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[core] Add Perlin ground profile generators. #799

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merged 9 commits into from
Jul 13, 2024
Merged

[core] Add Perlin ground profile generators. #799

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6f70c7d
[core] Minor improvement periodic perlin process and periodic stair g…
duburcqa Jul 8, 2024
4eecbb8
[core] 'PeriodicGaussianProcess' and 'PeriodicFourierProcess' are now…
duburcqa Jul 10, 2024
da96379
[core] Add N-dimension Perlin processes.
duburcqa Jul 11, 2024
49617c6
[core] Add perlin process gradient computation.
duburcqa Jul 12, 2024
d53085d
[core] Make perlin processes faster and copy-able.
duburcqa Jul 12, 2024
d1dab34
[core] Add Perlin ground generators.
duburcqa Jul 12, 2024
8e5c07b
[core] Add Perlin processes unit tests.
duburcqa Jul 12, 2024
ccdad87
Merge branch 'dev' into perlin-ground
duburcqa Jul 12, 2024
048f768
[core] Clarify error message about wavelength of perlin noise being t…
duburcqa Jul 12, 2024
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8 changes: 7 additions & 1 deletion core/include/jiminy/core/fwd.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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 */)>;
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3 changes: 2 additions & 1 deletion core/include/jiminy/core/robot/model.h
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@@ -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
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10 changes: 5 additions & 5 deletions core/include/jiminy/core/stepper/lie_group.h
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Expand Up @@ -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>> \
Expand Down Expand Up @@ -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, \
Expand All @@ -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>> \
Expand All @@ -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>> \
Expand All @@ -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, \
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17 changes: 16 additions & 1 deletion core/include/jiminy/core/utilities/geometry.h
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Expand Up @@ -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
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