From ab550b04991b7ade07fc62b9c10111b068ea7e16 Mon Sep 17 00:00:00 2001 From: mattking-smith Date: Sat, 11 Dec 2021 19:39:33 -0500 Subject: [PATCH 1/7] Updated .h files to make them comptable with MATLAB toolbox while wrapping. Updated .m files for GTSAM defintion change, (transform_from to transformFrom). Added GTSAM wrap library as a submodule. --- .gitmodules | 3 +++ CMakeLists.txt | 15 ++++++++++++--- gpmp2/kinematics/ForwardKinematics-inl.h | 4 ++-- gpmp2/kinematics/GaussianPriorWorkspacePosition.h | 6 +++--- gpmp2/kinematics/GoalFactorArm.h | 6 +++--- gpmp2/kinematics/RobotModel-inl.h | 10 +++++----- gpmp2/obstacle/PlanarSDF.h | 2 +- gpmp2/obstacle/SignedDistanceField.h | 2 +- matlab/+gpmp2/plotPlanarMobile2Arms.m | 12 ++++++------ matlab/+gpmp2/plotPlanarMobileArm.m | 12 ++++++------ matlab/+gpmp2/plotPlanarMobileBase.m | 12 ++++++------ wrap | 1 + 12 files changed, 49 insertions(+), 36 deletions(-) create mode 100644 .gitmodules create mode 160000 wrap diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..af2f7e5 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "wrap"] + path = wrap + url = https://github.com/borglab/wrap.git diff --git a/CMakeLists.txt b/CMakeLists.txt index 607161a..3607138 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -63,11 +63,20 @@ include_directories(BEFORE ${CMAKE_CURRENT_SOURCE_DIR}) # Process source subdirs add_subdirectory(gpmp2) +# Find current wrap repository +find_package(gtwrap) + +if(NOT GPMP2_TOOLBOX_INSTALL_PATH) + set(GPMP2_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gpmp2_toolbox") +endif() +set(GPMP2_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gpmp2_toolbox") +set(WRAP_TOOLBOX_INSTALL_PATH ${GTSAM_TOOLBOX_INSTALL_PATH}) + # Wrapping to MATLAB if(GPMP2_BUILD_MATLAB_TOOLBOX) - # wrap - include(GtsamMatlabWrap) - wrap_and_install_library(gpmp2.h ${PROJECT_NAME} "${CMAKE_CURRENT_SOURCE_DIR}" "") + + include(MatlabWrap) + matlab_wrap(gpmp2.h ${PROJECT_NAME} "gtsam;${PROJECT_NAME}" "" "" "") # install matlab functions and scripts add_subdirectory(matlab) diff --git a/gpmp2/kinematics/ForwardKinematics-inl.h b/gpmp2/kinematics/ForwardKinematics-inl.h index 0c37f5b..b666706 100644 --- a/gpmp2/kinematics/ForwardKinematics-inl.h +++ b/gpmp2/kinematics/ForwardKinematics-inl.h @@ -22,7 +22,7 @@ gtsam::Matrix ForwardKinematics::forwardKinematicsPose(const Pos for (size_t i = 0; i < nr_links_; i++) jpx_mat.col(i) = (gtsam::Vector6() << gtsam::Vector3(jpx[i].rotation().yaw(), jpx[i].rotation().pitch(), jpx[i].rotation().roll()), - jpx[i].translation().vector()).finished(); + jpx[i].translation()).finished(); return jpx_mat; } @@ -36,7 +36,7 @@ gtsam::Matrix ForwardKinematics::forwardKinematicsPosition(const // convert vector in matrix gtsam::Matrix jpx_mat(3, nr_links_); for (size_t i = 0; i < nr_links_; i++) - jpx_mat.col(i) = jpx[i].translation().vector(); + jpx_mat.col(i) = jpx[i].translation(); return jpx_mat; } diff --git a/gpmp2/kinematics/GaussianPriorWorkspacePosition.h b/gpmp2/kinematics/GaussianPriorWorkspacePosition.h index 10238b0..b95db3a 100644 --- a/gpmp2/kinematics/GaussianPriorWorkspacePosition.h +++ b/gpmp2/kinematics/GaussianPriorWorkspacePosition.h @@ -63,10 +63,10 @@ class GaussianPriorWorkspacePosition: public gtsam::NoiseModelFactor1 { Matrix36 Hpp; Point3 end_point = joint_pos[arm_.dof() - 1].translation(Hpp); *H1 = Hpp * J_jpx_jp[arm_.dof() - 1]; - return end_point.vector() - dest_point_.vector(); + return end_point - dest_point_; } else { - return joint_pos[arm_.dof() - 1].translation().vector() - dest_point_.vector(); + return joint_pos[arm_.dof() - 1].translation() - dest_point_; } } @@ -86,7 +86,7 @@ class GoalFactorArm: public gtsam::NoiseModelFactor1 { void print(const std::string& s="", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { std::cout << s << "GoalFactorArm :" << std::endl; Base::print("", keyFormatter); - std::cout << "dest : "; dest_point_.print(); + std::cout << "dest : "; dest_point_; } private: diff --git a/gpmp2/kinematics/RobotModel-inl.h b/gpmp2/kinematics/RobotModel-inl.h index f30d7cc..4ace4a0 100644 --- a/gpmp2/kinematics/RobotModel-inl.h +++ b/gpmp2/kinematics/RobotModel-inl.h @@ -28,12 +28,12 @@ void RobotModel::sphereCenters(const Pose& jp, for (size_t sph_idx = 0; sph_idx < nr_body_spheres(); sph_idx++) { if (J_point_conf) { gtsam::Matrix36 J_point_pose; - sph_centers[sph_idx] = link_poses[body_spheres_[sph_idx].link_id].transform_from( + sph_centers[sph_idx] = link_poses[body_spheres_[sph_idx].link_id].transformFrom( body_spheres_[sph_idx].center, J_point_pose); (*J_point_conf)[sph_idx] = J_point_pose * J_pose_jp[body_spheres_[sph_idx].link_id]; } else { - sph_centers[sph_idx] = link_poses[body_spheres_[sph_idx].link_id].transform_from( + sph_centers[sph_idx] = link_poses[body_spheres_[sph_idx].link_id].transformFrom( body_spheres_[sph_idx].center); } } @@ -55,12 +55,12 @@ gtsam::Point3 RobotModel::sphereCenter(size_t sph_idx, const Pose& jp, gtsam::Point3 sph_center; if (J_point_conf) { gtsam::Matrix36 J_point_pose; - sph_center = link_poses[body_spheres_[sph_idx].link_id].transform_from( + sph_center = link_poses[body_spheres_[sph_idx].link_id].transformFrom( body_spheres_[sph_idx].center, J_point_pose); *J_point_conf = J_point_pose * J_pose_jp[body_spheres_[sph_idx].link_id]; } else { - sph_center = link_poses[body_spheres_[sph_idx].link_id].transform_from( + sph_center = link_poses[body_spheres_[sph_idx].link_id].transformFrom( body_spheres_[sph_idx].center); } @@ -77,7 +77,7 @@ gtsam::Matrix RobotModel::sphereCentersMat(const Pose& jp) const { // convert to matrix gtsam::Matrix points_mat(3, nr_body_spheres()); for (size_t i = 0; i < nr_body_spheres(); i++) - points_mat.col(i) = sph_centers[i].vector(); + points_mat.col(i) = sph_centers[i]; return points_mat; } diff --git a/gpmp2/obstacle/PlanarSDF.h b/gpmp2/obstacle/PlanarSDF.h index 5652722..1d7d57c 100644 --- a/gpmp2/obstacle/PlanarSDF.h +++ b/gpmp2/obstacle/PlanarSDF.h @@ -129,7 +129,7 @@ class GPMP2_EXPORT PlanarSDF { /// print void print(const std::string& str = "") const { std::cout << str; - std::cout << "field origin: "; origin_.print(); + std::cout << "field origin: "; origin_; std::cout << "field resolution: " << cell_size_ << std::endl; std::cout << "field size: " << field_cols_ << " x " << field_rows_ << std::endl; diff --git a/gpmp2/obstacle/SignedDistanceField.h b/gpmp2/obstacle/SignedDistanceField.h index 22ac39a..505e7d1 100644 --- a/gpmp2/obstacle/SignedDistanceField.h +++ b/gpmp2/obstacle/SignedDistanceField.h @@ -181,7 +181,7 @@ class GPMP2_EXPORT SignedDistanceField { /// print void print(const std::string& str = "") const { std::cout << str; - std::cout << "field origin: "; origin_.print(); + std::cout << "field origin: "; origin_; std::cout << "field resolution: " << cell_size_ << std::endl; std::cout << "field size: " << field_cols_ << " x " << field_rows_ << " x " << field_z_ << std::endl; diff --git a/matlab/+gpmp2/plotPlanarMobile2Arms.m b/matlab/+gpmp2/plotPlanarMobile2Arms.m index 0f5d132..a3a48ec 100644 --- a/matlab/+gpmp2/plotPlanarMobile2Arms.m +++ b/matlab/+gpmp2/plotPlanarMobile2Arms.m @@ -7,14 +7,14 @@ pose = p.pose(); % vehicle corners -corner1 = pose.transform_from(Point2(vehsize(1)/2, vehsize(2)/2)); -corner2 = pose.transform_from(Point2(-vehsize(1)/2, vehsize(2)/2)); -corner3 = pose.transform_from(Point2(-vehsize(1)/2, -vehsize(2)/2)); -corner4 = pose.transform_from(Point2(vehsize(1)/2, -vehsize(2)/2)); +corner1 = pose.transformFrom(Point2(vehsize(1)/2, vehsize(2)/2)); +corner2 = pose.transformFrom(Point2(-vehsize(1)/2, vehsize(2)/2)); +corner3 = pose.transformFrom(Point2(-vehsize(1)/2, -vehsize(2)/2)); +corner4 = pose.transformFrom(Point2(vehsize(1)/2, -vehsize(2)/2)); % vehicle base black lines -h(1) = plot([corner1.x() corner2.x() corner3.x() corner4.x() corner1.x()], ... - [corner1.y() corner2.y() corner3.y() corner4.y() corner1.y()], 'k-'); +h(1) = plot([corner1(1) corner2(1) corner3(1) corner4(1) corner1(1)], ... + [corner1(2) corner2(2) corner3(2) corner4(2) corner1(2)], 'k-'); % arm position = marm.forwardKinematicsPosition(p); diff --git a/matlab/+gpmp2/plotPlanarMobileArm.m b/matlab/+gpmp2/plotPlanarMobileArm.m index 7f5c422..57dde8d 100644 --- a/matlab/+gpmp2/plotPlanarMobileArm.m +++ b/matlab/+gpmp2/plotPlanarMobileArm.m @@ -7,14 +7,14 @@ pose = p.pose(); % vehicle corners -corner1 = pose.transform_from(Point2(vehsize(1)/2, vehsize(2)/2)); -corner2 = pose.transform_from(Point2(-vehsize(1)/2, vehsize(2)/2)); -corner3 = pose.transform_from(Point2(-vehsize(1)/2, -vehsize(2)/2)); -corner4 = pose.transform_from(Point2(vehsize(1)/2, -vehsize(2)/2)); +corner1 = pose.transformFrom(Point2(vehsize(1)/2, vehsize(2)/2)); +corner2 = pose.transformFrom(Point2(-vehsize(1)/2, vehsize(2)/2)); +corner3 = pose.transformFrom(Point2(-vehsize(1)/2, -vehsize(2)/2)); +corner4 = pose.transformFrom(Point2(vehsize(1)/2, -vehsize(2)/2)); % vehicle base black lines -h(1) = plot([corner1.x() corner2.x() corner3.x() corner4.x() corner1.x()], ... - [corner1.y() corner2.y() corner3.y() corner4.y() corner1.y()], 'k-'); +h(1) = plot([corner1(1) corner2(1) corner3(1) corner4(1) corner1(1)], ... + [corner1(2) corner2(2) corner3(2) corner4(2) corner1(2)], 'k-'); % arm position = marm.forwardKinematicsPosition(p); diff --git a/matlab/+gpmp2/plotPlanarMobileBase.m b/matlab/+gpmp2/plotPlanarMobileBase.m index 7bdad22..a482b1c 100644 --- a/matlab/+gpmp2/plotPlanarMobileBase.m +++ b/matlab/+gpmp2/plotPlanarMobileBase.m @@ -6,13 +6,13 @@ import gpmp2.