roboticstoolbox-python 1.3.0__cp312-cp312-win_amd64.whl

roboticstoolbox/mobile/OccGrid.py

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+import numpy as np
+import matplotlib.pyplot as plt
+from spatialmath import base
+import scipy.ndimage as sp
+from abc import ABC
+import spatialmath.base as smb
+
+from spatialmath.geom2d import Polygon2
+
+
+class BaseMap(ABC):
+    def __init__(self, workspace=None, name=None, **unused):
+        """
+        Abstract base class for maps
+
+        :param workspace: dimensions of 2D plot area, defaults to (-10:10) x (-10:10),
+            see :func:`~spatialmath.base.graphics.plotvol2`
+        :type workspace: float, array_like(2), array_like(4)
+        :param name: nae of the map, defaults to None
+        :type name: str, optional
+
+        The workspace can be specified in several ways:
+
+        ==============  =======  =======
+        ``workspace``   x-range  y-range
+        ==============  =======  =======
+        A (scalar)      -A:A     -A:A
+        [A, B]           A:B      A:B
+        [A, B, C, D]     A:B      C:D
+        ==============  =======  =======
+        """
+        if workspace is not None:
+            workspace = smb.expand_dims(workspace)
+            self._workspace = workspace
+            self.dx = workspace[1] - workspace[0]
+            self.dy = workspace[3] - workspace[2]
+        self._name = name
+
+
+class BaseOccupancyGrid(BaseMap):
+    def __init__(self, grid=None, origin=(0, 0), value=0, cellsize=1, **kwargs):
+        """
+        Occupancy grid (superclass)
+
+        :param grid: occupancy grid as a NumPy array
+        :type grid: ndarray(N,M)
+        :param value: initial value of cells
+        :type value: any, optional
+        :param origin: world coordinates of the grid element [0,0], defaults to (0, 0)
+        :type origin: array_like(2), optional
+        :param cellsize: cell size, defaults to 1
+        :type cellsize: float, optional
+        :param kwargs: options passed to :class:`~roboticstoolbox.mobile.OccGrid.BaseMap`
+
+        This object supports a user-defined coordinate system and grid size.
+        World coordinates are converted to grid coordinates to lookup the
+        occupancy status.
+
+        The grid can be initialized by:
+
+        - a 2D NumPy array
+        - specifying ``workspace`` and ``value`` arguments
+
+        """
+        super().__init__(**kwargs)
+
+        if grid is not None:
+            self._grid = grid
+            self._origin = smb.getvector(origin, 2)
+
+        elif self._workspace is not None:
+            self._grid = np.full(
+                np.floor(np.r_[self.dx, self.dy] / cellsize).astype(int) + 1, value
+            )
+            self._origin = np.r_[self._workspace[0], self._workspace[2]]
+
+        self._cellsize = cellsize
+
+    def copy(self):
+        """
+        Copy an occupancy grid (superclass)
+
+        :return: copy of the ocupancy grid
+        :rtype: OccGrid
+        """
+        return self.__class__(
+            self._grid.copy(),
+            cellsize=self._cellsize,
+            origin=self._origin,
+            name=self._name,
+        )
+
+    def __repr__(self):
+        return str(self)
+
+    def __str__(self):
+        """
+        Compact string description of occupancy grid (superclass)
+
+        :return: summary of occupancy grid characteristics
+        :rtype: str
+        """
+        s = self.__class__.__name__
+        if self._name is not None:
+            s += f"[{self._name}]"
+        s += f": {self._grid.shape[1]} x {self._grid.shape[0]}"
+        s += f", cell size={self._cellsize}"
+        s += f", x = [{self.xmin}, {self.xmax}], y = [{self.ymin}, {self.ymax}]"
+        return s
+
+    @property
+    def grid(self):
+        """
+        Occupancy grid as a NumPy array (superclass)
+
+        :return: binary occupancy grid
+        :rtype: ndarray(N,M) of bool
+
+        If :meth:`inflate` has been called, this will return the inflated
+        occupancy grid.
+        """
+        return self._grid
+
+    @property
+    def xmin(self):
+        """
+        Minimum x-coordinate of this grid (superclass)
+
+        :return: minimum world x-coordinate
+        :rtype: float
+        """
+        return self._origin[0]
+
+    @property
+    def xmax(self):
+        """
+        Maximum x-coordinate of this grid (superclass)
+
+        :return: maximum world x-coordinate
+        :rtype: float
+        """
+        return (self._grid.shape[1] - 1) * self._cellsize + self._origin[0]
+
+    @property
+    def ymin(self):
+        """
+        Minimum y-coordinate of this grid (superclass)
+
+        :return: minimum world y-coordinate
+        :rtype: float
+        """
+        return self._origin[1]
+
+    @property
+    def ymax(self):
+        """
+        Maximum y-coordinate of this grid (superclass)
+
+        :return: maximum world y-coordinate
+        :rtype: float
+        """
+        return (self._grid.shape[0] - 1) * self._cellsize + self._origin[1]
+
+    @property
+    def shape(self):
+        """
+        Shape of the occupancy grid array (superclass)
+
+        :return: shape of the occupancy grid array
+        :rtype: 2-tuple
+
+        This is the shape of the NumPy array that holds the occupancy grid.
