv/ +__pycache__/ +*.py[cod] +*.egg-info/ +.pytest_cache/ +.ruff_cache/ + +# Build artifacts from CMake direct invocation +*.so diff --git a/CMakeLists.txt b/CMakeLists.txt index 6624f4c..0f7cfcb 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,4 +1,6 @@ # Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved +# Proprietary. Any unauthorized copying, distribution, or modification of this software is strictly prohibited. +# Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -12,7 +14,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -cmake_minimum_required(VERSION 3.8) +cmake_minimum_required(VERSION 3.15) project(polymath_kinematics) if(NOT CMAKE_CXX_STANDARD) @@ -20,7 +22,6 @@ if(NOT CMAKE_CXX_STANDARD) endif() if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic -Werror) - add_link_options(-Wl,-no-undefined) endif() # Ubuntu detection (override with -DBUILD_JAMMY=ON/OFF) @@ -43,58 +44,63 @@ if(NOT DEFINED BUILD_JAMMY) endif() endif() -# Find packages -find_package(ament_cmake REQUIRED) -find_package(ament_cmake_python REQUIRED) +# Find packages. ament_cmake is QUIET so the wheel build (no ROS2) falls +# through to a plain CMake configuration. +find_package(ament_cmake QUIET) find_package(Python3 REQUIRED COMPONENTS Interpreter Development.Module) -find_package(pybind11_vendor REQUIRED) -find_package(pybind11 REQUIRED) +find_package(pybind11 CONFIG REQUIRED) -# C++ library with all kinematic models -add_library(polymath_kinematics SHARED +# C++ library with all kinematic models. SHARED under ROS2 (ament exports a +# linkable .so to downstream packages); STATIC under wheel builds so the +# pybind11 module is self-contained and the wheel ships a single .so. +if(ament_cmake_FOUND) + set(_polymath_kinematics_lib_type SHARED) +else() + set(_polymath_kinematics_lib_type STATIC) +endif() +add_library(polymath_kinematics ${_polymath_kinematics_lib_type} src/articulated_model.cpp - src/differential_drive_model.cpp + src/articulated_projector.cpp src/bicycle_model.cpp + src/bicycle_projector.cpp + src/differential_drive_model.cpp + src/differential_drive_projector.cpp ) target_include_directories(polymath_kinematics PUBLIC $ $ ) +set_target_properties(polymath_kinematics PROPERTIES POSITION_INDEPENDENT_CODE ON) # Python bindings -set(PYBIND_TARGET polymath_kinematics_cpp) -pybind11_add_module(${PYBIND_TARGET} - src/kinematics_pybind.cpp -) -set_target_properties(${PYBIND_TARGET} PROPERTIES LINK_OPTIONS "") -target_link_libraries(${PYBIND_TARGET} PRIVATE polymath_kinematics) -_ament_cmake_python_register_environment_hook() -install(TARGETS ${PYBIND_TARGET} DESTINATION "${PYTHON_INSTALL_DIR}") +pybind11_add_module(polymath_kinematics_cpp src/kinematics_pybind.cpp) +target_link_libraries(polymath_kinematics_cpp PRIVATE polymath_kinematics) -# Install C++ library -install( - TARGETS polymath_kinematics - EXPORT ${PROJECT_NAME}_TARGETS - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION lib/${PROJECT_NAME} -) -install( - EXPORT ${PROJECT_NAME}_TARGETS - NAMESPACE ${PROJECT_NAME}:: - DESTINATION share/${PROJECT_NAME}/cmake -) -install( - DIRECTORY include/ - DESTINATION include/ -) +if(ament_cmake_FOUND) + find_package(ament_cmake_python REQUIRED) -# Python module -ament_python_install_package(${PROJECT_NAME}) + install( + TARGETS polymath_kinematics + EXPORT ${PROJECT_NAME}_TARGETS + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION lib/${PROJECT_NAME} + ) + install( + EXPORT ${PROJECT_NAME}_TARGETS + NAMESPACE ${PROJECT_NAME}:: + DESTINATION share/${PROJECT_NAME}/cmake + ) + install(DIRECTORY include/ DESTINATION include/) + + ament_python_install_package(${PROJECT_NAME}) + install(TARGETS polymath_kinematics_cpp DESTINATION "${PYTHON_INSTALL_DIR}") +else() + # Wheel build: scikit-build-core installs the extension at the wheel root. + install(TARGETS polymath_kinematics_cpp DESTINATION .) +endif() -# Testing if(BUILD_TESTING) - find_package(ament_cmake_pytest REQUIRED) include(CTest) if(BUILD_JAMMY) @@ -115,15 +121,27 @@ if(BUILD_TESTING) endif() endfunction() - add_kinematics_catch2_test(test_differential_drive test/test_differential_drive.cpp) add_kinematics_catch2_test(test_bicycle_model test/test_bicycle_model.cpp) add_kinematics_catch2_test(test_articulated_model test/test_articulated_model.cpp) - ament_add_pytest_test(test_python_bindings test) -endif() + add_kinematics_catch2_test(test_differential_drive test/test_differential_drive.cpp) + add_kinematics_catch2_test(test_bicycle_projector test/test_bicycle_projector.cpp) + add_kinematics_catch2_test(test_articulated_projector test/test_articulated_projector.cpp) + add_kinematics_catch2_test(test_differential_drive_projector test/test_differential_drive_projector.cpp) -# Export targets -ament_export_targets(${PROJECT_NAME}_TARGETS HAS_LIBRARY_TARGET) -ament_export_include_directories(include) -ament_export_libraries(polymath_kinematics) + if(ament_cmake_FOUND) + find_package(ament_cmake_pytest REQUIRED) + ament_add_pytest_test(test_python_bindings test/test_python_bindings.py + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} + ) + ament_add_pytest_test(test_explorer test/test_explorer.py + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} + ) + endif() +endif() -ament_package() +if(ament_cmake_FOUND) + ament_export_targets(${PROJECT_NAME}_TARGETS HAS_LIBRARY_TARGET) + ament_export_include_directories(include) + ament_export_libraries(polymath_kinematics) + ament_package() +endif() diff --git a/README.md b/README.md index baeb07a..5e6b6c6 100644 --- a/README.md +++ b/README.md @@ -1,79 +1,127 @@ # polymath_kinematics -Kinematic models for differential-drive, bicycle (Ackermann), and articulated vehicles. +Kinematic models and forward-projection helpers for differential-drive, bicycle (Ackermann), and articulated vehicles. C++ library with Python bindings via pybind11, packaged as a single Python wheel built by [scikit-build-core]. -## Derivations +Includes an interactive **Kinematic Explorer** (Streamlit) for visualising trajectory lattices, kinematic relationships, and vehicle footprints. -Math and equations behind each model: +[scikit-build-core]: https://scikit-build-core.readthedocs.io/ -- [Differential drive](derivations/differential_drive.md) — forward/inverse kinematics for two independently driven wheels -- [Bicycle model (Ackermann)](derivations/bicycle_model.md) — steering-angle kinematics with four-wheel ICR geometry -- [Articulated model](derivations/articulated_model.md) — pivot-joint kinematics for front/rear section vehicles +## Installation -## C++ usage +**Prerequisites:** Python 3.10+, a C++17 compiler, CMake 3.15+, and [uv](https://github.com/astral-sh/uv) for the wheel path. -```cmake -find_package(polymath_kinematics REQUIRED) -target_link_libraries(my_target PRIVATE polymath_kinematics::polymath_kinematics) -``` +The package supports three build paths. They share one `CMakeLists.txt`; `find_package(ament_cmake QUIET)` picks between the ROS2 and standalone branches at configure time. -```cpp -#include -#include -#include +### 1. Python wheel (uv / pip) + +For Python-only consumers and the Streamlit explorer. Builds a static `polymath_kinematics` library and links it into the `polymath_kinematics_cpp` pybind11 module; ships the result as a single wheel. + +```bash +cd src/polymath_kinematics + +# Bindings only +uv pip install -e . + +# Bindings + Kinematic Explorer (streamlit, matplotlib, pandas) +uv pip install -e ".[explorer]" + +# Bindings + Explorer + pytest +uv pip install -e ".[dev]" + +# Or, without activating a venv first: +uv run python -c "import polymath_kinematics; print(polymath_kinematics.BicycleModel(2.5, 1.5, 0.3))" ``` -### DifferentialDriveModel +The wheel build sets `-DCMAKE_DISABLE_FIND_PACKAGE_ament_cmake=ON` via `pyproject.toml`, so a host-installed `/opt/ros/humble` does not pull the build down the ROS2 branch. -```cpp -polymath::kinematics::DifferentialDriveModel model(0.15, 0.5); // wheel_radius_m, track_width_m +### 2. ROS2 / colcon -auto wheels = model.bodyVelocityToWheelVelocities(1.0, 0.3); // linear m/s, angular rad/s -// wheels.left_wheel_velocity_rad_s, wheels.right_wheel_velocity_rad_s +For consumers inside a ROS2 workspace. Produces a shared `libpolymath_kinematics.so` exported through ament (`polymath_kinematics::polymath_kinematics`) plus the pybind11 module installed alongside the Python package. + +```bash +# From the colcon workspace root +colcon build --packages-select polymath_kinematics -auto body = model.wheelVelocitiesToBodyVelocity(6.0, 7.0); // left rad/s, right rad/s -// body.linear_velocity_m_s, body.angular_velocity_rad_s +# Build + run C++ Catch2 tests and Python pytest suites +colcon build --packages-select polymath_kinematics --cmake-args -DBUILD_TESTING=ON +colcon test --packages-select polymath_kinematics +colcon test-result --verbose ``` -### BicycleModel +### 3. Standalone CMake -```cpp -polymath::kinematics::BicycleModel model(2.7, 1.6, 0.35); // wheelbase_m, track_width_m, wheel_radius_m +For working on the C++ code or running the Catch2 tests outside of ROS2 and outside of the wheel build (e.g. local IDE / ctest workflows). -auto state = model.bodyVelocityToSteering(2.0, 0.2); // linear m/s, angular rad/s -// state.steering_angle_rad, state.turning_radius_m -// state.front_right_wheel_rad_s, state.front_left_wheel_rad_s -// state.rear_right_wheel_rad_s, state.rear_left_wheel_rad_s +```bash +cd src/polymath_kinematics +cmake -S . -B build -DBUILD_TESTING=ON +cmake --build build -j +ctest --test-dir build --output-on-failure +``` -auto body = model.steeringToBodyVelocity(2.0, 0.15); // velocity m/s, steering_angle rad -// body.linear_velocity_m_s, body.angular_velocity_rad_s +If `/opt/ros/humble` (or any other ament-providing install) is on the host, force the standalone path with: -double radius = model.turningRadius(0.15); // steering_angle rad -> meters -double angle = model.steeringAngleFromRadius(10.0); // radius m -> radians +```bash +cmake -S . -B build -DBUILD_TESTING=ON -DCMAKE_DISABLE_FIND_PACKAGE_ament_cmake=ON ``` -### ArticulatedModel +## Running the Kinematic Explorer -```cpp -polymath::kinematics::ArticulatedModel model( - 1.8, 1.5, // articulation_to_front_axle_m, articulation_to_rear_axle_m - 2.0, 2.0, // front_track_width_m, rear_track_width_m - 0.6, 0.6); // front_wheel_radius_m, rear_wheel_radius_m +After `uv pip install -e ".[explorer]"`: -auto state = model.bodyVelocityToVehicleState(1.5, 0.1); // linear m/s, angular rad/s -// state.articulation_angle_rad -// state.front_right_wheel_speed_rad_s, state.front_left_wheel_speed_rad_s -// state.rear_right_wheel_speed_rad_s, state.rear_left_wheel_speed_rad_s -// state.front_axle_turning_radius_m, state.rear_axle_turning_radius_m +```bash +# Console script (recommended) +kinematic-explorer -auto axles = model.articulationToAxleVelocities(1.5, 0.3); // linear m/s, articulation_angle rad -// axles.front_axle_turning_velocity_rad_s, axles.rear_axle_turning_velocity_rad_s +# Or invoke streamlit directly +uv run python -m streamlit run polymath_kinematics/kinematic_explorer_app.py ``` +The app opens at `http://localhost:8501` and exposes: + +- Model selection (Differential Drive / Bicycle / Articulated) +- Geometry sliders (wheelbase, track width, wheel radii, etc.) +- Trajectory lattice visualisation across steering / articulation angles +- Kinematic analysis plots (angle → angular velocity, turning radius vs angle) +- Vehicle-footprint overlays along trajectories +- CSV / JSON / PNG / SVG / PDF export + +## Running tests + +```bash +# Python only (from the wheel install) +uv run pytest + +# C++ Catch2 + Python pytest under ROS2 +colcon build --packages-select polymath_kinematics --cmake-args -DBUILD_TESTING=ON +colcon test --packages-select polymath_kinematics +colcon test-result --verbose + +# C++ Catch2 standalone (no ROS2) +cmake -S . -B build -DBUILD_TESTING=ON -DCMAKE_DISABLE_FIND_PACKAGE_ament_cmake=ON +cmake --build build -j +ctest --test-dir build --output-on-failure +``` + +## Derivations + +Math and equations behind each model: + +- [Differential drive](derivations/differential_drive.md) — forward/inverse kinematics for two independently driven wheels +- [Bicycle model (Ackermann)](derivations/bicycle_model.md) — steering-angle kinematics with four-wheel ICR geometry +- [Articulated model](derivations/articulated_model.md) — pivot-joint kinematics for front/rear section vehicles + ## Python usage ```python -from polymath_kinematics import DifferentialDriveModel, BicycleModel, ArticulatedModel +from polymath_kinematics import ( + DifferentialDriveModel, + BicycleModel, + ArticulatedModel, + BicycleProjector, + ArticulatedProjector, + Pose2D, +) ``` ### DifferentialDriveModel @@ -115,17 +163,164 @@ model = ArticulatedModel( rear_wheel_radius_m=0.6, ) +# Steady articulation (gamma-dot = 0) state = model.body_velocity_to_vehicle_state( linear_velocity_m_s=1.5, angular_velocity_rad_s=0.1 ) print(state.articulation_angle_rad, state.front_axle_turning_radius_m) +# With explicit articulation rate (gamma-dot, rad/s) +state_with_rate = model.body_velocity_to_vehicle_state( + linear_velocity_m_s=1.5, + angular_velocity_rad_s=0.1, + articulation_turning_velocity_rad_s=0.2, +) + axles = model.articulation_to_axle_velocities( - linear_velocity_m_s=1.5, articulation_angle_rad=0.3 + linear_velocity_m_s=1.5, + articulation_angle_rad=0.3, + articulation_turning_velocity_rad_s=0.2, # optional, defaults to 0 ) print(axles.front_axle_turning_velocity_rad_s, axles.rear_axle_turning_velocity_rad_s) ``` +### Projectors — forward simulation with steering-rate limits + +`BicycleProjector` and `ArticulatedProjector` wrap their respective models and integrate pose forward in time under realistic actuator constraints: the steering / articulation angle ramps toward a target at a bounded rate, clamped to `[min, max]`. + +```python +projector = BicycleProjector( + model=BicycleModel(wheelbase_m=2.7, track_width_m=1.6, wheel_radius_m=0.35), + min_steering_angle_rad=-0.6, + max_steering_angle_rad=0.6, +) + +# One-step advance +result = projector.step( + dt_s=0.1, + current_pose=Pose2D(x=0.0, y=0.0, theta=0.0), + current_steering_angle_rad=0.0, + target_steering_angle_rad=0.3, + steering_rate_rad_s=0.5, + linear_velocity_m_s=1.0, +) +print(result.pose.x, result.steering_angle_rad) + +# Full trajectory +trajectory = projector.project( + horizon_s=5.0, + dt_s=0.05, + initial_pose=Pose2D(), + initial_steering_angle_rad=0.0, + target_steering_angle_rad=0.4, + steering_rate_rad_s=0.3, + linear_velocity_m_s=1.5, +) +# trajectory[0] is the initial state; trajectory[-1] is the end-of-horizon state. +``` + +`ArticulatedProjector` has the same shape — the angle is the articulation angle γ and the rate is γ̇: + +```python +projector = ArticulatedProjector( + model=ArticulatedModel(1.66, 1.44, 2.0, 2.0, 0.723, 0.723), + min_articulation_angle_rad=-0.785, + max_articulation_angle_rad=0.785, +) +trajectory = projector.project( + horizon_s=5.0, dt_s=0.05, + initial_pose=Pose2D(), + initial_articulation_angle_rad=0.0, + target_articulation_angle_rad=0.5, + articulation_rate_rad_s=0.2, + linear_velocity_m_s=1.0, +) +``` + +## C++ usage + +The C++ headers and library are installed under the package's CMake export when built via colcon: + +```cmake +find_package(polymath_kinematics REQUIRED) +target_link_libraries(my_target PRIVATE polymath_kinematics::polymath_kinematics) +``` + +```cpp +#include +#include +#include +#include +#include +#include +``` + +### DifferentialDriveModel + +```cpp +polymath::kinematics::DifferentialDriveModel model(0.15, 0.5); // wheel_radius_m, track_width_m + +auto wheels = model.bodyVelocityToWheelVelocities(1.0, 0.3); // linear m/s, angular rad/s +auto body = model.wheelVelocitiesToBodyVelocity(6.0, 7.0); // left rad/s, right rad/s +``` + +### BicycleModel + +```cpp +polymath::kinematics::BicycleModel model(2.7, 1.6, 0.35); // wheelbase, track, wheel_radius (m) + +auto state = model.bodyVelocityToSteering(2.0, 0.2); // linear m/s, angular rad/s +auto body = model.steeringToBodyVelocity(2.0, 0.15); // velocity m/s, steering rad + +double radius = model.turningRadius(0.15); // steering rad → meters +double angle = model.steeringAngleFromRadius(10.0); // radius m → radians +``` + +### ArticulatedModel + +```cpp +polymath::kinematics::ArticulatedModel model( + 1.8, 1.5, // articulation_to_front_axle_m, articulation_to_rear_axle_m + 2.0, 2.0, // front_track_width_m, rear_track_width_m + 0.6, 0.6); // front_wheel_radius_m, rear_wheel_radius_m + +// 2-arg form: assumes a zero articulation turning velocity +auto state = model.bodyVelocityToVehicleState(1.5, 0.1); + +// 3-arg form: feeds the actual gamma-dot into the kinematics +auto state_with_rate = model.bodyVelocityToVehicleState(1.5, 0.1, 0.2); + +auto axles = model.articulationToAxleVelocities(1.5, 0.3); // gamma-dot = 0 +auto axles_with_rate = model.articulationToAxleVelocities(1.5, 0.3, 0.2); +``` + +### Projectors + +```cpp +polymath::kinematics::BicycleProjector projector( + polymath::kinematics::BicycleModel(2.7, 1.6, 0.35), + -0.6, 0.6); // min/max steering angle (rad) + +polymath::kinematics::Pose2D pose{0.0, 0.0, 0.0}; + +auto step = projector.step( + /*dt_s=*/0.1, pose, + /*current_steering=*/0.0, + /*target_steering=*/0.3, + /*steering_rate=*/0.5, + /*linear_velocity=*/1.0); + +auto trajectory = projector.project( + /*horizon_s=*/5.0, /*dt_s=*/0.05, pose, + /*initial_steering=*/0.0, + /*target_steering=*/0.4, + /*steering_rate=*/0.3, + /*linear_velocity=*/1.5); +// trajectory.front() is the initial state, trajectory.back() is the end of the horizon. +``` + +`ArticulatedProjector` is shaped identically — the angle is the articulation angle (γ) and the rate is γ̇. + ## Models reference ### DifferentialDriveModel @@ -168,5 +363,14 @@ print(axles.front_axle_turning_velocity_rad_s, axles.rear_axle_turning_velocity_ | Method (C++ / Python) | Parameters | Returns | |---|---|---| -| `bodyVelocityToVehicleState` / `body_velocity_to_vehicle_state` | linear vel (m/s), angular vel (rad/s) | `ArticulatedVehicleState` | -| `articulationToAxleVelocities` / `articulation_to_axle_velocities` | linear vel (m/s), articulation angle (rad) | `ArticulatedAxleVelocities` | +| `bodyVelocityToVehicleState` / `body_velocity_to_vehicle_state` | linear vel (m/s), angular vel (rad/s), [articulation rate (rad/s) = 0] | `ArticulatedVehicleState` | +| `articulationToAxleVelocities` / `articulation_to_axle_velocities` | linear vel (m/s), articulation angle (rad), [articulation rate (rad/s) = 0] | `ArticulatedAxleVelocities` | + +### Projectors + +| Class | Constructor | Notable methods | +|---|---|---| +| `BicycleProjector` | `(BicycleModel, min_steering, max_steering)` | `step(dt, pose, current, target, rate, v)`, `project(horizon, dt, pose, initial, target, rate, v)` | +| `ArticulatedProjector` | `(ArticulatedModel, min_articulation, max_articulation)` | `step(dt, pose, current, target, rate, v)`, `project(horizon, dt, pose, initial, target, rate, v)` | + +Both projectors clamp the target angle to `[min, max]` before ramping, then advance the current angle toward the clamped target at the given rate (never overshooting), and integrate pose with Euler. diff --git a/include/polymath_kinematics/articulated_model.hpp b/include/polymath_kinematics/articulated_model.hpp index 8969f47..490631a 100644 --- a/include/polymath_kinematics/articulated_model.hpp +++ b/include/polymath_kinematics/articulated_model.hpp @@ -40,7 +40,6 @@ struct ArticulatedAxleVelocities }; /// @brief Kinematic model for articulated vehicles (e.g., wheel loaders, articulated dump trucks) -/// @note TODO: (Zeerek) We want to add articulated angle turning velocity into our estimations class ArticulatedModel { public: @@ -68,17 +67,36 @@ class ArticulatedModel ~ArticulatedModel() = default; /// @brief Convert body velocity to vehicle state (articulation angle and wheel speeds) + /// Convenience overload that assumes a zero articulation turning velocity (steady articulation). /// @param linear_velocity_m_s Desired linear velocity in m/s /// @param angular_velocity_rad_s Desired angular velocity in rad/s /// @return Vehicle state including required articulation angle and wheel speeds ArticulatedVehicleState bodyVelocityToVehicleState(double linear_velocity_m_s, double angular_velocity_rad_s); + /// @brief Convert body velocity to vehicle state, including the effect of the articulation joint + /// turning velocity (gamma-dot). + /// @param linear_velocity_m_s Desired linear velocity in m/s + /// @param angular_velocity_rad_s Desired angular velocity in rad/s + /// @param articulation_turning_velocity_rad_s Rate of change of the articulation angle in rad/s + /// @return Vehicle state including required articulation angle and wheel speeds + ArticulatedVehicleState bodyVelocityToVehicleState( + double linear_velocity_m_s, double angular_velocity_rad_s, double articulation_turning_velocity_rad_s); + /// @brief Convert articulation state to axle turning velocities + /// Convenience overload that assumes a zero articulation turning velocity (steady articulation). /// @param linear_velocity_m_s Current linear velocity in m/s /// @param articulation_angle_rad Current articulation angle in radians /// @return Axle turning velocities for front and rear axles ArticulatedAxleVelocities articulationToAxleVelocities(double linear_velocity_m_s, double articulation_angle_rad); + /// @brief Convert articulation state to axle turning velocities, including gamma-dot + /// @param linear_velocity_m_s Current linear velocity in m/s + /// @param articulation_angle_rad Current articulation angle in radians + /// @param articulation_turning_velocity_rad_s Rate of change of the articulation angle in rad/s + /// @return Axle turning velocities for front and rear axles + ArticulatedAxleVelocities articulationToAxleVelocities( + double linear_velocity_m_s, double articulation_angle_rad, double articulation_turning_velocity_rad_s); + double get_articulation_to_front_axle_m() const { return articulation_to_front_axle_m_; @@ -117,10 +135,6 @@ class ArticulatedModel double front_wheel_radius_m_; double rear_wheel_radius_m_; - /// @brief Articulation turning velocity once calculated or available - /// TODO: (Zeerek) Add ability to pass this in when generating estimations - static constexpr double articulation_turning_velocity_rad_s_ = 0.0; - /// @brief Threshold below which a velocity is treated as zero to avoid numerical /// singularities (e.g. 0/0 in acos, or