File size: 2,367 Bytes
9897e20 | 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 | #pragma once
#include "types.hpp"
#include <cmath>
#include <madrona/components.hpp>
#include <madrona/mw_gpu_entry.hpp>
namespace madrona_gpudrive {
namespace utils {
template <typename T> inline float NormalizeAngle(T angle) {
const T ret = fmod(angle, madrona::math::pi_m2);
return ret > madrona::math::pi ? ret - madrona::math::pi_m2 : (ret < -madrona::math::pi ? ret + madrona::math::pi_m2 : ret);
}
template <typename T> inline T AngleAdd(T lhs, T rhs) {
return NormalizeAngle<T>(lhs + rhs);
}
inline float quatToYaw(madrona::base::Rotation q) {
// From
// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_(in_3-2-1_sequence)_conversion
return atan2(2.0f * (q.w * q.z + q.x * q.y),
1.0f - 2.0f * (q.y * q.y + q.z * q.z));
}
class ReferenceFrame {
public:
ReferenceFrame(const madrona::math::Vector2 &position,
const madrona::base::Rotation &rotation)
: referenceRotation(rotation), referencePosition(position) {}
madrona_gpudrive::MapObservation
observationOf(const madrona::math::Vector3 &position,
const madrona::base::Rotation &rotation, const Scale &scale,
madrona_gpudrive::EntityType type, float id, MapType mapType = MapType::UNKNOWN) const {
return madrona_gpudrive::MapObservation{.position = relative(position),
.scale = scale,
.heading = relative(rotation),
.type = static_cast<float>(type),
.id = static_cast<float>(id),
.mapType = static_cast<float>(mapType)};
}
float distanceTo(const madrona::math::Vector3 &position) const {
return relative(position).length();
}
private:
madrona::math::Vector2
relative(const madrona::math::Vector3 &absolutePos) const {
auto relativePosition = absolutePos.xy() - referencePosition;
return referenceRotation.inv()
.rotateVec({relativePosition.x, relativePosition.y, 0})
.xy();
}
float relative(const madrona::base::Rotation &absoluteRot) const {
return madrona_gpudrive::utils::quatToYaw(referenceRotation.inv() * absoluteRot);
}
madrona::math::Vector2 referencePosition;
madrona::base::Rotation referenceRotation;
};
}}
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