* % vehicle corners -corner1 = pose.transform_from(Point2(vehsize(1)/2, vehsize(2)/2)); -corner2 = pose.transform_from(Point2(-vehsize(1)/2, vehsize(2)/2)); -corner3 = pose.transform_from(Point2(-vehsize(1)/2, -vehsize(2)/2)); -corner4 = pose.transform_from(Point2(vehsize(1)/2, -vehsize(2)/2)); +corner1 = pose.transformFrom(Point2(vehsize(1)/2, vehsize(2)/2)); +corner2 = pose.transformFrom(Point2(-vehsize(1)/2, vehsize(2)/2)); +corner3 = pose.transformFrom(Point2(-vehsize(1)/2, -vehsize(2)/2)); +corner4 = pose.transformFrom(Point2(vehsize(1)/2, -vehsize(2)/2)); % vehicle base black lines -h(1) = plot([corner1.x() corner2.x() corner3.x() corner4.x() corner1.x()], ... - [corner1.y() corner2.y() corner3.y() corner4.y() corner1.y()], 'k-'); +h(1) = plot([corner1(1) corner2(1) corner3(1) corner4(1) corner1(1)], ... + [corner1(2) corner2(2) corner3(2) corner4(2) corner1(2)], 'k-'); end diff --git a/wrap b/wrap new file mode 160000 index 0000000..2489718 --- /dev/null +++ b/wrap @@ -0,0 +1 @@ +Subproject commit 24897186873c92a32707ca8718f7e7b7dbffc589 From 8adada994c30329148e5efba13a97c5240989a84 Mon Sep 17 00:00:00 2001 From: mattking-smith Date: Sun, 12 Dec 2021 07:05:51 -0500 Subject: [PATCH 2/7] Removed wrap submodule --- .gitmodules | 3 +-- wrap | 1 - 2 files changed, 1 insertion(+), 3 deletions(-) delete mode 160000 wrap diff --git a/.gitmodules b/.gitmodules index af2f7e5..0512af6 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,2 @@ [submodule "wrap"] - path = wrap - url = https://github.com/borglab/wrap.git + diff --git a/wrap b/wrap deleted file mode 160000 index 2489718..0000000 --- a/wrap +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 24897186873c92a32707ca8718f7e7b7dbffc589 From 484cd66dd35a28c729139e786aec72a1c6bf6dd6 Mon Sep 17 00:00:00 2001 From: mattking-smith Date: Sun, 12 Dec 2021 07:15:26 -0500 Subject: [PATCH 3/7] Added the matlab.h file to a wrap directory for building. Still getting segmentation fault. --- wrap/matlab.h | 494 ++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 494 insertions(+) create mode 100644 wrap/matlab.h diff --git a/wrap/matlab.h b/wrap/matlab.h new file mode 100644 index 0000000..4f3bfe9 --- /dev/null +++ b/wrap/matlab.h @@ -0,0 +1,494 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file matlab.h + * @brief header file to be included in MATLAB wrappers + * @date 2008 + * @author Frank Dellaert + * @author Alex Cunningham + * @author Andrew Melim + * @author Richard Roberts + * + * wrapping and unwrapping is done using specialized templates, see + * http://www.cplusplus.com/doc/tutorial/templates.html + */ + +#include +#include +#include +#include + +using gtsam::Vector; +using gtsam::Matrix; +using gtsam::Point2; +using gtsam::Point3; + +extern "C" { +#include +} + +#include +#include + +#include +#include +#include +#include +#include +#include + +using namespace std; +using namespace boost; // not usual, but for conciseness of generated code + +// start GTSAM Specifics ///////////////////////////////////////////////// +// to enable Matrix and Vector constructor for SharedGaussian: +#define GTSAM_MAGIC_GAUSSIAN +// end GTSAM Specifics ///////////////////////////////////////////////// + +#if defined(__LP64__) || defined(_WIN64) +// 64-bit +#define mxUINT32OR64_CLASS mxUINT64_CLASS +#else +#define mxUINT32OR64_CLASS mxUINT32_CLASS +#endif + +// "Unique" key to signal calling the matlab object constructor with a raw pointer +// to a shared pointer of the same C++ object type as the MATLAB type. +// Also present in utilities.h +static const boost::uint64_t ptr_constructor_key = + (boost::uint64_t('G') << 56) | + (boost::uint64_t('T') << 48) | + (boost::uint64_t('S') << 40) | + (boost::uint64_t('A') << 32) | + (boost::uint64_t('M') << 24) | + (boost::uint64_t('p') << 16) | + (boost::uint64_t('t') << 8) | + (boost::uint64_t('r')); + +//***************************************************************************** +// Utilities +//***************************************************************************** + +void error(const char* str) { + mexErrMsgIdAndTxt("wrap:error", str); +} + +mxArray *scalar(mxClassID classid) { + mwSize dims[1]; dims[0]=1; + return mxCreateNumericArray(1, dims, classid, mxREAL); +} + +void checkScalar(const mxArray* array, const char* str) { + int m = mxGetM(array), n = mxGetN(array); + if (m!=1 || n!=1) + mexErrMsgIdAndTxt("wrap: not a scalar in ", str); +} + +// Replacement streambuf for cout that writes to the MATLAB console +// Thanks to http://stackoverflow.com/a/249008 +class mstream : public std::streambuf { +protected: + virtual std::streamsize xsputn(const char *s, std::streamsize n) { + mexPrintf("%.*s",n,s); + return n; + } + virtual int overflow(int c = EOF) { + if (c != EOF) { + mexPrintf("%.1s",&c); + } + return 1; + } +}; + +//***************************************************************************** +// Check arguments +//***************************************************************************** + +void checkArguments(const string& name, int nargout, int nargin, int expected) { + stringstream err; + err << name << " expects " << expected << " arguments, not " << nargin; + if (nargin!=expected) + error(err.str().c_str()); +} + +//***************************************************************************** +// wrapping C++ basis types in MATLAB arrays +//***************************************************************************** + +// default wrapping throws an error: only basis types are allowed in wrap +template +mxArray* wrap(const Class& value) { + error("wrap internal error: attempted wrap of invalid type"); + return 0; +} + +// specialization to string +// wraps into a character array +template<> +mxArray* wrap(const string& value) { + return mxCreateString(value.c_str()); +} + +// specialization to char +template<> +mxArray* wrap(const char& value) { + mxArray *result = scalar(mxUINT32OR64_CLASS); + *(char*)mxGetData(result) = value; + return result; +} + +// specialization to unsigned char +template<> +mxArray* wrap(const unsigned char& value) { + mxArray *result = scalar(mxUINT32OR64_CLASS); + *(unsigned char*)mxGetData(result) = value; + return result; +} + +// specialization to bool +template<> +mxArray* wrap(const bool& value) { + mxArray *result = scalar(mxUINT32OR64_CLASS); + *(bool*)mxGetData(result) = value; + return result; +} + +// specialization to size_t +template<> +mxArray* wrap(const size_t& value) { + mxArray *result = scalar(mxUINT32OR64_CLASS); + *(size_t*)mxGetData(result) = value; + return result; +} + +// specialization to int +template<> +mxArray* wrap(const int& value) { + mxArray *result = scalar(mxUINT32OR64_CLASS); + *(int*)mxGetData(result) = value; + return result; +} + +// specialization to double -> just double +template<> +mxArray* wrap(const double& value) { + return mxCreateDoubleScalar(value); +} + +// wrap a const Eigen vector into a double vector +mxArray* wrap_Vector(const gtsam::Vector& v) { + int m = v.size(); + mxArray *result = mxCreateDoubleMatrix(m, 1, mxREAL); + double *data = mxGetPr(result); + for (int i=0;i double vector +template<> +mxArray* wrap(const gtsam::Vector& v) { + return wrap_Vector(v); +} + +// specialization to Eigen vector -> double vector +template<> +mxArray* wrap(const gtsam::Point2& v) { + return wrap_Vector(v); +} + +// specialization to Eigen vector -> double vector +template<> +mxArray* wrap(const gtsam::Point3& v) { + return wrap_Vector(v); +} + +// wrap a const Eigen MATRIX into a double matrix +mxArray* wrap_Matrix(const gtsam::Matrix& A) { + int m = A.rows(), n = A.cols(); +#ifdef DEBUG_WRAP + mexPrintf("wrap_Matrix called with A = \n", m,n); + gtsam::print(A); +#endif + mxArray *result = mxCreateDoubleMatrix(m, n, mxREAL); + double *data = mxGetPr(result); + // converts from column-major to row-major + for (int j=0;j double matrix +template<> +mxArray* wrap(const gtsam::Matrix& A) { + return wrap_Matrix(A); +} + +//***************************************************************************** +// unwrapping MATLAB arrays into C++ basis types +//***************************************************************************** + +// default unwrapping throws an error +// as wrap only supports passing a reference or one of the basic types +template +T unwrap(const mxArray* array) { + error("wrap internal error: attempted unwrap of invalid type"); + return T(); +} + +// specialization to string +// expects a character array +// Warning: relies on mxChar==char +template<> +string unwrap(const mxArray* array) { + char *data = mxArrayToString(array); + if (data==NULL) error("unwrap: not a character array"); + string str(data); + mxFree(data); + return str; +} + +// Check for 64-bit, as Mathworks says mxGetScalar only good for 32 bit +template +T myGetScalar(const mxArray* array) { + switch (mxGetClassID(array)) { + case mxINT64_CLASS: + return (T) *(boost::int64_t*) mxGetData(array); + case mxUINT64_CLASS: + return (T) *(boost::uint64_t*) mxGetData(array); + default: + // hope for the best! + return (T) mxGetScalar(array); + } +} + +// specialization to bool +template<> +bool unwrap(const mxArray* array) { + checkScalar(array,"unwrap"); + return myGetScalar(array); +} + +// specialization to char +template<> +char unwrap(const mxArray* array) { + checkScalar(array,"unwrap"); + return myGetScalar(array); +} + +// specialization to unsigned char +template<> +unsigned char unwrap(const mxArray* array) { + checkScalar(array,"unwrap"); + return myGetScalar(array); +} + +// specialization to int +template<> +int unwrap(const mxArray* array) { + checkScalar(array,"unwrap"); + return myGetScalar(array); +} + +// specialization to size_t +template<> +size_t unwrap(const mxArray* array) { + checkScalar(array, "unwrap"); + return myGetScalar(array); +} + +// specialization to double +template<> +double unwrap(const mxArray* array) { + checkScalar(array,"unwrap"); + return myGetScalar(array); +} + +// specialization to Eigen vector +template<> +gtsam::Vector unwrap< gtsam::Vector >(const mxArray* array) { + int m = mxGetM(array), n = mxGetN(array); + if (mxIsDouble(array)==false || n!=1) error("unwrap: not a vector"); +#ifdef DEBUG_WRAP + mexPrintf("unwrap< gtsam::Vector > called with %dx%d argument\n", m,n); +#endif + double* data = (double*)mxGetData(array); + gtsam::Vector v(m); + for (int i=0;i +gtsam::Point2 unwrap< gtsam::Point2 >(const mxArray* array) { + int m = mxGetM(array), n = mxGetN(array); + if (mxIsDouble(array)==false || n!=1) error("unwrap: not a vector"); +#ifdef DEBUG_WRAP + mexPrintf("unwrap< gtsam::Vector > called with %dx%d argument\n", m,n); +#endif + double* data = (double*)mxGetData(array); + gtsam::Vector v(m); + for (int i=0;i +gtsam::Point3 unwrap< gtsam::Point3 >(const mxArray* array) { + int m = mxGetM(array), n = mxGetN(array); + if (mxIsDouble(array)==false || n!