File size: 3,964 Bytes
91093de | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 | """Read-only metric helpers for the nine Dev15 handover validators."""
from __future__ import annotations
import math
from common import body_speed, final_window, in_aabb, norm, roll_pitch
def planar_travel(frames, body_name: str) -> float:
first = frames[0]["bodies"][body_name]["position"]
last = frames[-1]["bodies"][body_name]["position"]
return math.hypot(last[0] - first[0], last[1] - first[1])
def signed_travel(frames, body_name: str, axis: int) -> float:
first = frames[0]["bodies"][body_name]["position"][axis]
last = frames[-1]["bodies"][body_name]["position"][axis]
return last - first
def lateral_span(frames, body_name: str, travel_axis: int) -> float:
other = 1 - travel_axis
values = [frame["bodies"][body_name]["position"][other] for frame in frames]
return max(values) - min(values)
def height_span(frames, body_name: str) -> float:
values = [frame["bodies"][body_name]["position"][2] for frame in frames]
return max(values) - min(values)
def maximum_tilt(frames, body_name: str) -> float:
return max(
max(abs(value) for value in roll_pitch(frame["bodies"][body_name]["quaternion"]))
for frame in frames
)
def terminal_stopped(frames, body_name: str, hold_s: float, threshold: float) -> bool:
window = final_window(frames, hold_s)
return bool(window) and all(body_speed(frame, body_name) <= threshold for frame in window)
def terminal_in_region(frames, body_name: str, hold_s: float, region: dict) -> bool:
window = final_window(frames, hold_s)
return bool(window) and all(
in_aabb(frame["bodies"][body_name]["position"], region) for frame in window
)
def first_region_time(frames, body_name: str, region: dict):
for frame in frames:
if in_aabb(frame["bodies"][body_name]["position"], region):
return frame["t"]
return None
def first_axis_progress_time(frames, body_name: str, axis: int, threshold: float, sign: float):
start = frames[0]["bodies"][body_name]["position"][axis]
for frame in frames:
progress = sign * (frame["bodies"][body_name]["position"][axis] - start)
if progress >= threshold:
return frame["t"]
return None
def interpolate_points(points: list[list[float]], phase: float) -> list[float]:
phase = max(0.0, min(1.0, phase)) * (len(points) - 1)
left = int(phase)
right = min(len(points) - 1, left + 1)
blend = phase - left
return [
(1.0 - blend) * points[left][index] + blend * points[right][index]
for index in range(3)
]
def relative_position_in_body_frame(frame, body_name: str, target_name: str) -> list[float]:
body = frame["bodies"][body_name]
target = frame["bodies"][target_name]
vx, vy, vz = [target["position"][i] - body["position"][i] for i in range(3)]
w, x, y, z = body["quaternion"]
return [
(1 - 2 * (y * y + z * z)) * vx + 2 * (x * y + z * w) * vy + 2 * (x * z - y * w) * vz,
2 * (x * y - z * w) * vx + (1 - 2 * (x * x + z * z)) * vy + 2 * (y * z + x * w) * vz,
2 * (x * z + y * w) * vx + 2 * (y * z - x * w) * vy + (1 - 2 * (x * x + y * y)) * vz,
]
def relative_orientation_in_body_frame(frame, body_name: str, target_name: str) -> list[float]:
aw, ax, ay, az = frame["bodies"][body_name]["quaternion"]
bw, bx, by, bz = frame["bodies"][target_name]["quaternion"]
relative = [
aw * bw + ax * bx + ay * by + az * bz,
aw * bx - ax * bw - ay * bz + az * by,
aw * by + ax * bz - ay * bw - az * bx,
aw * bz - ax * by + ay * bx - az * bw,
]
magnitude = norm(relative)
return [value / magnitude for value in relative]
def quaternion_distance(a, b) -> float:
dot = abs(sum(float(a[index]) * float(b[index]) for index in range(4)))
return 2.0 * math.acos(max(-1.0, min(1.0, dot)))
def point_distance(a, b) -> float:
return norm([a[index] - b[index] for index in range(3)])
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