| #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) { |
| |
| |
| 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; |
| }; |
| }} |
|
|