+        """
+        return self._grid.shape
+
+    @property
+    def maxdim(self):
+        """
+        Maximum dimension of grid in world coordinates (superclass)
+
+        :return: maximum side length of the occupancy grid
+        :rtype: float
+        """
+        return max(self.grid.shape) * self._cellsize
+
+    @property
+    def workspace(self):
+        """
+        Bounds of the occupancy grid in world coordinates (superclass)
+
+        :return: workspace bounds [xmin, xmax, ymin, ymax]
+        :rtype: ndarray(4)
+
+        Returns the bounds of the occupancy grid in world coordinates.
+        """
+        return np.r_[self.xmin, self.xmax, self.ymin, self.ymax]
+
+    @property
+    def name(self):
+        """
+        Occupancy grid name (superclass)
+
+        :return: name of the occupancy grid
+        :rtype: str
+        """
+        return self._name
+
+    @name.setter
+    def name(self, name):
+        """
+        Set occupancy grid name (superclass)
+
+        :param name: new name of the occupancy grid
+        :type name: str
+        """
+        self._name = name
+
+    def set(self, region, value):
+        """
+        Set region of map (superclass)
+
+        :param region: The region [xmin, ymin, xmax, ymax]
+        :type region: array_like(4)
+        :param value: value to set cells to
+        :type value: int, bool, float
+        """
+        bl = self.w2g([region[0], region[2]])
+        tr = self.w2g([region[1], region[3]])
+        self.grid[bl[1] : tr[1] + 1, bl[0] : tr[0] + 1] = value
+
+    def g2w(self, p):
+        """
+        Convert grid coordinate to world coordinate (superclass)
+
+        :param p: grid coordinate (column, row)
+        :type p: array_like(2)
+        :return: world coordinate (x, y)
+        :rtype: ndarray(2)
+
+        The grid cell size and offset are used to convert occupancy grid
+        coordinate ``p`` to a world coordinate.
+        """
+        p = smb.getvector(p, 2)
+        return p * self._cellsize + self._origin
+
+    def w2g(self, p):
+        """
+        Convert world coordinate to grid coordinate (superclass)
+
+        :param p: world coordinate (x, y)
+        :type p: array_like(2)
+        :return: grid coordinate (column, row)
+        :rtype: ndarray(2)
+
+        The grid cell size and offset are used to convert ``p`` to an occupancy
+        grid coordinate.  The grid coordinate is rounded and cast to integer
+        value. No check is made on the validity of the coordinate.
+        """
+        return (np.round((p - self._origin) / self._cellsize)).astype(int)
+
+    def plot(self, map=None, ax=None, block=None, **kwargs):
+        """
+        Plot the occupancy grid (superclass)
+
+        :param map: array which is plotted instead of the grid, must be same
+            size as the occupancy grid,defaults to None
+        :type map: ndarray(N,M), optional
+        :param ax: matplotlib axes to plot into, defaults to None
+        :type ax: Axes2D, optional
+        :param block: block until plot is dismissed, defaults to None
+        :type block: bool, optional
+        :param kwargs: arguments passed to ``imshow``
+
+        The grid is plotted as an image but with axes in world coordinates.
+
+        The grid is a NumPy boolean array which has values 0 (false=unoccupied)
+        and 1 (true=occupied).  Passing a `cmap` option to imshow can be used
+        to control the displayed color of free space and obstacles.
+
+        """
+
+        ax = smb.axes_logic(ax, 2)
+
+        if map is None:
+            map = self._grid
+            kwargs["extent"] = self.workspace
+
+        ax.imshow(map, origin="lower", interpolation=None, **kwargs)
+        ax.set_xlabel("x")
+        ax.set_ylabel("y")
+        if block is not None:
+            plt.show(block=block)
+
+    def line_w(self, p1, p2):
+        """
+        Get index of cells along a line segment (superclass)
+
+        :param p1: start
+        :type p1: array_like(2)
+        :param p2: end
+        :type p2: array_like(2)
+        :return: index into grid
+        :rtype: ndarray(N)
+
+        Get the indices of cells along a line segment defined by the end
+        points given in world coordinates.
+
+        The returned indices can be applied to a raveled view of the grid.
