def test_hyper_ellipsoid(self):
ellipsoid = mut.Hyperellipsoid(A=self.A, center=self.b)
self.assertEqual(ellipsoid.ambient_dimension(), 3)
np.testing.assert_array_equal(ellipsoid.A(), self.A)
np.testing.assert_array_equal(ellipsoid.center(), self.b)
self.assertTrue(ellipsoid.PointInSet(x=self.b, tol=0.0))
ellipsoid.AddPointInSetConstraints(self.prog, self.x)
shape, pose = ellipsoid.ToShapeWithPose()
self.assertIsInstance(shape, Ellipsoid)
self.assertIsInstance(pose, RigidTransform)
p = np.array([11.1, 12.2, 13.3])
point = mut.Point(p)
scale, witness = ellipsoid.MinimumUniformScalingToTouch(point)
self.assertTrue(scale > 0.0)
np.testing.assert_array_almost_equal(witness, p)
e_ball = mut.Hyperellipsoid.MakeAxisAligned(
radius=[1, 1, 1], center=self.b)
np.testing.assert_array_equal(e_ball.A(), self.A)
np.testing.assert_array_equal(e_ball.center(), self.b)
e_ball2 = mut.Hyperellipsoid.MakeHypersphere(
radius=1, center=self.b)
np.testing.assert_array_equal(e_ball2.A(), self.A)
np.testing.assert_array_equal(e_ball2.center(), self.b)
e_ball3 = mut.Hyperellipsoid.MakeUnitBall(dim=3)
np.testing.assert_array_equal(e_ball3.A(), self.A)
np.testing.assert_array_equal(e_ball3.center(), [0, 0, 0])
def test_hyper_ellipsoid(self):
ellipsoid = mut.Hyperellipsoid(A=self.A, center=self.b)
self.assertEqual(ellipsoid.ambient_dimension(), 3)
np.testing.assert_array_equal(ellipsoid.A(), self.A)
np.testing.assert_array_equal(ellipsoid.center(), self.b)
self.assertTrue(ellipsoid.PointInSet(x=self.b, tol=0.0))
ellipsoid.AddPointInSetConstraints(self.prog, self.x)
constraints = ellipsoid.AddPointInNonnegativeScalingConstraints(
prog=self.prog, x=self.x, t=self.t)
self.assertGreaterEqual(len(constraints), 2)
self.assertIsInstance(constraints[0], Binding[Constraint])
constraints = ellipsoid.AddPointInNonnegativeScalingConstraints(
prog=self.prog,
A=self.Ay,
b=self.by,
c=self.cz,
d=self.dz,
x=self.y,
t=self.z)
self.assertGreaterEqual(len(constraints), 2)
self.assertIsInstance(constraints[0], Binding[Constraint])
shape, pose = ellipsoid.ToShapeWithPose()
self.assertIsInstance(shape, Ellipsoid)
self.assertIsInstance(pose, RigidTransform)
p = np.array([11.1, 12.2, 13.3])
point = mut.Point(p)
scale, witness = ellipsoid.MinimumUniformScalingToTouch(point)
self.assertTrue(scale > 0.0)
np.testing.assert_array_almost_equal(witness, p)
assert_pickle(self, ellipsoid, lambda S: np.vstack(
(S.A(), S.center())))
e_ball = mut.Hyperellipsoid.MakeAxisAligned(radius=[1, 1, 1],
center=self.b)
np.testing.assert_array_equal(e_ball.A(), self.A)
np.testing.assert_array_equal(e_ball.center(), self.b)
e_ball2 = mut.Hyperellipsoid.MakeHypersphere(radius=1, center=self.b)
np.testing.assert_array_equal(e_ball2.A(), self.A)
np.testing.assert_array_equal(e_ball2.center(), self.b)
e_ball3 = mut.Hyperellipsoid.MakeUnitBall(dim=3)
np.testing.assert_array_equal(e_ball3.A(), self.A)
np.testing.assert_array_equal(e_ball3.center(), [0, 0, 0])
def test_make_from_scene_graph_and_iris(self):
"""
Tests the make from scene graph and iris functionality together as
the Iris code makes obstacles from geometries registered in SceneGraph.
