visualization.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\u001b[32m\u001b[1m  Activating\u001b[22m\u001b[39m environment at `~/OCRL-Project-/Project.toml`\n",
      "\u001b[32m\u001b[1mPrecompiling\u001b[22m\u001b[39m project...\n",
      "\u001b[32m  ✓ \u001b[39mMeshCat\n",
      "\u001b[32m  ✓ \u001b[39mPlots\n",
      "  2 dependencies successfully precompiled in 40 seconds (211 already precompiled, 3 skipped during auto due to previous errors)\n",
      "\u001b[32m\u001b[1m    Updating\u001b[22m\u001b[39m registry at `~/.julia/registries/General`\n",
      "\u001b[32m\u001b[1m   Resolving\u001b[22m\u001b[39m package versions...\n",
      "\u001b[32m\u001b[1m  No Changes\u001b[22m\u001b[39m to `~/OCRL-Project-/Project.toml`\n",
      "\u001b[32m\u001b[1m  No Changes\u001b[22m\u001b[39m to `~/OCRL-Project-/Manifest.toml`\n",
      "\u001b[32m\u001b[1m   Resolving\u001b[22m\u001b[39m package versions...\n",
      "\u001b[32m\u001b[1m  No Changes\u001b[22m\u001b[39m to `~/OCRL-Project-/Project.toml`\n",
      "\u001b[32m\u001b[1m  No Changes\u001b[22m\u001b[39m to `~/OCRL-Project-/Manifest.toml`\n"
     ]
    }
   ],
   "source": [
    "import Pkg; Pkg.activate(@__DIR__); Pkg.instantiate()\n",
    "# import Pkg; Pkg.add(\"RobotZoo\")\n",
    "import Pkg; Pkg.add(\"CoordinateTransformations\")\n",
    "import Pkg; Pkg.add(\"CDDLib\")\n",
    "# import Pkg; Pkg.add(\"Colors\")\n",
    "# import Pkg; Pkg.add(\"RobotDynamics\")\n",
    "# import Pkg; Pkg.add(\"MatrixCalculus\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "using LinearAlgebra\n",
    "using PyPlot\n",
    "using ForwardDiff\n",
    "# using MatrixCalculus\n",
    "using Plots"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Defining the map\n",
    "map_width = 15\n",
    "map_height = 15\n",
    "\n",
    "# Create a grid of points representing the map\n",
    "map_grid = zeros(Float64, map_height, map_width);"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
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1989.7,47.2441 1965.7,47.2441 \"/>\n",
       "</svg>\n"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# Defining Obstacles\n",
    "\n",
    "# Obstacles for visualization are defined as a list of tuples, where each tuple is of the form (min_x, max_x, min_y, max_y)\n",
    "obstacles_vis = [\n",
    "    (1, 3, 1, 4),\n",
    "    (1, 3, 8, 11),\n",
    "    (6, 8, 1, 4),\n",
    "    (6, 8, 8, 11)\n",
    "]\n",
    "\n",
    "# Obstacles for control are define by circles embeded inside each obstacle\n",
    "obstacles_ctrl = [\n",
    "    [(1, 1, 1.0)],\n",
    "    [(1, 8, 1.0)],\n",
    "    [(6, 1, 1.0)],\n",
    "    [(6, 8, 1.0)]\n",
    "]\n",
    "\n",
    "# Visualizing the above Obstacles using a Plot\n",
    "\n",
    "# set the obstacles in the grid to a value of 1\n",
    "for obs in obstacles_vis\n",
    "    for i in obs[3]:obs[4]\n",
