Generating "legal" keyframes for moving actor

asked 2020-11-26 18:00:03 -0600

Magnus
1 ●2 ●3

updated 2020-11-28 04:15:47 -0600

Hello Gazebo wizards!

I need some help with a gazebo plugin that generates random walk paths for a moving actor. How can I check if the generated path collides with objects in the world? It does not have to be real-time but pre-generated.

I followed the animated actor guide to set up a box that can move around in a Gazebo world.

My problem is that there are objects in the world defined in the .world file that the actor collides and goes into.

I have this function to take the current position and return a random point in its circle area.

ignition::math::Vector3d generate_nextWaypoint(ignition::math::Vector3d curr_pos){
        int radius = 15;
        double u = ignition::math::Rand::DblUniform();
        double v = ignition::math::Rand::DblUniform();
        double w = radius * sqrt(u);
        double t = 2 * M_PI * v;
        double x0 = w * cos(t);
        double y0 = w * sin(t);
        double x_new = curr_pos.X() + x0;
        double y_new = curr_pos.Y() + y0;
        ignition::math::Vector3d new_position = ignition::math::Vector3d(x_new, y_new, curr_pos.Z());
        return new_position;
    }

how can I do a legal check so that the positions dont overlap with an object in the world?

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bool collisionFree(ignition::math::Vector3d &_pos, double radius) { for (unsigned int i = 0; i < this->world->ModelCount(); ++i) { physics::ModelPtr worldObj = this->world->ModelByIndex(i); if (std::find(this->ignoreModels.begin(), this->ignoreModels.end(), worldObj->GetName()) == this->ignoreModels.end()) { ignition::math::Vector3d offset = worldObj->WorldPose().Pos() - this->model->WorldPose().Pos(); double modelDist = offset.Length(); return modelDist > radius; } } return true; }

Generating "legal" keyframes for moving actor

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