Merge pull request #10 from ami-iit/humanoidPlanning_robot_planning

Adds the expressions for writing planners for a humanoid robot

src/hippopt/base/opti_callback.py

@@ -27,6 +27,7 @@ class CallbackCriterion(abc.ABC):
     def __init__(self) -> None:
         """"""
         self.opti = None
+        self.opti_debug = None
 
     @abc.abstractmethod
     def satisfied(self) -> bool:
@@ -69,6 +70,10 @@ def set_opti(self, opti: cs.Opti) -> None:
         self.opti = weakref.proxy(opti)
         self.reset()
 
+    def update_opti_debug(self, opti_debug: cs.OptiAdvanced) -> None:
+        """"""
+        self.opti_debug = opti_debug
+
 
 class BestCost(CallbackCriterion):
     """"""
@@ -107,7 +112,7 @@ def update(self) -> None:
     def _get_current_cost(self) -> float:
         """"""
 
-        return self.opti.debug.value(self.opti.f)
+        return self.opti_debug.value(self.opti.f)
 
 
 class AcceptableCost(CallbackCriterion):
@@ -151,7 +156,7 @@ def update(self) -> None:
     def _get_current_cost(self) -> float:
         """"""
 
-        return self.opti.debug.value(self.opti.f)
+        return self.opti_debug.value(self.opti.f)
 
 
 class AcceptablePrimalInfeasibility(CallbackCriterion):
@@ -199,7 +204,7 @@ def update(self) -> None:
     def _get_current_primal_infeasibility(self) -> float:
         """"""
 
-        return self.opti.debug.stats()["iterations"]["inf_pr"][-1]
+        return self.opti_debug.stats()["iterations"]["inf_pr"][-1]
 
 
 class BestPrimalInfeasibility(CallbackCriterion):
@@ -240,7 +245,7 @@ def update(self) -> None:
     def _get_current_primal_infeasibility(self) -> float:
         """"""
 
-        return self.opti.debug.stats()["iterations"]["inf_pr"][-1]
+        return self.opti_debug.stats()["iterations"]["inf_pr"][-1]
 
 
 class CombinedCallbackCriterion(CallbackCriterion, abc.ABC):
@@ -274,6 +279,13 @@ def set_opti(self, opti: cs.Opti) -> None:
         self.lhs.set_opti(opti)
         self.rhs.set_opti(opti)
 
+    @final
+    def update_opti_debug(self, opti_debug: cs.OptiAdvanced) -> None:
+        """"""
+
+        self.lhs.update_opti_debug(opti_debug)
+        self.rhs.update_opti_debug(opti_debug)
+
 
 class OrCombinedCallbackCriterion(CombinedCallbackCriterion):
     """"""
@@ -330,6 +342,8 @@ def __init__(
 
     def call(self, i: int) -> None:
         """"""
+        opti_debug = self.opti.debug
+        self.criterion.update_opti_debug(opti_debug)
 
         if self.criterion.satisfied():
             self.criterion.update()
@@ -338,24 +352,22 @@ def call(self, i: int) -> None:
             _logger.info(f"[i={i}] New best intermediate variables")
 
             self.best_iteration = i
-            self.best_cost = self.opti.debug.value(self.opti.f)
+            self.best_cost = opti_debug.value(self.opti.f)
             for variable in self.variables:
                 if self.ignore_map[variable]:
                     continue
                 try:
-                    self.best_objects[variable] = self.opti.debug.value(variable)
+                    self.best_objects[variable] = opti_debug.value(variable)
                 except Exception as err:  # noqa
                     self.ignore_map[variable] = True
             for parameter in self.parameters:
                 if self.ignore_map[parameter]:
                     continue
-                self.best_objects[parameter] = self.opti.debug.value(parameter)
+                self.best_objects[parameter] = opti_debug.value(parameter)
                 self.ignore_map[parameter] = True  # Parameters are saved only once
 
-            self.best_cost_values = {
-                cost: self.opti.debug.value(cost) for cost in self.cost
-            }
+            self.best_cost_values = {cost: opti_debug.value(cost) for cost in self.cost}
             self.best_constraint_multipliers = {
-                constraint: self.opti.debug.value(self.opti.dual(constraint))
+                constraint: opti_debug.value(self.opti.dual(constraint))
                 for constraint in self.constraints
             }

src/hippopt/deps/__init__.py

@@ -0,0 +1 @@
+from .surf2stl import surf2stl

src/hippopt/deps/surf2stl/LICENSE.txt

@@ -0,0 +1,7 @@
+Copyright 2020 asahidari
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