    "        for j in obs[1]:obs[2]\n",
    "            map_grid[i, j] = 0.5\n",
    "        end\n",
    "    end\n",
    "end\n",
    "\n",
    "# Plot circles for the control obstacles using heatmap\n",
    "# for obs in obstacles_ctrl\n",
    "#     for (x, y, r) in obs\n",
    "#         for i in 1:map_height\n",
    "#             for j in 1:map_width\n",
    "#                 if (i - y)^2 + (j - x)^2 <= r^2\n",
    "#                     map_grid[i, j] = 1.0\n",
    "#                 end\n",
    "#             end\n",
    "#         end\n",
    "#     end\n",
    "# end\n",
    "\n",
    "# plot the parking lot\n",
    "heatmap(map_grid, color=:grays, aspect_ratio=1, xlims=(0.0, map_width), ylims=(0.0, map_height), xticks=1:map_width, yticks=1:map_height)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\u001b[36m\u001b[1m┌ \u001b[22m\u001b[39m\u001b[36m\u001b[1mInfo: \u001b[22m\u001b[39mMeshCat server started. You can open the visualizer by visiting the following URL in your browser:\n",
      "\u001b[36m\u001b[1m└ \u001b[22m\u001b[39mhttp://127.0.0.1:8706\n"
     ]
    },
    {
     "data": {
      "text/html": [
       "    <div style=\"height: 500px; width: 100%; overflow-x: auto; overflow-y: hidden; resize: both\">\n",
       "    <iframe src=\"http://127.0.0.1:8706\" style=\"width: 100%; height: 100%; border: none\"></iframe>\n",
       "    </div>\n"
      ],
      "text/plain": [
       "MeshCat.DisplayedVisualizer(MeshCat.CoreVisualizer(MeshCat.SceneTrees.SceneNode(nothing, nothing, Dict{String, Vector{UInt8}}(), nothing, Dict{String, MeshCat.SceneTrees.SceneNode}(\"meshcat\" => MeshCat.SceneTrees.SceneNode(nothing, nothing, Dict{String, Vector{UInt8}}(), nothing, Dict{String, MeshCat.SceneTrees.SceneNode}(\"cube2\" => MeshCat.SceneTrees.SceneNode(UInt8[0x83, 0xa6, 0x6f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x84, 0xaa  …  0x68, 0x63, 0x61, 0x74, 0x2f, 0x63, 0x75, 0x62, 0x65, 0x32], UInt8[0x83, 0xa6, 0x6d, 0x61, 0x74, 0x72, 0x69, 0x78, 0xc7, 0x40  …  0x68, 0x63, 0x61, 0x74, 0x2f, 0x63, 0x75, 0x62, 0x65, 0x32], Dict{String, Vector{UInt8}}(), nothing, Dict{String, MeshCat.SceneTrees.SceneNode}()), \"cube1\" => MeshCat.SceneTrees.SceneNode(UInt8[0x83, 0xa6, 0x6f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x84, 0xaa  …  0x68, 0x63, 0x61, 0x74, 0x2f, 0x63, 0x75, 0x62, 0x65, 0x31], UInt8[0x83, 0xa6, 0x6d, 0x61, 0x74, 0x72, 0x69, 0x78, 0xc7, 0x40  …  0x68, 0x63, 0x61, 0x74, 0x2f, 0x63, 0x75, 0x62, 0x65, 0x31], Dict{String, Vector{UInt8}}(), nothing, Dict{String, MeshCat.SceneTrees.SceneNode}()), \"cube4\" => MeshCat.SceneTrees.SceneNode(UInt8[0x83, 0xa6, 0x6f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x84, 0xaa  …  0x68, 0x63, 0x61, 0x74, 0x2f, 0x63, 0x75, 0x62, 0x65, 0x34], UInt8[0x83, 0xa6, 0x6d, 0x61, 0x74, 0x72, 0x69, 0x78, 0xc7, 0x40  …  0x68, 0x63, 0x61, 0x74, 0x2f, 0x63, 0x75, 0x62, 0x65, 