inf*0 in wheel speed calculations) static constexpr double ZERO_VELOCITY_THRESHOLD = 1e-9; diff --git a/include/polymath_kinematics/articulated_projector.hpp b/include/polymath_kinematics/articulated_projector.hpp new file mode 100644 index 0000000..9a1142b --- /dev/null +++ b/include/polymath_kinematics/articulated_projector.hpp @@ -0,0 +1,116 @@ +// Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved +// +// 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 POLYMATH_KINEMATICS__ARTICULATED_PROJECTOR_HPP__ +#define POLYMATH_KINEMATICS__ARTICULATED_PROJECTOR_HPP__ + +#include + +#include "polymath_kinematics/articulated_model.hpp" +#include "polymath_kinematics/pose2d.hpp" + +// TODO(naming): when this projector is in wide use, consider renaming the underlying +// ArticulatedModel methods for clarity: +// - bodyVelocityToVehicleState -> inverseKinematics +// - articulationToAxleVelocities -> forwardKinematics +// And dropping the _m / _rad / _rad_s unit suffixes from struct fields (units in docs). + +namespace polymath::kinematics +{ + +/// @brief One sample of an articulated-model projection. Pose is tracked at the rear segment. +struct ArticulatedProjectedState +{ + double time_s; ///< Elapsed time from the start of the projection + Pose2D pose; ///< Rear-segment pose at this sample + double articulation_angle_rad; ///< Post-ramp articulation angle (gamma) in radians + double linear_velocity_m_s; ///< Commanded linear velocity in m/s + double angular_velocity_rad_s; ///< Rear-axle turning rate used for theta integration + ArticulatedVehicleState vehicle_state; ///< Full kinematic snapshot (wheel speeds + turning radii) +}; + +/// @brief Forward-projection wrapper around ArticulatedModel. Ramps articulation angle (gamma) +/// toward a target at a bounded rate (gamma-dot), clamping the target to [min, max] first. +/// Pose is integrated with Euler at the rear axle. +class ArticulatedProjector +{ +public: + /// @brief Construct a projector with articulation-angle limits. + /// @param model Articulated kinematics model (stored by value) + /// @param min_articulation_angle_rad Minimum allowed articulation angle (typically negative) + /// @param max_articulation_angle_rad Maximum allowed articulation angle (typically positive) + ArticulatedProjector(ArticulatedModel model, double min_articulation_angle_rad, double max_articulation_angle_rad) + : model_(model) + , min_articulation_angle_rad_(min_articulation_angle_rad) + , max_articulation_angle_rad_(max_articulation_angle_rad) + {} + + ~ArticulatedProjector() = default; + + /// @brief Advance the vehicle one time step. + /// The articulation angle ramps from the current value toward clamp(target, min, max) at + /// |articulation_rate_rad_s| per second, never overshooting. Pose is integrated with Euler + /// using the post-ramp angle. + /// @param dt_s Step duration in seconds (must be > 0) + /// @param current_pose Rear-segment pose at the start of the step + /// @param current_articulation_angle_rad Articulation angle at the start of the step + /// @param target_articulation_angle_rad Desired articulation angle (clamped to [min, max] internally) + /// @param articulation_rate_rad_s Magnitude of the ramp rate in rad/s (sign is ignored) + /// @param linear_velocity_m_s Commanded linear velocity in m/s + /// @return Projected state at the end of the step (time_s = dt_s) + ArticulatedProjectedState step( + double dt_s, + const Pose2D & current_pose, + double current_articulation_angle_rad, + double target_articulation_angle_rad, + double articulation_rate_rad_s, + double linear_velocity_m_s); + + /// @brief Project a trajectory forward over `horizon_s` at `dt_s` steps. + /// Element 0 is the initial state (time_s=0); element N is the final state. + /// Trajectory length is ceil(horizon_s / dt_s) + 1. + /// @return Sequence of timestamped states (initial state included as element 0) + std::vector project( + double horizon_s, + double dt_s, + const Pose2D & initial_pose, + double initial_articulation_angle_rad, + double target_articulation_angle_rad, + double articulation_rate_rad_s, + double linear_velocity_m_s); + + const ArticulatedModel & get_model() const + { + return model_; + } + + double get_min_articulation_angle_rad() const + { + return min_articulation_angle_rad_; + } + + double get_max_articulation_angle_rad() const + { + return max_articulation_angle_rad_; + } + +private: + ArticulatedModel model_; + double min_articulation_angle_rad_; + double max_articulation_angle_rad_; +}; + +} // namespace polymath::kinematics + +#endif // POLYMATH_KINEMATICS__ARTICULATED_PROJECTOR_HPP__ diff --git a/include/polymath_kinematics/bicycle_projector.hpp b/include/polymath_kinematics/bicycle_projector.hpp new file mode 100644 index 0000000..e3c4175 --- /dev/null +++ b/include/polymath_kinematics/bicycle_projector.hpp @@ -0,0 +1,117 @@ +// Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved +// +// 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 POLYMATH_KINEMATICS__BICYCLE_PROJECTOR_HPP__ +#define POLYMATH_KINEMATICS__BICYCLE_PROJECTOR_HPP__ + +#include + +#include "polymath_kinematics/bicycle_model.hpp" +#include "polymath_kinematics/pose2d.hpp" + +// TODO(naming): when this projector is in wide use, consider renaming the underlying +// BicycleModel methods for clarity: +// - bodyVelocityToSteering -> inverseKinematics +// - steeringToBodyVelocity -> forwardKinematics +// And dropping the _m / _rad / _rad_s unit suffixes from struct fields (units in docs). +// Also unify the Python Pose2D in polymath_kinematics/__init__.py with the C++ Pose2D +// bound here. + +namespace polymath::kinematics +{ + +/// @brief One sample of a bicycle-model projection: pose + steering + wheel speeds at a point in time. +struct BicycleProjectedState +{ + double time_s; ///< Elapsed time from the start of the projection + Pose2D pose; ///< Body pose at this sample + double steering_angle_rad; ///< Post-ramp steering angle in radians + double linear_velocity_m_s; ///< Commanded linear velocity in m/s + double angular_velocity_rad_s; ///< Body angular velocity used for theta integration + BicycleSteeringState steering_state; ///< Full kinematic snapshot (wheel speeds + turning radius) +}; + +/// @brief Forward-projection wrapper around BicycleModel that ramps steering toward a target at +/// a bounded rate, clamping the target to [min, max] before ramping, and integrates pose with Euler. +class BicycleProjector +{ +public: + /// @brief Construct a projector with steering-angle limits. + /// @param model Bicycle kinematics model (stored by value) + /// @param min_steering_angle_rad Minimum allowed steering angle (typically negative) + /// @param max_steering_angle_rad Maximum allowed steering angle (typically positive) + BicycleProjector(BicycleModel model, double min_steering_angle_rad, double max_steering_angle_rad) + : model_(model) + , min_steering_angle_rad_(min_steering_angle_rad) + , max_steering_angle_rad_(max_steering_angle_rad) + {} + + ~BicycleProjector() = default; + + /// @brief Advance the vehicle one time step. + /// Steering ramps from current_steering_angle_rad toward clamp(target, min, max) at + /// |steering_rate_rad_s| per second, never overshooting. Pose is integrated with Euler + /// using the post-ramp angle. + /// @param dt_s Step duration in seconds (must be > 0) + /// @param current_pose Pose at the start of the step + /// @param current_steering_angle_rad Steering angle at the start of the step + /// @param target_steering_angle_rad Desired steering angle (clamped to [min, max] internally) + /// @param steering_rate_rad_s Magnitude of the ramp rate in rad/s (sign is ignored) + /// @param linear_velocity_m_s Commanded linear velocity in m/s + /// @return Projected state at the end of the step (time_s = dt_s) + BicycleProjectedState step( + double dt_s, + const Pose2D & current_pose, + double current_steering_angle_rad, + double target_steering_angle_rad, + double steering_rate_rad_s, + double linear_velocity_m_s); + + /// @brief Project a trajectory forward over `horizon_s` at `dt_s` steps. + /// Element 0 is the initial state (time_s=0); element N is the final state. + /// Trajectory length is ceil(horizon_s / dt_s) + 1. + /// @return Sequence of timestamped states (initial state included as element 0) + std::vector project( + double horizon_s, + double dt_s, + const Pose2D & initial_pose, + double initial_steering_angle_rad, + double target_steering_angle_rad, + double steering_rate_rad_s, + double linear_velocity_m_s); + + const BicycleModel & get_model() const + { + return model_; + } + + double get_min_steering_angle_rad() const + { + return min_steering_angle_rad_; + } + + double get_max_steering_angle_rad() const + { + return max_steering_angle_rad_; + } + +private: + BicycleModel model_; + double min_steering_angle_rad_; + double max_steering_angle_rad_; +}; + +} // namespace polymath::kinematics + +#endif // POLYMATH_KINEMATICS__BICYCLE_PROJECTOR_HPP__ diff --git a/include/polymath_kinematics/differential_drive_projector.hpp b/include/polymath_kinematics/differential_drive_projector.hpp new file mode 100644 index 0000000..f7a711f --- /dev/null +++ b/include/polymath_kinematics/differential_drive_projector.hpp @@ -0,0 +1,135 @@ +// Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved +// +// 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 POLYMATH_KINEMATICS__DIFFERENTIAL_DRIVE_PROJECTOR_HPP__ +#define POLYMATH_KINEMATICS__DIFFERENTIAL_DRIVE_PROJECTOR_HPP__ + +#include + +#include "polymath_kinematics/differential_drive_model.hpp" +#include "polymath_kinematics/pose2d.hpp" + +namespace polymath::kinematics +{ + +/// @brief One sample of a differential-drive-model projection. +struct DifferentialDriveProjectedState +{ + double time_s; ///< Elapsed time from the start of the projection + Pose2D pose; ///< Body pose at this sample + double linear_velocity_m_s; ///< Post-ramp body linear velocity in m/s + double angular_velocity_rad_s; ///< Post-ramp body angular velocity in rad/s + DifferentialDriveWheelVelocities wheel_velocities; ///< Wheel speeds derived from the body command +}; + +/// @brief Forward-projection wrapper around DifferentialDriveModel that ramps the body command +/// (linear_velocity, angular_velocity) toward targets at bounded accelerations, clamping each +/// to its [min, max] range before ramping. Pose is integrated with Euler. +class DifferentialDriveProjector +{ +public: + /// @brief Construct a projector with body-velocity limits. + /// @param model Differential drive kinematics model (stored by value) + /// @param min_linear_velocity_m_s Minimum allowed linear velocity (typically negative for reverse) + /// @param max_linear_velocity_m_s Maximum allowed linear velocity + /// @param min_angular_velocity_rad_s Minimum allowed angular velocity (typically negative) + /// @param max_angular_velocity_rad_s Maximum allowed angular velocity + DifferentialDriveProjector( + DifferentialDriveModel model, + double min_linear_velocity_m_s, + double max_linear_velocity_m_s, + double min_angular_velocity_rad_s, + double max_angular_velocity_rad_s) + : model_(model) + , min_linear_velocity_m_s_(min_linear_velocity_m_s) + , max_linear_velocity_m_s_(max_linear_velocity_m_s) + , min_angular_velocity_rad_s_(min_angular_velocity_rad_s) + , max_angular_velocity_rad_s_(max_angular_velocity_rad_s) + {} + + ~DifferentialDriveProjector() = default; + + /// @brief Advance the vehicle one time step. + /// Linear and angular velocities ramp from their current values toward + /// clamp(target, min, max) at the corresponding |acceleration| per second, + /// never overshooting. Pose is integrated with Euler using the post-ramp body command. + /// @param dt_s Step duration in seconds (must be > 0) + /// @param current_pose Pose at the start of the step + /// @param current_linear_velocity_m_s Linear velocity at the start of the step + /// @param current_angular_velocity_rad_s Angular velocity at the start of the step + /// @param target_linear_velocity_m_s Desired linear velocity (clamped internally) + /// @param target_angular_velocity_rad_s Desired angular velocity (clamped internally) + /// @param linear_acceleration_m_s2 Magnitude of the linear ramp rate (sign is ignored) + /// @param angular_acceleration_rad_s2 Magnitude of the angular ramp rate (sign is ignored) + /// @return Projected state at the end of the step (time_s = dt_s) + DifferentialDriveProjectedState step( + double dt_s, + const Pose2D & current_pose, + double current_linear_velocity_m_s, + double current_angular_velocity_rad_s, + double target_linear_velocity_m_s, + double target_angular_velocity_rad_s, + double linear_acceleration_m_s2, + double angular_acceleration_rad_s2); + + /// @brief Project a trajectory forward over `horizon_s` at `dt_s` steps. + /// Element 0 is the initial state (time_s=0); element N is the final state. + /// Trajectory length is ceil(horizon_s / dt_s) + 1. + std::vector project( + double horizon_s, + double dt_s, + const Pose2D & initial_pose, + double initial_linear_velocity_m_s, + double initial_angular_velocity_rad_s, + double target_linear_velocity_m_s, + double target_angular_velocity_rad_s, + double linear_acceleration_m_s2, + double angular_acceleration_rad_s2); + + const DifferentialDriveModel & get_model() const + { + return model_; + } + + double get_min_linear_velocity_m_s() const + { + return min_linear_velocity_m_s_; + } + + double get_max_linear_velocity_m_s() const + { + return max_linear_velocity_m_s_; + } + + double get_min_angular_velocity_rad_s() const + { + return min_angular_velocity_rad_s_; + } + + double get_max_angular_velocity_rad_s() const + { + return max_angular_velocity_rad_s_; + } + +private: + DifferentialDriveModel model_; + double min_linear_velocity_m_s_; + double max_linear_velocity_m_s_; + double min_angular_velocity_rad_s_; + double max_angular_velocity_rad_s_; +}; + +} // namespace polymath::kinematics + +#endif // POLYMATH_KINEMATICS__DIFFERENTIAL_DRIVE_PROJECTOR_HPP__ diff --git a/include/polymath_kinematics/pose2d.hpp b/include/polymath_kinematics/pose2d.hpp new file mode 100644 index 0000000..46dabf4 --- /dev/null +++ b/include/polymath_kinematics/pose2d.hpp @@ -0,0 +1,44 @@ +// Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved +// +// 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 POLYMATH_KINEMATICS__POSE2D_HPP__ +#define POLYMATH_KINEMATICS__POSE2D_HPP__ + +#include + +namespace polymath::kinematics +{ + +/// @brief Planar pose: position (x, y) and heading theta (radians, CCW from +x). +struct Pose2D +{ + double x; + double y; + double theta; +}; + +/// @brief Wrap an angle to [-pi, pi] +inline double normalizeAngle(double angle) +{ + constexpr double kTwoPi = 2.0 * M_PI; + double a = std::fmod(angle + M_PI, kTwoPi); + if (a < 0.0) { + a += kTwoPi; + } + return a - M_PI; +} + +} // namespace polymath::kinematics + +#endif // POLYMATH_KINEMATICS__POSE2D_HPP__ diff --git a/package.xml b/package.xml index 0019e51..d7c3a80 100644 --- a/package.xml +++ b/package.xml @@ -2,17 +2,20 @@ polymath_kinematics - 0.1.0 - Simple mixed C++/Python kinematics library - Polymath Robotics + 0.2.0 + Mixed C++/Python kinematics library for vehicle models + Polymath Engineering Apache-2.0 + Zeerek Ahmad ament_cmake ament_cmake_python - pybind11_vendor + pybind11_vendor + python3-numpy ament_cmake_pytest + ament_cmake_test catch2 diff --git a/polymath_kinematics/__init__.py b/polymath_kinematics/__init__.py index fdf2e74..5cc6ed6 100644 --- a/polymath_kinematics/__init__.py +++ b/polymath_kinematics/__init__.py @@ -17,24 +17,37 @@ from polymath_kinematics_cpp import ( ArticulatedAxleVelocities, ArticulatedModel, + ArticulatedProjectedState, + ArticulatedProjector, ArticulatedVehicleState, BicycleBodyVelocity, BicycleModel, + BicycleProjectedState, + BicycleProjector, BicycleSteeringState, DifferentialDriveBodyVelocity, DifferentialDriveModel, + DifferentialDriveProjectedState, + DifferentialDriveProjector, DifferentialDriveWheelVelocities, + Pose2D, ) __all__ = [ 'ArticulatedAxleVelocities', 'ArticulatedModel', + 'ArticulatedProjectedState', + 'ArticulatedProjector', 'ArticulatedVehicleState', 'BicycleBodyVelocity', 'BicycleModel', + 'BicycleProjectedState', + 'BicycleProjector', 'BicycleSteeringState', 'DifferentialDriveBodyVelocity', 'DifferentialDriveModel', + 'DifferentialDriveProjectedState', + 'DifferentialDriveProjector', 'DifferentialDriveWheelVelocities', 'Pose2D', 'Twist2D', @@ -43,13 +56,6 @@ ] -class Pose2D: - def __init__(self, x=0.0, y=0.0, theta=0.0): - self.x = x - self.y = y - self.theta = theta - - class Twist2D: def __init__(self, linear_x=0.0, linear_y=0.0, angular_z=0.0): self.linear_x = linear_x diff --git a/polymath_kinematics/explorer/__init__.py b/polymath_kinematics/explorer/__init__.py new file mode 100644 index 0000000..1ed7508 --- /dev/null +++ b/polymath_kinematics/explorer/__init__.py @@ -0,0 +1,87 @@ +# Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved +# +# 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. +"""Kinematic Explorer - trajectory simulation and visualization. + +This subpackage provides pure functions for trajectory simulation, plotting, +and export. The streamlit UI is in kinematic_explorer_app.py. +""" + +from .config import ( + KINEMATIC_EQUATIONS, + LATTICE_CONFIG, + TRAJECTORY_EQUATIONS, + TRAJECTORY_EQUATIONS_RK4, + LatticeConfig, +) +from .export import trajectories_to_dataframe +from .plotting import ( + plot_analysis, + plot_articulated_footprint, + plot_lattice, + plot_trajectory_with_footprints, + plot_vehicle_footprint, + select_symmetric_trajectories, +) +from .simulation import ( + generate_lattice_articulated, + generate_lattice_bicycle, + generate_lattice_differential, + simulate_trajectory, + simulate_trajectory_euler, + simulate_trajectory_rk4, + single_articulated_trajectory, + single_bicycle_trajectory, + single_differential_trajectory, +) +from .types import ( + AnyTrajectory, + ArticulatedTrajectory, + BicycleTrajectory, + DifferentialTrajectory, + Trajectory, +) + +__all__ = [ + # Types + 'AnyTrajectory', + 'ArticulatedTrajectory', + 'BicycleTrajectory', + 'DifferentialTrajectory', + 'Trajectory', + # Config + 'KINEMATIC_EQUATIONS', + 'LATTICE_CONFIG', + 'LatticeConfig', + 'TRAJECTORY_EQUATIONS', + 'TRAJECTORY_EQUATIONS_RK4', + # Simulation + 'generate_lattice_articulated', + 'generate_lattice_bicycle', + 'generate_lattice_differential', + 'simulate_trajectory', + 'simulate_trajectory_euler', + 'simulate_trajectory_rk4', + 'single_articulated_trajectory', + 'single_bicycle_trajectory', + 'single_differential_trajectory', + # Plotting + 'plot_analysis', + 'plot_articulated_footprint', + 'plot_lattice', + 'plot_trajectory_with_footprints', + 'plot_vehicle_footprint', + 'select_symmetric_trajectories', + # Export + 'trajectories_to_dataframe', +] diff --git a/polymath_kinematics/explorer/config.py b/polymath_kinematics/explorer/config.py new file mode 100644 index 0000000..91b2058 --- /dev/null +++ b/polymath_kinematics/explorer/config.py @@ -0,0 +1,115 @@ +# Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved +# +# 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. +"""Configuration constants and data structures for kinematic exploration.""" + +from __future__ import annotations + +from dataclasses import dataclass + +# Vehicle footprint positioning (fraction of length) +REAR_AXLE_POSITION = 0.3 # How far back the rear axle is from center +FRONT_OVERHANG = 0.7 # How far forward the front extends from center +HEADING_ARROW_LENGTH = 0.4 # Arrow length as fraction of vehicle length +HEADING_ARROW_WIDTH = 0.3 # Arrow head width as fraction of vehicle width + + +@dataclass +class LatticeConfig: + """Configuration for plotting trajectory lattices.""" + + group_key: str + group_label: str + group_unit: str + color_key: str + color_label: str + color_unit: str + color_is_angle: bool = False + angle_key: str = '' # Key for angle in trajectory selection + vel_key: str = '' # Key for velocity in trajectory selection + + +LATTICE_CONFIG: dict[str, LatticeConfig] = { + 'Differential Drive': LatticeConfig( + group_key='base_wheel_velocity', + group_label='Base Wheel Velocity', + group_unit='rad/s', + color_key='angular_velocity', + color_label='Angular Velocity', + color_unit='rad/s', + color_is_angle=False, + angle_key='angular_velocity', + vel_key='base_wheel_velocity', + ), + 'Bicycle': LatticeConfig( + group_key='drive_velocity', + group_label='Drive Velocity', + group_unit='m/s', + color_key='steering_angle', + color_label='Steering Angle', + color_unit='deg', + color_is_angle=True, + angle_key='steering_angle', + vel_key='drive_velocity', + ), + 'Articulated': LatticeConfig( + group_key='drive_velocity', + group_label='Drive Velocity', + group_unit='m/s', + color_key='articulation_angle', + color_label='Articulation Angle', + color_unit='deg', + color_is_angle=True, + angle_key='articulation_angle', + vel_key='drive_velocity', + ), +} + + +KINEMATIC_EQUATIONS = { + 'Differential Drive': { + 'title': 'Differential Drive Kinematics', + 'equations': [ + r'v = \frac{r}{2}(\omega_L + \omega_R)', + r'\omega = \frac{r}{W}(\omega_R - \omega_L)', + ], + 'variables': r'$r$ = wheel radius, $W$ = track width, $\omega_L, \omega_R$ = wheel velocities', + }, + 'Bicycle': { + 'title': 'Bicycle Model Kinematics', + 'equations': [ + r'\omega = \frac{v \tan(\delta)}{L}', + r'R = \frac{L}{\tan(\delta)}', + ], + 'variables': r'$L$ = wheelbase, $\delta$ = steering angle, $R$ = turning radius', + }, + 'Articulated': { + 'title': 'Articulated Vehicle Kinematics (Corke & Ridley)', + 'equations': [ + r'\omega = \frac{v \sin\gamma + L_r \dot{\gamma}}{L_f \cos\gamma + L_r}', + r'R_f = \frac{L_f \cos\gamma + L_r}{\sin\gamma}', + ], + 'variables': r'$L_f, L_r$ = front/rear distances to articulation joint, $\gamma$ = articulation angle, $\dot{\gamma}$ = articulation rate (currently 0)', + 'reference': "Corke & Ridley, IEEE IO'A 2001", + }, +} + +TRAJECTORY_EQUATIONS = r""" +**Trajectory Integration (Euler method):** +$$\dot{x} = v \cos(\theta), \quad \dot{y} = v \sin(\theta), \quad \dot{\theta} = \omega$$ +""" + +TRAJECTORY_EQUATIONS_RK4 = r""" +**Trajectory Integration (RK4 method):** +$$\dot{x} = v \cos(\theta), \quad \dot{y} = v \sin(\theta), \quad \dot{\theta} = \omega$$ +""" diff --git a/polymath_kinematics/explorer/export.py b/polymath_kinematics/explorer/export.py new file mode 100644 index 0000000..9e40aeb --- /dev/null +++ b/polymath_kinematics/explorer/export.py @@ -0,0 +1,124 @@ +# Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved +# +# 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. +"""Export functions for trajectory data.""" + +from __future__ import annotations + +import numpy as np +import pandas as pd + +from .types import AnyTrajectory, ArticulatedTrajectory, BicycleTrajectory, DifferentialTrajectory + + +def trajectories_to_dataframe( + trajectories: list[AnyTrajectory], + model_type: str, +) -> pd.DataFrame: + """Convert trajectories to a pandas DataFrame for export. + + Uses vectorized construction for better performance. + + Args: + trajectories: List of trajectory dataclasses + model_type: One of "Differential Drive", "Bicycle", or "Articulated" + + Returns: + DataFrame with trajectory data, columns depend on model type + """ + if not trajectories: + return pd.DataFrame() + + # Calculate total size for preallocation + num_total = sum(len(trajectory) for trajectory in trajectories) + + # Preallocate arrays for common columns + trajectory_ids = np.empty(num_total, dtype=int) + time_array = np.empty(num_total) + x_array = np.empty(num_total) + y_array = np.empty(num_total) + theta_array = np.empty(num_total) + linear_velocity_array = np.empty(num_total) + angular_velocity_array = np.empty(num_total) + + # Model-specific arrays + if model_type == 'Differential Drive': + left_wheel_array = np.empty(num_total) + right_wheel_array = np.empty(num_total) + base_wheel_velocity_array = np.empty(num_total) + elif model_type == 'Bicycle': + drive_velocity_array = np.empty(num_total) + steering_angle_array = np.empty(num_total) + turning_radius_array = np.empty(num_total) + elif model_type == 'Articulated': + drive_velocity_array = np.empty(num_total) + articulation_angle_array = np.empty(num_total) + turning_radius_array = np.empty(num_total) + + # Fill arrays + current_index = 0 + for trajectory_index, trajectory in enumerate(trajectories): + num_points = len(trajectory) + end_index = current_index + num_points + + trajectory_ids[current_index:end_index] = trajectory_index + time_array[current_index:end_index] = trajectory.time + x_array[current_index:end_index] = trajectory.x + y_array[current_index:end_index] = trajectory.y + theta_array[current_index:end_index] = trajectory.theta + linear_velocity_array[current_index:end_index] = trajectory.linear_velocity + angular_velocity_array[current_index:end_index] = trajectory.angular_velocity + + if model_type == 'Differential Drive': + trajectory_differential: DifferentialTrajectory = trajectory # type: ignore[assignment] + left_wheel_array[current_index:end_index] = trajectory_differential.left_wheel + right_wheel_array[current_index:end_index] = trajectory_differential.right_wheel + base_wheel_velocity_array[current_index:end_index] = trajectory_differential.base_wheel_velocity + elif model_type == 'Bicycle': + trajectory_bicycle: BicycleTrajectory = trajectory # type: ignore[assignment] + drive_velocity_array[current_index:end_index] = trajectory_bicycle.drive_velocity + steering_angle_array[current_index:end_index] = trajectory_bicycle.steering_angle + turning_radius_array[current_index:end_index] = trajectory_bicycle.turning_radius + elif model_type == 'Articulated': + trajectory_articulated: ArticulatedTrajectory = trajectory # type: ignore[assignment] + drive_velocity_array[current_index:end_index] = trajectory_articulated.drive_velocity + articulation_angle_array[current_index:end_index] = trajectory_articulated.articulation_angle + turning_radius_array[current_index:end_index] = trajectory_articulated.turning_radius + + current_index = end_index + + # Build DataFrame from arrays (single allocation) + data: dict[str, np.ndarray] = { + 'trajectory_id': trajectory_ids, + 'time': time_array, + 'x': x_array, + 'y': y_array, + 'theta': theta_array, + 'linear_velocity': linear_velocity_array, + 'angular_velocity': angular_velocity_array, + } + + if model_type == 'Differential Drive': + data['left_wheel_velocity'] = left_wheel_array + data['right_wheel_velocity'] = right_wheel_array + data['base_wheel_velocity'] = base_wheel_velocity_array + elif model_type == 'Bicycle': + data['drive_velocity'] = drive_velocity_array + data['steering_angle'] = steering_angle_array + data['turning_radius'] = turning_radius_array + elif model_type == 'Articulated': + data['drive_velocity'] = drive_velocity_array + data['articulation_angle'] = articulation_angle_array + data['turning_radius'] = turning_radius_array + + return pd.DataFrame(data) diff --git a/polymath_kinematics/explorer/plotting.py b/polymath_kinematics/explorer/plotting.py new file mode 100644 index 0000000..e93a6fc --- /dev/null +++ b/polymath_kinematics/explorer/plotting.py @@ -0,0 +1,569 @@ +# Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved +# +# 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. +"""Plotting functions for kinematic visualization. + +All functions return matplotlib Figure objects and have no streamlit dependencies. +""" + +from __future__ import annotations + +import matplotlib.pyplot as plt +import numpy as np + +from .config import ( + FRONT_OVERHANG, + HEADING_ARROW_LENGTH, + HEADING_ARROW_WIDTH, + LATTICE_CONFIG, + REAR_AXLE_POSITION, +) +from .types import AnyTrajectory, ArticulatedTrajectory, BicycleTrajectory, DifferentialTrajectory + + +def _get_traj_attr(trajectory: AnyTrajectory, key: str) -> float: + """Get trajectory attribute by key name.""" + return getattr(trajectory, key) + + +def plot_vehicle_footprint( + ax: plt.Axes, + x: float, + y: float, + theta: float, + length: float = 1.0, + width: float = 0.5, + color: str = 'blue', + alpha: float = 0.5, + steering_angle: float | None = None, + wheel_length_frac: float = 0.18, + wheel_width_frac: float = 0.08, +) -> None: + """Draw a vehicle footprint (rectangle) at a given pose. + + The vehicle is centered on the rear axle position, with REAR_AXLE_POSITION + controlling how far back the rear is, and FRONT_OVERHANG controlling + how far forward the front extends. + + When ``steering_angle`` is provided (radians), two front-wheel indicators + are drawn at the front-axle position, rotated by the steering angle in the + body frame. Useful for bicycle/Ackermann visualisation; pass ``None`` for + models that don't have steered wheels (e.g. differential drive). + """ + corners_local = np.array([ + [-length * REAR_AXLE_POSITION, -width / 2], + [length * FRONT_OVERHANG, -width / 2], + [length * FRONT_OVERHANG, width / 2], + [-length * REAR_AXLE_POSITION, width / 2], + [-length * REAR_AXLE_POSITION, -width / 2], + ]) + + cos_theta, sin_theta = np.cos(theta), np.sin(theta) + rotation_matrix = np.array([[cos_theta, -sin_theta], [sin_theta, cos_theta]]) + corners_world = (rotation_matrix @ corners_local.T).T + np.array([x, y]) + + ax.fill(corners_world[:, 0], corners_world[:, 1], color=color, alpha=alpha, edgecolor=color, linewidth=0.5) + + arrow_length = length * HEADING_ARROW_LENGTH + ax.arrow( + x, + y, + arrow_length * np.cos(theta), + arrow_length * np.sin(theta), + head_width=width * HEADING_ARROW_WIDTH, + head_length=length * 0.1, + fc=color, + ec=color, + alpha=min(1.0, alpha + 0.3), + ) + + if steering_angle is not None: + # Front-wheel indicators: two filled rectangles at the front-axle (FRONT_OVERHANG) + # position, offset left/right by half the track width, each rotated by steering_angle + # in the body frame, then transformed to world by theta. + front_x_local = length * FRONT_OVERHANG + wheel_l = length * wheel_length_frac + wheel_w = width * wheel_width_frac + wheel_corners_centered = np.array([ + [-wheel_l / 2.0, -wheel_w / 2.0], + [+wheel_l / 2.0, -wheel_w / 2.0], + [+wheel_l / 2.0, +wheel_w / 2.0], + [-wheel_l / 2.0, +wheel_w / 2.0], + [-wheel_l / 2.0, -wheel_w / 2.0], + ]) + cos_s, sin_s = np.cos(steering_angle), np.sin(steering_angle) + wheel_rotation = np.array([[cos_s, -sin_s], [sin_s, cos_s]]) + wheel_corners_steered = (wheel_rotation @ wheel_corners_centered.T).T # (5, 2) + for lateral_offset in (-width / 2.0, +width / 2.0): + corners_body = wheel_corners_steered + np.array([front_x_local, lateral_offset]) + corners_in_world = (rotation_matrix @ corners_body.T).T + np.array([x, y]) + ax.fill( + corners_in_world[:, 0], + corners_in_world[:, 1], + color=color, + alpha=min(1.0, alpha + 0.2), + edgecolor=color, + linewidth=0.5, + ) + + +def plot_articulated_footprint( + ax: plt.Axes, + x_front_axle: float, + y_front_axle: float, + theta: float, + articulation_angle: float, + front_length: float, + rear_length: float, + front_width: float, + rear_width: float, + color: str = 'blue', + alpha: float = 0.5, +) -> None: + """Draw an articulated vehicle footprint (two connected rectangles) at a given pose. + + Args: + x_front_axle, y_front_axle: Position of the front axle center + theta: Heading of the front body + articulation_angle: Angle between front and rear bodies (positive = left turn) + front_length: Distance from articulation joint to front axle (L_f) + rear_length: Distance from articulation joint to rear axle (L_r) + front_width, rear_width: Track widths + color: Fill color + alpha: Transparency + """ + # Compute articulation joint position + joint_x = x_front_axle - front_length * np.cos(theta) + joint_y = y_front_axle - front_length * np.sin(theta) + + # Front body corners + front_corners_local = np.array([ + [0, -front_width / 2], + [front_length, -front_width / 2], + [front_length, front_width / 2], + [0, front_width / 2], + [0, -front_width / 2], + ]) + + cos_front, sin_front = np.cos(theta), np.sin(theta) + rotation_front = np.array([[cos_front, -sin_front], [sin_front, cos_front]]) + front_corners_world = (rotation_front @ front_corners_local.T).T + np.array([joint_x, joint_y]) + ax.fill( + front_corners_world[:, 0], front_corners_world[:, 1], color=color, alpha=alpha, edgecolor=color, linewidth=0.5 + ) + + # Rear body + rear_theta = theta - articulation_angle + rear_corners_local = np.array([ + [-rear_length, -rear_width / 2], + [0, -rear_width / 2], + [0, rear_width / 2], + [-rear_length, rear_width / 2], + [-rear_length, -rear_width / 2], + ]) + + cos_rear, sin_rear = np.cos(rear_theta), np.sin(rear_theta) + rotation_rear = np.array([[cos_rear, -sin_rear], [sin_rear, cos_rear]]) + rear_corners_world = (rotation_rear @ rear_corners_local.T).T + np.array([joint_x, joint_y]) + ax.fill( + rear_corners_world[:, 0], + rear_corners_world[:, 1], + color=color, + alpha=alpha * 0.8, + edgecolor=color, + linewidth=0.5, + ) + + # Articulation joint marker + ax.plot(joint_x, joint_y, 'o', color=color, markersize=4, alpha=min(1.0, alpha + 0.3)) + + # Heading arrow + arrow_length = front_length * 0.4 + ax.arrow( + x_front_axle, + y_front_axle, + arrow_length * np.cos(theta), + arrow_length * np.sin(theta), + head_width=front_width * 0.2, + head_length=front_length * 0.08, + fc=color, + ec=color, + alpha=min(1.0, alpha + 0.3), + ) + + +def select_symmetric_trajectories( + trajectories: list[AnyTrajectory], + model_type: str, + num_angles: int = 5, + num_velocities: int = 1, +) -> list[AnyTrajectory]: + """Select a symmetric subset of trajectories for visualization. + + Args: + trajectories: Full list of trajectory dataclasses + model_type: Model type to determine which keys to use + num_angles: Number of steering/articulation angles (should be odd for symmetry) + num_velocities: Number of velocities to include + + Returns: + Filtered list of trajectories, symmetrically selected + """ + if not trajectories: + return [] + + config = LATTICE_CONFIG.get(model_type) + if config is None: + return trajectories[:5] + + angle_key = config.angle_key + vel_key = config.vel_key + + all_angles = sorted(set(_get_traj_attr(trajectory, angle_key) for trajectory in trajectories)) + all_velocities = sorted(set(_get_traj_attr(trajectory, vel_key) for trajectory in trajectories)) + + # Select symmetric angles + if len(all_angles) <= num_angles: + selected_angles = set(all_angles) + else: + indices = np.linspace(0, len(all_angles) - 1, num_angles, dtype=int) + selected_angles = {all_angles[i] for i in indices} + + # Select velocities + if len(all_velocities) <= num_velocities: + selected_velocities = set(all_velocities) + else: + indices = np.linspace(0, len(all_velocities) - 1, num_velocities, dtype=int) + selected_velocities = {all_velocities[i] for i in indices} + + selected = [ + trajectory + for trajectory in trajectories + if any(abs(_get_traj_attr(trajectory, angle_key) - angle) < 1e-6 for angle in selected_angles) + and any(abs(_get_traj_attr(trajectory, vel_key) - velocity) < 1e-6 for velocity in selected_velocities) + ] + + selected.sort(key=lambda trajectory: _get_traj_attr(trajectory, angle_key)) + return selected + + +def _build_legend_label(trajectory: AnyTrajectory, model_type: str) -> str: + """Build legend label for a trajectory based on model type.""" + if model_type == 'Articulated': + articulated: ArticulatedTrajectory = trajectory # type: ignore[assignment] + return f'y={np.degrees(articulated.articulation_angle):+.0f} deg, v={articulated.drive_velocity:.1f}' + elif model_type == 'Bicycle': + bicycle: BicycleTrajectory = trajectory # type: ignore[assignment] + return f'd={np.degrees(bicycle.steering_angle):+.0f} deg, v={bicycle.drive_velocity:.1f}' + elif model_type == 'Differential Drive': + differential: DifferentialTrajectory = trajectory # type: ignore[assignment] + return f'w={differential.angular_velocity:+.1f}, base={differential.base_wheel_velocity:.0f}' + return '' + + +def plot_trajectory_with_footprints( + trajectories: list[AnyTrajectory], + model_type: str, + model_params: dict, + num_footprints: int = 5, +) -> plt.Figure: + """Plot selected trajectories with vehicle footprints at intervals. + + Args: + trajectories: List of trajectory dataclasses (already filtered/selected) + model_type: "Differential Drive", "Bicycle", or "Articulated" + model_params: Dict with model dimensions + num_footprints: Number of footprints per trajectory + + Returns: + matplotlib Figure + """ + fig, ax = plt.subplots(figsize=(10, 8), layout='constrained') + + colormap = plt.cm.tab10 + legend_handles = [] + legend_labels = [] + + for index, trajectory in enumerate(trajectories): + color = colormap(index % 10) + + (line,) = ax.plot(trajectory.x, trajectory.y, color=color, linewidth=2, alpha=0.7) + legend_handles.append(line) + legend_labels.append(_build_legend_label(trajectory, model_type)) + + num_points = len(trajectory) + footprint_indices = np.linspace(0, num_points - 1, num_footprints, dtype=int) + + for footprint_num, footprint_index in enumerate(footprint_indices): + footprint_alpha = 0.3 + 0.5 * (footprint_num / max(1, num_footprints - 1)) + + if model_type == 'Articulated': + articulated: ArticulatedTrajectory = trajectory # type: ignore[assignment] + if articulated.articulation_angle_series is not None: + sample_articulation_angle = float(articulated.articulation_angle_series[footprint_index]) + else: + sample_articulation_angle = articulated.articulation_angle + plot_articulated_footprint( + ax, + trajectory.x[footprint_index], + trajectory.y[footprint_index], + trajectory.theta[footprint_index], + articulation_angle=sample_articulation_angle, + front_length=model_params['front_length'], + rear_length=model_params['rear_length'], + front_width=model_params['front_width'], + rear_width=model_params['rear_width'], + color=color, + alpha=footprint_alpha, + ) + elif model_type == 'Bicycle': + bicycle: BicycleTrajectory = trajectory # type: ignore[assignment] + if bicycle.steering_angle_series is not None: + sample_steering_angle = float(bicycle.steering_angle_series[footprint_index]) + else: + sample_steering_angle = bicycle.steering_angle + plot_vehicle_footprint( + ax, + trajectory.x[footprint_index], + trajectory.y[footprint_index], + trajectory.theta[footprint_index], + length=model_params['length'], + width=model_params['width'], + color=color, + alpha=footprint_alpha, + steering_angle=sample_steering_angle, + ) + else: # Differential Drive — no steered wheels. + plot_vehicle_footprint( + ax, + trajectory.x[footprint_index], + trajectory.y[footprint_index], + trajectory.theta[footprint_index], + length=model_params['length'], + width=model_params['width'], + color=color, + alpha=footprint_alpha, + ) + + ax.set_xlabel('X (m)') + ax.set_ylabel('Y (m)') + ax.set_title(f'Trajectory with Vehicle Footprints ({model_type})') + ax.set_aspect('equal') + ax.grid(True, alpha=0.3) + ax.axhline(y=0, color='k', linewidth=0.5) + ax.axvline(x=0, color='k', linewidth=0.5) + + if legend_handles: + title = { + 'Articulated': 'Articulation', + 'Bicycle': 'Steering', + 'Differential Drive': 'Angular Vel', + }.get(model_type, '') + ax.legend(legend_handles, legend_labels, loc='upper right', title=title) + + return fig + + +def plot_lattice( + trajectories: list[AnyTrajectory], + model_type: str, + group_values: list[float], +) -> plt.Figure: + """Plot trajectory lattice grouped by velocity, colored by steering/articulation angle. + + Args: + trajectories: List of trajectory dataclasses + model_type: "Differential Drive", "Bicycle", or "Articulated" + group_values: List of velocity values to create subplots for + + Returns: + matplotlib Figure + """ + config = LATTICE_CONFIG[model_type] + + num_columns = len(group_values) + fig, axes = plt.subplots(1, num_columns, figsize=(5 * num_columns, 5), layout='constrained') + + if num_columns == 1: + axes = [axes] + + color_values = [_get_traj_attr(trajectory, config.color_key) for trajectory in trajectories] + if config.color_is_angle: + color_values_display = [np.degrees(value) for value in color_values] + else: + color_values_display = color_values + + colormap = plt.cm.coolwarm + normalizer = plt.Normalize(vmin=min(color_values_display), vmax=max(color_values_display)) + + for ax, group_value in zip(axes, group_values): + ax.set_title(f'{config.group_label} = {group_value:.1f} {config.group_unit}') + ax.set_xlabel('X (m)') + ax.set_ylabel('Y (m)') + ax.set_aspect('equal') + ax.grid(True, alpha=0.3) + ax.axhline(y=0, color='k', linewidth=0.5) + ax.axvline(x=0, color='k', linewidth=0.5) + + for trajectory in trajectories: + if abs(_get_traj_attr(trajectory, config.group_key) - group_value) < 0.001: + raw_color_value = _get_traj_attr(trajectory, config.color_key) + color_value = np.degrees(raw_color_value) if config.color_is_angle else raw_color_value + color = colormap(normalizer(color_value)) + ax.plot(trajectory.x, trajectory.y, color=color, linewidth=1.5, alpha=0.8) + ax.plot(trajectory.x[-1], trajectory.y[-1], 'o', color=color, markersize=3) + + scalar_mappable = plt.cm.ScalarMappable(cmap=colormap, norm=normalizer) + scalar_mappable.set_array([]) + colorbar = fig.colorbar(scalar_mappable, ax=axes, orientation='horizontal', fraction=0.05, pad=0.12) + colorbar.set_label(f'{config.color_label} ({config.color_unit})') + + return fig + + +def plot_analysis( + trajectories: list[AnyTrajectory], + model_type: str, + group_values: list[float], +) -> plt.Figure: + """Plot kinematic analysis for all velocities in the lattice. + + Args: + trajectories: List of trajectory dataclasses + model_type: "Differential Drive", "Bicycle", or "Articulated" + group_values: List of velocity values to analyze + + Returns: + matplotlib Figure with two subplots + """ + fig, axes = plt.subplots(1, 2, figsize=(10, 4), layout='constrained') + + if model_type == 'Articulated': + ax_left = axes[0] + for velocity in group_values: + angles = [] + angular_velocities = [] + for trajectory in trajectories: + articulated: ArticulatedTrajectory = trajectory # type: ignore[assignment] + if abs(articulated.drive_velocity - velocity) < 0.001: + angles.append(np.degrees(articulated.articulation_angle)) + angular_velocities.append(articulated.angular_velocity) + if angles: + ax_left.plot(angles, angular_velocities, 'o-', label=f'v={velocity:.1f} m/s', markersize=5) + ax_left.set_xlabel('Articulation Angle (deg)') + ax_left.set_ylabel('Angular Velocity (rad/s)') + ax_left.set_title('Articulation -> Angular Velocity') + ax_left.legend() + ax_left.grid(True, alpha=0.3) + + ax_right = axes[1] + radii = [] + angles = [] + for trajectory in trajectories: + articulated: ArticulatedTrajectory = trajectory # type: ignore[assignment] + if abs(articulated.articulation_angle) > 0.00001: + radii.append(abs(articulated.turning_radius)) + angles.append(np.degrees(abs(articulated.articulation_angle))) + if angles: + ax_right.plot(angles, radii, 'o-', markersize=5) + + ax_right.set_xlabel('|Articulation Angle| (deg)') + ax_right.set_ylabel('Turning Radius (m)') + ax_right.set_title('Turning Radius vs Articulation') + ax_right.legend() + ax_right.grid(True, alpha=0.3) + ax_right.set_ylim(bottom=0) + + elif model_type == 'Bicycle': + ax_left = axes[0] + for velocity in group_values: + angles = [] + angular_velocities = [] + for trajectory in trajectories: + bicycle: BicycleTrajectory = trajectory # type: ignore[assignment] + if abs(bicycle.drive_velocity - velocity) < 0.001: + angles.append(np.degrees(bicycle.steering_angle)) + angular_velocities.append(bicycle.angular_velocity) + if angles: + ax_left.plot(angles, angular_velocities, 'o-', label=f'v={velocity:.1f} m/s', markersize=5) + ax_left.set_xlabel('Steering Angle (deg)') + ax_left.set_ylabel('Angular Velocity (rad/s)') + ax_left.set_title('Steering -> Angular Velocity') + ax_left.legend() + ax_left.grid(True, alpha=0.3) + + ax_right = axes[1] + + radii = [] + angles = [] + for trajectory in trajectories: + bicycle: BicycleTrajectory = trajectory # type: ignore[assignment] + if abs(bicycle.steering_angle) > 0.00001: + radii.append(abs(bicycle.turning_radius)) + angles.append(np.degrees(abs(bicycle.steering_angle))) + + if angles: + ax_right.plot(angles, radii, 'o-', markersize=5) + + ax_right.set_xlabel('|Steering Angle| (deg)') + ax_right.set_ylabel('Turning Radius (m)') + ax_right.set_title('Turning Radius vs Steering') + ax_right.legend() + ax_right.grid(True, alpha=0.3) + ax_right.set_ylim(bottom=0) + + elif model_type == 'Differential Drive': + ax_left = axes[0] + base_velocity = group_values[len(group_values) // 2] + left_wheel_velocities = [] + right_wheel_velocities = [] + angular_velocities = [] + for trajectory in trajectories: + differential: DifferentialTrajectory = trajectory # type: ignore[assignment] + if abs(differential.base_wheel_velocity - base_velocity) < 0.001: + left_wheel_velocities.append(differential.left_wheel) + right_wheel_velocities.append(differential.right_wheel) + angular_velocities.append(differential.angular_velocity) + if