=1) error("unwrap: not a vector"); +#ifdef DEBUG_WRAP + mexPrintf("unwrap< gtsam::Vector > called with %dx%d argument\n", m,n); +#endif + double* data = (double*)mxGetData(array); + gtsam::Vector v(m); + for (int i=0;i +gtsam::Matrix unwrap< gtsam::Matrix >(const mxArray* array) { + if (mxIsDouble(array)==false) error("unwrap: not a matrix"); + int m = mxGetM(array), n = mxGetN(array); +#ifdef DEBUG_WRAP + mexPrintf("unwrap< gtsam::Matrix > called with %dx%d argument\n", m,n); +#endif + double* data = (double*)mxGetData(array); + gtsam::Matrix A(m,n); + // converts from row-major to column-major + for (int j=0;j(mxGetData(input[0])) = ptr_constructor_key; + // Second input argument is the pointer + input[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast(mxGetData(input[1])) = pointer; + // If the class is virtual, use the RTTI name to look up the derived matlab type + const char *derivedClassName; + if(isVirtual) { + const mxArray *rttiRegistry = mexGetVariablePtr("global", "gtsamwrap_rttiRegistry"); + if(!rttiRegistry) + mexErrMsgTxt( + "gtsam wrap: RTTI registry is missing - it could have been cleared from the workspace." + " You can issue 'clear all' to completely clear the workspace, and next time a wrapped object is" + " created the RTTI registry will be recreated."); + const mxArray *derivedNameMx = mxGetField(rttiRegistry, 0, rttiName); + if(!derivedNameMx) + mexErrMsgTxt(( + "gtsam wrap: The derived class type " + string(rttiName) + " was not found in the RTTI registry. " + "Try calling 'clear all' twice consecutively - we have seen things not get unloaded properly the " + "first time. If this does not work, this may indicate an inconsistency in your wrap interface file. " + "The most likely cause for this is that a base class was marked virtual in the wrap interface " + "definition header file for gtsam or for your module, but a derived type was returned by a C++ " + "function and that derived type was not marked virtual (or was not specified in the wrap interface " + "definition header at all).").c_str()); + size_t strLen = mxGetN(derivedNameMx); + char *buf = new char[strLen+1]; + if(mxGetString(derivedNameMx, buf, strLen+1)) + mexErrMsgTxt("gtsam wrap: Internal error reading RTTI table, try 'clear all' to clear your workspace and reinitialize the toolbox."); + derivedClassName = buf; + input[2] = mxCreateString("void"); + nargin = 3; + } else { + derivedClassName = classname.c_str(); + } + // Call special pointer constructor, which sets 'self' + mexCallMATLAB(1,&result, nargin, input, derivedClassName); + // Deallocate our memory + mxDestroyArray(input[0]); + mxDestroyArray(input[1]); + if(isVirtual) { + mxDestroyArray(input[2]); + delete[] derivedClassName; + } + return result; +} + +/* + When the user calls a method that returns a shared pointer, we create + an ObjectHandle from the shared_pointer and return it as a proxy + class to matlab. +*/ +template +mxArray* wrap_shared_ptr(boost::shared_ptr< Class > shared_ptr, const std::string& matlabName, bool isVirtual) { + // Create actual class object from out pointer + mxArray* result; + if(isVirtual) { + boost::shared_ptr void_ptr(shared_ptr); + result = create_object(matlabName, &void_ptr, isVirtual, typeid(*shared_ptr).name()); + } else { + boost::shared_ptr *heapPtr = new boost::shared_ptr(shared_ptr); + result = create_object(matlabName, heapPtr, isVirtual, ""); + } + return result; +} + +template +boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& propertyName) { + + mxArray* mxh = mxGetProperty(obj,0, propertyName.c_str()); + if (mxGetClassID(mxh) != mxUINT32OR64_CLASS || mxIsComplex(mxh) + || mxGetM(mxh) != 1 || mxGetN(mxh) != 1) error( + "Parameter is not an Shared type."); + + boost::shared_ptr* spp = *reinterpret_cast**> (mxGetData(mxh)); + return *spp; +} + +//// throw an error if unwrap_shared_ptr is attempted for an Eigen Vector +//template <> +//Vector unwrap_shared_ptr(const mxArray* obj, const string& propertyName) { +// bool unwrap_shared_ptr_Vector_attempted = false; +// BOOST_STATIC_ASSERT(unwrap_shared_ptr_Vector_attempted, "Vector cannot be unwrapped as a shared pointer"); +// return Vector(); +//} + +//// throw an error if unwrap_shared_ptr is attempted for an Eigen Matrix +//template <> +//Matrix unwrap_shared_ptr(const mxArray* obj, const string& propertyName) { +// bool unwrap_shared_ptr_Matrix_attempted = false; +// BOOST_STATIC_ASSERT(unwrap_shared_ptr_Matrix_attempted, "Matrix cannot be unwrapped as a shared pointer"); +// return Matrix(); +//} + From 9f10f84058c50c3bdb92e7d2ec5b7441a1a0c07d Mon Sep 17 00:00:00 2001 From: mattking-smith Date: Mon, 13 Dec 2021 16:15:05 -0500 Subject: [PATCH 4/7] Added changes to fix arm class defined in Arm.cpp and Arm.h. Still getting a segmentation fault, but now when calling optimizer.optimize. Have added print statements various places in forwardKinematics function for debugging purposes. --- .../tests/testGaussianProcessPriorLinear.cpp | 32 ++++++------ gpmp2/kinematics/Arm.cpp | 52 ++++++++++++++----- gpmp2/kinematics/Arm.h | 1 + gpmp2/kinematics/ForwardKinematics-inl.h | 9 +++- 4 files changed, 63 insertions(+), 31 deletions(-) diff --git a/gpmp2/gp/tests/testGaussianProcessPriorLinear.cpp b/gpmp2/gp/tests/testGaussianProcessPriorLinear.cpp index aae4e28..cd5f7f6 100644 --- a/gpmp2/gp/tests/testGaussianProcessPriorLinear.cpp +++ b/gpmp2/gp/tests/testGaussianProcessPriorLinear.cpp @@ -47,16 +47,16 @@ TEST_UNSAFE(GaussianProcessPriorLinear, Factor) { v2 = (Vector(3) << 0, 0, 0).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector(6) << 0, 0, 0, 0, 0, 0).finished(); - expectH1 = numericalDerivative11(boost::function( + expectH1 = numericalDerivative11(boost::is_function( boost::bind(&GPPrior::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); - expectH2 = numericalDerivative11(boost::function( + expectH2 = numericalDerivative11(boost::is_function( boost::bind(&GPPrior::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); - expectH3 = numericalDerivative11(boost::function( + expectH3 = numericalDerivative11(boost::is_function( boost::bind(&GPPrior::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); - expectH4 = numericalDerivative11(boost::function( + expectH4 = numericalDerivative11(boost::is_function( boost::bind(&GPPrior::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); @@ -72,16 +72,16 @@ TEST_UNSAFE(GaussianProcessPriorLinear, Factor) { v2 = (Vector3() << 1, 0, 0).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector(6) << 0, 0, 0, 0, 0, 0).finished(); - expectH1 = numericalDerivative11(boost::function( + expectH1 = numericalDerivative11(boost::is_function( boost::bind(&GPPrior::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); - expectH2 = numericalDerivative11(boost::function( + expectH2 = numericalDerivative11(boost::is_function( boost::bind(&GPPrior::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); - expectH3 = numericalDerivative11(boost::function( + expectH3 = numericalDerivative11(boost::is_function( boost::bind(&GPPrior::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); - expectH4 = numericalDerivative11(boost::function( + expectH4 = numericalDerivative11(boost::is_function( boost::bind(&GPPrior::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); @@ -97,16 +97,16 @@ TEST_UNSAFE(GaussianProcessPriorLinear, Factor) { v2 = (Vector3() << 0, 0, 1).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector(6) << 0, 0, 0, 0, 0, 0).finished(); - expectH1 = numericalDerivative11(boost::function( + expectH1 = numericalDerivative11(boost::is_function( boost::bind(&GPPrior::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); - expectH2 = numericalDerivative11(boost::function( + expectH2 = numericalDerivative11(boost::is_function( boost::bind(&GPPrior::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); - expectH3 = numericalDerivative11(boost::function( + expectH3 = numericalDerivative11(boost::is_function( boost::bind(&GPPrior::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); - expectH4 = numericalDerivative11(boost::function( + expectH4 = numericalDerivative11(boost::is_function( boost::bind(&GPPrior::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); @@ -121,16 +121,16 @@ TEST_UNSAFE(GaussianProcessPriorLinear, Factor) { v1 = (Vector3() << -1, 2, -9).finished(); v2 = (Vector3() << 3, -4, 7).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); - expectH1 = numericalDerivative11(boost::function( + expectH1 = numericalDerivative11(boost::is_function( boost::bind(&GPPrior::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); - expectH2 = numericalDerivative11(boost::function( + expectH2 = numericalDerivative11(boost::is_function( boost::bind(&GPPrior::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); - expectH3 = numericalDerivative11(boost::function( + expectH3 = numericalDerivative11(boost::is_function( boost::bind(&GPPrior::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); - expectH4 = numericalDerivative11(boost::function( + expectH4 = numericalDerivative11(boost::is_function( boost::bind(&GPPrior::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); diff --git a/gpmp2/kinematics/Arm.cpp b/gpmp2/kinematics/Arm.cpp index daa2655..31dee36 100644 --- a/gpmp2/kinematics/Arm.cpp +++ b/gpmp2/kinematics/Arm.cpp @@ -36,7 +36,7 @@ void Arm::forwardKinematics( boost::optional&> J_jvx_jv) const { using namespace std; - + std::cout << "Line number:" << __LINE__ << std::endl; // space for output jpx.resize(dof()); if (jvx) jvx->resize(dof()); @@ -44,55 +44,70 @@ void Arm::forwardKinematics( if (J_jvx_jp) J_jvx_jp->assign(dof(), Matrix::Zero(3, dof())); if (J_jvx_jv) J_jvx_jv->assign(dof(), Matrix::Zero(3, dof())); + std::cout << "Line number:" << __LINE__ << std::endl; // variables - vector H(dof()); - vector Ho(dof()+1); // start from 1 + vector> H(dof()); + vector> Ho;//(dof()); // start from 1 + vector J; if (jv) J.assign(dof(), Matrix::Zero(3, dof())); // vars cached for calculate output Jacobians - vector dH(dof()); - vector Hoinv(dof()+1); // start from 1 - + vector> dH(dof()); + vector> Hoinv;//(dof()+1); // start from 1 + for (int ii=0 ; ii = j since others are all zeros - vector > dHo_dq(dof(), vector(dof())); + vector> > dHo_dq(dof(), vector>(dof())); if (J_jpx_jp || J_jvx_jp) for (size_t i = 0; i < dof(); i++) for (size_t j = 0; j <= i; j++) - if (i > j) + if (i > j){ dHo_dq[i][j] = Ho[j] * dH[j] * Hoinv[j+1] * Ho[i+1]; - else + std::cout << "Line number:" << __LINE__ << std::endl;} + else{ dHo_dq[i][j] = Ho[j] * dH[j]; - + std::cout << "Line number:" << __LINE__ << std::endl;} + + std::cout << "Line number:" << __LINE__ << std::endl; // start calculating Forward and velocity kinematics / Jacobians for (size_t i = 0; i < dof(); i++) { + // Find end effector points jpx[i] = Pose3(Rot3(Ho[i+1].block<3,3>(0,0)), Point3(Ho[i+1].col(3).head<3>())); @@ -113,6 +128,12 @@ void Arm::forwardKinematics( sym_se3(1,0)), sym_se3.col(3).head<3>()).finished(); } } + + std::cout << "Line number:" << __LINE__ << std::endl; + for (size_t kk = 0; kk <= dof(); kk++) + { + std::cout << "Ho:" << Ho.at(kk) << std::endl; + } // diff Jvj to vJp if (J_jvx_jp) { @@ -120,12 +141,14 @@ void Arm::forwardKinematics( //Jv.setZero(); // Jv each col <= j (j <= i) // Jv.col(j) = dvxi_dq.col(j) = d_Ji_qj * vi + std::cout << "Line number:" << __LINE__ << std::endl; for (size_t j = 0; j <= i; j++) { Matrix d_Ji_qj = Matrix::Zero(3, dof()); // for d_Ji_qj only first i cols have values // d_Ji_qj.col(k) = d(getJvj(i, k-1))_dqj (k <= i) d_Ji_qj.col(0) = getdJvj(Ho[i+1], Ho[0], dHo_dq[i][j], Matrix4::Zero()); // k-1 < 0, use zero for dH-1 + std::cout << "Line number:" << __LINE__ << std::endl; for (size_t k = 1; k <= i; k++) { if (k-1 >= j) d_Ji_qj.col(k) = getdJvj(Ho[i+1], Ho[k], dHo_dq[i][j], dHo_dq[k-1][j]); @@ -136,6 +159,7 @@ void Arm::forwardKinematics( } } + std::cout << "Line number:" << __LINE__ << std::endl; // vJv is simply J if (J_jvx_jv) (*J_jvx_jv)[i] = J[i]; diff --git a/gpmp2/kinematics/Arm.h b/gpmp2/kinematics/Arm.h index ded0990..0ab59c4 100644 --- a/gpmp2/kinematics/Arm.h +++ b/gpmp2/kinematics/Arm.h @@ -85,6 +85,7 @@ class GPMP2_EXPORT Arm : public ForwardKinematics const gtsam::Vector& d() const { return d_; } const gtsam::Vector& alpha() const { return alpha_; } const gtsam::Pose3& base_pose() const { return base_pose_; } + const gtsam::Vector& theta_bias() const { return theta_bias_; } private: diff --git a/gpmp2/kinematics/ForwardKinematics-inl.h b/gpmp2/kinematics/ForwardKinematics-inl.h index b666706..6e4bd24 100644 --- a/gpmp2/kinematics/ForwardKinematics-inl.h +++ b/gpmp2/kinematics/ForwardKinematics-inl.h @@ -31,12 +31,19 @@ template gtsam::Matrix ForwardKinematics::forwardKinematicsPosition(const Pose& jp) const { std::vector jpx; + + std::cout << "Starting forwardKinemtics()" << std::endl; forwardKinematics(jp, boost::none, jpx, boost::none); - + std::cout << "Finished forwardKinemtics()" << std::endl; + std::cout << jpx.size() << std::endl; // convert vector in matrix gtsam::Matrix jpx_mat(3, nr_links_); + std::cout << "Number of links:" << nr_links_ << std::endl; for (size_t i = 0; i < nr_links_; i++) + { jpx_mat.col(i) = jpx[i].translation(); + std::cout << "Iteration number"< Date: Mon, 13 Dec 2021 16:35:43 -0500 Subject: [PATCH 5/7] Updated gpmp2.h --- gpmp2.h | 5 +++-- matlab/+gpmp2/generateArm.m | 2 +- matlab/Arm2FactorGraphExample.m | 5 +++-- 3 files changed, 7 insertions(+), 5 deletions(-) diff --git a/gpmp2.h b/gpmp2.h index cb0455a..6287ace 100644 --- a/gpmp2.h +++ b/gpmp2.h @@ -28,8 +28,8 @@ class gtsam::Values; virtual class gtsam::noiseModel::Base; virtual class gtsam::NonlinearFactor; virtual class gtsam::NonlinearFactorGraph; -virtual class gtsam::NoiseModelFactor : gtsam::NonlinearFactor; -//virtual class gtsam::NoiseModelFactor; +//virtual class gtsam::NoiseModelFactor : gtsam::NonlinearFactor; +virtual class gtsam::NoiseModelFactor; namespace gpmp2 { @@ -122,6 +122,7 @@ class Arm { Vector d() const; Vector alpha() const; gtsam::Pose3 base_pose() const; + Vector theta_bias() const; }; // abstract pose2 mobile base class diff --git a/matlab/+gpmp2/generateArm.m b/matlab/+gpmp2/generateArm.m index d4e7e3f..d18463f 100644 --- a/matlab/+gpmp2/generateArm.m +++ b/matlab/+gpmp2/generateArm.m @@ -22,7 +22,7 @@ a = [0.5, 0.5]'; d = [0, 0]'; alpha = [0, 0]'; - arm = Arm(2, a, alpha, d); + arm = Arm(2, a, alpha, d,Pose3(),[0,0]'); % physical arm spheres_data = [... 0 -0.5 0.0 0.0 0.01 diff --git a/matlab/Arm2FactorGraphExample.m b/matlab/Arm2FactorGraphExample.m index 1d20e5e..74a36e4 100644 --- a/matlab/Arm2FactorGraphExample.m +++ b/matlab/Arm2FactorGraphExample.m @@ -65,8 +65,9 @@ figure(1), hold on plotEvidenceMap2D(dataset.map, dataset.origin_x, dataset.origin_y, cell_size); title('Layout') -plotPlanarArm(arm.fk_model(), start_conf, 'b', 2); -plotPlanarArm(arm.fk_model(), end_conf, 'r', 2); +tmp = arm.fk_model(); +plotPlanarArm(tmp, start_conf, 'b', 2); +plotPlanarArm(tmp, end_conf, 'r', 2); hold off From 0154e82ded509bced7ccbbaeb64d9cd185b531b4 Mon Sep 17 00:00:00 2001 From: mattking-smith Date: Tue, 14 Dec 2021 00:21:11 -0500 Subject: [PATCH 6/7] Reverted back to gpmp2.h from tag 0.2.1 and now have fixed MATLAB bugs with new wrapper library. --- gpmp2.h | 37 +- .../CMakeDirectoryInformation.cmake | 16 + gpmp2/CMakeFiles/gpmp2.dir/CXX.includecache | 1546 +++++++++++++++++ gpmp2/CMakeFiles/gpmp2.dir/DependInfo.cmake | 62 + gpmp2/CMakeFiles/gpmp2.dir/cmake_clean.cmake | 27 + gpmp2/CMakeFiles/gpmp2.dir/depend.internal | 1170 +++++++++++++ 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generate proper inheritance. - * Example when wrapping a gtsam-based project: - * // forward declarations - * virtual class gtsam::NonlinearFactor - * virtual class gtsam::NoiseModelFactor : gtsam::NonlinearFactor - * // class definition - * #include - * virtual class MyFactor : gtsam::NoiseModelFactor {...}; - * - *DO NOT* re-define overriden function already declared in the external (forward-declared) base class - * - This will cause an ambiguity problem in Cython pxd header file*/ - // gtsam deceleration class gtsam::Vector6; class gtsam::Vector3; @@ -21,14 +7,12 @@ class gtsam::Point3; class gtsam::Pose3; class gtsam::Point2; class gtsam::Pose2; -//class gtsam::Vector; class gtsam::GaussianFactorGraph; class gtsam::Values; virtual class gtsam::noiseModel::Base; virtual class gtsam::NonlinearFactor; virtual class gtsam::NonlinearFactorGraph; -//virtual class gtsam::NoiseModelFactor : gtsam::NonlinearFactor; virtual class gtsam::NoiseModelFactor; namespace gpmp2 { @@ -56,21 +40,11 @@ class Pose2Vector { //////////////////////////////////////////////////////////////////////////////// // prior factor - -//template -//template -//virtual class gtsam::NoiseModelFactor4: gtsam::NoiseModelFactor; - #include -//template + virtual class GaussianProcessPriorLinear : gtsam::NoiseModelFactor { GaussianProcessPriorLinear(size_t key1, size_t key2, size_t key3, size_t key4, double delta, const gtsam::noiseModel::Base* Qc_model); - //Vector evaluateError(Vector pose) const; - Vector evaluateError(const Vector& pose1, const Vector& vel1, - const Vector& pose2, const Vector& vel2); - // enabling serialization functionality - void serialize() const; }; #include @@ -122,7 +96,6 @@ class Arm { Vector d() const; Vector alpha() const; gtsam::Pose3 base_pose() const; - Vector theta_bias() const; }; // abstract pose2 mobile base class @@ -496,7 +469,6 @@ virtual class ObstaclePlanarSDFFactorArm : gtsam::NoiseModelFactor { size_t posekey, const gpmp2::ArmModel& arm, const gpmp2::PlanarSDF& 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index 0000000..8b13789 --- /dev/null +++ b/gpmp2/gp/CMakeFiles/testGaussianProcessPriorPose3.valgrind.dir/progress.make @@ -0,0 +1 @@ + diff --git a/gpmp2/gp/CTestTestfile.cmake b/gpmp2/gp/CTestTestfile.cmake new file mode 100644 index 0000000..6cf13b7 --- /dev/null +++ b/gpmp2/gp/CTestTestfile.cmake @@ -0,0 +1,22 @@ +# CMake generated Testfile for +# Source directory: /home/matt/Documents/gpmp2/gpmp2/gp +# Build directory: /home/matt/Documents/gpmp2/gpmp2/gp +# +# This file includes the relevant testing commands required for +# testing this directory and lists subdirectories to be tested as well. +add_test(testGaussianProcessInterpolatorLinear "/home/matt/Documents/gpmp2/gpmp2/gp/testGaussianProcessInterpolatorLinear") +set_tests_properties(testGaussianProcessInterpolatorLinear PROPERTIES _BACKTRACE_TRIPLES 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"/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;176;add_test;/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;30;gtsamAddTestsGlob_impl;/home/matt/Documents/gpmp2/gpmp2/gp/CMakeLists.txt;6;gtsamAddTestsGlob;/home/matt/Documents/gpmp2/gpmp2/gp/CMakeLists.txt;0;") +add_test(testGaussianProcessPriorPose2 "/home/matt/Documents/gpmp2/gpmp2/gp/testGaussianProcessPriorPose2") +set_tests_properties(testGaussianProcessPriorPose2 PROPERTIES _BACKTRACE_TRIPLES "/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;176;add_test;/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;30;gtsamAddTestsGlob_impl;/home/matt/Documents/gpmp2/gpmp2/gp/CMakeLists.txt;6;gtsamAddTestsGlob;/home/matt/Documents/gpmp2/gpmp2/gp/CMakeLists.txt;0;") +add_test(testGaussianProcessPriorPose2Vector "/home/matt/Documents/gpmp2/gpmp2/gp/testGaussianProcessPriorPose2Vector") +set_tests_properties(testGaussianProcessPriorPose2Vector PROPERTIES _BACKTRACE_TRIPLES "/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;176;add_test;/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;30;gtsamAddTestsGlob_impl;/home/matt/Documents/gpmp2/gpmp2/gp/CMakeLists.txt;6;gtsamAddTestsGlob;/home/matt/Documents/gpmp2/gpmp2/gp/CMakeLists.txt;0;") +add_test(testGaussianProcessPriorPose3 "/home/matt/Documents/gpmp2/gpmp2/gp/testGaussianProcessPriorPose3") +set_tests_properties(testGaussianProcessPriorPose3 PROPERTIES _BACKTRACE_TRIPLES "/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;176;add_test;/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;30;gtsamAddTestsGlob_impl;/home/matt/Documents/gpmp2/gpmp2/gp/CMakeLists.txt;6;gtsamAddTestsGlob;/home/matt/Documents/gpmp2/gpmp2/gp/CMakeLists.txt;0;") diff --git a/gpmp2/gp/GaussianProcessPriorLinear.h b/gpmp2/gp/GaussianProcessPriorLinear.h index 9410376..c634364 100644 --- a/gpmp2/gp/GaussianProcessPriorLinear.h +++ b/gpmp2/gp/GaussianProcessPriorLinear.h @@ -62,21 +62,21 @@ class GaussianProcessPriorLinear: public gtsam::NoiseModelFactor4< boost::optional H3 = boost::none, boost::optional H4 = boost::none) const { - //using namespace gtsam; + using namespace gtsam; // state vector - gtsam::Vector x1 = (gtsam::Vector(2*dof_) << pose1, vel1).finished(); - gtsam::Vector x2 = (gtsam::Vector(2*dof_) << pose2, vel2).finished(); + Vector x1 = (Vector(2*dof_) << pose1, vel1).finished(); + Vector x2 = (Vector(2*dof_) << pose2, vel2).finished(); // Jacobians - if (H1) *H1 = (gtsam::Matrix(2*dof_, dof_) << gtsam::Matrix::Identity(dof_, dof_), - gtsam::Matrix::Zero(dof_, dof_)).finished(); - if (H2) *H2 = (gtsam::Matrix(2*dof_, dof_) << delta_t_ * gtsam::Matrix::Identity(dof_, dof_), - gtsam::Matrix::Identity(dof_, dof_)).finished(); - if (H3) *H3 = (gtsam::Matrix(2*dof_, dof_) << -1.0 * gtsam::Matrix::Identity(dof_, dof_), - gtsam::Matrix::Zero(dof_, dof_)).finished(); - if (H4) *H4 = (gtsam::Matrix(2*dof_, dof_) << gtsam::Matrix::Zero(dof_, dof_), - -1.0 * gtsam::Matrix::Identity(dof_, dof_)).finished(); + if (H1) *H1 = (Matrix(2*dof_, dof_) << Matrix::Identity(dof_, dof_), + Matrix::Zero(dof_, dof_)).finished(); + if (H2) *H2 = (Matrix(2*dof_, dof_) << delta_t_ * Matrix::Identity(dof_, dof_), + Matrix::Identity(dof_, dof_)).finished(); + if (H3) *H3 = (Matrix(2*dof_, dof_) << -1.0 * Matrix::Identity(dof_, dof_), + Matrix::Zero(dof_, dof_)).finished(); + if (H4) *H4 = (Matrix(2*dof_, dof_) << Matrix::Zero(dof_, dof_), + -1.0 * Matrix::Identity(dof_, dof_)).finished(); // transition matrix & error return calcPhi(dof_, delta_t_) * x1 - x2; diff --git a/gpmp2/gp/Makefile b/gpmp2/gp/Makefile new file mode 100644 index 0000000..5869a61 --- /dev/null +++ b/gpmp2/gp/Makefile @@ -0,0 +1,836 @@ +# CMAKE generated file: DO NOT EDIT! +# Generated by "Unix Makefiles" Generator, CMake Version 3.16 + +# Default target executed when no arguments are given to make. +default_target: all + +.PHONY : default_target + +# Allow only one "make -f Makefile2" 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tests/testGaussianProcessPriorPose3.cpp.s + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... install/strip" + @echo "... install" + @echo "... testGaussianProcessInterpolatorPose3.run" + @echo "... testGaussianProcessInterpolatorPose2Vector.valgrind" + @echo "... testGaussianProcessInterpolatorPose2Vector" + @echo "... testGaussianProcessInterpolatorPose3.valgrind" + @echo "... testGaussianProcessPriorLinear" + @echo "... testGaussianProcessInterpolatorPose2.run" + @echo "... testGaussianProcessPriorPose3.run" + @echo "... testGaussianProcessInterpolatorPose2Vector.run" + @echo "... testGaussianProcessPriorPose2.run" + @echo "... testGaussianProcessInterpolatorLinear.run" + @echo "... install/local" + @echo "... testGaussianProcessInterpolatorPose2" + @echo "... testGaussianProcessInterpolatorLinear" + @echo "... test" + @echo "... 