0x34], Dict{String, Vector{UInt8}}(), nothing, Dict{String, MeshCat.SceneTrees.SceneNode}()), \"cube3\" => MeshCat.SceneTrees.SceneNode(UInt8[0x83, 0xa6, 0x6f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x84, 0xaa  …  0x68, 0x63, 0x61, 0x74, 0x2f, 0x63, 0x75, 0x62, 0x65, 0x33], UInt8[0x83, 0xa6, 0x6d, 0x61, 0x74, 0x72, 0x69, 0x78, 0xc7, 0x40  …  0x68, 0x63, 0x61, 0x74, 0x2f, 0x63, 0x75, 0x62, 0x65, 0x33], Dict{String, Vector{UInt8}}(), nothing, Dict{String, MeshCat.SceneTrees.SceneNode}()))))), Set{Any}(), ip\"127.0.0.1\", 8706))"
      ]
     },
     "execution_count": 13,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "using MeshCat\n",
    "using GeometryTypes\n",
    "using CoordinateTransformations\n",
    "\n",
    "# create a new visualizer object\n",
    "vis = Visualizer()\n",
    "\n",
    "# define the obstacles as a list of tuples\n",
    "obstacles_vis = [\n",
    "    (1, 3, 1, 4),\n",
    "    (1, 3, 8, 11),\n",
    "    (6, 8, 1, 4),\n",
    "    (6, 8, 8, 11)\n",
    "]\n",
    "\n",
    "# iterate through the obstacles and create a HyperRectangle object for each one\n",
    "for (i, obs) in enumerate(obstacles_vis)\n",
    "    min_x, max_x, min_y, max_y = obs\n",
    "    width = max_x - min_x\n",
    "    height = max_y - min_y\n",
    "    pos_x = min_x + width/2\n",
    "    pos_y = min_y + height/2\n",
    "    cube = HyperRectangle(Vec(pos_x, pos_y, 0), Vec(width, height, 1))\n",
    "    setobject!(vis[Symbol(\"cube\", i)], cube)\n",
    "    settransform!(vis[Symbol(\"cube\", i)], Translation(-0.5, -0.5, 0))\n",
    "end\n",
    "\n",
    "render(vis)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 36,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\u001b[36m\u001b[1m┌ \u001b[22m\u001b[39m\u001b[36m\u001b[1mInfo: \u001b[22m\u001b[39mMeshCat server started. You can open the visualizer by visiting the following URL in your browser:\n",
      "\u001b[36m\u001b[1m└ \u001b[22m\u001b[39mhttp://127.0.0.1:8728\n"
     ]
    },
    {
     "data": {
      "text/html": [
       "    <div style=\"height: 500px; width: 100%; overflow-x: auto; overflow-y: hidden; resize: both\">\n",
       "    <iframe src=\"http://127.0.0.1:8728\" style=\"width: 100%; height: 100%; border: none\"></iframe>\n",
       "    </div>\n"
      ],
      "text/plain": [
       "MeshCat.DisplayedVisualizer(MeshCat.CoreVisualizer(MeshCat.SceneTrees.SceneNode(nothing, nothing, Dict{String, Vector{UInt8}}(), nothing, Dict{String, MeshCat.SceneTrees.SceneNode}(\"meshcat\" => MeshCat.SceneTrees.SceneNode(nothing, nothing, Dict{String, Vector{UInt8}}(), nothing, Dict{String, MeshCat.SceneTrees.SceneNode}(\"tractor_cab\" => MeshCat.SceneTrees.SceneNode(UInt8[0x83, 0xa6, 0x6f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x84, 0xaa  …  0x72, 0x61, 0x63, 0x74, 0x6f, 0x72, 0x5f, 0x63, 0x61, 0x62], UInt8[0x83, 0xa6, 0x6d, 0x61, 0x74, 0x72, 0x69, 0x78, 0xc7, 0x40  …  0x72, 