robot_vision_advanced.mbt

// 机器人视觉高级（v56.0.0）
// 视觉伺服、物体抓取、SLAM增强、3D重建、机械臂控制、移动机器人导航

///|
/// 机器人视觉任务类型
pub(all) enum RobotVisionTaskType {
  VisualServoing
  ObjectGrasping
  SLAMEnhanced
  Reconstruction3D
  ArmControl
  MobileNavigation
  HumanRobotInteraction
  Unknown
} derive(Eq)

///|
/// 视觉伺服类型
pub(all) enum VisualServoingType {
  PositionBased
  ImageBased
  Hybrid
  Advanced
  Unknown
} derive(Eq)

///|
/// 抓取类型
pub(all) enum GraspType {
  ParallelJaw
  SuctionCup
  MultiFinger
  Hook
  Magnetic
  Unknown
} derive(Eq)

///|
/// 机器人类型
pub(all) enum RobotType {
  Manipulator
  MobileRobot
  Humanoid
  Drone
  Wheeled
  Legged
  Unknown
} derive(Eq)

///|
/// 物体位姿
pub(all) struct ObjectPose {
  position : Array[Double]
  orientation : Array[Double]
  confidence : Double
  object_id : Int
  coordinate_frame : String
}

///|
/// 抓取配置
pub(all) struct GraspConfig {
  grasp_type : GraspType
  grasp_position : Array[Double]
  grasp_orientation : Array[Double]
  approach_direction : Array[Double]
  grasp_width : Double
  grasp_force : Double
  pre_grasp_distance : Double
  post_grasp_distance : Double
  is_force_closure : Bool
  quality_score : Double
}

///|
/// 关节状态
pub(all) struct JointState {
  joint_names : Array[String]
  joint_positions : Array[Double]
  joint_velocities : Array[Double]
  joint_efforts : Array[Double]
  num_joints : Int
  timestamp : Double
}

///|
/// 末端执行器状态
pub(all) struct EndEffectorState {
  position : Array[Double]
  orientation : Array[Double]
  velocity : Array[Double]
  angular_velocity : Array[Double]
  force : Array[Double]
  torque : Array[Double]
  is_in_contact : Bool
  contact_force : Double
}

///|
/// 轨迹点
pub(all) struct TrajectoryPoint {
  joint_positions : Array[Double]
  joint_velocities : Array[Double]
  joint_accelerations : Array[Double]
  end_effector_pose : ObjectPose
  time_from_start : Double
}

///|
/// 规划轨迹
pub(all) struct RobotTrajectory {
  points : Array[TrajectoryPoint]
  num_points : Int
  duration : Double
  is_collision_free : Bool
  is_singularity_free : Bool
  planning_time : Double
  planner_type : String
}

///|
/// 点云数据
pub(all) struct PointCloudData {
  points : Array[Array[Double]]
  colors : Array[Array[Int]]
  normals : Array[Array[Double]]
  num_points : Int
  width : Int
  height : Int
  is_dense : Bool
  coordinate_frame : String
}

///|
/// 网格数据
pub(all) struct MeshData {
  vertices : Array[Array[Double]]
  faces : Array[Array[Int]]
  normals : Array[Array[Double]]
  uv_coords : Array[Array[Double]]
  num_vertices : Int
  num_faces : Int
  volume : Double
  surface_area : Double
}

///|
/// 机器人视觉配置
pub(all) struct RobotVisionConfig {
  task_type : RobotVisionTaskType
  robot_type : RobotType
  visual_servoing_type : VisualServoingType
  grasp_type : GraspType
  num_joints : Int
  end_effector_type : String
  camera_intrinsics : Array[Double]
  camera_extrinsics : Array[Double]
  hand_eye_transform : Array[Double]
  control_frequency : Int
  planning_time_limit : Double
  collision_margin : Double
  singularity_threshold : Double
  use_force_control : Bool
  use_visual_servoing : Bool
  use_realtime : Bool
}

///|
/// 创建默认机器人视觉配置
pub fn create_default_robot_vision_config() -> RobotVisionConfig {
  RobotVisionConfig::{
    task_type: RobotVisionTaskType::ObjectGrasping,
    robot_type: RobotType::Manipulator,
    visual_servoing_type: VisualServoingType::ImageBased,
    grasp_type: GraspType::ParallelJaw,
    num_joints: 6,
    end_effector_type: "parallel_jaw",
    camera_intrinsics: [500.0, 0.0, 320.0, 0.0, 500.0, 240.0, 0.0, 0.0, 1.0],
    camera_extrinsics: [
      1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0,
    ],
    hand_eye_transform: [
      1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0,
    ],
    control_frequency: 100,
    planning_time_limit: 5.0,
    collision_margin: 0.05,
    singularity_threshold: 0.01,
    use_force_control: true,
    use_visual_servoing: true,
    use_realtime: false,
  }
}

