<reponame>wx-b/ibc
# coding=utf-8
# Copyright 2021 The Reach ML Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

"""A simple 6DOF pose container.
"""

import dataclasses
import numpy as np
from scipy.spatial import transform


class NoCopyAsDict(object):
  """Base class for dataclasses. Avoids a copy in the asdict() call."""

  def asdict(self):
    """Replacement for dataclasses.asdict.

    TF Dataset does not handle dataclasses.asdict, which uses copy.deepcopy when
    setting values in the output dict. This causes issues with tf.Dataset.
    Instead, shallow copy contents.

    Returns:
      dict containing contents of dataclass.
    """
    return {k.name: getattr(self, k.name) for k in dataclasses.fields(self)}


@dataclasses.dataclass
class Pose3d(NoCopyAsDict):
  """Simple container for translation and rotation."""

  rotation: transform.Rotation
  translation: np.ndarray

  @property
  def vec7(self):
    return np.concatenate([self.translation, self.rotation.as_quat()])

  def serialize(self):
    return {'rotation': self.rotation.as_quat().tolist(),
            'translation': self.translation.tolist()}

  @staticmethod
  def deserialize(data):
    return Pose3d(rotation=transform.Rotation.from_quat(data['rotation']),
                  translation=np.array(data['translation']))

  def __eq__(self, other):
    return (np.array_equal(self.rotation.as_quat(),
                           other.rotation.as_quat()) and
            np.array_equal(self.translation,
                           other.translation))

  def __ne__(self, other):
    return not self.__eq__(other)

# coding=utf-8
# Copyright 2021 The Reach ML Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

"""A simple 6DOF pose container.
"""

import dataclasses
import numpy as np
from scipy.spatial import transform


class NoCopyAsDict(object):
  """Base class for dataclasses. Avoids a copy in the asdict() call."""

  def asdict(self):
    """Replacement for dataclasses.asdict.

    TF Dataset does not handle dataclasses.asdict, which uses copy.deepcopy when
    setting values in the output dict. This causes issues with tf.Dataset.
    Instead, shallow copy contents.

    Returns:
      dict containing contents of dataclass.
    """
    return {k.name: getattr(self, k.name) for k in dataclasses.fields(self)}


@dataclasses.dataclass
class Pose3d(NoCopyAsDict):
  """Simple container for translation and rotation."""

  rotation: transform.Rotation
  translation: np.ndarray

  @property
  def vec7(self):
    return np.concatenate([self.translation, self.rotation.as_quat()])

  def serialize(self):
    return {'rotation': self.rotation.as_quat().tolist(),
            'translation': self.translation.tolist()}

  @staticmethod
  def deserialize(data):
    return Pose3d(rotation=transform.Rotation.from_quat(data['rotation']),
                  translation=np.array(data['translation']))

  def __eq__(self, other):
    return (np.array_equal(self.rotation.as_quat(),
                           other.rotation.as_quat()) and
            np.array_equal(self.translation,
                           other.translation))

  def __ne__(self, other):
    return not self.__eq__(other)
# coding=utf-8 # Copyright 2021 The Reach ML Authors. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # #     http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. A simple 6DOF pose container. Base class for dataclasses. Avoids a copy in the asdict() call. Replacement for dataclasses.asdict.      TF Dataset does not handle dataclasses.asdict, which uses copy.deepcopy when     setting values in the output dict. This causes issues with tf.Dataset.     Instead, shallow copy contents.      Returns:       dict containing contents of dataclass. Simple container for translation and rotation.