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+ set(CMAKE_INSTALL_PREFIX "/usr/local") +endif() +string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + if(BUILD_TYPE) + string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + else() + set(CMAKE_INSTALL_CONFIG_NAME "Release") + endif() + message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +endif() + +# Set the component getting installed. +if(NOT CMAKE_INSTALL_COMPONENT) + if(COMPONENT) + message(STATUS "Install component: \"${COMPONENT}\"") + set(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + else() + set(CMAKE_INSTALL_COMPONENT) + endif() +endif() + +# Install shared libraries without execute permission? +if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + set(CMAKE_INSTALL_SO_NO_EXE "1") +endif() + +# Is this installation the result of a crosscompile? +if(NOT DEFINED CMAKE_CROSSCOMPILING) + set(CMAKE_CROSSCOMPILING "FALSE") +endif() + +if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/gpmp2/gp" TYPE FILE FILES + "/home/matt/Documents/gpmp2/gpmp2/gp/GPutils.h" + "/home/matt/Documents/gpmp2/gpmp2/gp/GaussianProcessInterpolatorLie.h" + "/home/matt/Documents/gpmp2/gpmp2/gp/GaussianProcessInterpolatorLinear.h" + "/home/matt/Documents/gpmp2/gpmp2/gp/GaussianProcessInterpolatorPose2.h" + "/home/matt/Documents/gpmp2/gpmp2/gp/GaussianProcessInterpolatorPose2Vector.h" + "/home/matt/Documents/gpmp2/gpmp2/gp/GaussianProcessInterpolatorPose3.h" + "/home/matt/Documents/gpmp2/gpmp2/gp/GaussianProcessPriorLie.h" + "/home/matt/Documents/gpmp2/gpmp2/gp/GaussianProcessPriorLinear.h" + "/home/matt/Documents/gpmp2/gpmp2/gp/GaussianProcessPriorPose2.h" + "/home/matt/Documents/gpmp2/gpmp2/gp/GaussianProcessPriorPose2Vector.h" + "/home/matt/Documents/gpmp2/gpmp2/gp/GaussianProcessPriorPose3.h" + ) +endif() + diff --git a/gpmp2/gp/tests/testGaussianProcessPriorLinear.cpp b/gpmp2/gp/tests/testGaussianProcessPriorLinear.cpp index cd5f7f6..aae4e28 100644 --- a/gpmp2/gp/tests/testGaussianProcessPriorLinear.cpp +++ b/gpmp2/gp/tests/testGaussianProcessPriorLinear.cpp @@ -47,16 +47,16 @@ TEST_UNSAFE(GaussianProcessPriorLinear, Factor) { v2 = (Vector(3) << 0, 0, 0).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector(6) << 0, 0, 0, 0, 0, 0).finished(); - expectH1 = numericalDerivative11(boost::is_function( + expectH1 = numericalDerivative11(boost::function( boost::bind(&GPPrior::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); - expectH2 = numericalDerivative11(boost::is_function( + expectH2 = numericalDerivative11(boost::function( boost::bind(&GPPrior::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); - expectH3 = numericalDerivative11(boost::is_function( + expectH3 = numericalDerivative11(boost::function( boost::bind(&GPPrior::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); - expectH4 = numericalDerivative11(boost::is_function( + expectH4 = numericalDerivative11(boost::function( boost::bind(&GPPrior::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); @@ -72,16 +72,16 @@ TEST_UNSAFE(GaussianProcessPriorLinear, Factor) { v2 = (Vector3() << 1, 0, 0).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector(6) << 0, 0, 0, 0, 0, 0).finished(); - expectH1 = numericalDerivative11(boost::is_function( + expectH1 = numericalDerivative11(boost::function( boost::bind(&GPPrior::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); - expectH2 = numericalDerivative11(boost::is_function( + expectH2 = numericalDerivative11(boost::function( boost::bind(&GPPrior::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); - expectH3 = numericalDerivative11(boost::is_function( + expectH3 = numericalDerivative11(boost::function( boost::bind(&GPPrior::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); - expectH4 = numericalDerivative11(boost::is_function( + expectH4 = numericalDerivative11(boost::function( boost::bind(&GPPrior::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); @@ -97,16 +97,16 @@ TEST_UNSAFE(GaussianProcessPriorLinear, Factor) { v2 = (Vector3() << 0, 0, 1).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); expect = (Vector(6) << 0, 0, 0, 0, 0, 0).finished(); - expectH1 = numericalDerivative11(boost::is_function( + expectH1 = numericalDerivative11(boost::function( boost::bind(&GPPrior::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); - expectH2 = numericalDerivative11(boost::is_function( + expectH2 = numericalDerivative11(boost::function( boost::bind(&GPPrior::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); - expectH3 = numericalDerivative11(boost::is_function( + expectH3 = numericalDerivative11(boost::function( boost::bind(&GPPrior::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); - expectH4 = numericalDerivative11(boost::is_function( + expectH4 = numericalDerivative11(boost::function( boost::bind(&GPPrior::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expect, actual, 1e-6)); @@ -121,16 +121,16 @@ TEST_UNSAFE(GaussianProcessPriorLinear, Factor) { v1 = (Vector3() << -1, 2, -9).finished(); v2 = (Vector3() << 3, -4, 7).finished(); actual = factor.evaluateError(p1, v1, p2, v2, actualH1, actualH2, actualH3, actualH4); - expectH1 = numericalDerivative11(boost::is_function( + expectH1 = numericalDerivative11(boost::function( boost::bind(&GPPrior::evaluateError, factor, _1, v1, p2, v2, boost::none, boost::none, boost::none, boost::none)), p1, 1e-6); - expectH2 = numericalDerivative11(boost::is_function( + expectH2 = numericalDerivative11(boost::function( boost::bind(&GPPrior::evaluateError, factor, p1, _1, p2, v2, boost::none, boost::none, boost::none, boost::none)), v1, 1e-6); - expectH3 = numericalDerivative11(boost::is_function( + expectH3 = numericalDerivative11(boost::function( boost::bind(&GPPrior::evaluateError, factor, p1, v1, _1, v2, boost::none, boost::none, boost::none, boost::none)), p2, 1e-6); - expectH4 = numericalDerivative11(boost::is_function( + expectH4 = numericalDerivative11(boost::function( boost::bind(&GPPrior::evaluateError, factor, p1, v1, p2, _1, boost::none, boost::none, boost::none, boost::none)), v2, 1e-6); EXPECT(assert_equal(expectH1, actualH1, 1e-6)); diff --git a/gpmp2/kinematics/Arm.cpp b/gpmp2/kinematics/Arm.cpp index 31dee36..a58c47f 100644 --- a/gpmp2/kinematics/Arm.cpp +++ b/gpmp2/kinematics/Arm.cpp @@ -14,9 +14,14 @@ namespace gpmp2 { /* ************************************************************************** */ Arm::Arm(size_t dof, const Vector& a, const Vector& alpha, const Vector& d, - const Pose3& base_pose, const Vector& theta_bias) : - Base(dof, dof), a_(a), alpha_(alpha), d_(d), base_pose_(base_pose), - theta_bias_(theta_bias) { + const gtsam::Pose3& base_pose, boost::optional theta_bias) : + Base(dof, dof), a_(a), alpha_(alpha), d_(d), base_pose_(base_pose) { + + // theta bias + if (theta_bias) + theta_bias_ = *theta_bias; + else + theta_bias_ = Vector::Zero(dof); // DH transformation for each link, without theta matrix // Spong06book, page. 69, eq. (3.10) @@ -36,7 +41,7 @@ void Arm::forwardKinematics( boost::optional&> J_jvx_jv) const { using namespace std; - std::cout << "Line number:" << __LINE__ << std::endl; + // space for output jpx.resize(dof()); if (jvx) jvx->resize(dof()); @@ -44,70 +49,55 @@ void Arm::forwardKinematics( if (J_jvx_jp) J_jvx_jp->assign(dof(), Matrix::Zero(3, dof())); if (J_jvx_jv) J_jvx_jv->assign(dof(), Matrix::Zero(3, dof())); - std::cout << "Line number:" << __LINE__ << std::endl; // variables vector> H(dof()); - vector> Ho;//(dof()); // start from 1 - + vector> Ho(dof()+1); // start from 1 vector J; if (jv) J.assign(dof(), Matrix::Zero(3, dof())); // vars cached for calculate output Jacobians vector> dH(dof()); - vector> Hoinv;//(dof()+1); // start from 1 + vector> Hoinv(dof()+1); // start from 1 + - for (int ii=0 ; ii = j since others are all zeros vector> > dHo_dq(dof(), vector>(dof())); if (J_jpx_jp || J_jvx_jp) for (size_t i = 0; i < dof(); i++) for (size_t j = 0; j <= i; j++) - if (i > j){ + if (i > j) dHo_dq[i][j] = Ho[j] * dH[j] * Hoinv[j+1] * Ho[i+1]; - std::cout << "Line number:" << __LINE__ << std::endl;} - else{ + else dHo_dq[i][j] = Ho[j] * dH[j]; - std::cout << "Line number:" << __LINE__ << std::endl;} - - std::cout << "Line number:" << __LINE__ << std::endl; + // start calculating Forward and velocity kinematics / Jacobians for (size_t i = 0; i < dof(); i++) { - // Find end effector points jpx[i] = Pose3(Rot3(Ho[i+1].block<3,3>(0,0)), Point3(Ho[i+1].col(3).head<3>())); @@ -128,12 +118,6 @@ void Arm::forwardKinematics( sym_se3(1,0)), sym_se3.col(3).head<3>()).finished(); } } - - std::cout << "Line number:" << __LINE__ << std::endl; - for (size_t kk = 0; kk <= dof(); kk++) - { - std::cout << "Ho:" << Ho.at(kk) << std::endl; - } // diff Jvj to vJp if (J_jvx_jp) { @@ -141,14 +125,12 @@ void Arm::forwardKinematics( //Jv.setZero(); // Jv each col <= j (j <= i) // Jv.col(j) = dvxi_dq.col(j) = d_Ji_qj * vi - std::cout << "Line number:" << __LINE__ << std::endl; for (size_t j = 0; j <= i; j++) { Matrix d_Ji_qj = Matrix::Zero(3, dof()); // for d_Ji_qj only first i cols have values // d_Ji_qj.col(k) = d(getJvj(i, k-1))_dqj (k <= i) d_Ji_qj.col(0) = getdJvj(Ho[i+1], Ho[0], dHo_dq[i][j], Matrix4::Zero()); // k-1 < 0, use zero for dH-1 - std::cout << "Line number:" << __LINE__ << std::endl; for (size_t k = 1; k <= i; k++) { if (k-1 >= j) d_Ji_qj.col(k) = getdJvj(Ho[i+1], Ho[k], dHo_dq[i][j], dHo_dq[k-1][j]); @@ -159,7 +141,6 @@ void Arm::forwardKinematics( } } - std::cout << "Line number:" << __LINE__ << std::endl; // vJv is simply J if (J_jvx_jv) (*J_jvx_jv)[i] = J[i]; diff --git a/gpmp2/kinematics/Arm.h b/gpmp2/kinematics/Arm.h index 0ab59c4..ab90752 100644 --- a/gpmp2/kinematics/Arm.h +++ b/gpmp2/kinematics/Arm.h @@ -44,16 +44,9 @@ class GPMP2_EXPORT Arm : public ForwardKinematics /// Contructor take in number of joints for the arm, its DH parameters /// the base pose (default zero pose), and theta bias (default zero) - Arm(size_t dof, const gtsam::Vector& a, const gtsam::Vector& alpha, const gtsam::Vector& d) : - Arm(dof, a, alpha, d, gtsam::Pose3(gtsam::Rot3(), gtsam::Point3(0,0,0)), gtsam::Vector::Zero(dof)) {} - - Arm(size_t dof, const gtsam::Vector& a, const gtsam::Vector& alpha, const gtsam::Vector& d, - const gtsam::Pose3& base_pose) : - Arm(dof, a, alpha, d, base_pose, gtsam::Vector::Zero(dof)) {} - Arm(size_t dof, const gtsam::Vector& a, const gtsam::Vector& alpha, const gtsam::Vector& d, - const gtsam::Pose3& base_pose, const gtsam::Vector& theta_bias); - + const gtsam::Pose3& base_pose = gtsam::Pose3(gtsam::Rot3(), gtsam::Point3(0,0,0)), + boost::optional theta_bias = boost::none); /// Default destructor virtual ~Arm() {} @@ -85,7 +78,6 @@ class GPMP2_EXPORT Arm : public ForwardKinematics const gtsam::Vector& d() const { return d_; } const gtsam::Vector& alpha() const { return alpha_; } const gtsam::Pose3& base_pose() const { return base_pose_; } - const gtsam::Vector& theta_bias() const { return theta_bias_; } private: diff 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"/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;176;add_test;/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;30;gtsamAddTestsGlob_impl;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;6;gtsamAddTestsGlob;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;0;") +add_test(testGaussianPriorWorkspaceOrientation "/home/matt/Documents/gpmp2/gpmp2/kinematics/testGaussianPriorWorkspaceOrientation") +set_tests_properties(testGaussianPriorWorkspaceOrientation PROPERTIES _BACKTRACE_TRIPLES "/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;176;add_test;/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;30;gtsamAddTestsGlob_impl;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;6;gtsamAddTestsGlob;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;0;") +add_test(testGaussianPriorWorkspacePose "/home/matt/Documents/gpmp2/gpmp2/kinematics/testGaussianPriorWorkspacePose") +set_tests_properties(testGaussianPriorWorkspacePose PROPERTIES _BACKTRACE_TRIPLES "/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;176;add_test;/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;30;gtsamAddTestsGlob_impl;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;6;gtsamAddTestsGlob;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;0;") +add_test(testGaussianPriorWorkspacePosition "/home/matt/Documents/gpmp2/gpmp2/kinematics/testGaussianPriorWorkspacePosition") +set_tests_properties(testGaussianPriorWorkspacePosition PROPERTIES _BACKTRACE_TRIPLES "/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;176;add_test;/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;30;gtsamAddTestsGlob_impl;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;6;gtsamAddTestsGlob;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;0;") +add_test(testGoalFactorArm "/home/matt/Documents/gpmp2/gpmp2/kinematics/testGoalFactorArm") +set_tests_properties(testGoalFactorArm PROPERTIES _BACKTRACE_TRIPLES "/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;176;add_test;/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;30;gtsamAddTestsGlob_impl;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;6;gtsamAddTestsGlob;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;0;") +add_test(testJointLimitFactorPose2Vector "/home/matt/Documents/gpmp2/gpmp2/kinematics/testJointLimitFactorPose2Vector") +set_tests_properties(testJointLimitFactorPose2Vector PROPERTIES _BACKTRACE_TRIPLES "/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;176;add_test;/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;30;gtsamAddTestsGlob_impl;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;6;gtsamAddTestsGlob;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;0;") +add_test(testJointLimitFactorVector "/home/matt/Documents/gpmp2/gpmp2/kinematics/testJointLimitFactorVector") +set_tests_properties(testJointLimitFactorVector PROPERTIES _BACKTRACE_TRIPLES "/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;176;add_test;/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;30;gtsamAddTestsGlob_impl;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;6;gtsamAddTestsGlob;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;0;") +add_test(testMobileBaseUtils "/home/matt/Documents/gpmp2/gpmp2/kinematics/testMobileBaseUtils") +set_tests_properties(testMobileBaseUtils PROPERTIES _BACKTRACE_TRIPLES "/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;176;add_test;/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;30;gtsamAddTestsGlob_impl;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;6;gtsamAddTestsGlob;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;0;") +add_test(testPointRobotModel "/home/matt/Documents/gpmp2/gpmp2/kinematics/testPointRobotModel") +set_tests_properties(testPointRobotModel PROPERTIES _BACKTRACE_TRIPLES "/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;176;add_test;/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;30;gtsamAddTestsGlob_impl;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;6;gtsamAddTestsGlob;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;0;") +add_test(testPose2Mobile2Arms "/home/matt/Documents/gpmp2/gpmp2/kinematics/testPose2Mobile2Arms") +set_tests_properties(testPose2Mobile2Arms PROPERTIES _BACKTRACE_TRIPLES "/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;176;add_test;/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;30;gtsamAddTestsGlob_impl;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;6;gtsamAddTestsGlob;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;0;") +add_test(testPose2MobileArm "/home/matt/Documents/gpmp2/gpmp2/kinematics/testPose2MobileArm") +set_tests_properties(testPose2MobileArm PROPERTIES _BACKTRACE_TRIPLES "/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;176;add_test;/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;30;gtsamAddTestsGlob_impl;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;6;gtsamAddTestsGlob;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;0;") +add_test(testPose2MobileBase "/home/matt/Documents/gpmp2/gpmp2/kinematics/testPose2MobileBase") +set_tests_properties(testPose2MobileBase PROPERTIES _BACKTRACE_TRIPLES "/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;176;add_test;/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;30;gtsamAddTestsGlob_impl;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;6;gtsamAddTestsGlob;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;0;") +add_test(testPose2MobileVetLin2Arms "/home/matt/Documents/gpmp2/gpmp2/kinematics/testPose2MobileVetLin2Arms") +set_tests_properties(testPose2MobileVetLin2Arms PROPERTIES _BACKTRACE_TRIPLES "/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;176;add_test;/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;30;gtsamAddTestsGlob_impl;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;6;gtsamAddTestsGlob;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;0;") +add_test(testPose2MobileVetLinArm "/home/matt/Documents/gpmp2/gpmp2/kinematics/testPose2MobileVetLinArm") +set_tests_properties(testPose2MobileVetLinArm PROPERTIES _BACKTRACE_TRIPLES "/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;176;add_test;/usr/local/lib/cmake/GTSAMCMakeTools/GtsamTesting.cmake;30;gtsamAddTestsGlob_impl;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;6;gtsamAddTestsGlob;/home/matt/Documents/gpmp2/gpmp2/kinematics/CMakeLists.txt;0;") diff --git a/gpmp2/kinematics/ForwardKinematics-inl.h b/gpmp2/kinematics/ForwardKinematics-inl.h index 6e4bd24..b666706 100644 --- a/gpmp2/kinematics/ForwardKinematics-inl.h +++ b/gpmp2/kinematics/ForwardKinematics-inl.h @@ -31,19 +31,12 @@ template gtsam::Matrix ForwardKinematics::forwardKinematicsPosition(const Pose& jp) const { std::vector jpx; - - std::cout << "Starting forwardKinemtics()" << std::endl; forwardKinematics(jp, boost::none, jpx, boost::none); - std::cout << "Finished forwardKinemtics()" << std::endl; - std::cout << jpx.size() << std::endl; + // convert vector in matrix gtsam::Matrix jpx_mat(3, nr_links_); - std::cout << "Number of links:" << nr_links_ << std::endl; for (size_t i = 0; i < nr_links_; i++) - { jpx_mat.col(i) = jpx[i].translation(); - std::cout << "Iteration number"< { Matrix36 Hpp; Point3 end_point = joint_pos[arm_.dof() - 1].translation(Hpp); *H1 = Hpp * J_jpx_jp[arm_.dof() - 1]; - return end_point - dest_point_; + return end_point- dest_point_; } else { return joint_pos[arm_.dof() - 1].translation() - dest_point_; diff --git a/gpmp2/kinematics/Makefile b/gpmp2/kinematics/Makefile new file mode 100644 index 0000000..f34e2b0 --- /dev/null +++ b/gpmp2/kinematics/Makefile @@ 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be regenerated. +cmake_check_build_system: + cd /home/matt/Documents/gpmp2 && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/gpmp2/obstacle/SelfCollision.h b/gpmp2/obstacle/SelfCollision.h deleted file mode 100644 index cba1433..0000000 --- a/gpmp2/obstacle/SelfCollision.h +++ /dev/null @@ -1,152 +0,0 @@ -/** - * @file SelfCollision.h - * @brief Self collision cost factor - * @author Mustafa Mukadam - * @date Sep 22, 2020 - **/ - - -#pragma once - -#include -#include -#include -#include - -#include -#include - - -namespace gpmp2 { - -/** - * unary factor for self collision avoidance - * template robot model version - */ -template -class SelfCollision: public gtsam::NoiseModelFactor1 { - -public: - // typedefs - typedef ROBOT Robot; - typedef typename Robot::Pose Pose; - -private: - // typedefs - typedef SelfCollision This; - typedef gtsam::NoiseModelFactor1 Base; - - /** (N x 4) matrix of parameters - * rows N : number of self collision checks - * col 0 : id of sphere A - * col 1 : id of sphere B - * col 2 : epsilon or safety distance needed between sphere A and B - * col 3 : sigma for cost between A and B - */ - gtsam::Matrix data_; - - // arm: planar one, all alpha = 0 - const Robot& robot_; - -public: - - /// shorthand for a smart pointer to a factor - typedef boost::shared_ptr shared_ptr; - - /* Default