Renaming interface, adding basic kinematics

MODULE.bazel

@@ -28,8 +28,9 @@ git_override(
 )
 bazel_dep(name = "rules_go", version = "0.46.0")
 bazel_dep(name = "rules_multirun", version = "0.9.0")
-bazel_dep(name = "platforms", version = "0.0.7")
+bazel_dep(name = "platforms", version = "0.0.9")
 bazel_dep(name = "rules_oci", version = "1.6.0")
+bazel_dep(name = "rules_pkg", version = "1.0.1")
 bazel_dep(name = "rules_python", version = "0.29.0")
 
 # Extensions
@@ -55,6 +56,18 @@ oci.pull(
     digest = "sha256:47d0618fb878d93e1b8cacb184fd8f727ae95c1b85d5959723e1d3e1848e2aba",
     platforms = [
         "linux/amd64",
+        "linux/arm64",
     ],
 )
 use_repo(oci, "py3.11")
+
+oci.pull(
+    name = "gcc",
+    image = "index.docker.io/library/gcc",
+    digest = "sha256:sha256:c24e2fd069574a63513d749a90459eed8b0cc43f3fbb580a0296cdee3ae0df0d",
+    platforms = [
+        "linux/amd64",
+        "linux/arm64",
+    ],
+)
+use_repo(oci, "gcc")

README.md

@@ -9,3 +9,5 @@
 ## Setup
 
 https://github.com/hedronvision/bazel-compile-commands-extractor
+
+TODO get renovate working: https://github.com/renovatebot/renovate

src/kinematics/BUILD.bazel

@@ -0,0 +1,12 @@
+cc_library(
+    name = "generic_kinematics_lib",
+    hdrs = [
+        "ikinematics.h",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//src/math:vector_lib",
+        "//src/robot/actuator:generic_motor_lib",
+        "@eigen",
+    ],
+)

src/kinematics/ikinematics.h

@@ -0,0 +1,23 @@
+#pragma once
+
+#include "src/math/vector_math.h"
+#include "src/robot/actuator/imotor.h"
+#include <Eigen/Eigen>
+
+class IKinematics {
+public:
+  /**
+   * @brief Forward kinematics uses the position of actuators and/or
+   * sensors on the robot, to determine the overall position of the
+   * robot.
+   *
+   * @return true
+   * @return false
+   */
+  virtual bool CalculateForwardKinematics(int dT, Location *out_location,
+                                          Eigen::Rotation2Df *out_rotation) = 0;
+
+  virtual bool
+  CalculateInverseKinematics(int dT, Movement desired_movement,
+                             std::vector<IMotor *> motor_list, ) = 0;
+};

src/math/pid.h

@@ -1,3 +1,5 @@
+#pragma once
+
 struct PIDGain {
   float kP;
   float kI;

src/math/vector_math.h

@@ -1,3 +1,5 @@
+#pragma once
+
 #include <Eigen/Eigen>
 
 // Struct to hold a position (as a vector from the origin) and a rotation of

src/robot/BUILD.bazel

@@ -1,4 +1,5 @@
 load("@rules_python//python:defs.bzl", "py_library")
+load("@rules_pkg//pkg:tar.bzl", "pkg_tar")
 
 # Put all robot files in this library
 py_library(
@@ -23,7 +24,7 @@ cc_library(
         "robot.cpp",
     ],
     hdrs = [
-        "motor.h",
+        "imotor.h",
         "robot.h",
     ],
     deps = ["@eigen"],
@@ -50,3 +51,21 @@ cc_binary(
         "@eigen",
     ],
 )
+
+pkg_tar(
+    name = "tar",
+    srcs = [":main"],
+)
+
+oci_image(
+    name = "image",
+    base = "@docker_lib_ubuntu",
+    entrypoint = ["/example_binary"],
+    tars = [":tar"],
+)
+
+oci_tarball(
+    name = "image_tarball",
+    image = ":image",
+    repo_tags = ["example:latest"],
+)

src/robot/actuator/BUILD.bazel

@@ -1,7 +1,7 @@
 cc_library(
     name = "generic_motor_lib",
     hdrs = [
-        "motor.h",
+        "imotor.h",
     ],
     deps = [
         "//src/math:math_lib",

src/robot/actuator/dynamixel_motor.h

@@ -1,4 +1,6 @@
-#include "motor.h"
+#pragma once
+
+#include "imotor.h"
 #include <Eigen/Eigen>
 
 enum DynamixelPropertyType {
@@ -70,33 +72,33 @@ class DynamixelMotor : IMotor {
 public:
   DynamixelMotor(int id, Location location, bool inverted = false);
 
-  bool GetPosition(int *out_position);
+  virtual bool GetPosition(int *out_position);
 
-  bool SetPosition(int position);
+  virtual bool SetPosition(int position);
 
-  bool GetSpeed(float *out_speed);
+  virtual bool GetSpeed(float *out_speed);
 
-  bool SetSpeed(float speed);
+  virtual bool SetSpeed(float speed);
 
-  bool GetAcceleration(float *out_acceleration);
+  virtual bool GetAcceleration(float *out_acceleration);
 
-  bool SetAcceleration(float acceleration);
+  virtual bool SetAcceleration(float acceleration);
 