+
+        :seealso: :meth:`ravel` :meth:`w2g`
+        """
+
+        gp1 = self.w2g(p1)
+        gp2 = self.w2g(p2)
+
+        return self._line(gp1, gp2)
+
+    def _line(self, p1, p2):
+
+        x, y = smb.bresenham(p1, p2)
+        z = np.ravel_multi_index(np.vstack((y, x)), self.grid.shape)
+        return z
+
+    @property
+    def ravel(self):
+        """
+        Ravel the grid (superclass)
+
+        :return: 1D view of the occupancy grid
+        :rtype: ndarray(N)
+        """
+        return self._grid.reshape(-1)
+
+
+class BinaryOccupancyGrid(BaseOccupancyGrid):
+    def __init__(self, grid=None, **kwargs):
+        """
+        Create a binary occupancy grid instance
+
+        :param grid: occupancy grid as a NumPy array
+        :type grid: ndarray(N,M)
+        :param size: cell size, defaults to 1
+        :type size: float, optional
+        :param origin: world coordinates of the grid element [0,0], defaults to (0, 0)
+        :type origin: array_like(2), optional
+        :param kwargs: options passed to :class:`BaseMap`
+
+        The array is kept internally as a bool array. Cells are set to True
+        (occupied) corresponding to input values > 0.
+
+        This object supports a user-defined coordinate system and grid size.
+        World coordinates are converted to grid coordinates to lookup the
+        occupancy status.
+
+        Example:
+
+        .. runblock:: pycon
+
+            >>> from roboticstoolbox import BinaryOccupancyGrid
+            >>> import numpy as np
+            >>> og = BinaryOccupancyGrid(np.zeros((5,5)))
+            >>> print(og)
+            >>> og = BinaryOccupancyGrid(workspace=[-5,5], cellsize=0.1, value=0)
+            >>> print(og)
+
+        :seealso: :class:`OccupancyGrid`
+        """
+
+        if grid is not None:
+            if isinstance(grid, np.ndarray):
+                grid = grid.astype(bool)
+            elif isinstance(grid, BinaryOccupancyGrid):
+                grid = grid.grid
+            else:
+                raise ValueError("argument must be NumPy array or BinaryOccupancyGrid")
+
+        super().__init__(grid=grid, **kwargs)
+
+    def __str__(self):
+        s = super().__str__()
+
+        ncells = np.prod(self._grid.shape)
+        nobs = self._grid.sum()
+        s += f", {nobs / ncells * 100:.1f}% occupied"
+        return s
+
+    def isoccupied(self, p):
+        """
+        Test if coordinate is occupied
+
+        :param p: world coordinate (x, y)
+        :type p: array_like(2)
+        :return: occupancy status of corresponding grid cell
+        :rtype: bool
+
+        The grid cell size and offset are used to convert ``p`` to an occupancy
+        grid coordinate.  The grid coordinate is rounded and cast to integer
+        value.  If the coordinate is outside the bounds of the occupancy grid
+        it is considered to be occupied.
+
+        :seealso: :meth:`w2g`
+        """
+        c, r = self.w2g(p)
+        try:
+            return self._grid[r, c]
+        except IndexError:
+            return True
+
+    def inflate(self, radius):
+        """
+        Inflate obstales
+
+        :param radius: radius of circular structuring element in world units
+        :type radius: float
+
+        A circular structuring element is created and used to dilate the
+        stored occupancy grid.
+
+        Successive calls to ``inflate`` will compound the inflation.
+
+        :seealso: :func:`scipy.ndimage.binary_dilation`
+        """
+        # Generate a circular structuring element
+        r = round(radius / self._cellsize)
+        Y, X = np.meshgrid(np.arange(-r, r + 1), np.arange(-r, r + 1))
+        SE = X**2 + Y**2 <= r**2
+        SE = SE.astype(int)
+
+        # do the inflation using SciPy
+        self._grid = sp.binary_dilation(self._grid, SE)
+
+
+class OccupancyGrid(BaseOccupancyGrid):
+    """
+    General occupancy grid
+
+
+    The elements of the array are floats and can represent occupancy
+    probability or traversal cost.
+
+    Example:
+
+    .. runblock:: pycon
+
+        >>> from roboticstoolbox import OccupancyGrid
+        >>> import numpy as np
+        >>> og = OccupancyGrid(np.zeros((5,5)))
+        >>> print(og)
+        >>> og = OccupancyGrid(workspace=[-5,5], cellsize=0.1, value=0.5)
+        >>> print(og)
+
+    :seealso: :class:`BinaryOccupancyGrid`
+    """
+
+    def __str__(self):
+        s = super().__str__()
+
+        g = self._grid
+        s += f", dtype {g.dtype}"
+        s += f", min {g.min()}, max {g.max()}, mean {g.mean()}"
+        return s
+
+
+class PolygonMap(BaseMap):
+    def __init__(self, workspace=None, polygons=[]):
+        """
+        Polygonal obstacle map
+
+        :param workspace: dimensions of 2D plot area, defaults to (-10:10) x (-10:10),
+            see :func:`~spatialmath.base.graphics.plotvol2`
+        :type workspace: float, array_like(2), array_like(4)
+        :param polygons: obstacle polygons, defaults to []
+        :type polygons: list, optional
+
+        The obstacle polygons are specified as instances of :class:`~spatialmath.geom2d.Polygon2`
+        or ndarray(2,N).