src/hippopt/deps/surf2stl/__init__.py

@@ -0,0 +1 @@
+from .surf2stl import write

src/hippopt/deps/surf2stl/surf2stl.py

@@ -0,0 +1,254 @@
+### surf2stl.py --- Write a surface to a STL format file ---
+
+### Copyright (c) 2020 asahidari
+
+### This software is released under the MIT License.
+### http://opensource.org/licenses/mit-license.php
+
+### Functions in this script (write, tri_write) export
+### a stereolithography (STL) file for a surface with geometry
+### defined by three matrix arguments, X, Y and Z.
+
+### This idea mainly come from surf2stl.m in MATLAB(or Octave):
+### https://jp.mathworks.com/matlabcentral/fileexchange/4512-surf2stl
+
+import datetime
+import math
+import struct
+
+import numpy as np
+from scipy.spatial import Delaunay
+
+
+def write(filename, x, y, z, mode="binary"):
+    """
+    Write a stl file for a surface with geometry
+    defined from three matrix arguments, x, y, and z.
+    Meshes are triangulated sequencially along xyz order.
+
+    Parameters
+    ----------
+    filename : string
+        output file name
+
+    x, y, z : ndarray
+        Arguments x, y can be 1-dimensional arrays or 2-dimensional grids
+        (usually generated by np.meshgrid(x,y)), and z must be 2-dimensional,
+        which must have len(x)=n, len(y)=m where z.shape[m,n].
+
+    mode : string
+        STL file format, 'ascii' or 'binary'(default).
+
+    Examples
+    ----------
+    import numpy as np
+    import surf2stl
+
+    x = np.linspace(-6, 6, 30)
+    y = np.linspace(-6, 6, 30)
+    X, Y = np.meshgrid(x, y)
+    Z = np.sin(np.sqrt(X ** 2 + Y ** 2))
+
+    surf2stl.write('3d-sinusoidal.stl', X, Y, Z)
+
+    """
+
+    if type(filename) is not str:
+        raise Exception("Invalid filename")
+
+    if mode != "ascii":
+        mode = "binary"
+
+    if z.ndim != 2:
+        raise Exception("Variable z must be a 2-dimensional array")
+
+    ### x, y can not be used as dx, dy in Python
+    ### if arguments type of x(or y) is 'int',
+    ### type error will raise in next 'if' block
+    # if type(x) == int and type(y) == int:
+    #    x = np.arange(0, z.shape[1], x)
+    #    x = np.arange(0, z.shape[0], y)
+
+    if (
+        len(x.shape) == 1
+        and x.shape[0] == z.shape[1]
+        and len(y.shape) == 1
+        and y.shape[0] == z.shape[0]
+    ):
+        x, y = np.meshgrid(x, y)
+
+    if (
+        len(x.shape) != len(z.shape)
+        or len(y.shape) != len(z.shape)
+        or x.shape[1] != z.shape[1]
+        or y.shape[0] != z.shape[0]
+    ):
+        raise Exception("Unable to resolve x and y variables")
+
+    nfacets = 0
+    title_str = "Created by surf2stl.py %s" % datetime.datetime.now().strftime(
+        "%d-%b-%Y %H:%M:%S"
+    )
+
+    f = open(filename, "wb" if mode != "ascii" else "w")
+
+    if mode == "ascii":
+        f.write("solid %s\n" % title_str)
+    else:
+        title_str_ljust = title_str.ljust(80)
+        # f.write(title_str_ljust.encode('utf-8')) # same as 'ascii' for alphabet characters
+        f.write(title_str_ljust.encode("ascii"))
+        f.write(struct.pack("i", 0))
+
+    for i in range(z.shape[0] - 1):
+        for j in range(z.shape[1] - 1):
+            p1 = np.array([x[i, j], y[i, j], z[i, j]])
+            p2 = np.array([x[i, j + 1], y[i, j + 1], z[i, j + 1]])
+            p3 = np.array([x[i + 1, j + 1], y[i + 1, j + 1], z[i + 1, j + 1]])
+            val = local_write_facet(f, p1, p2, p3, mode)
+            nfacets += val
+
+            p1 = np.array([x[i + 1, j + 1], y[i + 1, j + 1], z[i + 1, j + 1]])
+            p2 = np.array([x[i + 1, j], y[i + 1, j], z[i + 1, j]])
+            p3 = np.array([x[i, j], y[i, j], z[i, j]])
+            val = local_write_facet(f, p1, p2, p3, mode)
+            nfacets += val
+
+    if mode == "ascii":
+        f.write("endsolid %s\n" % title_str)
+    else:
+        f.seek(80, 0)
+        f.write(struct.pack("i", nfacets))
+
+    f.close()
+
+    print("Wrote %d facets" % nfacets)