///|
/// 估计物体位姿（简化版）
pub fn estimate_object_pose(
  object_id : Int,
  bounding_box : Array[Double],
  depth_image : Array[Double],
  config : RobotVisionConfig,
) -> ObjectPose {
  // 简化的位姿估计：基于边界框和深度
  let cx = (bounding_box[0] + bounding_box[2]) / 2.0
  let cy = (bounding_box[1] + bounding_box[3]) / 2.0

  let fx = config.camera_intrinsics[0]
  let fy = config.camera_intrinsics[4]
  let px = config.camera_intrinsics[2]
  let py = config.camera_intrinsics[5]

  let depth_idx = cy.to_int() * 640 + cx.to_int()
  let depth = if depth_idx < depth_image.length() {
    depth_image[depth_idx]
  } else {
    1.0
  }

  let x = (cx - px) * depth / fx
  let y = (cy - py) * depth / fy
  let z = depth

  ObjectPose::{
    position: [x, y, z],
    orientation: [0.0, 0.0, 0.0, 1.0],
    confidence: 0.85,
    object_id,
    coordinate_frame: "camera",
  }
}

///|
/// 规划抓取（简化版）
pub fn plan_grasp(
  object_pose : ObjectPose,
  object_dimensions : Array[Double],
  config : RobotVisionConfig,
) -> GraspConfig {
  // 简化的抓取规划：从顶部抓取
  let grasp_position = object_pose.position
  let approach_direction = [0.0, 0.0, -1.0]
  let grasp_width = object_dimensions[0] * 1.1
  let grasp_force = 10.0

  GraspConfig::{
    grasp_type: config.grasp_type,
    grasp_position,
    grasp_orientation: [0.0, 0.0, 0.0, 1.0],
    approach_direction,
    grasp_width,
    grasp_force,
    pre_grasp_distance: 0.1,
    post_grasp_distance: 0.1,
    is_force_closure: true,
    quality_score: 0.8,
  }
}

///|
/// 规划机械臂轨迹（简化版）
pub fn plan_arm_trajectory(
  start_pose : ObjectPose,
  goal_pose : ObjectPose,
  config : RobotVisionConfig,
) -> RobotTrajectory {
  let points : Array[TrajectoryPoint] = []
  let num_points = 50

  for i in 0..<num_points {
    let t = i.to_double() / (num_points - 1).to_double()

    let position : Array[Double] = []
    position.push(
      start_pose.position[0] +
      (goal_pose.position[0] - start_pose.position[0]) * t,
    )
    position.push(
      start_pose.position[1] +
      (goal_pose.position[1] - start_pose.position[1]) * t,
    )
    position.push(
      start_pose.position[2] +
      (goal_pose.position[2] - start_pose.position[2]) * t,
    )

    let joint_positions : Array[Double] = []
    for _ in 0..<config.num_joints {
      joint_positions.push(0.0)
    }

    let point = TrajectoryPoint::{
      joint_positions,
      joint_velocities: [],
      joint_accelerations: [],
      end_effector_pose: ObjectPose::{
        position,
        orientation: goal_pose.orientation,
        confidence: 1.0,
        object_id: 0,
        coordinate_frame: "base",
      },
      time_from_start: t * 5.0,
    }
    points.push(point)
  }

  RobotTrajectory::{
    points,
    num_points,
    duration: 5.0,
    is_collision_free: true,
    is_singularity_free: true,
    planning_time: 0.5,
    planner_type: "RRTConnect",
  }
}

///|
/// 视觉伺服控制（简化版）
pub fn visual_servoing(
  current_pose : ObjectPose,
  desired_pose : ObjectPose,
  config : RobotVisionConfig,
) -> Array[Double] {
  ignore(config)
  // 简化的视觉伺服：计算位置误差并生成控制量
  let error : Array[Double] = []
  error.push(desired_pose.position[0] - current_pose.position[0])
  error.push(desired_pose.position[1] - current_pose.position[1])
  error.push(desired_pose.position[2] - current_pose.position[2])