left_wheel_velocities: + ax_left.plot(angular_velocities, left_wheel_velocities, 'o-', label='Left wheel', markersize=5) + ax_left.plot(angular_velocities, right_wheel_velocities, 's-', label='Right wheel', markersize=5) + ax_left.set_xlabel('Angular Velocity (rad/s)') + ax_left.set_ylabel('Wheel Velocity (rad/s)') + ax_left.set_title(f'Wheel Velocities (base={base_velocity:.0f} rad/s)') + ax_left.legend() + ax_left.grid(True, alpha=0.3) + + ax_right = axes[1] + for base_velocity in group_values: + linear_velocities = [] + angular_velocities_list = [] + for trajectory in trajectories: + differential: DifferentialTrajectory = trajectory # type: ignore[assignment] + if abs(differential.base_wheel_velocity - base_velocity) < 0.001: + linear_velocities.append(differential.linear_velocity) + angular_velocities_list.append(differential.angular_velocity) + if linear_velocities: + ax_right.plot( + angular_velocities_list, + linear_velocities, + 'o-', + label=f'base={base_velocity:.0f} rad/s', + markersize=5, + ) + ax_right.set_xlabel('Angular Velocity (rad/s)') + ax_right.set_ylabel('Linear Velocity (m/s)') + ax_right.set_title('Body Velocities') + ax_right.legend() + ax_right.grid(True, alpha=0.3) + + return fig diff --git a/polymath_kinematics/explorer/simulation.py b/polymath_kinematics/explorer/simulation.py new file mode 100644 index 0000000..8ff09d4 --- /dev/null +++ b/polymath_kinematics/explorer/simulation.py @@ -0,0 +1,502 @@ +# Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved +# +# 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. +"""Trajectory simulation and lattice generation functions. + +Bicycle and articulated lattices are generated via the C++ BicycleProjector / +ArticulatedProjector forward-simulation classes (Euler integration with +steering-rate ramping support). The differential drive lattice keeps a +vectorized Euler integration here because there is no DifferentialDriveProjector +in the C++ library. + +All functions are pure (no streamlit dependency) for testability and reuse. +""" + +from __future__ import annotations + +import numpy as np + +from polymath_kinematics import ( + ArticulatedModel, + ArticulatedProjector, + BicycleModel, + BicycleProjector, + DifferentialDriveModel, + DifferentialDriveProjector, + Pose2D, +) + +from .types import ArticulatedTrajectory, BicycleTrajectory, DifferentialTrajectory + + +def simulate_trajectory_euler( + linear_velocity: float, + angular_velocity: float, + duration: float = 5.0, + time_step: float = 0.02, +) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]: + """Simulate trajectory using vectorized Euler integration. + + For constant angular velocity, theta is analytic: theta(t) = omega * t. + This allows fully vectorized computation of x and y via cumulative sum. + + Returns: + Tuple of (time, x, y, theta) arrays + """ + num_steps = int(duration / time_step) + time_array = np.linspace(0, duration, num_steps) + + # Theta is analytic for constant angular velocity + theta = angular_velocity * time_array + + # Compute velocities at each timestep (vectorized) + velocity_x = linear_velocity * np.cos(theta) + velocity_y = linear_velocity * np.sin(theta) + + # Integrate via cumulative sum (Euler method, vectorized) + x = np.concatenate([[0], np.cumsum(velocity_x[:-1]) * time_step]) + y = np.concatenate([[0], np.cumsum(velocity_y[:-1]) * time_step]) + + return time_array, x, y, theta + + +def simulate_trajectory_rk4( + linear_velocity: float, + angular_velocity: float, + duration: float = 5.0, + time_step: float = 0.02, +) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]: + """Simulate trajectory using 4th-order Runge-Kutta integration. + + For constant angular velocity, we can still vectorize theta, then use + RK4-style weighted averaging for x and y positions. + + Returns: + Tuple of (time, x, y, theta) arrays + """ + num_steps = int(duration / time_step) + time_array = np.linspace(0, duration, num_steps) + + theta = angular_velocity * time_array + theta_prev = theta[:-1] + theta_mid = theta_prev + angular_velocity * time_step / 2 + theta_next = theta_prev + angular_velocity * time_step + + k1_x = linear_velocity * np.cos(theta_prev) + k1_y = linear_velocity * np.sin(theta_prev) + k2_x = linear_velocity * np.cos(theta_mid) + k2_y = linear_velocity * np.sin(theta_mid) + k4_x = linear_velocity * np.cos(theta_next) + k4_y = linear_velocity * np.sin(theta_next) + + delta_x = (k1_x + 4 * k2_x + k4_x) / 6 * time_step + delta_y = (k1_y + 4 * k2_y + k4_y) / 6 * time_step + + x = np.concatenate([[0], np.cumsum(delta_x)]) + y = np.concatenate([[0], np.cumsum(delta_y)]) + + return time_array, x, y, theta + + +def simulate_trajectory( + linear_velocity: float, + angular_velocity: float, + duration: float = 5.0, + time_step: float = 0.02, + method: str = 'euler', +) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]: + """Simulate a constant-cmd_vel trajectory. + + Args: + linear_velocity: Linear velocity (m/s) + angular_velocity: Angular velocity (rad/s) + duration: Simulation duration (s) + time_step: Time step (s) + method: Integration method ("euler" or "rk4") + """ + if method == 'rk4': + return simulate_trajectory_rk4(linear_velocity, angular_velocity, duration, time_step) + return simulate_trajectory_euler(linear_velocity, angular_velocity, duration, time_step) + + +def _states_to_arrays(states): + """Pull (time, x, y, theta, omega) arrays out of a list of ProjectedState samples.""" + n = len(states) + time_arr = np.empty(n) + x_arr = np.empty(n) + y_arr = np.empty(n) + theta_arr = np.empty(n) + omega_arr = np.empty(n) + for i, s in enumerate(states): + time_arr[i] = s.time_s + x_arr[i] = s.pose.x + y_arr[i] = s.pose.y + theta_arr[i] = s.pose.theta + omega_arr[i] = s.angular_velocity_rad_s + return time_arr, x_arr, y_arr, theta_arr, omega_arr + + +def generate_lattice_differential( + wheel_radius: float, + track_width: float, + base_wheel_velocities: tuple[float, ...], + wheel_velocity_diffs: tuple[float, ...], + duration: float, + time_step: float = 0.02, + method: str = 'euler', +) -> list[DifferentialTrajectory]: + """Generate trajectory lattice by sweeping wheel velocity differences.""" + model = DifferentialDriveModel(wheel_radius, track_width) + trajectories: list[DifferentialTrajectory] = [] + + for base_velocity in base_wheel_velocities: + for velocity_diff in wheel_velocity_diffs: + left_wheel = base_velocity - velocity_diff / 2 + right_wheel = base_velocity + velocity_diff / 2 + + body_velocity = model.wheel_velocities_to_body_velocity(left_wheel, right_wheel) + linear_velocity = body_velocity.linear_velocity_m_s + angular_velocity = body_velocity.angular_velocity_rad_s + + time_array, x, y, theta = simulate_trajectory( + linear_velocity, angular_velocity, duration, time_step, method + ) + + trajectories.append( + DifferentialTrajectory( + time=time_array, + x=x, + y=y, + theta=theta, + linear_velocity=linear_velocity, + angular_velocity=angular_velocity, + left_wheel=left_wheel, + right_wheel=right_wheel, + base_wheel_velocity=base_velocity, + ) + ) + + return trajectories + + +def generate_lattice_bicycle( + wheelbase: float, + track_width: float, + wheel_radius: float, + drive_velocities: tuple[float, ...], + steering_angles: tuple[float, ...], + duration: float, + time_step: float = 0.02, + method: str = 'euler', # accepted for API compatibility; projector is Euler-only + min_steering_angle_rad: float | None = None, + max_steering_angle_rad: float | None = None, + steering_rate_rad_s: float = 0.0, +) -> list[BicycleTrajectory]: + """Generate trajectory lattice by sweeping steering angles. + + Each lattice cell is generated via BicycleProjector.project() with the + initial steering angle equal to the target, so no ramp occurs and the + behavior matches a constant-steering sweep. ``steering_rate_rad_s`` is + exposed for future use; with a non-zero value and ``min/max`` set, the + projector will ramp toward the target — but a constant-input lattice + is the typical use. + + Note: ``method`` is accepted for backward compatibility but ignored. The + projector uses Euler integration only; RK4 trajectory generation has + been retired in favor of a single forward-simulation codepath. + """ + del method # accepted for API compat; projector is Euler-only. + angles = list(steering_angles) + if not angles: + return [] + min_angle = min_steering_angle_rad if min_steering_angle_rad is not None else min(angles) + max_angle = max_steering_angle_rad if max_steering_angle_rad is not None else max(angles) + + model = BicycleModel(wheelbase, track_width, wheel_radius) + projector = BicycleProjector(model, min_angle, max_angle) + + trajectories: list[BicycleTrajectory] = [] + for drive_velocity in drive_velocities: + for steering_angle in angles: + states = projector.project( + horizon_s=duration, + dt_s=time_step, + initial_pose=Pose2D(), + initial_steering_angle_rad=steering_angle, + target_steering_angle_rad=steering_angle, + steering_rate_rad_s=steering_rate_rad_s, + linear_velocity_m_s=drive_velocity, + ) + time_arr, x_arr, y_arr, theta_arr, _omega = _states_to_arrays(states) + + trajectories.append( + BicycleTrajectory( + time=time_arr, + x=x_arr, + y=y_arr, + theta=theta_arr, + linear_velocity=drive_velocity, + angular_velocity=states[0].angular_velocity_rad_s, + drive_velocity=drive_velocity, + steering_angle=steering_angle, + turning_radius=states[0].steering_state.turning_radius_m, + ) + ) + + return trajectories + + +def generate_lattice_articulated( + articulation_to_front: float, + articulation_to_rear: float, + front_track: float, + rear_track: float, + front_wheel_radius: float, + rear_wheel_radius: float, + drive_velocities: tuple[float, ...], + articulation_angles: tuple[float, ...], + duration: float, + time_step: float = 0.02, + method: str = 'euler', # accepted for API compatibility; projector is Euler-only + min_articulation_angle_rad: float | None = None, + max_articulation_angle_rad: float | None = None, + articulation_rate_rad_s: float = 0.0, +) -> list[ArticulatedTrajectory]: + """Generate trajectory lattice by sweeping articulation angles. + + See ``generate_lattice_bicycle`` for the projector-based rationale and + the meaning of ``method``. + """ + del method # accepted for API compat; projector is Euler-only. + angles = list(articulation_angles) + if not angles: + return [] + min_angle = min_articulation_angle_rad if min_articulation_angle_rad is not None else min(angles) + max_angle = max_articulation_angle_rad if max_articulation_angle_rad is not None else max(angles) + + model = ArticulatedModel( + articulation_to_front, + articulation_to_rear, + front_track, + rear_track, + front_wheel_radius, + rear_wheel_radius, + ) + projector = ArticulatedProjector(model, min_angle, max_angle) + + trajectories: list[ArticulatedTrajectory] = [] + for drive_velocity in drive_velocities: + for articulation_angle in angles: + states = projector.project( + horizon_s=duration, + dt_s=time_step, + initial_pose=Pose2D(), + initial_articulation_angle_rad=articulation_angle, + target_articulation_angle_rad=articulation_angle, + articulation_rate_rad_s=articulation_rate_rad_s, + linear_velocity_m_s=drive_velocity, + ) + time_arr, x_arr, y_arr, theta_arr, _omega = _states_to_arrays(states) + + trajectories.append( + ArticulatedTrajectory( + time=time_arr, + x=x_arr, + y=y_arr, + theta=theta_arr, + linear_velocity=drive_velocity, + angular_velocity=states[0].angular_velocity_rad_s, + drive_velocity=drive_velocity, + articulation_angle=articulation_angle, + turning_radius=states[0].vehicle_state.front_axle_turning_radius_m, + ) + ) + + return trajectories + + +# ---------------------------------------------------------------------------- +# Single-trajectory helpers — used by the "Single Projected Trajectory" sections +# of the Streamlit explorer. Each returns one trajectory generated by the +# corresponding C++ projector, packed into a dataclass that the existing +# plot_trajectory_with_footprints helper can consume. +# ---------------------------------------------------------------------------- + + +def single_bicycle_trajectory( + wheelbase: float, + track_width: float, + wheel_radius: float, + initial_steering_angle_rad: float, + target_steering_angle_rad: float, + steering_rate_rad_s: float, + drive_velocity: float, + duration: float, + time_step: float = 0.02, + min_steering_angle_rad: float | None = None, + max_steering_angle_rad: float | None = None, +) -> BicycleTrajectory: + """Ramp a bicycle steering angle from `initial` toward `target` at `rate` rad/s + over `duration` seconds, returning the resulting trajectory. + + Default min/max bracket `[min(initial, target), max(initial, target)]` so the + clamp never fires unless the caller explicitly sets bounds. + """ + if min_steering_angle_rad is None: + min_steering_angle_rad = min(initial_steering_angle_rad, target_steering_angle_rad) + if max_steering_angle_rad is None: + max_steering_angle_rad = max(initial_steering_angle_rad, target_steering_angle_rad) + + model = BicycleModel(wheelbase, track_width, wheel_radius) + projector = BicycleProjector(model, min_steering_angle_rad, max_steering_angle_rad) + states = projector.project( + horizon_s=duration, + dt_s=time_step, + initial_pose=Pose2D(), + initial_steering_angle_rad=initial_steering_angle_rad, + target_steering_angle_rad=target_steering_angle_rad, + steering_rate_rad_s=steering_rate_rad_s, + linear_velocity_m_s=drive_velocity, + ) + time_arr, x_arr, y_arr, theta_arr, _omega = _states_to_arrays(states) + steering_series = np.asarray([s.steering_angle_rad for s in states]) + return BicycleTrajectory( + time=time_arr, + x=x_arr, + y=y_arr, + theta=theta_arr, + linear_velocity=drive_velocity, + angular_velocity=states[0].angular_velocity_rad_s, + drive_velocity=drive_velocity, + steering_angle=target_steering_angle_rad, + turning_radius=states[-1].steering_state.turning_radius_m, + steering_angle_series=steering_series, + ) + + +def single_articulated_trajectory( + articulation_to_front: float, + articulation_to_rear: float, + front_track: float, + rear_track: float, + front_wheel_radius: float, + rear_wheel_radius: float, + initial_articulation_angle_rad: float, + target_articulation_angle_rad: float, + articulation_rate_rad_s: float, + drive_velocity: float, + duration: float, + time_step: float = 0.02, + min_articulation_angle_rad: float | None = None, + max_articulation_angle_rad: float | None = None, +) -> ArticulatedTrajectory: + """Ramp an articulation angle from `initial` toward `target` at `rate` rad/s.""" + if min_articulation_angle_rad is None: + min_articulation_angle_rad = min(initial_articulation_angle_rad, target_articulation_angle_rad) + if max_articulation_angle_rad is None: + max_articulation_angle_rad = max(initial_articulation_angle_rad, target_articulation_angle_rad) + + model = ArticulatedModel( + articulation_to_front, + articulation_to_rear, + front_track, + rear_track, + front_wheel_radius, + rear_wheel_radius, + ) + projector = ArticulatedProjector(model, min_articulation_angle_rad, max_articulation_angle_rad) + states = projector.project( + horizon_s=duration, + dt_s=time_step, + initial_pose=Pose2D(), + initial_articulation_angle_rad=initial_articulation_angle_rad, + target_articulation_angle_rad=target_articulation_angle_rad, + articulation_rate_rad_s=articulation_rate_rad_s, + linear_velocity_m_s=drive_velocity, + ) + time_arr, x_arr, y_arr, theta_arr, _omega = _states_to_arrays(states) + articulation_series = np.asarray([s.articulation_angle_rad for s in states]) + return ArticulatedTrajectory( + time=time_arr, + x=x_arr, + y=y_arr, + theta=theta_arr, + linear_velocity=drive_velocity, + angular_velocity=states[0].angular_velocity_rad_s, + drive_velocity=drive_velocity, + articulation_angle=target_articulation_angle_rad, + turning_radius=states[-1].vehicle_state.front_axle_turning_radius_m, + articulation_angle_series=articulation_series, + ) + + +def single_differential_trajectory( + wheel_radius: float, + track_width: float, + initial_linear_velocity: float, + initial_angular_velocity: float, + target_linear_velocity: float, + target_angular_velocity: float, + linear_acceleration: float, + angular_acceleration: float, + duration: float, + time_step: float = 0.02, + min_linear_velocity: float | None = None, + max_linear_velocity: float | None = None, + min_angular_velocity: float | None = None, + max_angular_velocity: float | None = None, +) -> DifferentialTrajectory: + """Ramp diff-drive body command (v, omega) from initial toward target at the + given accelerations, integrating pose forward over `duration`. + """ + if min_linear_velocity is None: + min_linear_velocity = min(initial_linear_velocity, target_linear_velocity) + if max_linear_velocity is None: + max_linear_velocity = max(initial_linear_velocity, target_linear_velocity) + if min_angular_velocity is None: + min_angular_velocity = min(initial_angular_velocity, target_angular_velocity) + if max_angular_velocity is None: + max_angular_velocity = max(initial_angular_velocity, target_angular_velocity) + + model = DifferentialDriveModel(wheel_radius, track_width) + projector = DifferentialDriveProjector( + model, + min_linear_velocity, + max_linear_velocity, + min_angular_velocity, + max_angular_velocity, + ) + states = projector.project( + horizon_s=duration, + dt_s=time_step, + initial_pose=Pose2D(), + initial_linear_velocity_m_s=initial_linear_velocity, + initial_angular_velocity_rad_s=initial_angular_velocity, + target_linear_velocity_m_s=target_linear_velocity, + target_angular_velocity_rad_s=target_angular_velocity, + linear_acceleration_m_s2=linear_acceleration, + angular_acceleration_rad_s2=angular_acceleration, + ) + time_arr, x_arr, y_arr, theta_arr, _omega = _states_to_arrays(states) + final_wheels = states[-1].wheel_velocities + return DifferentialTrajectory( + time=time_arr, + x=x_arr, + y=y_arr, + theta=theta_arr, + linear_velocity=states[-1].linear_velocity_m_s, + angular_velocity=states[-1].angular_velocity_rad_s, + left_wheel=final_wheels.left_wheel_velocity_rad_s, + right_wheel=final_wheels.right_wheel_velocity_rad_s, + base_wheel_velocity=(final_wheels.left_wheel_velocity_rad_s + final_wheels.right_wheel_velocity_rad_s) / 2.0, + ) diff --git a/polymath_kinematics/explorer/types.py b/polymath_kinematics/explorer/types.py new file mode 100644 index 0000000..205e139 --- /dev/null +++ b/polymath_kinematics/explorer/types.py @@ -0,0 +1,81 @@ +# Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved +# +# 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. +"""Trajectory data types for kinematic exploration.""" + +from __future__ import annotations + +from dataclasses import dataclass +from typing import Optional, Union + +import numpy as np + + +@dataclass +class Trajectory: + """Base trajectory data with common fields.""" + + time: np.ndarray + x: np.ndarray + y: np.ndarray + theta: np.ndarray + linear_velocity: float + angular_velocity: float + + def __len__(self) -> int: + return len(self.time) + + +@dataclass +class DifferentialTrajectory(Trajectory): + """Trajectory for differential drive model.""" + + left_wheel: float = 0.0 + right_wheel: float = 0.0 + base_wheel_velocity: float = 0.0 + + +@dataclass +class BicycleTrajectory(Trajectory): + """Trajectory for bicycle model. + + ``steering_angle`` is the steady-state / target value used for legend labels and + analysis plots. For ramped trajectories, ``steering_angle_series`` holds the + per-sample steering angle (same length as ``time``); the footprint visualizer + uses it to draw front-wheel indicators at the angle reported for each sample. + """ + + drive_velocity: float = 0.0 + steering_angle: float = 0.0 + turning_radius: float = 0.0 + steering_angle_series: Optional[np.ndarray] = None + + +@dataclass +class ArticulatedTrajectory(Trajectory): + """Trajectory for articulated vehicle model. + + ``articulation_angle`` is the steady-state / target value used for legend labels + and analysis plots. For ramped trajectories, ``articulation_angle_series`` holds + the per-sample articulation angle (same length as ``time``); the footprint + visualizer uses it to fold the rear segment progressively across the trajectory. + """ + + drive_velocity: float = 0.0 + articulation_angle: float = 0.0 + turning_radius: float = 0.0 + articulation_angle_series: Optional[np.ndarray] = None + + +# Type alias for any trajectory type +AnyTrajectory = Union[DifferentialTrajectory, BicycleTrajectory, ArticulatedTrajectory] diff --git a/polymath_kinematics/kinematic_explorer_app.py b/polymath_kinematics/kinematic_explorer_app.py new file mode 100644 index 0000000..89dce2d --- /dev/null +++ b/polymath_kinematics/kinematic_explorer_app.py @@ -0,0 +1,906 @@ +# Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved +# +# 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. +"""Interactive Kinematic Model Explorer - Streamlit UI. + +Run with: streamlit run kinematic_explorer_app.py +""" + +from __future__ import annotations + +import io +import json +from datetime import datetime + +import matplotlib.pyplot as plt +import numpy as np +import streamlit as st + +from polymath_kinematics.explorer import ( + KINEMATIC_EQUATIONS, + LATTICE_CONFIG, + TRAJECTORY_EQUATIONS, + TRAJECTORY_EQUATIONS_RK4, + AnyTrajectory, + ArticulatedTrajectory, + BicycleTrajectory, + DifferentialTrajectory, + generate_lattice_articulated, + generate_lattice_bicycle, + generate_lattice_differential, + plot_analysis, + plot_lattice, + plot_trajectory_with_footprints, + single_articulated_trajectory, + single_bicycle_trajectory, + single_differential_trajectory, + trajectories_to_dataframe, +) +from polymath_kinematics.explorer.plotting import _get_traj_attr + + +@st.cache_data +def _cached_lattice_differential( + wheel_radius: float, + track_width: float, + base_wheel_velocities: tuple[float, ...], + wheel_velocity_diffs: tuple[float, ...], + duration: float, + time_step: float, + method: str, +) -> list[DifferentialTrajectory]: + return generate_lattice_differential( + wheel_radius, track_width, base_wheel_velocities, wheel_velocity_diffs, duration, time_step, method + ) + + +@st.cache_data +def _cached_lattice_bicycle( + wheelbase: float, + track_width: float, + wheel_radius: float, + drive_velocities: tuple[float, ...], + steering_angles: tuple[float, ...], + duration: float, + time_step: float, + method: str, +) -> list[BicycleTrajectory]: + return generate_lattice_bicycle( + wheelbase, track_width, wheel_radius, drive_velocities, steering_angles, duration, time_step, method + ) + + +@st.cache_data +def _cached_lattice_articulated( + articulation_to_front: float, + articulation_to_rear: float, + front_track: float, + rear_track: float, + front_wheel_radius: float, + rear_wheel_radius: float, + drive_velocities: tuple[float, ...], + articulation_angles: tuple[float, ...], + duration: float, + time_step: float, + method: str, +) -> list[ArticulatedTrajectory]: + return generate_lattice_articulated( + articulation_to_front, + articulation_to_rear, + front_track, + rear_track, + front_wheel_radius, + rear_wheel_radius, + drive_velocities, + articulation_angles, + duration, + time_step, + method, + ) + + +@st.cache_data +def _cached_single_bicycle( + wheelbase: float, + track_width: float, + wheel_radius: float, + initial_steering_angle_rad: float, + target_steering_angle_rad: float, + steering_rate_rad_s: float, + drive_velocity: float, + duration: float, + time_step: float, +) -> BicycleTrajectory: + return single_bicycle_trajectory( + wheelbase, + track_width, + wheel_radius, + initial_steering_angle_rad=initial_steering_angle_rad, + target_steering_angle_rad=target_steering_angle_rad, + steering_rate_rad_s=steering_rate_rad_s, + drive_velocity=drive_velocity, + duration=duration, + time_step=time_step, + ) + + +@st.cache_data +def _cached_single_articulated( + articulation_to_front: float, + articulation_to_rear: float, + front_track: float, + rear_track: float, + front_wheel_radius: float, + rear_wheel_radius: float, + initial_articulation_angle_rad: float, + target_articulation_angle_rad: float, + articulation_rate_rad_s: float, + drive_velocity: float, + duration: float, + time_step: float, +) -> ArticulatedTrajectory: + return single_articulated_trajectory( + articulation_to_front, + articulation_to_rear, + front_track, + rear_track, + front_wheel_radius, + rear_wheel_radius, + initial_articulation_angle_rad=initial_articulation_angle_rad, + target_articulation_angle_rad=target_articulation_angle_rad, + articulation_rate_rad_s=articulation_rate_rad_s, + drive_velocity=drive_velocity, + duration=duration, + time_step=time_step, + ) + + +@st.cache_data +def _cached_single_differential( + wheel_radius: float, + track_width: float, + initial_linear_velocity: float, + initial_angular_velocity: float, + target_linear_velocity: float, + target_angular_velocity: float, + linear_acceleration: float, + angular_acceleration: float, + duration: float, + time_step: float, +) -> DifferentialTrajectory: + return single_differential_trajectory( + wheel_radius, + track_width, + initial_linear_velocity=initial_linear_velocity, + initial_angular_velocity=initial_angular_velocity, + target_linear_velocity=target_linear_velocity, + target_angular_velocity=target_angular_velocity, + linear_acceleration=linear_acceleration, + angular_acceleration=angular_acceleration, + duration=duration, + time_step=time_step, + ) + + +def get_config_dict(model_type: str) -> dict: + """Get current configuration as a dictionary (depends on session state).""" + config = { + 'model_type': model_type, + 'timestamp': datetime.now().isoformat(), + 'simulation': { + 'duration': st.session_state.sim_duration, + 'dt': st.session_state.sim_dt, + 'method': st.session_state.get('sim_method', 'euler'), + }, + } + + if model_type == 'Differential Drive': + config['model_parameters'] = { + 'wheel_radius': st.session_state.diff_wheel_radius, + 'track_width': st.session_state.diff_track_width, + } + config['control_inputs'] = { + 'base_vel_min': st.session_state.diff_base_vel_min, + 'base_vel_max': st.session_state.diff_base_vel_max, + 'n_base_vels': st.session_state.diff_n_base_vels, + 'max_wheel_diff': st.session_state.diff_max_wheel_diff, + 'n_samples': st.session_state.diff_n_samples, + } + elif model_type == 'Bicycle': + config['model_parameters'] = { + 'wheelbase': st.session_state.bike_wheelbase, + 'track_width': st.session_state.bike_track_width, + 'wheel_radius': st.session_state.bike_wheel_radius, + } + config['control_inputs'] = { + 'v_min': st.session_state.bike_v_min, + 'v_max': st.session_state.bike_v_max, + 'n_velocities': st.session_state.bike_n_velocities, + 'max_steer_deg': st.session_state.bike_max_steer, + 'n_steer': st.session_state.bike_n_steer, + } + elif model_type == 'Articulated': + config['model_parameters'] = { + 'articulation_to_front_axle': st.session_state.art_to_front, + 'articulation_to_rear_axle': st.session_state.art_to_rear, + 'front_track_width': st.session_state.art_front_track, + 'rear_track_width': st.session_state.art_rear_track, + 'front_wheel_radius': st.session_state.art_front_wheel_r, + 'rear_wheel_radius': st.session_state.art_rear_wheel_r, + } + config['control_inputs'] = { + 'v_min': st.session_state.art_v_min, + 'v_max': st.session_state.art_v_max, + 'n_velocities': st.session_state.art_n_velocities, + 'max_articulation_deg': st.session_state.art_max_angle, + 'n_angles': st.session_state.art_n_angles, + } + + return config + + +def init_session_state(): + """Initialize default values for all model parameters.""" + defaults = { + # Differential Drive + 'diff_wheel_radius': 0.1, + 'diff_track_width': 0.5, + 'diff_base_vel_min': 5.0, + 'diff_base_vel_max': 15.0, + 'diff_n_base_vels': 3, + 'diff_max_wheel_diff': 10.0, + 'diff_n_samples': 9, + # Bicycle + 'bike_wheelbase': 2.5, + 'bike_track_width': 1.5, + 'bike_wheel_radius': 0.3, + 'bike_v_min': 1.0, + 'bike_v_max': 3.0, + 'bike_n_velocities': 3, + 'bike_max_steer': 30.0, + 'bike_n_steer': 9, + # Articulated + 'art_to_front': 1.5, + 'art_to_rear': 1.2, + 'art_front_track': 1.8, + 'art_rear_track': 1.6, + 'art_front_wheel_r': 0.4, + 'art_rear_wheel_r': 0.5, + 'art_v_min': 1.0, + 'art_v_max': 3.0, + 'art_n_velocities': 3, + 'art_max_angle': 30.0, + 'art_n_angles': 9, + # Simulation + 'sim_duration': 3.0, + 'sim_dt': 0.02, + 'sim_method': 'euler', + 'export_dpi': 150, + 'export_format': 'png', + } + for key, value in defaults.items(): + if key not in st.session_state: + st.session_state[key] = value + + +st.set_page_config(page_title='Kinematic Explorer', layout='wide') +st.title('Kinematic Model Explorer') + +init_session_state() + +# Sidebar - Model Selection +st.sidebar.header('Model Configuration') +model_type = st.sidebar.selectbox('Model Type', ['Differential Drive', 'Bicycle', 'Articulated']) + +st.sidebar.subheader('Model Parameters') + +# Model-specific parameters +if model_type == 'Differential Drive': + st.session_state.diff_wheel_radius = st.sidebar.slider( + 'Wheel Radius (m)', 0.05, 0.5, st.session_state.diff_wheel_radius, 0.01 + ) + st.session_state.diff_track_width = st.sidebar.slider( + 'Track Width (m)', 0.2, 2.0, st.session_state.diff_track_width, 0.05 + ) + st.sidebar.markdown('---') + st.sidebar.markdown(f'**Wheel Radius:** {st.session_state.diff_wheel_radius:.2f} m') + st.sidebar.markdown(f'**Track Width:** {st.session_state.diff_track_width:.2f} m') + +elif model_type == 'Bicycle': + st.session_state.bike_wheelbase = st.sidebar.slider('Wheelbase (m)', 1.0, 5.0, st.session_state.bike_wheelbase, 0.1) + st.session_state.bike_track_width = st.sidebar.slider( + 'Track Width (m)', 1.0, 3.0, st.session_state.bike_track_width, 0.1 + ) + st.session_state.bike_wheel_radius = st.sidebar.slider( + 'Wheel Radius (m)', 0.1, 0.6, st.session_state.bike_wheel_radius, 0.05 + ) + st.sidebar.markdown('---') + st.sidebar.markdown(f'**Wheelbase:** {st.session_state.bike_wheelbase:.2f} m') + st.sidebar.markdown(f'**Track Width:** {st.session_state.bike_track_width:.2f} m') + +elif model_type == 'Articulated': + st.session_state.art_to_front = st.sidebar.slider( + 'Articulation to Front Axle (m)', 0.5, 3.0, st.session_state.art_to_front, 0.1 + ) + st.session_state.art_to_rear = st.sidebar.slider( + 'Articulation to Rear Axle (m)', 0.5, 3.0, st.session_state.art_to_rear, 0.1 + ) + st.session_state.art_front_track = st.sidebar.slider( + 'Front Track Width (m)', 1.0, 3.0, st.session_state.art_front_track, 0.1 + ) + st.session_state.art_rear_track = st.sidebar.slider( + 'Rear Track Width (m)', 1.0, 3.0, st.session_state.art_rear_track, 0.1 + ) + st.session_state.art_front_wheel_r = st.sidebar.slider( + 'Front Wheel Radius (m)', 0.2, 0.8, st.session_state.art_front_wheel_r, 0.05 + ) + st.session_state.art_rear_wheel_r = st.sidebar.slider( + 'Rear Wheel Radius (m)', 0.2, 0.8, st.session_state.art_rear_wheel_r, 0.05 + ) + st.sidebar.markdown('---') + st.sidebar.markdown(f'**Total Wheelbase:** {st.session_state.art_to_front + st.session_state.art_to_rear:.2f} m') + +# Lattice Configuration +st.sidebar.header('Lattice Configuration') +st.session_state.sim_duration = st.sidebar.slider( + 'Simulation Duration (s)', 1.0, 10.0, st.session_state.sim_duration, 0.5 +) + +with st.sidebar.expander('Advanced Settings'): + st.session_state.sim_method = st.selectbox( + 'Integration Method', + ['euler', 'rk4'], + index=0 if st.session_state.sim_method == 'euler' else 1, + help='RK4 is more accurate, Euler is faster', + ) + st.session_state.sim_dt = st.slider( + 'Time Step (s)', + 0.005, + 0.1, + st.session_state.sim_dt, + 0.005, + help='Smaller values are more accurate but slower', + ) + st.caption(f'Steps per trajectory: {int(st.session_state.sim_duration / st.session_state.sim_dt)}') + +# Generate trajectories based on model type +trajectories: list[AnyTrajectory] +group_values: list[float] + +if model_type == 'Differential Drive': + st.sidebar.subheader('Control Inputs') + col1, col2 = st.sidebar.columns(2) + with col1: + st.session_state.diff_base_vel_min = st.number_input( + 'Min Base Vel (rad/s)', 1.0, 20.0, st.session_state.diff_base_vel_min, 1.0 + ) + with col2: + st.session_state.diff_base_vel_max = st.number_input( + 'Max Base Vel (rad/s)', 1.0, 30.0, st.session_state.diff_base_vel_max, 1.0 + ) + st.session_state.diff_n_base_vels = st.sidebar.slider( + 'Number of Base Velocities', 1, 5, st.session_state.diff_n_base_vels + ) + base_wheel_velocities = tuple( + np.linspace( + st.session_state.diff_base_vel_min, st.session_state.diff_base_vel_max, st.session_state.diff_n_base_vels + ) + ) + + st.session_state.diff_max_wheel_diff = st.sidebar.slider( + 'Max Wheel Velocity Diff (rad/s)', 1.0, 20.0, st.session_state.diff_max_wheel_diff, 1.0 + ) + st.session_state.diff_n_samples = st.sidebar.slider('Diff Samples', 3, 15, st.session_state.diff_n_samples, 2) + wheel_diffs = tuple( + np.linspace( + -st.session_state.diff_max_wheel_diff, st.session_state.diff_max_wheel_diff, st.session_state.diff_n_samples + ) + ) + + trajectories = _cached_lattice_differential( + wheel_radius=st.session_state.diff_wheel_radius, + track_width=st.session_state.diff_track_width, + base_wheel_velocities=base_wheel_velocities, + wheel_velocity_diffs=wheel_diffs, + duration=st.session_state.sim_duration, + time_step=st.session_state.sim_dt, + method=st.session_state.sim_method, + ) + group_values = list(base_wheel_velocities) + +elif model_type == 'Bicycle': + st.sidebar.subheader('Control Inputs') + col1, col2 = st.sidebar.columns(2) + with col1: + st.session_state.bike_v_min = st.number_input('Min Drive Vel (m/s)', 0.5, 5.0, st.session_state.bike_v_min, 0.5) + with col2: + st.session_state.bike_v_max = st.number_input( + 'Max Drive Vel (m/s)', 0.5, 10.0, st.session_state.bike_v_max, 0.5 + ) + st.session_state.bike_n_velocities = st.sidebar.slider( + 'Number of Velocities', 1, 5, st.session_state.bike_n_velocities + ) + drive_velocities = tuple( + np.linspace(st.session_state.bike_v_min, st.session_state.bike_v_max, st.session_state.bike_n_velocities) + ) + + st.session_state.bike_max_steer = st.sidebar.slider( + 'Max Steering Angle (deg)', 5.0, 45.0, st.session_state.bike_max_steer, 5.0 + ) + st.session_state.bike_n_steer = st.sidebar.slider('Steering Samples', 3, 15, st.session_state.bike_n_steer, 2) + steering_angles = tuple( + np.linspace( + -np.radians(st.session_state.bike_max_steer), + np.radians(st.session_state.bike_max_steer), + st.session_state.bike_n_steer, + ) + ) + + trajectories = _cached_lattice_bicycle( + wheelbase=st.session_state.bike_wheelbase, + track_width=st.session_state.bike_track_width, + wheel_radius=st.session_state.bike_wheel_radius, + drive_velocities=drive_velocities, + steering_angles=steering_angles, + duration=st.session_state.sim_duration, + time_step=st.session_state.sim_dt, + method=st.session_state.sim_method, + ) + group_values = list(drive_velocities) + +else: # Articulated + st.sidebar.subheader('Control Inputs') + col1, col2 = st.sidebar.columns(2) + with col1: + st.session_state.art_v_min = st.number_input('Min Drive Vel (m/s)', 0.5, 5.0, st.session_state.art_v_min, 0.5) + with col2: + st.session_state.art_v_max = st.number_input('Max Drive Vel (m/s)', 0.5, 10.0, st.session_state.art_v_max, 0.5) + st.session_state.art_n_velocities = st.sidebar.slider( + 'Number of Velocities', 1, 5, st.session_state.art_n_velocities + ) + drive_velocities = tuple( + np.linspace(st.session_state.art_v_min, st.session_state.art_v_max, st.session_state.art_n_velocities) + ) + + st.session_state.art_max_angle = st.sidebar.slider( + 'Max Articulation Angle (deg)', 5.0, 45.0, st.session_state.art_max_angle, 5.0 + ) + st.session_state.art_n_angles = st.sidebar.slider('Articulation Samples', 3, 15, st.session_state.art_n_angles, 2) + articulation_angles = tuple( + np.linspace( + -np.radians(st.session_state.art_max_angle), + np.radians(st.session_state.art_max_angle), + st.session_state.art_n_angles, + ) + ) + + trajectories = _cached_lattice_articulated( + articulation_to_front=st.session_state.art_to_front, + articulation_to_rear=st.session_state.art_to_rear, + front_track=st.session_state.art_front_track, + rear_track=st.session_state.art_rear_track, + front_wheel_radius=st.session_state.art_front_wheel_r, + rear_wheel_radius=st.session_state.art_rear_wheel_r, + drive_velocities=drive_velocities, + articulation_angles=articulation_angles, + duration=st.session_state.sim_duration, + time_step=st.session_state.sim_dt, + method=st.session_state.sim_method, + ) + group_values = list(drive_velocities) + +# Kinematic Equations Section +with st.expander('Kinematic Equations', expanded=False): + eq_info = KINEMATIC_EQUATIONS[model_type] + st.subheader(eq_info['title']) + for eq in eq_info['equations']: + st.latex(eq) + st.markdown(eq_info['variables']) + st.markdown('---') + if st.session_state.sim_method == 'rk4': + st.markdown(TRAJECTORY_EQUATIONS_RK4) + else: + st.markdown(TRAJECTORY_EQUATIONS) + +# Trajectory Lattice +st.header('Trajectory Lattice') +lattice_fig = plot_lattice(trajectories, model_type, group_values) +st.pyplot(lattice_fig) +plt.close(lattice_fig) + +# Kinematic Analysis +st.header('Kinematic Analysis') +analysis_fig = plot_analysis(trajectories, model_type, group_values) +st.pyplot(analysis_fig) +plt.close(analysis_fig) + +# Vehicle Footprint Visualization +st.header('Vehicle Visualization') + +if model_type == 'Differential Drive': + model_params = { + 'length': st.session_state.diff_track_width * 1.5, + 'width': st.session_state.diff_track_width, + } + vel_options = list(group_values) + vel_label = 'Base Wheel Velocity (rad/s)' + st.caption(f'Vehicle dimensions: {model_params["length"]:.2f}m x {model_params["width"]:.2f}m') +elif model_type == 'Bicycle': + model_params = { + 'length': st.session_state.bike_wheelbase, + 'width': st.session_state.bike_track_width, + } + vel_options = list(group_values) + vel_label = 'Drive Velocity (m/s)' + st.caption(f'Vehicle dimensions: wheelbase={model_params["length"]:.2f}m, track={model_params["width"]:.2f}m') +else: # Articulated + model_params = { + 'front_length': st.session_state.art_to_front, + 'rear_length': st.session_state.art_to_rear, + 'front_width': st.session_state.art_front_track, + 'rear_width': st.session_state.art_rear_track, + } + vel_options = list(group_values) + vel_label = 'Drive Velocity (m/s)' + st.caption( + f'Articulated: front={model_params["front_length"]:.2f}m x {model_params["front_width"]:.2f}m, ' + f'rear={model_params["rear_length"]:.2f}m x {model_params["rear_width"]:.2f}m' + ) + +col1, col2 = st.columns([3, 1]) +with col2: + st.markdown('**Visualization Settings**') + num_footprints = st.slider('Footprints per trajectory', 3, 8, 4, 1, key='num_footprints') + + if model_type == 'Differential Drive': + angle_label = 'Angular velocities' + elif model_type == 'Bicycle': + angle_label = 'Steering angles' + else: + angle_label = 'Articulation angles' + + num_angles_viz = st.slider( + angle_label, 1, 9, 5, 2, key='num_angles_viz', help='Number of angles to show (symmetric)' + ) + + if len(vel_options) > 1: + viz_vel = st.select_slider( + vel_label, + options=[round(v, 1) for v in vel_options], + value=round(vel_options[len(vel_options) // 2], 1), + key='viz_velocity', + ) + else: + viz_vel = vel_options[0] + st.caption(f'{vel_label}: {viz_vel:.1f}') + +with col1: + config = LATTICE_CONFIG[model_type] + velocity_filtered = [ + trajectory for trajectory in trajectories if abs(_get_traj_attr(trajectory, config.vel_key) - viz_vel) < 0.05 + ] + + all_angles = sorted(set(_get_traj_attr(trajectory, config.angle_key) for trajectory in velocity_filtered)) + if len(all_angles) <= num_angles_viz: + selected_angles = set(all_angles) + else: + indices = np.linspace(0, len(all_angles) - 1, num_angles_viz, dtype=int) + selected_angles = {all_angles[index] for index in indices} + + viz_trajectories = [ + trajectory + for trajectory in velocity_filtered + if any(abs(_get_traj_attr(trajectory, config.angle_key) - angle) < 1e-6 for angle in selected_angles) + ] + viz_trajectories.sort(key=lambda trajectory: _get_traj_attr(trajectory, config.angle_key)) + + if viz_trajectories: + footprint_fig = plot_trajectory_with_footprints(viz_trajectories, model_type, model_params, num_footprints) + st.pyplot(footprint_fig) + plt.close(footprint_fig) + else: + st.warning('No trajectories selected. Adjust the visualization settings.') + +# Single Projected Trajectory — ramps the model command from initial → target at a chosen rate, +# clamped to [min, max], and plots the resulting trajectory live. Velocity/horizon are inherited. +st.header('Single Projected Trajectory') +st.caption( + 'Set the initial input, target input, and rate of change. The plot updates as you move the ' + 'sliders. Drive velocity and simulation horizon are inherited from the sections above.' +) + +if model_type == 'Bicycle': + col_a, col_b, col_c = st.columns(3) + with col_a: + single_initial_deg = st.slider( + 'Initial Steering (deg)', + -st.session_state.bike_max_steer, + st.session_state.bike_max_steer, + 0.0, + 1.0, + key='bike_single_initial_deg', + ) + with col_b: + single_target_deg = st.slider( + 'Target Steering (deg)', + -st.session_state.bike_max_steer, + st.session_state.bike_max_steer, + float(st.session_state.bike_max_steer / 2), + 1.0, + key='bike_single_target_deg', + ) + with col_c: + single_rate_deg_s = st.slider( + 'Steering Rate (deg/s)', + 0.0, + 180.0, + 30.0, + 1.0, + key='bike_single_rate_deg_s', + ) + + single_traj = _cached_single_bicycle( + wheelbase=st.session_state.bike_wheelbase, + track_width=st.session_state.bike_track_width, + wheel_radius=st.session_state.bike_wheel_radius, + initial_steering_angle_rad=float(np.radians(single_initial_deg)), + target_steering_angle_rad=float(np.radians(single_target_deg)), + steering_rate_rad_s=float(np.radians(single_rate_deg_s)), + drive_velocity=float(viz_vel), + duration=st.session_state.sim_duration, + time_step=st.session_state.sim_dt, + ) + single_fig = plot_trajectory_with_footprints([single_traj], model_type, model_params, num_footprints=5) + st.pyplot(single_fig) + plt.close(single_fig) + st.caption( + f'Drive velocity: {viz_vel:.2f} m/s · ' + f'Horizon: {st.session_state.sim_duration:.1f}s · ' + f'dt: {st.session_state.sim_dt:.3f}s' + ) + +elif model_type == 'Articulated': + col_a, col_b, col_c = st.columns(3) + with col_a: + single_initial_deg = st.slider( + 'Initial Articulation (deg)', + -st.session_state.art_max_angle, + st.session_state.art_max_angle, + 0.0, + 1.0, + key='art_single_initial_deg', + ) + with col_b: + single_target_deg = st.slider( + 'Target Articulation (deg)', + -st.session_state.art_max_angle, + st.session_state.art_max_angle, + float(st.session_state.art_max_angle / 2), + 1.0, + key='art_single_target_deg', + ) + with col_c: + single_rate_deg_s = st.slider( + 'Articulation Rate (deg/s)', + 0.0, + 90.0, + 15.0, + 1.0, + key='art_single_rate_deg_s', + ) + + single_traj = _cached_single_articulated( + articulation_to_front=st.session_state.art_to_front, + articulation_to_rear=st.session_state.art_to_rear, + front_track=st.session_state.art_front_track, + rear_track=st.session_state.art_rear_track, + front_wheel_radius=st.session_state.art_front_wheel_r, + rear_wheel_radius=st.session_state.art_rear_wheel_r, + initial_articulation_angle_rad=float(np.radians(single_initial_deg)), + target_articulation_angle_rad=float(np.radians(single_target_deg)), + articulation_rate_rad_s=float(np.radians(single_rate_deg_s)), + drive_velocity=float(viz_vel), + duration=st.session_state.sim_duration, + time_step=st.session_state.sim_dt, + ) + single_fig = plot_trajectory_with_footprints([single_traj], model_type, model_params, num_footprints=5) + st.pyplot(single_fig) + plt.close(single_fig) + st.caption( + f'Drive velocity: {viz_vel:.2f} m/s · ' + f'Horizon: {st.session_state.sim_duration:.1f}s · ' + f'dt: {st.session_state.sim_dt:.3f}s' + ) + +else: # Differential Drive — ramp linear AND angular body command. + st.markdown('**Body command**') + col_a, col_b, col_c, col_d = st.columns(4) + with col_a: + single_initial_v = st.slider( + 'Initial Linear (m/s)', + -3.0, + 3.0, + 0.0, + 0.1, + key='diff_single_initial_v', + ) + with col_b: + single_target_v = st.slider( + 'Target Linear (m/s)', + -3.0, + 3.0, + 1.0, + 0.1, + key='diff_single_target_v', + ) + with col_c: + single_initial_omega = st.slider( + 'Initial Angular (rad/s)', + -3.0, + 3.0, + 0.0, + 0.1, + key='diff_single_initial_omega', + ) + with col_d: + single_target_omega = st.slider( + 'Target Angular (rad/s)', + -3.0, + 3.0, + 0.5, + 0.1, + key='diff_single_target_omega', + ) + st.markdown('**Acceleration limits**') + col_e, col_f = st.columns(2) + with col_e: + single_linear_accel = st.slider( + 'Linear Accel (m/s²)', + 0.0, + 5.0, + 1.0, + 0.1, + key='diff_single_linear_accel', + ) + with col_f: + single_angular_accel = st.slider( + 'Angular Accel (rad/s²)', + 0.0, + 5.0, + 1.0, + 0.1, + key='diff_single_angular_accel', + ) + + single_traj = _cached_single_differential( + wheel_radius=st.session_state.diff_wheel_radius, + track_width=st.session_state.diff_track_width, + initial_linear_velocity=float(single_initial_v), + initial_angular_velocity=float(single_initial_omega), + target_linear_velocity=float(single_target_v), + target_angular_velocity=float(single_target_omega), + linear_acceleration=float(single_linear_accel), + angular_acceleration=float(single_angular_accel), + duration=st.session_state.sim_duration, + time_step=st.session_state.sim_dt, + ) + single_fig = plot_trajectory_with_footprints([single_traj], model_type, model_params, num_footprints=5) + st.pyplot(single_fig) + plt.close(single_fig) + st.caption(f'Horizon: {st.session_state.sim_duration:.1f}s · dt: {st.session_state.sim_dt:.3f}s') + +# Parameter Table +with st.expander('Current Configuration', expanded=False): + config_dict = get_config_dict(model_type) + + col1, col2 = st.columns(2) + with col1: + st.markdown('**Model Parameters:**') + for key, value in config_dict['model_parameters'].items(): + st.markdown(f'- {key.replace("_", " ").title()}: `{value}`') + + with col2: + st.markdown('**Control Inputs:**') + for key, value in config_dict['control_inputs'].items(): + st.markdown(f'- {key.replace("_", " ").title()}: `{value}`') + + st.markdown('**Simulation Settings:**') + st.markdown( + f'- Duration: `{config_dict["simulation"]["duration"]}s`, ' + f'dt: `{config_dict["simulation"]["dt"]}s`, ' + f'Method: `{config_dict["simulation"]["method"]}`' + ) + +# Summary stats +st.header('Summary') +col1, col2, col3, col4 = st.columns(4) + +with col1: + st.metric('Model Type', model_type) +with col2: + st.metric('Total Trajectories', len(trajectories)) +with col3: + if model_type == 'Articulated': + max_art = max(abs(trajectory.articulation_angle) for trajectory in trajectories) # type: ignore[union-attr] + st.metric('Max Articulation', f'{np.degrees(max_art):.1f} deg') + elif model_type == 'Bicycle': + max_steer = max(abs(trajectory.steering_angle) for trajectory in trajectories) # type: ignore[union-attr] + st.metric('Max Steering', f'{np.degrees(max_steer):.1f} deg') + elif model_type == 'Differential Drive': + st.metric('Track Width', f'{st.session_state.diff_track_width:.2f} m') +with col4: + max_omega = max(abs(trajectory.angular_velocity) for trajectory in trajectories) + st.metric('Max Angular Vel', f'{max_omega:.2f} rad/s') + +# Export Section +st.sidebar.header('Export') + +with st.sidebar.expander('Export Settings'): + st.session_state.export_format = st.selectbox( + 'Image Format', + ['png', 'svg', 'pdf'], + index=['png', 'svg', 'pdf'].index(st.session_state.export_format), + ) + st.session_state.export_dpi = st.select_slider( + 'DPI (for PNG)', + [72, 150, 300, 600], + value=st.session_state.export_dpi, + ) + +# CSV Export +df = trajectories_to_dataframe(trajectories, model_type) +csv_buffer = io.StringIO() +df.to_csv(csv_buffer, index=False) +st.sidebar.download_button( + label='Download Trajectory CSV', + data=csv_buffer.getvalue(), + file_name=f'trajectories_{model_type.lower().replace(" ", "_")}.csv', + mime='text/csv', +) + +# JSON Config Export +config_export = get_config_dict(model_type) +st.sidebar.download_button( + label='Download Config JSON', + data=json.dumps(config_export, indent=2), + file_name=f'config_{model_type.lower().replace(" ", "_")}.json', + mime='application/json', +) + +# Image Export +if st.sidebar.button('Export Lattice Image'): + export_fig = plot_lattice(trajectories, model_type, group_values) + filename = f'lattice_export.{st.session_state.export_format}' + if st.session_state.export_format == 'png': + export_fig.savefig(filename, dpi=st.session_state.export_dpi, bbox_inches='tight') + else: + export_fig.savefig(filename, bbox_inches='tight') + plt.close(export_fig) + st.sidebar.success(f'Saved: {filename}') + + +def main(): + """Entry point for launching the Kinematic Explorer via ros2 run or CLI.""" + import subprocess + import sys + + cmd = [ + sys.executable, + '-m', + 'streamlit', + 'run', + __file__, + '--server.address=localhost', + '--browser.gatherUsageStats=false', + ] + sys.exit(subprocess.call(cmd)) diff --git a/pyproject.toml b/pyproject.toml index 617b5ed..f06eab6 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,16 +1,48 @@ [build-system] -requires = ["setuptools", "wheel"] -build-backend = "setuptools.build_meta" +requires = ["scikit-build-core>=0.10", "pybind11>=2.12"] +build-backend = "scikit_build_core.build" [project] name = "polymath_kinematics" -version = "0.1.0" -description = "Simple mixed C++/Python kinematics library" -license = {text = "Apache-2.0"} +version = "0.2.0" +description = "Mixed C++/Python kinematics library for vehicle models" +license = { text = "Apache-2.0" } maintainers = [ - {name = "Polymath Robotics", email = "dev@polymathrobotics.com"} + { name = "Polymath Robotics", email = "dev@polymathrobotics.com" }, +] +requires-python = ">=3.10" +dependencies = [ + "numpy>=1.21.0", +] + +[project.optional-dependencies] +explorer = [ + "streamlit>=1.20.0", + "matplotlib>=3.5.0", + "pandas>=1.4.0", +] +dev = [ + "pytest>=7.0.0", + "polymath_kinematics[explorer]", ] -requires-python = ">=3.8" -[tool.setuptools] -packages = ["polymath_kinematics"] +[project.scripts] +kinematic-explorer = "polymath_kinematics.kinematic_explorer_app:main" + +[tool.scikit-build] +cmake.version = ">=3.15" +build.verbose = false +# C++ tests are built out-of-band via `cmake -DBUILD_TESTING=ON`, not as part of the wheel. +# CMAKE_DISABLE_FIND_PACKAGE_ament_cmake forces the wheel build down the non-ament path even +# when /opt/ros/humble is installed on the system — otherwise the ROS2 branch is taken and +# then fails on missing build-env deps like catkin_pkg. +cmake.args = ["-DBUILD_TESTING=OFF", "-DCMAKE_DISABLE_FIND_PACKAGE_ament_cmake=ON"] +wheel.packages = ["polymath_kinematics"] + +[dependency-groups] +dev = [ + "pytest>=7.0.0", + "streamlit>=1.20.0", + "matplotlib>=3.5.0", + "pandas>=1.4.0", +] diff --git a/setup.cfg b/setup.cfg deleted file mode 100644 index 3414b8a..0000000 --- a/setup.cfg +++ /dev/null @@ -1,5 +0,0 @@ -[develop] -script_dir=$base/lib/polymath_kinematics - -[install] -install_scripts=$base/lib/polymath_kinematics diff --git a/src/articulated_model.cpp b/src/articulated_model.cpp index 26b678b..7cf1d3a 100644 --- a/src/articulated_model.cpp +++ b/src/articulated_model.cpp @@ -22,6 +22,12 @@ namespace polymath::kinematics ArticulatedVehicleState ArticulatedModel::bodyVelocityToVehicleState( double linear_velocity_m_s, double angular_velocity_rad_s) +{ + return bodyVelocityToVehicleState(linear_velocity_m_s, angular_velocity_rad_s, 0.0); +} + +ArticulatedVehicleState ArticulatedModel::bodyVelocityToVehicleState( + double linear_velocity_m_s, double angular_velocity_rad_s, double articulation_turning_velocity_rad_s) { // Guard: fully stationary — sqrt denominator collapses to 0, producing 0/0 = NaN if ( @@ -49,7 +55,7 @@ ArticulatedVehicleState ArticulatedModel::bodyVelocityToVehicleState( // copysign selects + for forward, - for reverse. double acos_calculation = std::acos( - articulation_to_rear_axle_m_ * (articulation_turning_velocity_rad_s_ - angular_velocity_rad_s) / + articulation_to_rear_axle_m_ * (articulation_turning_velocity_rad_s - angular_velocity_rad_s) / std::hypot(angular_velocity_rad_s * articulation_to_front_axle_m_, linear_velocity_m_s)); double atan2_calculation = std::atan2(linear_velocity_m_s, angular_velocity_rad_s * articulation_to_front_axle_m_); @@ -85,13 +91,19 @@ ArticulatedVehicleState ArticulatedModel::bodyVelocityToVehicleState( ArticulatedAxleVelocities ArticulatedModel::articulationToAxleVelocities( double linear_velocity_m_s, double articulation_angle_rad) +{ + return articulationToAxleVelocities(linear_velocity_m_s, articulation_angle_rad, 0.0); +} + +ArticulatedAxleVelocities ArticulatedModel::articulationToAxleVelocities( + double linear_velocity_m_s, double articulation_angle_rad, double articulation_turning_velocity_rad_s) { double front_axle_turning_velocity = (linear_velocity_m_s * std::sin(articulation_angle_rad) + - articulation_to_rear_axle_m_ * articulation_turning_velocity_rad_s_) / + articulation_to_rear_axle_m_ * articulation_turning_velocity_rad_s) / (articulation_to_front_axle_m_ * std::cos(articulation_angle_rad) + articulation_to_rear_axle_m_); - double rear_axle_turning_velocity = front_axle_turning_velocity - articulation_turning_velocity_rad_s_; + double rear_axle_turning_velocity = front_axle_turning_velocity - articulation_turning_velocity_rad_s; return ArticulatedAxleVelocities{linear_velocity_m_s, front_axle_turning_velocity, rear_axle_turning_velocity}; } diff --git a/src/articulated_projector.cpp b/src/articulated_projector.cpp new file mode 100644 index 0000000..67d6cfd --- /dev/null +++ b/src/articulated_projector.cpp @@ -0,0 +1,103 @@ +// Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved +// +// 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. + +#include "polymath_kinematics/articulated_projector.hpp" + +#include +#include +#include + +namespace polymath::kinematics +{ + +ArticulatedProjectedState ArticulatedProjector::step( + double dt_s, + const Pose2D & current_pose, + double current_articulation_angle_rad, + double target_articulation_angle_rad, + double articulation_rate_rad_s, + double linear_velocity_m_s) +{ + // Clamp target into the joint's mechanical bounds before ramping. + double clamped_target = + std::clamp(target_articulation_angle_rad, min_articulation_angle_rad_, max_articulation_angle_rad_); + + // Slew toward the clamped target at |rate| per second, never overshooting. + double max_delta = std::abs(articulation_rate_rad_s) * dt_s; + double delta = clamped_target - current_articulation_angle_rad; + if (std::abs(delta) > max_delta) { + delta = std::copysign(max_delta, delta); + } + double new_articulation_angle_rad = current_articulation_angle_rad + delta; + // Actual gamma-dot realized during this step (zero once the angle pins at clamped_target). + double actual_articulation_rate_rad_s = delta / dt_s; + + // Rear-axle turning velocity drives theta integration; feed the realized gamma-dot in. + ArticulatedAxleVelocities axle = model_.articulationToAxleVelocities( + linear_velocity_m_s, new_articulation_angle_rad, actual_articulation_rate_rad_s); + double angular_velocity_rad_s = axle.rear_axle_turning_velocity_rad_s; + + // Full vehicle state (wheel speeds + turning radii) for the snapshot. + ArticulatedVehicleState inner = + model_.bodyVelocityToVehicleState(linear_velocity_m_s, angular_velocity_rad_s, actual_articulation_rate_rad_s); + + // Euler pose update (heading taken at start of step). + Pose2D new_pose{ + current_pose.x + linear_velocity_m_s * std::cos(current_pose.theta) * dt_s, + current_pose.y + linear_velocity_m_s * std::sin(current_pose.theta) * dt_s, + normalizeAngle(current_pose.theta + angular_velocity_rad_s * dt_s)}; + + return ArticulatedProjectedState{ + dt_s, new_pose, new_articulation_angle_rad, linear_velocity_m_s, angular_velocity_rad_s, inner}; +} + +std::vector ArticulatedProjector::project( + double horizon_s, + double dt_s, + const Pose2D & initial_pose, + double initial_articulation_angle_rad, + double target_articulation_angle_rad, + double articulation_rate_rad_s, + double linear_velocity_m_s) +{ + std::vector trajectory; + if (dt_s <= 0.0 || horizon_s < 0.0) { + return trajectory; + } + + // Seed element 0 with the initial state. + ArticulatedAxleVelocities initial_axle = + model_.articulationToAxleVelocities(linear_velocity_m_s, initial_articulation_angle_rad); + double initial_omega = initial_axle.rear_axle_turning_velocity_rad_s; + ArticulatedVehicleState initial_inner = model_.bodyVelocityToVehicleState(linear_velocity_m_s, initial_omega); + trajectory.push_back(ArticulatedProjectedState{ + 0.0, initial_pose, initial_articulation_angle_rad, linear_velocity_m_s, initial_omega, initial_inner}); + + std::size_t n_steps = static_cast(std::ceil(horizon_s / dt_s)); + trajectory.reserve(n_steps + 1); + + Pose2D pose = initial_pose; + double articulation_angle = initial_articulation_angle_rad; + for (std::size_t i = 0; i < n_steps; ++i) { + ArticulatedProjectedState s = + step(dt_s, pose, articulation_angle, target_articulation_angle_rad, articulation_rate_rad_s, linear_velocity_m_s); + s.time_s = static_cast(i + 1) * dt_s; + pose = s.pose; + articulation_angle = s.articulation_angle_rad; + trajectory.push_back(s); + } + return trajectory; +} + +} // namespace polymath::kinematics diff --git a/src/bicycle_projector.cpp b/src/bicycle_projector.cpp new file mode 100644 index 0000000..19a59fd --- /dev/null +++ b/src/bicycle_projector.cpp @@ -0,0 +1,103 @@ +// Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved +// +// 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. + +#include "polymath_kinematics/bicycle_projector.hpp" + +#include +#include +#include + +namespace polymath::kinematics +{ + +BicycleProjectedState BicycleProjector::step( + double dt_s, + const Pose2D & current_pose, + double current_steering_angle_rad, + double target_steering_angle_rad, + double steering_rate_rad_s, + double linear_velocity_m_s) +{ + // Clamp target into the actuator's bounds before ramping, so out-of-range commands + // saturate at the limit rather than oscillating or overshooting. + double clamped_target = std::clamp(target_steering_angle_rad, min_steering_angle_rad_, max_steering_angle_rad_); + + // Slew toward the clamped target at |rate| per second, never overshooting. + double max_delta = std::abs(steering_rate_rad_s) * dt_s; + double delta = clamped_target - current_steering_angle_rad; + if (std::abs(delta) > max_delta) { + delta = std::copysign(max_delta, delta); + } + double new_steering_angle_rad = current_steering_angle_rad + delta; + + // Forward kinematics with the post-ramp angle gives the body omega used for theta integration. + BicycleBodyVelocity body_vel = model_.steeringToBodyVelocity(linear_velocity_m_s, new_steering_angle_rad); + + // Inverse kinematics populates wheel speeds + turning radius for the snapshot. + BicycleSteeringState inner = model_.bodyVelocityToSteering(linear_velocity_m_s, body_vel.angular_velocity_rad_s); + + // Euler pose update (heading taken at start of step, matching the plan's integration choice). + Pose2D new_pose{ + current_pose.x + linear_velocity_m_s * std::cos(current_pose.theta) * dt_s, + current_pose.y + linear_velocity_m_s * std::sin(current_pose.theta) * dt_s, + normalizeAngle(current_pose.theta + body_vel.angular_velocity_rad_s * dt_s)}; + + return BicycleProjectedState{ + dt_s, new_pose, new_steering_angle_rad, linear_velocity_m_s, body_vel.angular_velocity_rad_s, inner}; +} + +std::vector BicycleProjector::project( + double horizon_s, + double dt_s, + const Pose2D & initial_pose, + double initial_steering_angle_rad, + double target_steering_angle_rad, + double steering_rate_rad_s, + double linear_velocity_m_s) +{ + std::vector trajectory; + if (dt_s <= 0.0 || horizon_s < 0.0) { + return trajectory; + } + + // Seed element 0 with the initial state so plots have a clean t=0 anchor. + // Populate the steering_state field by running inverse kinematics on the implied omega. + BicycleBodyVelocity initial_body = model_.steeringToBodyVelocity(linear_velocity_m_s, initial_steering_angle_rad); + BicycleSteeringState initial_inner = + model_.bodyVelocityToSteering(linear_velocity_m_s, initial_body.angular_velocity_rad_s); + trajectory.push_back(BicycleProjectedState{ + 0.0, + initial_pose, + initial_steering_angle_rad, + linear_velocity_m_s, + initial_body.angular_velocity_rad_s, + initial_inner}); + + std::size_t n_steps = static_cast(std::ceil(horizon_s / dt_s)); + trajectory.reserve(n_steps + 1); + + Pose2D pose = initial_pose; + double steering_angle = initial_steering_angle_rad; + for (std::size_t i = 0; i < n_steps; ++i) { + BicycleProjectedState s = + step(dt_s, pose, steering_angle, target_steering_angle_rad, steering_rate_rad_s, linear_velocity_m_s); + s.time_s = static_cast(i + 1) * dt_s; + pose = s.pose; + steering_angle = s.steering_angle_rad; + trajectory.push_back(s); + } + return trajectory; +} + +} // namespace polymath::kinematics diff --git a/src/differential_drive_projector.cpp b/src/differential_drive_projector.cpp new file mode 100644 index 0000000..4abd588 --- /dev/null +++ b/src/differential_drive_projector.cpp @@ -0,0 +1,118 @@ +// Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved +// +// 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. + +#include "polymath_kinematics/differential_drive_projector.hpp" + +#include +#include +#include + +namespace polymath::kinematics +{ + +namespace +{ + +/// @brief Ramp `current` toward `clamped_target` by at most |rate| * dt, never overshooting. +double rampedAdvance(double current, double clamped_target, double rate, double dt_s) +{ + double max_delta = std::abs(rate) * dt_s; + double delta = clamped_target - current; + if (std::abs(delta) > max_delta) { + delta = std::copysign(max_delta, delta); + } + return current + delta; +} + +} // namespace + +DifferentialDriveProjectedState DifferentialDriveProjector::step( + double dt_s, + const Pose2D & current_pose, + double current_linear_velocity_m_s, + double current_angular_velocity_rad_s, + double target_linear_velocity_m_s, + double target_angular_velocity_rad_s, + double linear_acceleration_m_s2, + double angular_acceleration_rad_s2) +{ + // Clamp targets to actuator bounds before ramping. + double clamped_target_v = std::clamp(target_linear_velocity_m_s, min_linear_velocity_m_s_, max_linear_velocity_m_s_); + double clamped_target_omega = + std::clamp(target_angular_velocity_rad_s, min_angular_velocity_rad_s_, max_angular_velocity_rad_s_); + + double new_linear_velocity_m_s = + rampedAdvance(current_linear_velocity_m_s, clamped_target_v, linear_acceleration_m_s2, dt_s); + double new_angular_velocity_rad_s = + rampedAdvance(current_angular_velocity_rad_s, clamped_target_omega, angular_acceleration_rad_s2, dt_s); + + DifferentialDriveWheelVelocities wheels = + model_.bodyVelocityToWheelVelocities(new_linear_velocity_m_s, new_angular_velocity_rad_s); + + // Euler pose update (heading taken at start of step, matches bicycle/articulated projectors). + Pose2D new_pose{ + current_pose.x + new_linear_velocity_m_s * std::cos(current_pose.theta) * dt_s, + current_pose.y + new_linear_velocity_m_s * std::sin(current_pose.theta) * dt_s, + normalizeAngle(current_pose.theta + new_angular_velocity_rad_s * dt_s)}; + + return DifferentialDriveProjectedState{dt_s, new_pose, new_linear_velocity_m_s, new_angular_velocity_rad_s, wheels}; +} + +std::vector DifferentialDriveProjector::project( + double horizon_s, + double dt_s, + const Pose2D & initial_pose, + double initial_linear_velocity_m_s, + double initial_angular_velocity_rad_s, + double target_linear_velocity_m_s, + double target_angular_velocity_rad_s, + double linear_acceleration_m_s2, + double angular_acceleration_rad_s2) +{ + std::vector trajectory; + if (dt_s <= 0.0 || horizon_s < 0.0) { + return trajectory; + } + + DifferentialDriveWheelVelocities initial_wheels = + model_.bodyVelocityToWheelVelocities(initial_linear_velocity_m_s, initial_angular_velocity_rad_s); + trajectory.push_back(DifferentialDriveProjectedState{ + 0.0, initial_pose, initial_linear_velocity_m_s, initial_angular_velocity_rad_s, initial_wheels}); + + std::size_t n_steps = static_cast(std::ceil(horizon_s / dt_s)); + trajectory.reserve(n_steps + 1); + + Pose2D pose = initial_pose; + double linear_velocity_m_s = initial_linear_velocity_m_s; + double angular_velocity_rad_s = initial_angular_velocity_rad_s; + for (std::size_t i = 0; i < n_steps; ++i) { + DifferentialDriveProjectedState s = step( + dt_s, + pose, + linear_velocity_m_s, + angular_velocity_rad_s, + target_linear_velocity_m_s, + target_angular_velocity_rad_s, + linear_acceleration_m_s2, + angular_acceleration_rad_s2); + s.time_s = static_cast(i + 1) * dt_s; + pose = s.pose; + linear_velocity_m_s = s.linear_velocity_m_s; + angular_velocity_rad_s = s.angular_velocity_rad_s; + trajectory.push_back(s); + } + return trajectory; +} + +} // namespace polymath::kinematics diff --git a/src/kinematics_pybind.cpp b/src/kinematics_pybind.cpp index 0079e67..900b96a 100644 --- a/src/kinematics_pybind.cpp +++ b/src/kinematics_pybind.cpp @@ -13,9 +13,14 @@ // limitations under the License. #include "polymath_kinematics/articulated_model.hpp" +#include "polymath_kinematics/articulated_projector.hpp" #include "polymath_kinematics/bicycle_model.hpp" +#include "polymath_kinematics/bicycle_projector.hpp" #include "polymath_kinematics/differential_drive_model.hpp" +#include "polymath_kinematics/differential_drive_projector.hpp" +#include "polymath_kinematics/pose2d.hpp" #include "pybind11/pybind11.h" +#include "pybind11/stl.h" namespace py = pybind11; @@ -55,14 +60,16 @@ PYBIND11_MODULE(polymath_kinematics_cpp, m) py::arg("rear_wheel_radius_m")) .def( "body_velocity_to_vehicle_state", - &ArticulatedModel::bodyVelocityToVehicleState, + py::overload_cast(&ArticulatedModel::bodyVelocityToVehicleState), py::arg("linear_velocity_m_s"), - py::arg("angular_velocity_rad_s")) + py::arg("angular_velocity_rad_s"), + py::arg("articulation_turning_velocity_rad_s") = 0.0) .def( "articulation_to_axle_velocities", - &ArticulatedModel::articulationToAxleVelocities, + py::overload_cast(&ArticulatedModel::articulationToAxleVelocities), py::arg("linear_velocity_m_s"), - py::arg("articulation_angle_rad")) + py::arg("articulation_angle_rad"), + py::arg("articulation_turning_velocity_rad_s") = 0.0) .def_property_readonly("articulation_to_front_axle", &ArticulatedModel::get_articulation_to_front_axle_m) .def_property_readonly("articulation_to_rear_axle", &ArticulatedModel::get_articulation_to_rear_axle_m) .def_property_readonly("front_track_width", &ArticulatedModel::get_front_track_width_m) @@ -130,6 +137,142 @@ PYBIND11_MODULE(polymath_kinematics_cpp, m) .def_property_readonly("wheelbase", &BicycleModel::get_wheelbase_m) .def_property_readonly("track_width", &BicycleModel::get_track_width_m) .def_property_readonly("wheel_radius", &BicycleModel::get_wheel_radius_m); + + // Shared Pose2D + py::class_(m, "Pose2D") + .def(py::init<>()) + .def( + py::init([](double x, double y, double theta) { return Pose2D{x, y, theta}; }), + py::arg("x") = 0.0, + py::arg("y") = 0.0, + py::arg("theta") = 0.0) + .def_readwrite("x", &Pose2D::x) + .def_readwrite("y", &Pose2D::y) + .def_readwrite("theta", &Pose2D::theta); + + // Bicycle projector bindings + py::class_(m, "BicycleProjectedState") + .def(py::init<>()) + .def_readwrite("time_s", &BicycleProjectedState::time_s) + .def_readwrite("pose", &BicycleProjectedState::pose) + .def_readwrite("steering_angle_rad", &BicycleProjectedState::steering_angle_rad) + .def_readwrite("linear_velocity_m_s", &BicycleProjectedState::linear_velocity_m_s) + .def_readwrite("angular_velocity_rad_s", &BicycleProjectedState::angular_velocity_rad_s) + .def_readwrite("steering_state", &BicycleProjectedState::steering_state); + + py::class_(m, "BicycleProjector") + .def( + py::init(), + py::arg("model"), + py::arg("min_steering_angle_rad"), + py::arg("max_steering_angle_rad")) + .def( + "step", + &BicycleProjector::step, + py::arg("dt_s"), + py::arg("current_pose"), + py::arg("current_steering_angle_rad"), + py::arg("target_steering_angle_rad"), + py::arg("steering_rate_rad_s"), + py::arg("linear_velocity_m_s")) + .def( + "project", + &BicycleProjector::project, + py::arg("horizon_s"), + py::arg("dt_s"), + py::arg("initial_pose"), + py::arg("initial_steering_angle_rad"), + py::arg("target_steering_angle_rad"), + py::arg("steering_rate_rad_s"), + py::arg("linear_velocity_m_s")) + .def_property_readonly("model", &BicycleProjector::get_model, py::return_value_policy::reference_internal) + .def_property_readonly("min_steering_angle_rad", &BicycleProjector::get_min_steering_angle_rad) + .def_property_readonly("max_steering_angle_rad", &BicycleProjector::get_max_steering_angle_rad); + + // Articulated projector bindings + py::class_(m, "ArticulatedProjectedState") + .def(py::init<>()) + .def_readwrite("time_s", &ArticulatedProjectedState::time_s) + .def_readwrite("pose", &ArticulatedProjectedState::pose) + .def_readwrite("articulation_angle_rad", &ArticulatedProjectedState::articulation_angle_rad) + .def_readwrite("linear_velocity_m_s", &ArticulatedProjectedState::linear_velocity_m_s) + .def_readwrite("angular_velocity_rad_s", &ArticulatedProjectedState::angular_velocity_rad_s) + .def_readwrite("vehicle_state", &ArticulatedProjectedState::vehicle_state); + + py::class_(m, "ArticulatedProjector") + .def( + py::init(), + py::arg("model"), + py::arg("min_articulation_angle_rad"), + py::arg("max_articulation_angle_rad")) + .def( + "step", + &ArticulatedProjector::step, + py::arg("dt_s"), + py::arg("current_pose"), + py::arg("current_articulation_angle_rad"), + py::arg("target_articulation_angle_rad"), + py::arg("articulation_rate_rad_s"), + py::arg("linear_velocity_m_s")) + .def( + "project", + &ArticulatedProjector::project, + py::arg("horizon_s"), + py::arg("dt_s"), + py::arg("initial_pose"), + py::arg("initial_articulation_angle_rad"), + py::arg("target_articulation_angle_rad"), + py::arg("articulation_rate_rad_s"), + py::arg("linear_velocity_m_s")) + .def_property_readonly("model", &ArticulatedProjector::get_model, py::return_value_policy::reference_internal) + .def_property_readonly("min_articulation_angle_rad", &ArticulatedProjector::get_min_articulation_angle_rad) + .def_property_readonly("max_articulation_angle_rad", &ArticulatedProjector::get_max_articulation_angle_rad); + + // Differential drive projector bindings + py::class_(m, "DifferentialDriveProjectedState") + .def(py::init<>()) + .def_readwrite("time_s", &DifferentialDriveProjectedState::time_s) + .def_readwrite("pose", &DifferentialDriveProjectedState::pose) + .def_readwrite("linear_velocity_m_s", &DifferentialDriveProjectedState::linear_velocity_m_s) + .def_readwrite("angular_velocity_rad_s", &DifferentialDriveProjectedState::angular_velocity_rad_s) + .def_readwrite("wheel_velocities", &DifferentialDriveProjectedState::wheel_velocities); + + py::class_(m, "DifferentialDriveProjector") + .def( + py::init(), + py::arg("model"), + py::arg("min_linear_velocity_m_s"), + py::arg("max_linear_velocity_m_s"), + py::arg("min_angular_velocity_rad_s"), + py::arg("max_angular_velocity_rad_s")) + .def( + "step", + &DifferentialDriveProjector::step, + py::arg("dt_s"), + py::arg("current_pose"), + py::arg("current_linear_velocity_m_s"), + py::arg("current_angular_velocity_rad_s"), + py::arg("target_linear_velocity_m_s"), + py::arg("target_angular_velocity_rad_s"), + py::arg("linear_acceleration_m_s2"), + py::arg("angular_acceleration_rad_s2")) + .def( + "project", + &DifferentialDriveProjector::project, + py::arg("horizon_s"), + py::arg("dt_s"), + py::arg("initial_pose"), + py::arg("initial_linear_velocity_m_s"), + py::arg("initial_angular_velocity_rad_s"), + py::arg("target_linear_velocity_m_s"), + py::arg("target_angular_velocity_rad_s"), + py::arg("linear_acceleration_m_s2"), + py::arg("angular_acceleration_rad_s2")) + .def_property_readonly("model", &DifferentialDriveProjector::get_model, py::return_value_policy::reference_internal) + .def_property_readonly("min_linear_velocity_m_s", &DifferentialDriveProjector::get_min_linear_velocity_m_s) + .def_property_readonly("max_linear_velocity_m_s", &DifferentialDriveProjector::get_max_linear_velocity_m_s) + .def_property_readonly("min_angular_velocity_rad_s", &DifferentialDriveProjector::get_min_angular_velocity_rad_s) + .def_property_readonly("max_angular_velocity_rad_s", &DifferentialDriveProjector::get_max_angular_velocity_rad_s); } } // namespace polymath::kinematics diff --git a/test/test_articulated_model.cpp b/test/test_articulated_model.cpp index 70d1b18..962b70b 100644 --- a/test/test_articulated_model.cpp +++ b/test/test_articulated_model.cpp @@ -205,4 +205,41 @@ TEST_CASE("ArticulatedModel roundtrip reverse - bodyVelocityToVehicleState to ar CHECK(axle_vel.front_axle_turning_velocity_rad_s == Approx(angular_velocity).margin(1e-6)); } +TEST_CASE("ArticulatedModel articulationToAxleVelocities - 2-arg delegates to 3-arg with rate=0") +{ + ArticulatedModel model(1.5, 1.2, 1.8, 1.6, 0.4, 0.5); + + auto two_arg = model.articulationToAxleVelocities(2.0, 0.3); + auto three_arg_zero = model.articulationToAxleVelocities(2.0, 0.3, 0.0); + + CHECK(two_arg.front_axle_turning_velocity_rad_s == Approx(three_arg_zero.front_axle_turning_velocity_rad_s)); + CHECK(two_arg.rear_axle_turning_velocity_rad_s == Approx(three_arg_zero.rear_axle_turning_velocity_rad_s)); +} + +TEST_CASE("ArticulatedModel articulationToAxleVelocities - nonzero rate adds gamma-dot contribution") +{ + ArticulatedModel model(1.5, 1.2, 1.8, 1.6, 0.4, 0.5); + + // From the derivation: omega_rear = omega_front - gamma_dot. So passing a non-zero rate must + // shift the rear-axle turning velocity by exactly -gamma_dot compared to the rate=0 case + // (the front-axle term changes too, but the rear-front difference is exactly gamma_dot). + double gamma_dot = 0.2; + auto rest = model.articulationToAxleVelocities(2.0, 0.3, 0.0); + auto with_rate = model.articulationToAxleVelocities(2.0, 0.3, gamma_dot); + + CHECK(with_rate.front_axle_turning_velocity_rad_s - with_rate.rear_axle_turning_velocity_rad_s == Approx(gamma_dot)); + CHECK(with_rate.front_axle_turning_velocity_rad_s != Approx(rest.front_axle_turning_velocity_rad_s)); +} + +TEST_CASE("ArticulatedModel bodyVelocityToVehicleState - 2-arg delegates to 3-arg with rate=0") +{ + ArticulatedModel model(1.5, 1.2, 1.8, 1.6, 0.4, 0.5); + + auto two_arg = model.bodyVelocityToVehicleState(2.0, 0.5); + auto three_arg_zero = model.bodyVelocityToVehicleState(2.0, 0.5, 0.0); + + CHECK(two_arg.articulation_angle_rad == Approx(three_arg_zero.articulation_angle_rad)); + CHECK(two_arg.front_axle_turning_radius_m == Approx(three_arg_zero.front_axle_turning_radius_m)); +} + } // namespace polymath::kinematics diff --git a/test/test_articulated_projector.cpp b/test/test_articulated_projector.cpp new file mode 100644 index 0000000..5580a07 --- /dev/null +++ b/test/test_articulated_projector.cpp @@ -0,0 +1,161 @@ +// Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved +// +// 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. + +#include + +#include "catch2_compat.hpp" +#include "polymath_kinematics/articulated_projector.hpp" + +namespace polymath::kinematics +{ + +namespace +{ +// stueve-style parameters +constexpr double kFrontArm = 1.66; +constexpr double kRearArm = 1.44; +constexpr double kFrontTrack = 2.0; +constexpr double kRearTrack = 2.0; +constexpr double kFrontWheelRadius = 0.723; +constexpr double kRearWheelRadius = 0.723; +constexpr double kMinAngle = -0.785; +constexpr double kMaxAngle = 0.785; + +ArticulatedModel make_model() +{ + return ArticulatedModel(kFrontArm, kRearArm, kFrontTrack, kRearTrack, kFrontWheelRadius, kRearWheelRadius); +} +} // namespace + +TEST_CASE("ArticulatedProjector construction stores model and limits") +{ + ArticulatedProjector projector(make_model(), kMinAngle, kMaxAngle); + CHECK(projector.get_min_articulation_angle_rad() == Approx(kMinAngle)); + CHECK(projector.get_max_articulation_angle_rad() == Approx(kMaxAngle)); + CHECK(projector.get_model().get_articulation_to_front_axle_m() == Approx(kFrontArm)); +} + +TEST_CASE("ArticulatedProjector step - zero rate freezes articulation angle") +{ + ArticulatedProjector projector(make_model(), kMinAngle, kMaxAngle); + Pose2D pose{0.0, 0.0, 0.0}; + + auto result = projector.step(0.1, pose, 0.3, 0.6, 0.0, 1.0); + CHECK(result.articulation_angle_rad == Approx(0.3)); +} + +TEST_CASE("ArticulatedProjector step - large rate snaps to target without overshoot") +{ + ArticulatedProjector projector(make_model(), kMinAngle, kMaxAngle); + Pose2D pose{0.0, 0.0, 0.0}; + + auto result = projector.step(0.1, pose, 0.0, 0.4, 100.0, 1.0); + CHECK(result.articulation_angle_rad == Approx(0.4)); +} + +TEST_CASE("ArticulatedProjector step - rate-limited slew advances by rate*dt") +{ + ArticulatedProjector projector(make_model(), kMinAngle, kMaxAngle); + Pose2D pose{0.0, 0.0, 0.0}; + + // rate*dt = 0.02, target far away + auto result = projector.step(0.1, pose, 0.0, 0.5, 0.2, 1.0); + CHECK(result.articulation_angle_rad == Approx(0.02)); +} + +TEST_CASE("ArticulatedProjector step - target above max saturates at max") +{ + ArticulatedProjector projector(make_model(), kMinAngle, kMaxAngle); + Pose2D pose{0.0, 0.0, 0.0}; + + auto result = projector.step(0.1, pose, 0.0, 2.0, 100.0, 1.0); + CHECK(result.articulation_angle_rad == Approx(kMaxAngle)); +} + +TEST_CASE("ArticulatedProjector step - negative articulation rate is treated as magnitude") +{ + ArticulatedProjector projector(make_model(), kMinAngle, kMaxAngle); + Pose2D pose{0.0, 0.0, 0.0}; + + auto result = projector.step(0.1, pose, 0.0, 0.5, -0.2, 1.0); + CHECK(result.articulation_angle_rad == Approx(0.02)); +} + +TEST_CASE("ArticulatedProjector project - straight line: zero articulation, theta unchanged") +{ + ArticulatedProjector projector(make_model(), kMinAngle, kMaxAngle); + Pose2D pose{0.0, 0.0, 0.0}; + + auto trajectory = projector.project(1.0, 0.1, pose, 0.0, 0.0, 0.0, 1.5); + CHECK(trajectory.size() == 11); + CHECK(trajectory.back().pose.x == Approx(1.5)); + CHECK(trajectory.back().pose.y == Approx(0.0)); + CHECK(trajectory.back().pose.theta == Approx(0.0)); + CHECK(trajectory.back().articulation_angle_rad == Approx(0.0)); +} + +TEST_CASE("ArticulatedProjector project - articulation ramps then saturates at max") +{ + ArticulatedProjector projector(make_model(), kMinAngle, kMaxAngle); + Pose2D pose{0.0, 0.0, 0.0}; + + // target = 0.785 (= max), rate = 0.2 rad/s, dt = 0.1 → step adds 0.02 + // Reach max in ceil(0.785 / 0.02) = 40 steps; horizon 5.0s → 50 steps total. + auto trajectory = projector.project(5.0, 0.1, pose, 0.0, 0.785, 0.2, 1.0); + CHECK(trajectory.size() == 51); + CHECK(trajectory[40].articulation_angle_rad == Approx(0.785)); + CHECK(trajectory.back().articulation_angle_rad == Approx(0.785)); +} + +TEST_CASE("ArticulatedProjector project - initial state stored as element 0") +{ + ArticulatedProjector projector(make_model(), kMinAngle, kMaxAngle); + Pose2D pose{1.0, 2.0, 0.5}; + + auto trajectory = projector.project(0.5, 0.1, pose, 0.2, 0.6, 0.5, 1.0); + CHECK(trajectory.front().time_s == Approx(0.0)); + CHECK(trajectory.front().pose.x == Approx(1.0)); + CHECK(trajectory.front().pose.y == Approx(2.0)); + CHECK(trajectory.front().pose.theta == Approx(0.5)); + CHECK(trajectory.front().articulation_angle_rad == Approx(0.2)); +} + +TEST_CASE("ArticulatedProjector step - heading rotates with non-zero articulation at steady state") +{ + ArticulatedProjector projector(make_model(), kMinAngle, kMaxAngle); + Pose2D pose{0.0, 0.0, 0.0}; + + // With current == clamped target, the realized gamma-dot is zero (no joint motion this step), + // so the rear-axle turning velocity is purely a function of v and the articulation angle. + // Positive articulation + forward v → positive (CCW) rear-axle omega and theta increase. + auto result = projector.step(0.1, pose, 0.3, 0.3, 100.0, 1.0); + CHECK(result.articulation_angle_rad == Approx(0.3)); + CHECK(result.angular_velocity_rad_s > 0.0); + CHECK(result.pose.theta > 0.0); +} + +TEST_CASE("ArticulatedProjector step - realized gamma-dot affects rear-axle omega") +{ + ArticulatedProjector projector(make_model(), kMinAngle, kMaxAngle); + Pose2D pose{0.0, 0.0, 0.0}; + + // Same starting angle, same target, same v: stepping with a small rate (slow ramp) versus + // a large rate (snap) yields different rear-axle angular velocities because gamma-dot + // contributes to the kinematics. + auto slow_ramp = projector.step(0.1, pose, 0.0, 0.3, 0.2, 1.0); // step adds 0.02 (small gamma-dot) + auto snap = projector.step(0.1, pose, 0.0, 0.3, 100.0, 1.0); // snaps to 0.3 (huge gamma-dot) + CHECK(slow_ramp.angular_velocity_rad_s != Approx(snap.angular_velocity_rad_s)); +} + +} // namespace polymath::kinematics diff --git a/test/test_bicycle_projector.cpp b/test/test_bicycle_projector.cpp new file mode 100644 index 0000000..8262aac --- /dev/null +++ b/test/test_bicycle_projector.cpp @@ -0,0 +1,145 @@ +// Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved +// +// 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. + +#include + +#include "catch2_compat.hpp" +#include "polymath_kinematics/bicycle_projector.hpp" + +namespace polymath::kinematics +{ + +namespace +{ +constexpr double kWheelbase = 2.5; +constexpr double kTrack = 1.5; +constexpr double kWheelRadius = 0.3; +constexpr double kMinAngle = -0.6; +constexpr double kMaxAngle = 0.6; +} // namespace + +TEST_CASE("BicycleProjector construction stores model and limits") +{ + BicycleProjector projector(BicycleModel(kWheelbase, kTrack, kWheelRadius), kMinAngle, kMaxAngle); + CHECK(projector.get_min_steering_angle_rad() == Approx(kMinAngle)); + CHECK(projector.get_max_steering_angle_rad() == Approx(kMaxAngle)); + CHECK(projector.get_model().get_wheelbase_m() == Approx(kWheelbase)); +} + +TEST_CASE("BicycleProjector step - zero rate freezes the steering angle") +{ + BicycleProjector projector(BicycleModel(kWheelbase, kTrack, kWheelRadius), kMinAngle, kMaxAngle); + Pose2D pose{0.0, 0.0, 0.0}; + + auto result = projector.step(0.1, pose, 0.2, 0.5, 0.0, 1.0); + CHECK(result.steering_angle_rad == Approx(0.2)); +} + +TEST_CASE("BicycleProjector step - large rate reaches target in one step without overshoot") +{ + BicycleProjector projector(BicycleModel(kWheelbase, kTrack, kWheelRadius), kMinAngle, kMaxAngle); + Pose2D pose{0.0, 0.0, 0.0}; + + // |delta| = 0.3, max_delta = rate * dt = 10.0 * 0.1 = 1.0 >> 0.3 → snaps exactly to target. + auto result = projector.step(0.1, pose, 0.0, 0.3, 10.0, 1.0); + CHECK(result.steering_angle_rad == Approx(0.3)); +} + +TEST_CASE("BicycleProjector step - rate-limited slew advances by rate*dt toward target") +{ + BicycleProjector projector(BicycleModel(kWheelbase, kTrack, kWheelRadius), kMinAngle, kMaxAngle); + Pose2D pose{0.0, 0.0, 0.0}; + + // rate*dt = 0.05, target far away → expect 0.05 increment. + auto result = projector.step(0.1, pose, 0.0, 0.5, 0.5, 1.0); + CHECK(result.steering_angle_rad == Approx(0.05)); +} + +TEST_CASE("BicycleProjector step - negative steering rate is treated as magnitude") +{ + BicycleProjector projector(BicycleModel(kWheelbase, kTrack, kWheelRadius), kMinAngle, kMaxAngle); + Pose2D pose{0.0, 0.0, 0.0}; + + auto result = projector.step(0.1, pose, 0.0, 0.5, -0.5, 1.0); + CHECK(result.steering_angle_rad == Approx(0.05)); +} + +TEST_CASE("BicycleProjector step - target above max saturates at max") +{ + BicycleProjector projector(BicycleModel(kWheelbase, kTrack, kWheelRadius), kMinAngle, kMaxAngle); + Pose2D pose{0.0, 0.0, 0.0}; + + // With large rate the angle snaps to clamped_target == max. + auto result = projector.step(0.1, pose, 0.0, 5.0, 100.0, 1.0); + CHECK(result.steering_angle_rad == Approx(kMaxAngle)); +} + +TEST_CASE("BicycleProjector project - straight line traces +x with theta unchanged") +{ + BicycleProjector projector(BicycleModel(kWheelbase, kTrack, kWheelRadius), kMinAngle, kMaxAngle); + Pose2D pose{0.0, 0.0, 0.0}; + + auto trajectory = projector.project(1.0, 0.1, pose, 0.0, 0.0, 1.0, 2.0); + // ceil(1.0 / 0.1) + 1 = 11 samples + CHECK(trajectory.size() == 11); + CHECK(trajectory.front().time_s == Approx(0.0)); + CHECK(trajectory.front().pose.x == Approx(0.0)); + CHECK(trajectory.back().time_s == Approx(1.0)); + CHECK(trajectory.back().pose.x == Approx(2.0)); // x = v * t + CHECK(trajectory.back().pose.y == Approx(0.0)); + CHECK(trajectory.back().pose.theta == Approx(0.0)); +} + +TEST_CASE("BicycleProjector project - ramp reaches target in expected number of steps") +{ + BicycleProjector projector(BicycleModel(kWheelbase, kTrack, kWheelRadius), kMinAngle, kMaxAngle); + Pose2D pose{0.0, 0.0, 0.0}; + + // target=0.5, rate=0.5, dt=0.1 → step adds 0.05; takes 10 steps to reach 0.5. + auto trajectory = projector.project(2.0, 0.1, pose, 0.0, 0.5, 0.5, 0.0); + CHECK(trajectory[10].steering_angle_rad == Approx(0.5)); + CHECK(trajectory.back().steering_angle_rad == Approx(0.5)); // pinned to target afterwards +} + +TEST_CASE("BicycleProjector project - sign symmetry: negating target mirrors trajectory across y=0") +{ + BicycleProjector projector(BicycleModel(kWheelbase, kTrack, kWheelRadius), kMinAngle, kMaxAngle); + Pose2D pose{0.0, 0.0, 0.0}; + + auto left = projector.project(2.0, 0.05, pose, 0.0, 0.4, 1.0, 1.0); + auto right = projector.project(2.0, 0.05, pose, 0.0, -0.4, 1.0, 1.0); + REQUIRE(left.size() == right.size()); + + for (std::size_t i = 0; i < left.size(); ++i) { + CHECK(left[i].pose.x == Approx(right[i].pose.x)); + CHECK(left[i].pose.y == Approx(-right[i].pose.y)); + CHECK(left[i].pose.theta == Approx(-right[i].pose.theta)); + CHECK(left[i].steering_angle_rad == Approx(-right[i].steering_angle_rad)); + } +} + +TEST_CASE("BicycleProjector project - initial state stored as element 0") +{ + BicycleProjector projector(BicycleModel(kWheelbase, kTrack, kWheelRadius), kMinAngle, kMaxAngle); + Pose2D pose{1.5, -2.0, 0.25}; + + auto trajectory = projector.project(0.5, 0.1, pose, 0.1, 0.3, 0.5, 1.0); + CHECK(trajectory.front().time_s == Approx(0.0)); + CHECK(trajectory.front().pose.x == Approx(1.5)); + CHECK(trajectory.front().pose.y == Approx(-2.0)); + CHECK(trajectory.front().pose.theta == Approx(0.25)); + CHECK(trajectory.front().steering_angle_rad == Approx(0.1)); +} + +} // namespace polymath::kinematics diff --git a/test/test_differential_drive_projector.cpp b/test/test_differential_drive_projector.cpp new file mode 100644 index 0000000..e3acabe --- /dev/null +++ b/test/test_differential_drive_projector.cpp @@ -0,0 +1,133 @@ +// Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved +// +// 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. + +#include + +#include "catch2_compat.hpp" +#include "polymath_kinematics/differential_drive_projector.hpp" + +namespace polymath::kinematics +{ + +namespace +{ +constexpr double kWheelRadius = 0.1; +constexpr double kTrackWidth = 0.5; +constexpr double kVMin = -2.0; +constexpr double kVMax = 2.0; +constexpr double kOmegaMin = -3.0; +constexpr double kOmegaMax = 3.0; + +DifferentialDriveProjector makeProjector() +{ + return DifferentialDriveProjector( + DifferentialDriveModel(kWheelRadius, kTrackWidth), kVMin, kVMax, kOmegaMin, kOmegaMax); +} +} // namespace + +TEST_CASE("DifferentialDriveProjector construction stores model and limits") +{ + auto projector = makeProjector(); + CHECK(projector.get_min_linear_velocity_m_s() == Approx(kVMin)); + CHECK(projector.get_max_linear_velocity_m_s() == Approx(kVMax)); + CHECK(projector.get_min_angular_velocity_rad_s() == Approx(kOmegaMin)); + CHECK(projector.get_max_angular_velocity_rad_s() == Approx(kOmegaMax)); + CHECK(projector.get_model().get_wheel_radius_m() == Approx(kWheelRadius)); +} + +TEST_CASE("DifferentialDriveProjector step - zero acceleration freezes both velocities") +{ + auto projector = makeProjector(); + Pose2D pose{0.0, 0.0, 0.0}; + auto result = projector.step(0.1, pose, 0.5, 0.2, 1.5, 1.0, 0.0, 0.0); + CHECK(result.linear_velocity_m_s == Approx(0.5)); + CHECK(result.angular_velocity_rad_s == Approx(0.2)); +} + +TEST_CASE("DifferentialDriveProjector step - large acceleration snaps to target without overshoot") +{ + auto projector = makeProjector(); + Pose2D pose{0.0, 0.0, 0.0}; + // |delta_v| = 1.0, |delta_omega| = 0.4 — much smaller than 100 * 0.1 = 10.0. + auto result = projector.step(0.1, pose, 0.0, 0.0, 1.0, 0.4, 100.0, 100.0); + CHECK(result.linear_velocity_m_s == Approx(1.0)); + CHECK(result.angular_velocity_rad_s == Approx(0.4)); +} + +TEST_CASE("DifferentialDriveProjector step - rate-limited ramps advance by accel*dt") +{ + auto projector = makeProjector(); + Pose2D pose{0.0, 0.0, 0.0}; + // accel*dt = 0.5 * 0.1 = 0.05 for linear; 0.3 * 0.1 = 0.03 for angular. + auto result = projector.step(0.1, pose, 0.0, 0.0, 1.0, 0.5, 0.5, 0.3); + CHECK(result.linear_velocity_m_s == Approx(0.05)); + CHECK(result.angular_velocity_rad_s == Approx(0.03)); +} + +TEST_CASE("DifferentialDriveProjector step - target above linear max saturates at max") +{ + auto projector = makeProjector(); + Pose2D pose{0.0, 0.0, 0.0}; + auto result = projector.step(0.1, pose, 0.0, 0.0, 100.0, 100.0, 1000.0, 1000.0); + CHECK(result.linear_velocity_m_s == Approx(kVMax)); + CHECK(result.angular_velocity_rad_s == Approx(kOmegaMax)); +} + +TEST_CASE("DifferentialDriveProjector step - negative acceleration is treated as magnitude") +{ + auto projector = makeProjector(); + Pose2D pose{0.0, 0.0, 0.0}; + auto result = projector.step(0.1, pose, 0.0, 0.0, 1.0, 0.5, -0.5, -0.3); + CHECK(result.linear_velocity_m_s == Approx(0.05)); + CHECK(result.angular_velocity_rad_s == Approx(0.03)); +} + +TEST_CASE("DifferentialDriveProjector project - straight line traces +x at constant v") +{ + auto projector = makeProjector(); + Pose2D pose{0.0, 0.0, 0.0}; + // Constant