+    return
+
+
+def tri_write(filename, x, y, z, tri, mode="binary"):
+    """
+    Write a stl file for a surface with geometry
+    defined from three matrix arguments, x, y, and z
+    with Delaunay Triangle parameter(tri).
+
+    Meshes are triangulated with the 'tri' parameter
+    usually made with parameters which determine
+    the sequence of vertices (like [u, v]).
+
+    Parameters
+    ----------
+    filename : string
+        output file name
+
+    x, y, z : ndarray
+        Each of these arguments must be 1-dimensional.
+
+    tri : scipy.spatial.Delaunay
+        Delaunay Triangulation object.
+        When xyz coordinates are determined from other parameters(like (u, v)),
+        this triangle faces are basically calculated with the parameters.
+
+    mode : string
+        STL file format, 'ascii' or 'binary'(default).
+
+    Examples
+    ----------
+    import numpy as np
+    from scipy.spatial import Delaunay
+    import surf2stl
+
+    u = np.linspace(0, 2.0 * np.pi, endpoint=True, num=50)
+    v = np.linspace(-0.5, 0.5, endpoint=True, num=10)
+    u, v = np.meshgrid(u, v)
+    u, v = u.flatten(), v.flatten()
+
+    x = (1 + 0.5 * v * np.cos(u / 2.0)) * np.cos(u)
+    y = (1 + 0.5 * v * np.cos(u / 2.0)) * np.sin(u)
+    z = 0.5 * v * np.sin(u / 2.0)
+
+    delaunay_tri = Delaunay(np.array([u, v]).T)
+    surf2stl.tri_write('mobius.stl', x, y, z, delaunay_tri)
+
+    """
+
+    if type(filename) is not str:
+        raise Exception("Invalid filename")
+
+    if mode != "ascii":
+        mode = "binary"
+
+    if len(x.shape) != 1 or len(y.shape) != 1 or len(z.shape) != 1:
+        raise Exception("Each variable x,y,z must be a 1-dimensional array")
+
+    if x.shape[0] != z.shape[0] or y.shape[0] != z.shape[0]:
+        raise Exception("Number of x,y,z elements must be equal")
+
+    nfacets = 0
+    title_str = "Created by surf2stl.py %s" % datetime.datetime.now().strftime(
+        "%d-%b-%Y %H:%M:%S"
+    )
+
+    f = open(filename, "wb" if mode != "ascii" else "w")
+
+    if mode == "ascii":
+        f.write("solid %s\n" % title_str)
+    else:
+        title_str_ljust = title_str.ljust(80)
+        # f.write(title_str_ljust.encode('utf-8')) # same as 'ascii' for alphabet characters
+        f.write(title_str_ljust.encode("ascii"))
+        f.write(struct.pack("i", 0))
+
+    indices = tri.simplices
+    verts = tri.points[indices]
+    for i in range(0, indices.shape[0], 1):
+        p = indices[i]
+        p1 = np.array([x[p[0]], y[p[0]], z[p[0]]])
+        p2 = np.array([x[p[1]], y[p[1]], z[p[1]]])
+        p3 = np.array([x[p[2]], y[p[2]], z[p[2]]])
+        val = local_write_facet(f, p1, p2, p3, mode)
+        nfacets += val
+
+    if mode == "ascii":
+        f.write("endsolid %s\n" % title_str)
+    else:
+        f.seek(80, 0)
+        f.write(struct.pack("i", nfacets))
+
+    f.close()
+
+    print("Wrote %d facets" % nfacets)
+    return
+
+
+# Local subfunctions
+
+
+def local_write_facet(f, p1, p2, p3, mode):
+    if np.isnan(p1).any() or np.isnan(p2).any() or np.isnan(p3).any():
+        return 0
+
+    n = local_find_normal(p1, p2, p3)
+    if mode == "ascii":
+        f.write("facet normal %.7f %.7f %.7f\n" % (n[0], n[1], n[2]))
+        f.write("outer loop\n")
+        f.write("vertex %.7f %.7f %.7f\n" % (p1[0], p1[1], p1[2]))
+        f.write("vertex %.7f %.7f %.7f\n" % (p2[0], p2[1], p2[2]))
+        f.write("vertex %.7f %.7f %.7f\n" % (p3[0], p3[1], p3[2]))
+        f.write("endloop\n")
+        f.write("endfacet\n")
+    else:
+        f.write(struct.pack("%sf" % len(n), *n))
+        f.write(struct.pack("%sf" % len(p1), *p1))
+        f.write(struct.pack("%sf" % len(p2), *p2))
+        f.write(struct.pack("%sf" % len(p3), *p3))
+        f.write(struct.pack("h", 0))
+    return 1
+
+
+def local_find_normal(p1, p2, p3):
+    v1 = p2 - p1
+    v2 = p3 - p1
+    v3 = np.cross(v1, v2)
+    n = v3 / math.sqrt(np.sum(v3 * v3))
+    return n