constructor do nothing */ - SelfCollision() : robot_(Robot()) {} - - SelfCollision(gtsam::Key poseKey, const Robot& robot, const gtsam::Matrix& data) : - robot_(robot), data_(data), Base(gtsam::noiseModel::Diagonal::Sigmas(data.col(3)), poseKey) {} - - virtual ~SelfCollision() {} - - - /// error function - gtsam::Vector evaluateError(const typename Robot::Pose& conf, - boost::optional H = boost::none) const { - - gtsam::Vector error(data_.rows()); - if (H) { - *H = gtsam::Matrix::Zero(data_.rows(), robot_.dof()); - } - - // forward kinematics to get location of robot body spheres - std::vector sph_centers; - std::vector Hs_sph_conf; - if (H) { - robot_.sphereCenters(conf, sph_centers, Hs_sph_conf); - } - else { - robot_.sphereCenters(conf, sph_centers); - } - - // for each sphere pair of interest evaluate self collision - for (size_t i = 0; i < data_.rows(); i++) { - - size_t sph_A_id = static_cast(data_(i, 0)); - size_t sph_B_id = static_cast(data_(i, 1)); - const double total_eps = robot_.sphere_radius(sph_A_id) + robot_.sphere_radius(sph_B_id) + data_(i, 2); - - if (H) { - gtsam::Matrix13 H_e_sphA, H_e_sphB; - error[i] = hingeLossSelfCollisionCost(sph_centers[sph_A_id], sph_centers[sph_B_id], total_eps, H_e_sphA, H_e_sphB); - gtsam::Matrix16 H_e_sph; - H_e_sph << H_e_sphA, H_e_sphB; - gtsam::Matrix H_sph_conf(6, robot_.dof()); - H_sph_conf << Hs_sph_conf[sph_A_id], Hs_sph_conf[sph_B_id]; - H->row(i) = H_e_sph * H_sph_conf; - } - else { - error[i] = hingeLossSelfCollisionCost(sph_centers[sph_A_id], sph_centers[sph_B_id], total_eps); - } - } - - return error; - } - - double hingeLossSelfCollisionCost(const gtsam::Point3& pointA, const gtsam::Point3& pointB, double eps, - gtsam::OptionalJacobian<1, 3> H_pointA = boost::none, gtsam::OptionalJacobian<1, 3> H_pointB = boost::none) const { - - gtsam::Matrix H_A, H_B; - double dist = gtsam::distance3(pointA, pointB, H_A, H_B); - - if (dist > eps) { - if (H_pointA) - *H_pointA = gtsam::Matrix13::Zero(); - if (H_pointB) - *H_pointB = gtsam::Matrix13::Zero(); - return 0.0; - } - else { - if (H_pointA) - *H_pointA = -H_A; - if (H_pointB) - *H_pointB = -H_B; - return eps - dist; - } - } - - - /// @return a deep copy of this factor - virtual gtsam::NonlinearFactor::shared_ptr clone() const { - return boost::static_pointer_cast( - gtsam::NonlinearFactor::shared_ptr(new This(*this))); } - - /** print contents */ - void print(const std::string& s="", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const { - std::cout << s << "SelfCollision :" << std::endl; - Base::print("", keyFormatter); - } - - - /** Serialization function */ - friend class boost::serialization::access; - template - void serialize(ARCHIVE & ar, const unsigned int version) { - ar & boost::serialization::make_nvp("NoiseModelFactor1", - boost::serialization::base_object(*this)); - } -}; - -} diff --git a/gpmp2/obstacle/SelfCollisionArm.h b/gpmp2/obstacle/SelfCollisionArm.h deleted file mode 100644 index 39345f4..0000000 --- a/gpmp2/obstacle/SelfCollisionArm.h +++ /dev/null @@ -1,19 +0,0 @@ -/** - * @file SelfCollisionArm.h - * @brief Self collision cost factor for Arm - * @author Mustafa Mukadam - * @date Sep 22, 2020 - **/ - - -#pragma once - -#include -#include - -namespace gpmp2 { - -// template use ArmModel as robot type -typedef SelfCollision SelfCollisionArm; - -} diff --git a/gpmp2/obstacle/cmake_install.cmake b/gpmp2/obstacle/cmake_install.cmake new file mode 100644 index 0000000..8eb802d --- /dev/null +++ b/gpmp2/obstacle/cmake_install.cmake @@ -0,0 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"/home/matt/Documents/gpmp2/gpmp2/obstacle/SDFexception.h" + "/home/matt/Documents/gpmp2/gpmp2/obstacle/SignedDistanceField.h" + ) +endif() + diff --git a/gpmp2/obstacle/tests/testSelfCollision.cpp b/gpmp2/obstacle/tests/testSelfCollision.cpp deleted file mode 100644 index fd4a19e..0000000 --- a/gpmp2/obstacle/tests/testSelfCollision.cpp +++ /dev/null @@ -1,60 +0,0 @@ -/** - * @file testSelfCollisionArm.cpp - * @author Mustafa Mukadam - **/ - -#include - -#include -#include -#include - -#include - -#include -#include - -using namespace std; -using namespace gtsam; -using namespace gpmp2; - - -/* ************************************************************************** */ -TEST(SelfCollisionArm, error) { - - // 3 link arm - Vector3 a(1, 1, 1), alpha(0, 0, 0), d(0, 0, 0); - Arm abs_arm(3, a, alpha, d); - BodySphereVector body_spheres; - body_spheres.push_back(BodySphere(0, 0.1, Point3(-0.5, 0, 0))); - body_spheres.push_back(BodySphere(1, 0.1, Point3(-0.5, 0, 0))); - body_spheres.push_back(BodySphere(1, 0.1, Point3(0, 0, 0))); - body_spheres.push_back(BodySphere(2, 0.1, Point3(0, 0, 0))); - ArmModel arm(abs_arm, body_spheres); - - Matrix data(2, 4); - // sphere A id, sphere B id, epsilon, sigma - data << - 0, 1, 2.0, 0.1, - 2, 3, 5.0, 0.1; - SelfCollisionArm factor = SelfCollisionArm(0, arm, data); - - Vector actual, expect; - Matrix H_exp, H_act; - - Vector3 q; - q = Vector3(0.0, M_PI/2.0, 0.0); - actual = factor.evaluateError(q, H_act); - expect = (Vector(2) << 1.4928932188134527, 4.2).finished(); - H_exp = numericalDerivative11(boost::function( - boost::bind(&SelfCollisionArm::evaluateError, factor, _1, boost::none)), q, 1e-6); - EXPECT(assert_equal(expect, actual, 1e-6)); - EXPECT(assert_equal(H_exp, H_act, 1e-6)); -} - -/* ************************************************************************** */ -/* main function */ -int main() { - TestResult tr; - return TestRegistry::runAllTests(tr); -} diff --git 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"... tests/testTimer.i" + @echo "... tests/testTimer.s" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + cd /home/matt/Documents/gpmp2 && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/gpmp2/utils/cmake_install.cmake b/gpmp2/utils/cmake_install.cmake new file mode 100644 index 0000000..53307e7 --- /dev/null +++ b/gpmp2/utils/cmake_install.cmake @@ -0,0 +1,48 @@ +# Install script for directory: /home/matt/Documents/gpmp2/gpmp2/utils + +# Set the install prefix +if(NOT DEFINED CMAKE_INSTALL_PREFIX) + set(CMAKE_INSTALL_PREFIX "/usr/local") +endif() +string(REGEX REPLACE 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CMAKE_INSTALL_COMPONENT) + file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/gpmp2/utils" TYPE FILE FILES + "/home/matt/Documents/gpmp2/gpmp2/utils/OpenRAVEutils.h" + "/home/matt/Documents/gpmp2/gpmp2/utils/Timer.h" + "/home/matt/Documents/gpmp2/gpmp2/utils/fileUtils.h" + "/home/matt/Documents/gpmp2/gpmp2/utils/matlabUtils.h" + ) +endif() + diff --git a/gpmp2/wrap/matlab.h b/gpmp2/wrap/matlab.h new file mode 100755 index 0000000..193412e --- /dev/null +++ b/gpmp2/wrap/matlab.h @@ -0,0 +1,494 @@ +/* ---------------------------------------------------------------------------- + + * GTSAM Copyright 2010, Georgia Tech Research Corporation, + * Atlanta, Georgia 30332-0415 + * All Rights Reserved + * Authors: Frank Dellaert, et al. (see THANKS for the full author list) + + * See LICENSE for the license information + + * -------------------------------------------------------------------------- */ + +/** + * @file matlab.h + * @brief header file to be included in MATLAB wrappers + * @date 2008 + * @author Frank Dellaert + * @author Alex Cunningham + * @author Andrew Melim + * @author Richard Roberts + * + * wrapping and unwrapping is done using specialized templates, see + * http://www.cplusplus.com/doc/tutorial/templates.html + */ + +#include +#include +#include +#include + +using gtsam::Vector; +using gtsam::Matrix; +using gtsam::Point2; +using gtsam::Point3; + +extern "C" { +#include +} + +#include +#include + +#include +#include +#include +#include +#include +#include + +using namespace std; +using namespace boost; // not usual, but for conciseness of generated code + +// start GTSAM Specifics ///////////////////////////////////////////////// +// to enable Matrix and Vector constructor for SharedGaussian: +#define GTSAM_MAGIC_GAUSSIAN +// end GTSAM Specifics ///////////////////////////////////////////////// + +#if defined(__LP64__) || defined(_WIN64) +// 64-bit +#define mxUINT32OR64_CLASS mxUINT64_CLASS +#else +#define mxUINT32OR64_CLASS mxUINT32_CLASS +#endif + +// "Unique" key to signal calling the matlab object constructor with a raw pointer +// to a shared pointer of the same C++ object type as the MATLAB type. +// Also present in utilities.h +static const boost::uint64_t ptr_constructor_key = + (boost::uint64_t('G') << 56) | + (boost::uint64_t('T') << 48) | + (boost::uint64_t('S') << 40) | + (boost::uint64_t('A') << 32) | + (boost::uint64_t('M') << 24) | + (boost::uint64_t('p') << 16) | + (boost::uint64_t('t') << 8) | + (boost::uint64_t('r')); + +//***************************************************************************** +// Utilities +//***************************************************************************** + +void error(const char* str) { + mexErrMsgIdAndTxt("wrap:error", str); +} + +mxArray *scalar(mxClassID classid) { + mwSize dims[1]; dims[0]=1; + return mxCreateNumericArray(1, dims, classid, mxREAL); +} + +void checkScalar(const mxArray* array, const char* str) { + int m = mxGetM(array), n = mxGetN(array); + if (m!=1 || n!=1) + mexErrMsgIdAndTxt("wrap: not a scalar in ", str); +} + +// Replacement streambuf for cout that writes to the MATLAB console +// Thanks to http://stackoverflow.com/a/249008 +class mstream : public std::streambuf { +protected: + virtual std::streamsize xsputn(const char *s, std::streamsize n) { + mexPrintf("%.*s",n,s); + return n; + } + virtual int overflow(int c = EOF) { + if (c != EOF) { + mexPrintf("%.1s",&c); + } + return 1; + } +}; + +//***************************************************************************** +// Check arguments +//***************************************************************************** + +void checkArguments(const string& name, int nargout, int nargin, int expected) { + stringstream err; + err << name << " expects " << expected << " arguments, not " << nargin; + if (nargin!