+
+        The workspace can be specified in several ways:
+
+        ==============  =======  =======
+        ``workspace``   x-range  y-range
+        ==============  =======  =======
+        A (scalar)      -A:A     -A:A
+        [A, B]           A:B      A:B
+        [A, B, C, D]     A:B      C:D
+        ==============  =======  =======
+
+        Workspace is used only to set plot bounds.
+        """
+        super().__init__(workspace=workspace)
+
+        self.polygons = polygons
+
+    def add(self, polygon):
+        """
+        Add a polygon to map
+
+        :param polygon: a polygon
+        :type polygon: :class:`~spatialmath.geom2d.Polygon2` or ndarray(2,N)
+        """
+
+        if isinstance(polygon, Polygon2):
+            self.polygons.append(polygon)  # lgtm [py/modification-of-default-value]
+        else:
+            self.polygons.append(
+                Polygon2(polygon)
+            )  # lgtm [py/modification-of-default-value]
+
+    def iscollision(self, polygon):
+        """
+        Test for collision
+
+        :param polygon: a polygon
+        :type polygon: :class:`~spatialmath.geom2d.Polygon2` or ndarray(2,N)
+        :return: collision
+        :rtype: bool
+
+        The ``polygon`` is tested against polygons in the map, and returns True
+        on the first collision.
+
+        :seealso: :meth:`add` :class:`~spatialmath.geom2d.Polygon2`
+        """
+        return polygon.intersects(self.polygons)
+
+    def plot(self, block=None):
+        smb.plotvol2(self.workspace)
+
+        for polygon in self.polygons:
+            polygon.plot(color="r")
+
+        if block is not None:
+            plt.show(block=block)
+
+    def isoccupied(self, p):
+        """
+        Test if point lies inside an obstacle
+
+        :param p: a 2D point
+        :type p: array_like(2)
+        :return: enclosure
+        :rtype: bool
+
+        The point is tested for enclosure by polygons in the map, and returns True
+        on the first enclosure.
+        """
+        for polygon in self.polygons:
+            if polygon.contains(p):
+                return True
+
+        return False
+
+    @property
+    def workspace(self):
+        """
+        Bounds of the occupancy grid
+
+        :return: workspace bounds [xmin, xmax, ymin, ymax]
+        :rtype: ndarray(4)
+
+        Returns the bounds of the occupancy grid.
+        """
+        return self._workspace
+
+
+if __name__ == "__main__":
+    # g = np.zeros((100, 100))
+    # g[20:30, 50:80] = 1
+
+    # og = OccGrid(g, size=0.1, origin=(2,4),name='bob')
+    # print(og)
+    # print(og.xmin, og.xmax, og.ymin, og.ymax)
+    # print(og.isoccupied((8.5, 6.5)))
+    # print(og.isoccupied((6, 6)))
+    # print(og.isoccupied((500, 500)))
+    # og.plot(block=False)
+    # og2 = og.copy()
+    # print(og2)
+    # og2.inflate(0.5)
+    # plt.figure()
+    # og2.plot(block=True)
+
+    # g = np.zeros((10,10))
+    # g[2:3, 4:5] = 1
+    # og = BinaryOccupancyGrid(g)
+    # print(og)
+
+    # r = og.ravel
+    # print(r[24])
+
+    # og = BinaryOccupancyGrid(workspace=[2,3,4,5], cellsize=0.2)
+    # print(og)
+
+    # og = BinaryOccupancyGrid(workspace=[2,3,4,5], cellsize=0.2, value=True)
+    # print(og)
+
+    # og = OccupancyGrid(workspace=[2,3,4,5], cellsize=0.2, value=3)
+    # print(og)
+
+    # og = OccupancyGrid(workspace=[2,3,4,5], cellsize=0.2, value=3.0)
+    # print(og)
+
+    map = PolygonMap(workspace=[0, 10])
+    map.add([(5, 50), (5, 6), (6, 6), (6, 50)])
+    map.add([(5, 4), (5, -50), (6, -50), (6, 4)])
+    map.plot()
+
+    og = BinaryOccupancyGrid(workspace=[-5, 5, -5, 5], value=False)
+    # np.set_printoptions(linewidth=300)
+    # og = BinaryOccupancyGrid(workspace=[-10, 10, -10, 10], value=False)
+    # print(og)
+    # og.set([1,10, -10, 10], True)
+    # print(og.grid)
+    # print(og.isoccupied((0,0)))