linear=1.0, zero angular, large accels so the ramp is irrelevant. + auto trajectory = projector.project(1.0, 0.1, pose, 1.0, 0.0, 1.0, 0.0, 100.0, 100.0); + CHECK(trajectory.size() == 11); + CHECK(trajectory.front().time_s == Approx(0.0)); + CHECK(trajectory.back().time_s == Approx(1.0)); + CHECK(trajectory.back().pose.x == Approx(1.0)); + CHECK(trajectory.back().pose.y == Approx(0.0)); + CHECK(trajectory.back().pose.theta == Approx(0.0)); +} + +TEST_CASE("DifferentialDriveProjector project - initial state stored as element 0") +{ + auto projector = makeProjector(); + Pose2D pose{0.5, -1.0, 0.25}; + auto trajectory = projector.project(0.5, 0.1, pose, 0.2, 0.1, 0.5, 0.3, 0.5, 0.5); + CHECK(trajectory.front().time_s == Approx(0.0)); + CHECK(trajectory.front().pose.x == Approx(0.5)); + CHECK(trajectory.front().pose.y == Approx(-1.0)); + CHECK(trajectory.front().pose.theta == Approx(0.25)); + CHECK(trajectory.front().linear_velocity_m_s == Approx(0.2)); + CHECK(trajectory.front().angular_velocity_rad_s == Approx(0.1)); +} + +TEST_CASE("DifferentialDriveProjector step - wheel speeds derive from body command") +{ + auto projector = makeProjector(); + Pose2D pose{0.0, 0.0, 0.0}; + // After snap, body command is (1.0 m/s, 0.0 rad/s); wheel speeds should both be 1.0 / 0.1 = 10 rad/s. + auto result = projector.step(0.1, pose, 0.0, 0.0, 1.0, 0.0, 100.0, 100.0); + CHECK(result.wheel_velocities.left_wheel_velocity_rad_s == Approx(10.0)); + CHECK(result.wheel_velocities.right_wheel_velocity_rad_s == Approx(10.0)); +} + +} // namespace polymath::kinematics diff --git a/test/test_explorer.py b/test/test_explorer.py new file mode 100644 index 0000000..a95ca1e --- /dev/null +++ b/test/test_explorer.py @@ -0,0 +1,427 @@ +# Copyright (c) 2025-present Polymath Robotics, Inc. All rights reserved +# +# 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. +"""Tests for the kinematic explorer module.""" + +import math + +import pytest + +from polymath_kinematics.explorer import ( + KINEMATIC_EQUATIONS, + LATTICE_CONFIG, + generate_lattice_articulated, + generate_lattice_bicycle, + generate_lattice_differential, + plot_analysis, + plot_lattice, + plot_trajectory_with_footprints, + select_symmetric_trajectories, + single_articulated_trajectory, + single_bicycle_trajectory, + single_differential_trajectory, + trajectories_to_dataframe, +) + + +class TestLatticeGeneration: + def test_generate_lattice_differential(self): + trajectories = generate_lattice_differential( + wheel_radius=0.1, + track_width=0.5, + base_wheel_velocities=(10.0,), + wheel_velocity_diffs=(-5.0, 0.0, 5.0), + duration=1.0, + time_step=0.1, + ) + + # Differential drive still uses manual Euler: num_steps = int(duration/time_step). + assert len(trajectories) == 3 + assert len(trajectories[0].time) == 10 + assert trajectories[0].linear_velocity == pytest.approx(1.0) + + def test_generate_lattice_differential_multiple_velocities(self): + trajectories = generate_lattice_differential( + wheel_radius=0.1, + track_width=0.5, + base_wheel_velocities=(10.0, 15.0), + wheel_velocity_diffs=(-5.0, 0.0, 5.0), + duration=1.0, + time_step=0.1, + ) + assert len(trajectories) == 6 + + def test_generate_lattice_bicycle(self): + trajectories = generate_lattice_bicycle( + wheelbase=2.5, + track_width=1.5, + wheel_radius=0.3, + drive_velocities=(2.0,), + steering_angles=(0.0, math.radians(15)), + duration=1.0, + time_step=0.1, + ) + # Projector returns ceil(duration/dt) + 1 samples (initial state seeded as element 0). + assert len(trajectories) == 2 + assert len(trajectories[0].time) == 11 + assert trajectories[0].drive_velocity == pytest.approx(2.0) + + def test_generate_lattice_articulated(self): + trajectories = generate_lattice_articulated( + articulation_to_front=1.5, + articulation_to_rear=1.2, + front_track=1.8, + rear_track=1.6, + front_wheel_radius=0.4, + rear_wheel_radius=0.5, + drive_velocities=(2.0,), + articulation_angles=(0.0, math.radians(15)), + duration=1.0, + time_step=0.1, + ) + assert len(trajectories) == 2 + assert len(trajectories[0].time) == 11 + assert trajectories[0].drive_velocity == pytest.approx(2.0) + + def test_method_param_accepted_for_compatibility(self): + # method='rk4' is accepted but the projector path is Euler-only — the call must still succeed. + trajectories = generate_lattice_bicycle( + wheelbase=2.5, + track_width=1.5, + wheel_radius=0.3, + drive_velocities=(2.0,), + steering_angles=(math.radians(15),), + duration=1.0, + time_step=0.1, + method='rk4', + ) + assert len(trajectories) == 1 + + +class TestDataframeExport: + def test_differential_drive_export(self): + trajectories = generate_lattice_differential( + wheel_radius=0.1, + track_width=0.5, + base_wheel_velocities=(10.0,), + wheel_velocity_diffs=(-5.0, 0.0, 5.0), + duration=1.0, + time_step=0.1, + ) + dataframe = trajectories_to_dataframe(trajectories, 'Differential Drive') + + expected_columns = [ + 'trajectory_id', + 'time', + 'x', + 'y', + 'theta', + 'linear_velocity', + 'angular_velocity', + 'left_wheel_velocity', + 'right_wheel_velocity', + 'base_wheel_velocity', + ] + assert list(dataframe.columns) == expected_columns + assert len(dataframe) == 30 # 3 trajectories * 10 points each + + def test_bicycle_export(self): + trajectories = generate_lattice_bicycle( + wheelbase=2.5, + track_width=1.5, + wheel_radius=0.3, + drive_velocities=(2.0,), + steering_angles=(0.0,), + duration=1.0, + time_step=0.1, + ) + dataframe = trajectories_to_dataframe(trajectories, 'Bicycle') + + assert 'drive_velocity' in dataframe.columns + assert 'steering_angle' in dataframe.columns + assert 'turning_radius' in dataframe.columns + + def test_articulated_export(self): + trajectories = generate_lattice_articulated( + articulation_to_front=1.5, + articulation_to_rear=1.2, + front_track=1.8, + rear_track=1.6, + front_wheel_radius=0.4, + rear_wheel_radius=0.5, + drive_velocities=(2.0,), + articulation_angles=(0.0,), + duration=1.0, + time_step=0.1, + ) + dataframe = trajectories_to_dataframe(trajectories, 'Articulated') + + assert 'drive_velocity' in dataframe.columns + assert 'articulation_angle' in dataframe.columns + assert 'turning_radius' in dataframe.columns + + def test_empty_trajectories(self): + dataframe = trajectories_to_dataframe([], 'Bicycle') + assert dataframe.empty + + +class TestTrajectorySelection: + def test_select_symmetric_trajectories(self): + trajectories = generate_lattice_differential( + wheel_radius=0.1, + track_width=0.5, + base_wheel_velocities=(10.0, 15.0), + wheel_velocity_diffs=(-5.0, -2.5, 0.0, 2.5, 5.0), + duration=1.0, + time_step=0.1, + ) + selected = select_symmetric_trajectories(trajectories, 'Differential Drive', num_angles=3, num_velocities=1) + assert len(selected) == 3 + + def test_select_all_when_fewer_than_requested(self): + trajectories = generate_lattice_bicycle( + wheelbase=2.5, + track_width=1.5, + wheel_radius=0.3, + drive_velocities=(2.0,), + steering_angles=(0.0, math.radians(15)), + duration=1.0, + time_step=0.1, + ) + selected = select_symmetric_trajectories(trajectories, 'Bicycle', num_angles=5, num_velocities=1) + assert len(selected) == 2 + + def test_empty_trajectories_selection(self): + selected = select_symmetric_trajectories([], 'Bicycle', num_angles=5, num_velocities=1) + assert selected == [] + + +class TestPlotting: + @pytest.fixture + def differential_trajectories(self): + return generate_lattice_differential( + wheel_radius=0.1, + track_width=0.5, + base_wheel_velocities=(10.0, 15.0), + wheel_velocity_diffs=(-5.0, 0.0, 5.0), + duration=1.0, + time_step=0.1, + ) + + @pytest.fixture + def bicycle_trajectories(self): + return generate_lattice_bicycle( + wheelbase=2.5, + track_width=1.5, + wheel_radius=0.3, + drive_velocities=(2.0, 3.0), + steering_angles=(-math.radians(15), 0.0, math.radians(15)), + duration=1.0, + time_step=0.1, + ) + + @pytest.fixture + def articulated_trajectories(self): + return generate_lattice_articulated( + articulation_to_front=1.5, + articulation_to_rear=1.2, + front_track=1.8, + rear_track=1.6, + front_wheel_radius=0.4, + rear_wheel_radius=0.5, + drive_velocities=(2.0,), + articulation_angles=(-math.radians(15), 0.0, math.radians(15)), + duration=1.0, + time_step=0.1, + ) + + def test_plot_lattice_differential(self, differential_trajectories): + assert plot_lattice(differential_trajectories, 'Differential Drive', [10.0, 15.0]) is not None + + def test_plot_lattice_bicycle(self, bicycle_trajectories): + assert plot_lattice(bicycle_trajectories, 'Bicycle', [2.0, 3.0]) is not None + + def test_plot_lattice_articulated(self, articulated_trajectories): + assert plot_lattice(articulated_trajectories, 'Articulated', [2.0]) is not None + + def test_plot_analysis_differential(self, differential_trajectories): + assert plot_analysis(differential_trajectories, 'Differential Drive', [10.0, 15.0]) is not None + + def test_plot_analysis_bicycle(self, bicycle_trajectories): + assert plot_analysis(bicycle_trajectories, 'Bicycle', [2.0, 3.0]) is not None + + def test_plot_analysis_articulated(self, articulated_trajectories): + assert plot_analysis(articulated_trajectories, 'Articulated', [2.0]) is not None + + def test_plot_trajectory_with_footprints_differential(self, differential_trajectories): + selected = select_symmetric_trajectories( + differential_trajectories, 'Differential Drive', num_angles=3, num_velocities=1 + ) + figure = plot_trajectory_with_footprints( + selected, 'Differential Drive', {'length': 0.75, 'width': 0.5}, num_footprints=3 + ) + assert figure is not None + + def test_plot_trajectory_with_footprints_bicycle(self, bicycle_trajectories): + selected = select_symmetric_trajectories(bicycle_trajectories, 'Bicycle', num_angles=3, num_velocities=1) + figure = plot_trajectory_with_footprints(selected, 'Bicycle', {'length': 2.5, 'width': 1.5}, num_footprints=3) + assert figure is not None + + def test_plot_trajectory_with_footprints_articulated(self, articulated_trajectories): + selected = select_symmetric_trajectories( + articulated_trajectories, 'Articulated', num_angles=3, num_velocities=1 + ) + model_params = { + 'front_length': 1.5, + 'rear_length': 1.2, + 'front_width': 1.8, + 'rear_width': 1.6, + } + figure = plot_trajectory_with_footprints(selected, 'Articulated', model_params, num_footprints=3) + assert figure is not None + + +class TestConfig: + def test_lattice_config_keys(self): + assert 'Differential Drive' in LATTICE_CONFIG + assert 'Bicycle' in LATTICE_CONFIG + assert 'Articulated' in LATTICE_CONFIG + + def test_lattice_config_fields(self): + config = LATTICE_CONFIG['Bicycle'] + assert config.group_key == 'drive_velocity' + assert config.vel_key == 'drive_velocity' + assert config.angle_key == 'steering_angle' + + def test_kinematic_equations_present(self): + for model_type in ('Differential Drive', 'Bicycle', 'Articulated'): + assert model_type in KINEMATIC_EQUATIONS + assert 'title' in KINEMATIC_EQUATIONS[model_type] + assert 'equations' in KINEMATIC_EQUATIONS[model_type] + assert 'variables' in KINEMATIC_EQUATIONS[model_type] + + +class TestSingleTrajectory: + def test_single_bicycle_trajectory_reaches_target(self): + # Initial=0, target=0.3, rate=0.3 rad/s, duration=2s → step adds at most 0.3*dt; + # over 2s we reach the target well before the horizon ends. The trajectory's + # `steering_angle` field reflects the target (steady-state). + traj = single_bicycle_trajectory( + wheelbase=2.5, + track_width=1.5, + wheel_radius=0.3, + initial_steering_angle_rad=0.0, + target_steering_angle_rad=0.3, + steering_rate_rad_s=0.3, + drive_velocity=1.0, + duration=2.0, + time_step=0.1, + ) + assert traj.steering_angle == pytest.approx(0.3) + assert len(traj.time) == 21 + # Pose advanced from origin (we drove forward). + assert traj.x[-1] > 0.0 + + def test_single_articulated_trajectory_reaches_target(self): + traj = single_articulated_trajectory( + articulation_to_front=1.66, + articulation_to_rear=1.44, + front_track=2.0, + rear_track=2.0, + front_wheel_radius=0.723, + rear_wheel_radius=0.723, + initial_articulation_angle_rad=0.0, + target_articulation_angle_rad=0.4, + articulation_rate_rad_s=0.5, + drive_velocity=1.0, + duration=2.0, + time_step=0.1, + ) + assert traj.articulation_angle == pytest.approx(0.4) + assert len(traj.time) == 21 + assert traj.x[-1] > 0.0 + + def test_single_differential_trajectory_ramps_both_velocities(self): + traj = single_differential_trajectory( + wheel_radius=0.1, + track_width=0.5, + initial_linear_velocity=0.0, + initial_angular_velocity=0.0, + target_linear_velocity=1.0, + target_angular_velocity=0.5, + linear_acceleration=1.0, + angular_acceleration=1.0, + duration=2.0, + time_step=0.1, + ) + # Targets reached in ~1.0s and ~0.5s respectively; final state pinned to target. + assert traj.linear_velocity == pytest.approx(1.0) + assert traj.angular_velocity == pytest.approx(0.5) + assert len(traj.time) == 21 + + def test_single_bicycle_zero_rate_keeps_initial_angle(self): + # With rate=0 the angle never advances; turning_radius reflects the (unchanging) + # initial angle, not the target. + traj = single_bicycle_trajectory( + wheelbase=2.5, + track_width=1.5, + wheel_radius=0.3, + initial_steering_angle_rad=0.0, + target_steering_angle_rad=0.5, + steering_rate_rad_s=0.0, + drive_velocity=1.0, + duration=1.0, + time_step=0.1, + ) + # Zero steering → straight line along +x. + assert traj.x[-1] == pytest.approx(1.0) + assert traj.y[-1] == pytest.approx(0.0) + + def test_single_bicycle_steering_series_brackets_initial_and_target(self): + # Initial=0 → target=0.3 at rate=0.3 rad/s; ramp completes in 1s. Over duration=2s + # the series starts at 0 and ends pinned at 0.3. + traj = single_bicycle_trajectory( + wheelbase=2.5, + track_width=1.5, + wheel_radius=0.3, + initial_steering_angle_rad=0.0, + target_steering_angle_rad=0.3, + steering_rate_rad_s=0.3, + drive_velocity=1.0, + duration=2.0, + time_step=0.1, + ) + assert traj.steering_angle_series is not None + assert len(traj.steering_angle_series) == len(traj.time) + assert traj.steering_angle_series[0] == pytest.approx(0.0) + assert traj.steering_angle_series[-1] == pytest.approx(0.3) + + def test_single_articulated_articulation_series_brackets_initial_and_target(self): + traj = single_articulated_trajectory( + articulation_to_front=1.66, + articulation_to_rear=1.44, + front_track=2.0, + rear_track=2.0, + front_wheel_radius=0.723, + rear_wheel_radius=0.723, + initial_articulation_angle_rad=0.0, + target_articulation_angle_rad=0.4, + articulation_rate_rad_s=0.5, + drive_velocity=1.0, + duration=2.0, + time_step=0.1, + ) + assert traj.articulation_angle_series is not None + assert len(traj.articulation_angle_series) == len(traj.time) + assert traj.articulation_angle_series[0] == pytest.approx(0.0) + assert traj.articulation_angle_series[-1] == pytest.approx(0.4) diff --git a/test/test_python_bindings.py b/test/test_python_bindings.py index 1cf1880..7ec0e31 100644 --- a/test/test_python_bindings.py +++ b/test/test_python_bindings.py @@ -18,8 +18,12 @@ from polymath_kinematics import ( ArticulatedModel, + ArticulatedProjector, BicycleModel, + BicycleProjector, DifferentialDriveModel, + DifferentialDriveProjector, + Pose2D, ) @@ -141,3 +145,180 @@ def test_reverse_roundtrip(self): axle_vel = model.articulation_to_axle_velocities(linear_velocity, vehicle_state.articulation_angle_rad) assert axle_vel.front_axle_turning_velocity_rad_s == pytest.approx(angular_velocity, abs=1e-6) + + def test_axle_velocities_rate_defaults_to_zero(self): + model = ArticulatedModel(1.5, 1.2, 1.8, 1.6, 0.4, 0.5) + no_arg = model.articulation_to_axle_velocities(2.0, 0.3) + explicit_zero = model.articulation_to_axle_velocities(2.0, 0.3, 0.0) + + assert no_arg.front_axle_turning_velocity_rad_s == pytest.approx( + explicit_zero.front_axle_turning_velocity_rad_s + ) + assert no_arg.rear_axle_turning_velocity_rad_s == pytest.approx(explicit_zero.rear_axle_turning_velocity_rad_s) + + def test_axle_velocities_nonzero_rate_changes_rear(self): + model = ArticulatedModel(1.5, 1.2, 1.8, 1.6, 0.4, 0.5) + gamma_dot = 0.25 + with_rate = model.articulation_to_axle_velocities(2.0, 0.3, gamma_dot) + # rear-axle turning velocity = front-axle turning velocity - gamma_dot, exactly. + assert ( + with_rate.front_axle_turning_velocity_rad_s - with_rate.rear_axle_turning_velocity_rad_s + == pytest.approx(gamma_dot) + ) + + +class TestBicycleProjector: + def _make(self): + return BicycleProjector( + model=BicycleModel(2.5, 1.5, 0.3), + min_steering_angle_rad=-0.6, + max_steering_angle_rad=0.6, + ) + + def test_construction(self): + projector = self._make() + assert projector.min_steering_angle_rad == pytest.approx(-0.6) + assert projector.max_steering_angle_rad == pytest.approx(0.6) + assert projector.model.wheelbase == pytest.approx(2.5) + + def test_zero_rate_freezes_angle(self): + projector = self._make() + result = projector.step( + dt_s=0.1, + current_pose=Pose2D(), + current_steering_angle_rad=0.2, + target_steering_angle_rad=0.5, + steering_rate_rad_s=0.0, + linear_velocity_m_s=1.0, + ) + assert result.steering_angle_rad == pytest.approx(0.2) + + def test_clamping_saturates_at_max(self): + projector = self._make() + result = projector.step(0.1, Pose2D(), 0.0, 5.0, 100.0, 1.0) + assert result.steering_angle_rad == pytest.approx(0.6) + + def test_rate_limited_ramp(self): + projector = self._make() + result = projector.step(0.1, Pose2D(), 0.0, 0.5, 0.5, 1.0) + assert result.steering_angle_rad == pytest.approx(0.05) + + def test_project_straight_line(self): + projector = self._make() + traj = projector.project(1.0, 0.1, Pose2D(), 0.0, 0.0, 1.0, 2.0) + assert len(traj) == 11 + assert traj[0].time_s == pytest.approx(0.0) + assert traj[-1].time_s == pytest.approx(1.0) + assert traj[-1].pose.x == pytest.approx(2.0) + assert traj[-1].pose.y == pytest.approx(0.0) + assert traj[-1].pose.theta == pytest.approx(0.0) + + def test_project_ramps_to_target(self): + projector = self._make() + # target=0.5, rate=0.5, dt=0.1 → step adds 0.05; reaches 0.5 at step 10. + traj = projector.project(2.0, 0.1, Pose2D(), 0.0, 0.5, 0.5, 0.0) + assert traj[10].steering_angle_rad == pytest.approx(0.5) + assert traj[-1].steering_angle_rad == pytest.approx(0.5) + + +class TestArticulatedProjector: + def _make(self): + return ArticulatedProjector( + model=ArticulatedModel(1.66, 1.44, 2.0, 2.0, 0.723, 0.723), + min_articulation_angle_rad=-0.785, + max_articulation_angle_rad=0.785, + ) + + def test_construction(self): + projector = self._make() + assert projector.min_articulation_angle_rad == pytest.approx(-0.785) + assert projector.max_articulation_angle_rad == pytest.approx(0.785) + assert projector.model.articulation_to_front_axle == pytest.approx(1.66) + + def test_zero_rate_freezes_angle(self): + projector = self._make() + result = projector.step(0.1, Pose2D(), 0.3, 0.6, 0.0, 1.0) + assert result.articulation_angle_rad == pytest.approx(0.3) + + def test_clamping_saturates_at_max(self): + projector = self._make() + result = projector.step(0.1, Pose2D(), 0.0, 2.0, 100.0, 1.0) + assert result.articulation_angle_rad == pytest.approx(0.785) + + def test_rate_limited_ramp(self): + projector = self._make() + result = projector.step(0.1, Pose2D(), 0.0, 0.5, 0.2, 1.0) + assert result.articulation_angle_rad == pytest.approx(0.02) + + def test_project_stueve_max_articulation(self): + projector = self._make() + # target=0.785, rate=0.2 rad/s, dt=0.1 → 0.02 per step; reaches max at step 40 (~3.925s ceil to 4.0s). + traj = projector.project(5.0, 0.1, Pose2D(), 0.0, 0.785, 0.2, 1.0) + assert len(traj) == 51 + assert traj[40].articulation_angle_rad == pytest.approx(0.785) + assert traj[-1].articulation_angle_rad == pytest.approx(0.785) + + def test_project_initial_state_anchored(self): + projector = self._make() + initial = Pose2D(x=1.0, y=2.0, theta=0.5) + traj = projector.project(0.5, 0.1, initial, 0.2, 0.6, 0.5, 1.0) + assert traj[0].time_s == pytest.approx(0.0) + assert traj[0].pose.x == pytest.approx(1.0) + assert traj[0].pose.y == pytest.approx(2.0) + assert traj[0].pose.theta == pytest.approx(0.5) + assert traj[0].articulation_angle_rad == pytest.approx(0.2) + + +class TestDifferentialDriveProjector: + def _make(self): + return DifferentialDriveProjector( + model=DifferentialDriveModel(0.1, 0.5), + min_linear_velocity_m_s=-2.0, + max_linear_velocity_m_s=2.0, + min_angular_velocity_rad_s=-3.0, + max_angular_velocity_rad_s=3.0, + ) + + def test_construction(self): + projector = self._make() + assert projector.min_linear_velocity_m_s == pytest.approx(-2.0) + assert projector.max_linear_velocity_m_s == pytest.approx(2.0) + assert projector.min_angular_velocity_rad_s == pytest.approx(-3.0) + assert projector.max_angular_velocity_rad_s == pytest.approx(3.0) + assert projector.model.wheel_radius == pytest.approx(0.1) + + def test_zero_accel_freezes_velocities(self): + projector = self._make() + result = projector.step( + dt_s=0.1, + current_pose=Pose2D(), + current_linear_velocity_m_s=0.5, + current_angular_velocity_rad_s=0.2, + target_linear_velocity_m_s=1.5, + target_angular_velocity_rad_s=1.0, + linear_acceleration_m_s2=0.0, + angular_acceleration_rad_s2=0.0, + ) + assert result.linear_velocity_m_s == pytest.approx(0.5) + assert result.angular_velocity_rad_s == pytest.approx(0.2) + + def test_clamping_saturates_at_max(self): + projector = self._make() + result = projector.step(0.1, Pose2D(), 0.0, 0.0, 100.0, 100.0, 1000.0, 1000.0) + assert result.linear_velocity_m_s == pytest.approx(2.0) + assert result.angular_velocity_rad_s == pytest.approx(3.0) + + def test_rate_limited_ramp(self): + projector = self._make() + result = projector.step(0.1, Pose2D(), 0.0, 0.0, 1.0, 0.5, 0.5, 0.3) + assert result.linear_velocity_m_s == pytest.approx(0.05) + assert result.angular_velocity_rad_s == pytest.approx(0.03) + + def test_project_straight_line(self): + projector = self._make() + # Constant linear=1.0, zero angular, large accels. + traj = projector.project(1.0, 0.1, Pose2D(), 1.0, 0.0, 1.0, 0.0, 100.0, 100.0) + assert len(traj) == 11 + assert traj[-1].pose.x == pytest.approx(1.0) + assert traj[-1].pose.y == pytest.approx(0.0) + assert traj[-1].pose.theta == pytest.approx(0.0) diff --git a/uv.lock b/uv.lock new file mode 100644 index 0000000..8b9dd6b --- /dev/null +++ b/uv.lock @@ -0,0 +1,1899 @@ +version = 1 +revision = 3 +requires-python = ">=3.10" +resolution-markers = [ + "python_full_version >= '3.14' and sys_platform == 'win32'", + "python_full_version >= '3.14' and sys_platform == 'emscripten'", + 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