=expected) + error(err.str().c_str()); +} + +//***************************************************************************** +// wrapping C++ basis types in MATLAB arrays +//***************************************************************************** + +// default wrapping throws an error: only basis types are allowed in wrap +template +mxArray* wrap(const Class& value) { + error("wrap internal error: attempted wrap of invalid type"); + return 0; +} + +// specialization to string +// wraps into a character array +template<> +mxArray* wrap(const string& value) { + return mxCreateString(value.c_str()); +} + +// specialization to char +template<> +mxArray* wrap(const char& value) { + mxArray *result = scalar(mxUINT32OR64_CLASS); + *(char*)mxGetData(result) = value; + return result; +} + +// specialization to unsigned char +template<> +mxArray* wrap(const unsigned char& value) { + mxArray *result = scalar(mxUINT32OR64_CLASS); + *(unsigned char*)mxGetData(result) = value; + return result; +} + +// specialization to bool +template<> +mxArray* wrap(const bool& value) { + mxArray *result = scalar(mxUINT32OR64_CLASS); + *(bool*)mxGetData(result) = value; + return result; +} + +// specialization to size_t +template<> +mxArray* wrap(const size_t& value) { + mxArray *result = scalar(mxUINT32OR64_CLASS); + *(size_t*)mxGetData(result) = value; + return result; +} + +// specialization to int +template<> +mxArray* wrap(const int& value) { + mxArray *result = scalar(mxUINT32OR64_CLASS); + *(int*)mxGetData(result) = value; + return result; +} + +// specialization to double -> just double +template<> +mxArray* wrap(const double& value) { + return mxCreateDoubleScalar(value); +} + +// wrap a const Eigen vector into a double vector +mxArray* wrap_Vector(const gtsam::Vector& v) { + int m = v.size(); + mxArray *result = mxCreateDoubleMatrix(m, 1, mxREAL); + double *data = mxGetPr(result); + for (int i=0;i double vector +template<> +mxArray* wrap(const gtsam::Vector& v) { + return wrap_Vector(v); +} + +// specialization to Eigen vector -> double vector +template<> +mxArray* wrap(const gtsam::Point2& v) { + return wrap_Vector(v); +} + +// specialization to Eigen vector -> double vector +template<> +mxArray* wrap(const gtsam::Point3& v) { + return wrap_Vector(v); +} + +// wrap a const Eigen MATRIX into a double matrix +mxArray* wrap_Matrix(const gtsam::Matrix& A) { + int m = A.rows(), n = A.cols(); +#ifdef DEBUG_WRAP + mexPrintf("wrap_Matrix called with A = \n", m,n); + gtsam::print(A); +#endif + mxArray *result = mxCreateDoubleMatrix(m, n, mxREAL); + double *data = mxGetPr(result); + // converts from column-major to row-major + for (int j=0;j double matrix +template<> +mxArray* wrap(const gtsam::Matrix& A) { + return wrap_Matrix(A); +} + +//***************************************************************************** +// unwrapping MATLAB arrays into C++ basis types +//***************************************************************************** + +// default unwrapping throws an error +// as wrap only supports passing a reference or one of the basic types +template +T unwrap(const mxArray* array) { + error("wrap internal error: attempted unwrap of invalid type"); + return T(); +} + +// specialization to string +// expects a character array +// Warning: relies on mxChar==char +template<> +string unwrap(const mxArray* array) { + char *data = mxArrayToString(array); + if (data==NULL) error("unwrap: not a character array"); + string str(data); + mxFree(data); + return str; +} + +// Check for 64-bit, as Mathworks says mxGetScalar only good for 32 bit +template +T myGetScalar(const mxArray* array) { + switch (mxGetClassID(array)) { + case mxINT64_CLASS: + return (T) *(boost::int64_t*) mxGetData(array); + case mxUINT64_CLASS: + return (T) *(boost::uint64_t*) mxGetData(array); + default: + // hope for the best! + return (T) mxGetScalar(array); + } +} + +// specialization to bool +template<> +bool unwrap(const mxArray* array) { + checkScalar(array,"unwrap"); + return myGetScalar(array); +} + +// specialization to char +template<> +char unwrap(const mxArray* array) { + checkScalar(array,"unwrap"); + return myGetScalar(array); +} + +// specialization to unsigned char +template<> +unsigned char unwrap(const mxArray* array) { + checkScalar(array,"unwrap"); + return myGetScalar(array); +} + +// specialization to int +template<> +int unwrap(const mxArray* array) { + checkScalar(array,"unwrap"); + return myGetScalar(array); +} + +// specialization to size_t +template<> +size_t unwrap(const mxArray* array) { + checkScalar(array, "unwrap"); + return myGetScalar(array); +} + +// specialization to double +template<> +double unwrap(const mxArray* array) { + checkScalar(array,"unwrap"); + return myGetScalar(array); +} + +// specialization to Eigen vector +template<> +gtsam::Vector unwrap< gtsam::Vector >(const mxArray* array) { + int m = mxGetM(array), n = mxGetN(array); + if (mxIsDouble(array)==false || n!=1) error("unwrap: not a vector"); +#ifdef DEBUG_WRAP + mexPrintf("unwrap< gtsam::Vector > called with %dx%d argument\n", m,n); +#endif + double* data = (double*)mxGetData(array); + gtsam::Vector v(m); + for (int i=0;i +gtsam::Point2 unwrap< gtsam::Point2 >(const mxArray* array) { + int m = mxGetM(array), n = mxGetN(array); + if (mxIsDouble(array)==false || n!=1) error("unwrap: not a vector"); +#ifdef DEBUG_WRAP + mexPrintf("unwrap< gtsam::Vector > called with %dx%d argument\n", m,n); +#endif + double* data = (double*)mxGetData(array); + gtsam::Vector v(m); + for (int i=0;i +gtsam::Point3 unwrap< gtsam::Point3 >(const mxArray* array) { + int m = mxGetM(array), n = mxGetN(array); + if (mxIsDouble(array)==false || n!=1) error("unwrap: not a vector"); +#ifdef DEBUG_WRAP + mexPrintf("unwrap< gtsam::Vector > called with %dx%d argument\n", m,n); +#endif + double* data = (double*)mxGetData(array); + gtsam::Vector v(m); + for (int i=0;i +gtsam::Matrix unwrap< gtsam::Matrix >(const mxArray* array) { + if (mxIsDouble(array)==false) error("unwrap: not a matrix"); + int m = mxGetM(array), n = mxGetN(array); +#ifdef DEBUG_WRAP + mexPrintf("unwrap< gtsam::Matrix > called with %dx%d argument\n", m,n); +#endif + double* data = (double*)mxGetData(array); + gtsam::Matrix A(m,n); + // converts from row-major to column-major + for (int j=0;j(mxGetData(input[0])) = ptr_constructor_key; + // Second input argument is the pointer + input[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast(mxGetData(input[1])) = pointer; + // If the class is virtual, use the RTTI name to look up the derived matlab type + const char *derivedClassName; + if(isVirtual) { + const mxArray *rttiRegistry = mexGetVariablePtr("global", "gtsamwrap_rttiRegistry"); + if(!rttiRegistry) + mexErrMsgTxt( + "gtsam wrap: RTTI registry is missing - it could have been cleared from the workspace." + " You can issue 'clear all' to completely clear the workspace, and next time a wrapped object is" + " created the RTTI registry will be recreated."); + const mxArray *derivedNameMx = mxGetField(rttiRegistry, 0, rttiName); + if(!derivedNameMx) + mexErrMsgTxt(( + "gtsam wrap: The derived class type " + string(rttiName) + " was not found in the RTTI registry. " + "Try calling 'clear all' twice consecutively - we have seen things not get unloaded properly the " + "first time. If this does not work, this may indicate an inconsistency in your wrap interface file. " + "The most likely cause for this is that a base class was marked virtual in the wrap interface " + "definition header file for gtsam or for your module, but a derived type was returned by a C++ " + "function and that derived type was not marked virtual (or was not specified in the wrap interface " + "definition header at all).").c_str()); + size_t strLen = mxGetN(derivedNameMx); + char *buf = new char[strLen+1]; + if(mxGetString(derivedNameMx, buf, strLen+1)) + mexErrMsgTxt("gtsam wrap: Internal error reading RTTI table, try 'clear all' to clear your workspace and reinitialize the toolbox."); + derivedClassName = buf; + input[2] = mxCreateString("void"); + nargin = 3; + } else { + derivedClassName = classname.c_str(); + } + // Call special pointer constructor, which sets 'self' + mexCallMATLAB(1,&result, nargin, input, derivedClassName); + // Deallocate our memory + mxDestroyArray(input[0]); + mxDestroyArray(input[1]); + if(isVirtual) { + mxDestroyArray(input[2]); + delete[] derivedClassName; + } + return result; +} + +/* + When the user calls a method that returns a shared pointer, we create + an ObjectHandle from the shared_pointer and return it as a proxy + class to matlab. +*/ +template +mxArray* wrap_shared_ptr(boost::shared_ptr< Class > shared_ptr, const std::string& matlabName, bool isVirtual) { + // Create actual class object from out pointer + mxArray* result; + if(isVirtual) { + boost::shared_ptr void_ptr(shared_ptr); + result = create_object(matlabName, &void_ptr, isVirtual, typeid(*shared_ptr).name()); + } else { + boost::shared_ptr *heapPtr = new boost::shared_ptr(shared_ptr); + result = create_object(matlabName, heapPtr, isVirtual, ""); + } + return result; +} + +template +boost::shared_ptr unwrap_shared_ptr(const mxArray* obj, const string& propertyName) { + + mxArray* mxh = mxGetProperty(obj,0, propertyName.c_str()); + if (mxGetClassID(mxh) != mxUINT32OR64_CLASS || mxIsComplex(mxh) + || mxGetM(mxh) != 1 || mxGetN(mxh) != 1) error( + "Parameter is not an Shared type."); + + boost::shared_ptr* spp = *reinterpret_cast**> (mxGetData(mxh)); + return *spp; +} + +//// throw an error if unwrap_shared_ptr is attempted for an Eigen Vector +//template <> +//Vector unwrap_shared_ptr(const mxArray* obj, const string& propertyName) { +// bool unwrap_shared_ptr_Vector_attempted = false; +// BOOST_STATIC_ASSERT(unwrap_shared_ptr_Vector_attempted, "Vector cannot be unwrapped as a shared pointer"); +// return Vector(); +//} + +//// throw an error if unwrap_shared_ptr is attempted for an Eigen Matrix +//template <> +//Matrix unwrap_shared_ptr(const mxArray* obj, const string& propertyName) { +// bool unwrap_shared_ptr_Matrix_attempted = false; +// BOOST_STATIC_ASSERT(unwrap_shared_ptr_Matrix_attempted, "Matrix cannot be unwrapped as a shared pointer"); +// return Matrix(); +//} + From aecb83134f2f4193b6ae9d3991170ecd23f2cfec Mon Sep 17 00:00:00 2001 From: Matt Date: Tue, 21 Dec 2021 15:08:31 -0500 Subject: [PATCH 7/7] Changed CMakeLists.txt --- CMakeLists.txt | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 3607138..1a2a240 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -66,11 +66,11 @@ add_subdirectory(gpmp2) # Find current wrap repository find_package(gtwrap) -if(NOT GPMP2_TOOLBOX_INSTALL_PATH) - set(GPMP2_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gpmp2_toolbox") -endif() -set(GPMP2_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gpmp2_toolbox") -set(WRAP_TOOLBOX_INSTALL_PATH ${GTSAM_TOOLBOX_INSTALL_PATH}) +#if(NOT GPMP2_TOOLBOX_INSTALL_PATH) + #set(GPMP2_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gpmp2_toolbox") +#sendif() +#set(GPMP2_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gpmp2_toolbox") +#set(WRAP_TOOLBOX_INSTALL_PATH "${GTSAM_TOOLBOX_INSTALL_PATH}") # Wrapping to MATLAB if(GPMP2_BUILD_MATLAB_TOOLBOX)