[trajoptlib] Rename obstacle to keep-out region (#935)

src/document/ConstraintDefinitions.tsx

@@ -192,19 +192,19 @@ export const ConstraintDefinitions: defs = {
     properties: {
       x: {
         name: "X",
-        description: "The x coordinate of the center of the keep in zone",
+        description: "The x coordinate of the center of the keep-in region",
         dimension: Dimensions.Length,
         defaultVal: { exp: "0 m", val: 0 }
       },
       y: {
         name: "Y",
-        description: "The y coordinate of the center of the keep in zone",
+        description: "The y coordinate of the center of the keep-in region",
         dimension: Dimensions.Length,
         defaultVal: { exp: "0 m", val: 0 }
       },
       r: {
         name: "R",
-        description: "The radius of the keep in zone",
+        description: "The radius of the keep-in region",
         dimension: Dimensions.Length,
         defaultVal: { exp: "1 m", val: 1 }
       }
@@ -221,25 +221,27 @@ export const ConstraintDefinitions: defs = {
     properties: {
       x: {
         name: "X",
-        description: "The x coordinate of the bottom left of the keep in zone",
+        description:
+          "The x coordinate of the bottom left of the keep-in region",
         dimension: Dimensions.Length,
         defaultVal: { exp: "0 m", val: 0 }
       },
       y: {
         name: "Y",
-        description: "The y coordinate of the bottom left of the keep in zone",
+        description:
+          "The y coordinate of the bottom left of the keep-in region",
         dimension: Dimensions.Length,
         defaultVal: { exp: "0 m", val: 0 }
       },
       w: {
         name: "W",
-        description: "The width of the keep in zone",
+        description: "The width of the keep-in region",
         dimension: Dimensions.Length,
         defaultVal: { exp: "1 m", val: 1 }
       },
       h: {
         name: "H",
-        description: "The height of the keep in zone",
+        description: "The height of the keep-in region",
         dimension: Dimensions.Length,
         defaultVal: { exp: "1 m", val: 1 }
       }
@@ -273,19 +275,19 @@ export const ConstraintDefinitions: defs = {
     properties: {
       x: {
         name: "X",
-        description: "The x coordinate of the center of the keep out zone",
+        description: "The x coordinate of the center of the keep-out region",
         dimension: Dimensions.Length,
         defaultVal: { exp: "0 m", val: 0 }
       },
       y: {
         name: "Y",
-        description: "The y coordinate of the center of the keep out zone",
+        description: "The y coordinate of the center of the keep-out region",
         dimension: Dimensions.Length,
         defaultVal: { exp: "0 m", val: 0 }
       },
       r: {
         name: "R",
-        description: "The radius of the keep out zone",
+        description: "The radius of the keep-out region",
         dimension: Dimensions.Length,
         defaultVal: { exp: "1 m", val: 1 }
       }

trajoptlib/README.md

@@ -10,7 +10,7 @@ Trajectory optimization works by mathematically formulating the problem of trave
 
 * Currently only supports swerve drives with arbitrary module configurations
 * Position and velocity constraints at each waypoint
-* Circle and polygon obstacle avoidance
+* Keep-out circle and polygons
 * Custom physical constraints of robot
 * Custom bumper shape
 

trajoptlib/examples/Differential/src/Main.cpp

@@ -86,26 +86,26 @@ int main() {
     auto solution = generator.Generate(true);
   }
 
-  // Example 5: Differential, circle obstacle
+  // Example 5: Differential, keep-out circle
   {
     trajopt::DifferentialPathBuilder path;
     path.SetDrivetrain(differentialDrivetrain);
     path.PoseWpt(0, 0.0, 0.0, 0.0);
-    trajopt::Obstacle obstacle{// Radius of 0.1
-                               .safetyDistance = 0.1,
-                               .points = {{0.5, 0.5}}};
+    trajopt::KeepOutRegion keepOut{// Radius of 0.1
+                                   .safetyDistance = 0.1,
+                                   .points = {{0.5, 0.5}}};
     for (size_t i = 0; i < path.GetBumpers().at(0).points.size(); i++) {
       path.SgmtConstraint(0, 1,
                           trajopt::PointPointMinConstraint{
                               path.GetBumpers().at(0).points.at(i),
-                              obstacle.points.at(0), obstacle.safetyDistance});
+                              keepOut.points.at(0), keepOut.safetyDistance});
       path.SgmtConstraint(
           0, 1,
           trajopt::LinePointConstraint{
               path.GetBumpers().at(0).points.at(i),
               path.GetBumpers().at(0).points.at(
                   (i + 1) % path.GetBumpers().at(0).points.size()),
-              obstacle.points.at(0), obstacle.safetyDistance});
+              keepOut.points.at(0), keepOut.safetyDistance});
     }
     path.PoseWpt(1, 1.0, 0.0, 0.0);
     path.WptConstraint(0, zeroLinearVelocity);

trajoptlib/examples/Swerve/src/Main.cpp

@@ -86,26 +86,26 @@ int main() {
     auto solution = generator.Generate(true);
   }
 