-  bool GetPIDGain(PIDGain *out_pid_gain);
+  virtual bool GetPIDGain(PIDGain *out_pid_gain);
 
-  bool SetPIDGain(PIDGain pid_gain);
+  virtual bool SetPIDGain(PIDGain pid_gain);
 
-  bool GetLED(bool *out_enabled);
+  virtual bool GetLED(bool *out_enabled);
 
-  bool SetLED(bool enabled);
+  virtual bool SetLED(bool enabled);
 
-  bool GetEnabled(bool *out_enabled);
+  virtual bool GetEnabled(bool *out_enabled);
 
-  bool SetEnabled(bool enabled);
+  virtual bool SetEnabled(bool enabled);
 
-  bool GetMaxSpeed(float *out_speed);
+  virtual bool GetMaxSpeed(float *out_speed);
 
-  bool GetMotorLocation(Location *out_location);
+  virtual bool GetMotorLocation(Location *out_location);
 
   bool RawSpeedToNormalizedSpeed(float speed, float *out_speed);
 

src/robot/actuator/motor.h → src/robot/actuator/imotor.h

@@ -1,3 +1,5 @@
+#pragma once
+
 #include "src/math/pid.h"
 #include "src/math/vector_math.h"
 #include <Eigen/Eigen>

src/robot/actuator/mock_motor.h

@@ -1,4 +1,6 @@
-#include "motor.h"
+#pragma once
+
+#include "imotor.h"
 #include <Eigen/Eigen>
 
 class MockMotor : IMotor {
@@ -20,31 +22,31 @@ class MockMotor : IMotor {
 public:
   MockMotor(int id, Location location, bool inverted = false);
 
-  bool GetPosition(int *out_position);
+  virtual bool GetPosition(int *out_position);
 
-  bool SetPosition(int position);
+  virtual bool SetPosition(int position);
 
-  bool GetSpeed(float *out_speed);
+  virtual bool GetSpeed(float *out_speed);
 
-  bool SetSpeed(float speed);
+  virtual bool SetSpeed(float speed);
 
-  bool GetAcceleration(float *out_acceleration);
+  virtual bool GetAcceleration(float *out_acceleration);
 
-  bool SetAcceleration(float acceleration);
+  virtual bool SetAcceleration(float acceleration);
 
-  bool GetPIDGain(PIDGain *out_pid_gain);
+  virtual bool GetPIDGain(PIDGain *out_pid_gain);
 
-  bool SetPIDGain(PIDGain pid_gain);
+  virtual bool SetPIDGain(PIDGain pid_gain);
 
-  bool GetLED(bool *out_enabled);
+  virtual bool GetLED(bool *out_enabled);
 
-  bool SetLED(bool enabled);
+  virtual bool SetLED(bool enabled);
 
-  bool GetEnabled(bool *out_enabled);
+  virtual bool GetEnabled(bool *out_enabled);
 
-  bool SetEnabled(bool enabled);
+  virtual bool SetEnabled(bool enabled);
 
-  bool GetMaxSpeed(float *out_speed);
+  virtual bool GetMaxSpeed(float *out_speed);
 
-  bool GetMotorLocation(Location *out_location);
+  virtual bool GetMotorLocation(Location *out_location);
 };

src/robot/robot.cpp

@@ -1,7 +1,6 @@
 #include "robot.h"
 
-Robot::Robot(std::vector<DynamixelMotor> motor_list)
-    : motor_list_(motor_list) {}
+Robot::Robot(std::vector<IMotor *> motor_list) : motor_list_(motor_list) {}
 
 bool Robot::SetSpeed(Eigen::Vector2d desired_speed,
                      Eigen::Rotation2Df rotation) {
@@ -12,7 +11,7 @@ bool Robot::SetSpeed(Eigen::Vector2d desired_speed,
   for (auto motor : motor_list_) {
     // Get locations for each motor
     Location motor_location;
-    if (!motor.GetMotorLocation(&motor_location)) {
+    if (!motor->GetMotorLocation(&motor_location)) {
       return false;
     }
 
@@ -21,8 +20,8 @@ bool Robot::SetSpeed(Eigen::Vector2d desired_speed,
     float dot_prod = motor_location.position.dot(desired_speed);
 
     // We then scale our desired speed vector, and rotate it to be
-    // parallel with the wheel
-    Eigen::Vector2d scaled_speed = desired_speed * dot_prod;
+    // parallel with the wheel's rotation
+    Eigen::Vector2d transformed_speed = (desired_speed * dot_prod) * rotation;
   }
 
   return true;

src/robot/robot.h

@@ -1,12 +1,17 @@
+#pragma once
+
 #include "src/robot/actuator/dynamixel_motor.h"
 #include <Eigen/Eigen>
 
 class Robot {
 private:
-  std::vector<DynamixelMotor> motor_list_;
+  // We need to use pointers to allow polymorphism to work. We
+  // cannot have a vector of references to an abstract class, as
+  // an abstract class itself can never be instantiated.
+  std::vector<IMotor *> motor_list_;
 
 public:
-  Robot(std::vector<DynamixelMotor> motor_list);
+  Robot(std::vector<IMotor *> motor_list);
 
   bool SetSpeed(Eigen::Vector2d unit_speed, Eigen::Rotation2Df rotation);
 };