WIP: [core] Add a unidirectional Perlin Ground HeightmapFunction (#799)

* [core] Minor improvement periodic Perlin process and periodic stair ground. * [core] 'PeriodicGaussianProcess' and 'PeriodicFourierProcess' are now differentiable. * [core] Fix negative time support for all existing random processes. * [core] Add N-dimension Perlin processes. * [core] Add gradient computation for all Perlin processes. * [core] Make all Perlin processes faster and copy-able. * [core] Add Perlin ground generators. --------- Co-authored-by: Alexis Duburcq <alexis.duburcq@gmail.com>
duburcqa · Jul 13, 2024 · 27bbdea · 27bbdea
1 parent 59383c2
commit 27bbdea
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Showing 13 changed files with 1,088 additions and 476 deletions.
diff --git a/core/include/jiminy/core/fwd.h b/core/include/jiminy/core/fwd.h
@@ -189,7 +189,13 @@ namespace jiminy
         using std::logic_error::logic_error::what;
     };
 
-    // Ground profile functors
+    template<typename ResultType,
+             ResultType min_ = std::numeric_limits<ResultType>::min(),
+             ResultType max_ = std::numeric_limits<ResultType>::max()>
+    class uniform_random_bit_generator_ref;
+
+    // Ground profile functors.
+    // FIXME: use `std::move_only_function` instead of `std::function` when moving to C++23
     using HeightmapFunction = std::function<void(const Eigen::Vector2d & /* xy */,
                                                  double & /* height */,
                                                  Eigen::Ref<Eigen::Vector3d> /* normal */)>;

diff --git a/core/include/jiminy/core/robot/model.h b/core/include/jiminy/core/robot/model.h
@@ -1,14 +1,15 @@
 #ifndef JIMINY_MODEL_H
 #define JIMINY_MODEL_H
 
+#include <optional>
+
 #include "pinocchio/spatial/fwd.hpp"         // `pinocchio::SE3`
 #include "pinocchio/multibody/model.hpp"     // `pinocchio::Model`
 #include "pinocchio/multibody/data.hpp"      // `pinocchio::Data`
 #include "pinocchio/multibody/geometry.hpp"  // `pinocchio::GeometryModel`, `pinocchio::GeometryData`
 #include "pinocchio/multibody/frame.hpp"  // `pinocchio::FrameType` (C-style enum cannot be forward declared)
 
 #include "jiminy/core/fwd.h"
-#include "jiminy/core/utilities/random.h"  // `uniform_random_bit_generator_ref`
 
 
 namespace jiminy

diff --git a/core/include/jiminy/core/stepper/lie_group.h b/core/include/jiminy/core/stepper/lie_group.h
@@ -1238,7 +1238,7 @@ namespace Eigen
 
 #define StateDerivative_SHARED_ADDON                                                          \
     template<typename Derived,                                                                \
-             typename = typename std::enable_if_t<                                            \
+             typename = std::enable_if_t<                                                     \
                  is_base_of_template_v<StateDerivativeBase,                                   \
                                        typename internal::traits<Derived>::ValueType>::value, \
                  void>>                                                                       \
@@ -1268,7 +1268,7 @@ namespace Eigen
     template<                                                                                     \
         typename Derived,                                                                         \
         typename OtherDerived,                                                                    \
-        typename = typename std::enable_if_t<                                                     \
+        typename = std::enable_if_t<                                                              \
             is_base_of_template_v<StateDerivativeBase,                                            \
                                   typename internal::traits<Derived>::ValueType>::value &&        \
                 is_base_of_template_v<StateBase,                                                  \
@@ -1290,7 +1290,7 @@ namespace Eigen
     }                                                                                             \
                                                                                                   \
     template<typename Derived,                                                                    \
-             typename = typename std::enable_if_t<                                                \
+             typename = std::enable_if_t<                                                         \
                  is_base_of_template_v<StateDerivativeBase,                                       \
                                        typename internal::traits<Derived>::ValueType>::value,     \
                  void>>                                                                           \
@@ -1301,7 +1301,7 @@ namespace Eigen
     }                                                                                             \
                                                                                                   \
     template<typename Derived,                                                                    \
-             typename = typename std::enable_if_t<                                                \
+             typename = std::enable_if_t<                                                         \
                  is_base_of_template_v<StateDerivativeBase,                                       \
                                        typename internal::traits<Derived>::ValueType>::value,     \
                  void>>                                                                           \
@@ -1320,7 +1320,7 @@ namespace Eigen
     template<                                                                                     \
         typename Derived,                                                                         \
         typename OtherDerived,                                                                    \
-        typename = typename std::enable_if_t<                                                     \
+        typename = std::enable_if_t<                                                              \
             is_base_of_template_v<StateBase,                                                      \
                                   typename internal::traits<Derived>::ValueType>::value &&        \
                 is_base_of_template_v<StateDerivativeBase,                                        \

diff --git a/core/include/jiminy/core/utilities/geometry.h b/core/include/jiminy/core/utilities/geometry.h
@@ -46,8 +46,23 @@ namespace jiminy
     /// \param[in] stepHeight  Heigh of the steps.
     /// \param[in] stepNumber  Number of steps in the ascending or descending direction.
     /// \param[in] orientation Orientation of the staircases in the XY plane.
-    HeightmapFunction JIMINY_DLLAPI stairs(
+    HeightmapFunction JIMINY_DLLAPI periodicStairs(
         double stepWidth, double stepHeight, uint32_t stepNumber, double orientation);
+
+    HeightmapFunction JIMINY_DLLAPI unidirectionalRandomPerlinGround(
+        double wavelength, std::size_t numOctaves, double orientation, uint32_t seed);
+
+    HeightmapFunction JIMINY_DLLAPI unidirectionalPeriodicPerlinGround(double wavelength,
+                                                                       double period,
+                                                                       std::size_t numOctaves,
+                                                                       double orientation,
+                                                                       uint32_t seed);
+
+    HeightmapFunction JIMINY_DLLAPI randomPerlinGround(
+        double wavelength, std::size_t numOctaves, uint32_t seed);
+
+    HeightmapFunction JIMINY_DLLAPI periodicPerlinGround(
+        double wavelength, double period, std::size_t numOctaves, uint32_t seed);
 }
 
 #endif  // JIMINY_GEOMETRY_H