"""
scene_graph = SceneGraph()
source_id = scene_graph.RegisterSource("source")
frame_id = scene_graph.RegisterFrame(
source_id=source_id, frame=GeometryFrame("frame"))
box_geometry_id = scene_graph.RegisterGeometry(
source_id=source_id, frame_id=frame_id,
geometry=GeometryInstance(X_PG=RigidTransform(),
shape=Box(1., 1., 1.),
name="box"))
cylinder_geometry_id = scene_graph.RegisterGeometry(
source_id=source_id, frame_id=frame_id,
geometry=GeometryInstance(X_PG=RigidTransform(),
shape=Cylinder(1., 1.),
name="cylinder"))
sphere_geometry_id = scene_graph.RegisterGeometry(
source_id=source_id, frame_id=frame_id,
geometry=GeometryInstance(X_PG=RigidTransform(),
shape=Sphere(1.), name="sphere"))
capsule_geometry_id = scene_graph.RegisterGeometry(
source_id=source_id,
frame_id=frame_id,
geometry=GeometryInstance(X_PG=RigidTransform(),
shape=Capsule(1., 1.0),
name="capsule"))
context = scene_graph.CreateDefaultContext()
pose_vector = FramePoseVector()
pose_vector.set_value(frame_id, RigidTransform())
scene_graph.get_source_pose_port(source_id).FixValue(
context, pose_vector)
query_object = scene_graph.get_query_output_port().Eval(context)
H = mut.HPolyhedron(
query_object=query_object, geometry_id=box_geometry_id,
reference_frame=scene_graph.world_frame_id())
self.assertEqual(H.ambient_dimension(), 3)
C = mut.CartesianProduct(
query_object=query_object, geometry_id=cylinder_geometry_id,
reference_frame=scene_graph.world_frame_id())
self.assertEqual(C.ambient_dimension(), 3)
E = mut.Hyperellipsoid(
query_object=query_object, geometry_id=sphere_geometry_id,
reference_frame=scene_graph.world_frame_id())
self.assertEqual(E.ambient_dimension(), 3)
S = mut.MinkowskiSum(
query_object=query_object, geometry_id=capsule_geometry_id,
reference_frame=scene_graph.world_frame_id())
self.assertEqual(S.ambient_dimension(), 3)
P = mut.Point(
query_object=query_object, geometry_id=sphere_geometry_id,
reference_frame=scene_graph.world_frame_id(),
maximum_allowable_radius=1.5)
self.assertEqual(P.ambient_dimension(), 3)
V = mut.VPolytope(
query_object=query_object, geometry_id=box_geometry_id,
reference_frame=scene_graph.world_frame_id())
self.assertEqual(V.ambient_dimension(), 3)
obstacles = mut.MakeIrisObstacles(
query_object=query_object,
reference_frame=scene_graph.world_frame_id())
options = mut.IrisOptions()
options.require_sample_point_is_contained = True
options.iteration_limit = 1
options.termination_threshold = 0.1
options.relative_termination_threshold = 0.01
self.assertNotIn("object at 0x", repr(options))
region = mut.Iris(
obstacles=obstacles, sample=[2, 3.4, 5],
domain=mut.HPolyhedron.MakeBox(
lb=[-5, -5, -5], ub=[5, 5, 5]), options=options)
self.assertIsInstance(region, mut.HPolyhedron)
obstacles = [
mut.HPolyhedron.MakeUnitBox(3),
mut.Hyperellipsoid.MakeUnitBall(3),
mut.Point([0, 0, 0]),
mut.VPolytope.MakeUnitBox(3)]
region = mut.Iris(
obstacles=obstacles, sample=[2, 3.4, 5],
domain=mut.HPolyhedron.MakeBox(
lb=[-5, -5, -5], ub=[5, 5, 5]), options=options)
self.assertIsInstance(region, mut.HPolyhedron)