  // 简单的比例控制
  let kp = 0.5
  let control : Array[Double] = []
  control.push(error[0] * kp)
  control.push(error[1] * kp)
  control.push(error[2] * kp)

  control
}

///|
/// 生成点云（简化版）
pub fn generate_point_cloud(
  depth_image : Array[Double],
  rgb_image : Array[Array[Int]],
  config : RobotVisionConfig,
) -> PointCloudData {
  ignore(rgb_image)
  let points : Array[Array[Double]] = []
  let colors : Array[Array[Int]] = []
  let normals : Array[Array[Double]] = []

  let fx = config.camera_intrinsics[0]
  let fy = config.camera_intrinsics[4]
  let px = config.camera_intrinsics[2]
  let py = config.camera_intrinsics[5]

  let width = 640
  let height = 480

  let mut state = 42
  for v in 0..<height {
    if v % 10 == 0 {
      for u in 0..<width {
        if u % 10 == 0 {
          let idx = v * width + u
          if idx < depth_image.length() {
            let depth = depth_image[idx]
            if depth > 0.0 && depth < 10.0 {
              let x = (u.to_double() - px) * depth / fx
              let y = (v.to_double() - py) * depth / fy
              let z = depth

              let point : Array[Double] = []
              point.push(x)
              point.push(y)
              point.push(z)
              points.push(point)

              state = (state * 11035 + 12345) % 1000000
              let color : Array[Int] = []
              color.push(state % 256)
              state = (state * 11035 + 12345) % 1000000
              color.push(state % 256)
              state = (state * 11035 + 12345) % 1000000
              color.push(state % 256)
              colors.push(color)

              let normal : Array[Double] = []
              normal.push(0.0)
              normal.push(0.0)
              normal.push(1.0)
              normals.push(normal)
            }
          }
        }
      }
    }
  }

  PointCloudData::{
    points,
    colors,
    normals,
    num_points: points.length(),
    width,
    height,
    is_dense: false,
    coordinate_frame: "camera",
  }
}

///|
/// 生成机器人视觉报告
pub fn robot_vision_report_to_string(
  task_type : RobotVisionTaskType,
  config : RobotVisionConfig,
  result_description : String,
) -> String {
  let mut report = "## 机器人视觉高级报告\n\n"

  report = report + "### 任务信息\n\n"
  report = report + "| 指标 | 值 |\n|------|------|\n"
  report = report +
    "| 任务类型 | " +
    (match task_type {
      RobotVisionTaskType::VisualServoing => "视觉伺服"
      RobotVisionTaskType::ObjectGrasping => "物体抓取"
      RobotVisionTaskType::SLAMEnhanced => "SLAM增强"
      RobotVisionTaskType::Reconstruction3D => "3D重建"
      RobotVisionTaskType::ArmControl => "机械臂控制"
      RobotVisionTaskType::MobileNavigation => "移动机器人导航"
      RobotVisionTaskType::HumanRobotInteraction => "人机交互"
      _ => "未知"
    }) +
    " |\n"
  report = report +
    "| 机器人类型 | " +
    (match config.robot_type {
      RobotType::Manipulator => "机械臂"
      RobotType::MobileRobot => "移动机器人"
      RobotType::Humanoid => "人形机器人"
      RobotType::Drone => "无人机"
      RobotType::Wheeled => "轮式"
      RobotType::Legged => "腿式"
      _ => "未知"
    }) +
    " |\n"
  report = report +
    "| 视觉伺服类型 | " +
    (match config.visual_servoing_type {
      VisualServoingType::PositionBased => "基于位置"
      VisualServoingType::ImageBased => "基于图像"
      VisualServoingType::Hybrid => "混合"
      _ => "未知"
    }) +
    " |\n"
  report = report +
    "| 抓取类型 | " +
    (match config.grasp_type {
      GraspType::ParallelJaw => "平行夹爪"
      GraspType::SuctionCup => "吸盘"
      GraspType::MultiFinger => "多指"
      GraspType::Hook => "钩子"
      GraspType::Magnetic => "磁吸"
      _ => "未知"
    }) +
    " |\n"
  report = report + "| 关节数 | " + config.num_joints.to_string() + " |\n"
  report = report +
    "| 控制频率 | " +
    config.control_frequency.to_string() +
    " Hz |\n"
  report = report +
    "| 规划时间限制 | " +
    config.planning_time_limit.to_string() +
    " s |\n"
  report = report +
    "| 碰撞余量 | " +
    config.collision_margin.to_string() +
    " m |\n"

  report = report + "\n### 结果\n\n"
  report = report + result_description + "\n"

  report
}
src\process\robot_vision_advanced\robot_vision_advanced.mbt

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