-  // Example 5: Swerve, circle obstacle
+  // Example 5: Swerve, keep-out circle
   {
     trajopt::SwervePathBuilder path;
     path.SetDrivetrain(swerveDrivetrain);
     path.PoseWpt(0, 0.0, 0.0, 0.0);
-    trajopt::Obstacle obstacle{// Radius of 0.1
-                               .safetyDistance = 0.1,
-                               .points = {{0.5, 0.5}}};
+    trajopt::KeepOutRegion keepOut{// Radius of 0.1
+                                   .safetyDistance = 0.1,
+                                   .points = {{0.5, 0.5}}};
     for (size_t i = 0; i < path.GetBumpers().at(0).points.size(); i++) {
       path.SgmtConstraint(0, 1,
                           trajopt::PointPointMinConstraint{
                               path.GetBumpers().at(0).points.at(i),
-                              obstacle.points.at(0), obstacle.safetyDistance});
+                              keepOut.points.at(0), keepOut.safetyDistance});
       path.SgmtConstraint(
           0, 1,
           trajopt::LinePointConstraint{
               path.GetBumpers().at(0).points.at(i),
               path.GetBumpers().at(0).points.at(
                   (i + 1) % path.GetBumpers().at(0).points.size()),
-              obstacle.points.at(0), obstacle.safetyDistance});
+              keepOut.points.at(0), keepOut.safetyDistance});
     }
 
     path.PoseWpt(1, 1.0, 0.0, 0.0);

trajoptlib/include/trajopt/path/PathBuilder.hpp

@@ -10,13 +10,28 @@
 #include <vector>
 
 #include "trajopt/constraint/Constraint.hpp"
-#include "trajopt/obstacle/Bumpers.hpp"
+#include "trajopt/geometry/Translation2.hpp"
 #include "trajopt/path/Path.hpp"
 #include "trajopt/util/GenerateLinearInitialGuess.hpp"
 #include "trajopt/util/SymbolExports.hpp"
 
 namespace trajopt {
 
+/**
+ * Represents a physical keep-out region that the robot must avoid by a certain
+ * distance. Arbitrary polygons can be expressed with this class, and keep-out
+ * circles can also be created by only using one point with a safety distance.
+ *
+ * Keep-out points must be wound either clockwise or counterclockwise.
+ */
+struct TRAJOPT_DLLEXPORT KeepOutRegion {
+  /// Minimum distance from the keep-out region the robot must maintain.
+  double safetyDistance;
+
+  /// The list of points that make up this keep-out region.
+  std::vector<Translation2d> points;
+};
+
 /**
  * Path builder.
  *
@@ -37,27 +52,27 @@ class TRAJOPT_DLLEXPORT PathBuilder {
 
   /**
    * Add a rectangular bumper to a list used when applying
-   * obstacle constraints.
+   * keep-out constraints.
    *
    * @param front Distance in meters from center to front bumper edge
    * @param left Distance in meters from center to left bumper edge
    * @param right Distance in meters from center to right bumper edge
    * @param back Distance in meters from center to back bumper edge
    */
   void SetBumpers(double front, double left, double right, double back) {
-    bumpers.emplace_back(trajopt::Bumpers{.safetyDistance = 0.01,
-                                          .points = {{+front, +left},
-                                                     {-back, +left},
-                                                     {-back, -right},
-                                                     {+front, -right}}});
+    bumpers.emplace_back(trajopt::KeepOutRegion{.safetyDistance = 0.01,
+                                                .points = {{+front, +left},
+                                                           {-back, +left},
+                                                           {-back, -right},
+                                                           {+front, -right}}});
   }
 
   /**
    * Get all bumpers currently added to the path builder
    *
    * @return a list of bumpers applied to the builder.
    */
-  std::vector<Bumpers>& GetBumpers() { return bumpers; }
+  std::vector<KeepOutRegion>& GetBumpers() { return bumpers; }
 
   /**
    * If using a discrete algorithm, specify the number of discrete
@@ -211,7 +226,7 @@ class TRAJOPT_DLLEXPORT PathBuilder {
   Path<Drivetrain, Solution> path;
 
   /// The list of bumpers.
-  std::vector<Bumpers> bumpers;
+  std::vector<KeepOutRegion> bumpers;
 
   /// The initial guess points.
   std::vector<std::vector<Pose2d>> initialGuessPoints;

trajoptlib/src/DifferentialTrajectoryGenerator.cpp

@@ -137,7 +137,7 @@ DifferentialTrajectoryGenerator::DifferentialTrajectoryGenerator(
   for (size_t sgmtIndex = 0; sgmtIndex < sgmtCnt; ++sgmtIndex) {
     dts.emplace_back(problem.DecisionVariable());
 
-    // Prevent drivetrain tunneling through obstacles
+    // Prevent drivetrain tunneling through keep-out regions
     problem.SubjectTo(dts.at(sgmtIndex) * path.drivetrain.wheelRadius *
                           path.drivetrain.wheelMaxAngularVelocity <=
                       minWidth);

trajoptlib/src/SwerveTrajectoryGenerator.cpp

@@ -113,7 +113,7 @@ SwerveTrajectoryGenerator::SwerveTrajectoryGenerator(
   for (size_t sgmtIndex = 0; sgmtIndex < sgmtCnt; ++sgmtIndex) {
     dts.emplace_back(problem.DecisionVariable());
 
-    // Prevent drivetrain tunneling through obstacles
+    // Prevent drivetrain tunneling through keep-out regions
     problem.SubjectTo(dts.at(sgmtIndex) * path.drivetrain.wheelRadius *
                           path.drivetrain.wheelMaxAngularVelocity <=
                       minWidth);