0x61, 0x63, 0x74, 0x6f, 0x72, 0x5f, 0x63, 0x61, 0x62], Dict{String, Vector{UInt8}}(), nothing, Dict{String, MeshCat.SceneTrees.SceneNode}()), \"trailer_body\" => MeshCat.SceneTrees.SceneNode(UInt8[0x83, 0xa6, 0x6f, 0x62, 0x6a, 0x65, 0x63, 0x74, 0x84, 0xaa  …  0x61, 0x69, 0x6c, 0x65, 0x72, 0x5f, 0x62, 0x6f, 0x64, 0x79], UInt8[0x83, 0xa6, 0x6d, 0x61, 0x74, 0x72, 0x69, 0x78, 0xc7, 0x40  …  0x61, 0x69, 0x6c, 0x65, 0x72, 0x5f, 0x62, 0x6f, 0x64, 0x79], Dict{String, Vector{UInt8}}(), nothing, Dict{String, MeshCat.SceneTrees.SceneNode}()), \"wheel1\" => MeshCat.SceneTrees.SceneNode(nothing, UInt8[0x83, 0xa6, 0x6d, 0x61, 0x74, 0x72, 0x69, 0x78, 0xc7, 0x40  …  0x63, 0x61, 0x74, 0x2f, 0x77, 0x68, 0x65, 0x65, 0x6c, 0x31], Dict{String, Vector{UInt8}}(), nothing, Dict{String, MeshCat.SceneTrees.SceneNode}()))))), Set{Any}(), ip\"127.0.0.1\", 8728))"
      ]
     },
     "execution_count": 36,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "using MeshCat\n",
    "using CoordinateTransformations\n",
    "using GeometryTypes\n",
    "using GeometryBasics\n",
    "\n",
    "\n",
    "# create a new visualizer object\n",
    "vis = Visualizer()\n",
    "\n",
    "# create the trailer body as a box\n",
    "trailer_body = HyperRectangle(Vec(0, 0, 0), Vec(2, 1, 0.5))\n",
    "setobject!(vis[\"trailer_body\"], trailer_body)\n",
    "\n",
    "# create the tractor cab as a box\n",
    "tractor_cab = HyperRectangle(Vec(-1, 0, 0.5), Vec(1, 1, 0.5))\n",
    "setobject!(vis[\"tractor_cab\"], tractor_cab)\n",
    "\n",
    "# create the tractor wheels as cylinders\n",
    "# wheel1 = GeometryTypes.Cylinder(GeometryTypes.Point(1.5, -0.5, 0), GeometryTypes.Point(1.5, -0.5, -0.2), 0.2)\n",
    "# setobject!(vis[\"wheel1\"], wheel1)\n",
    "# wheel2 = GeometryTypes.Cylinder(Vec(1.5, 0.5, 0), Vec(1.5, 0.5, -0.2), 0.2)\n",
    "# setobject!(vis[\"wheel2\"], wheel2)\n",
    "# wheel3 = Cylinder(Point(-1.5, -0.5, 0), Point(-1.5, -0.5, -0.2), 0.2)\n",
    "# setobject!(vis[\"wheel3\"], wheel3)\n",
    "# wheel4 = Cylinder(Point(-1.5, 0.5, 0), Point(-1.5, 0.5, -0.2), 0.2)\n",
    "# setobject!(vis[\"wheel4\"], wheel4)\n",
    "\n",
    "# set the initial transformation of the trailer body\n",
    "settransform!(vis[\"trailer_body\"], Translation(-3, 0, 0))\n",
    "\n",
    "# set the initial transformation of the tractor cab\n",
    "settransform!(vis[\"tractor_cab\"], Translation(0, 0, 0))\n",
    "\n",
    "# set the initial transformation of the wheels\n",
    "settransform!(vis[\"wheel1\"], Translation(1.5, -0.5, 0))\n",
    "# settransform!(vis[\"wheel2\"], Translation(1.5, 0.5, 0))\n",
    "# settransform!(vis[\"wheel3\"], Translation(-1.5, -0.5, 0))\n",
    "# settransform!(vis[\"wheel4\"], Translation(-1.5, 0.5, 0))\n",
    "\n",
    "# render the scene\n",
    "render(vis)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
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