Migrate urdf modules to Typescript (#907)

* revert: chore(vite): Temporarily disable type checking and declaration generation for PR

Signed-off-by: Drew Hoener <[email protected]>

* refactor(UrdfTypes): Convert UrdfTypes to TypeScript enum and update references.

Signed-off-by: Drew Hoener <[email protected]>

* refactor(UrdfBox, UrdfTypes): Convert UrdfBox to TypeScript.

Add enum of Urdf Attributes to remove magic strings when getting attributes from xml

Signed-off-by: Drew Hoener <[email protected]>

* refactor(UrdfColor): Convert UrdfColor to TypeScript.

Signed-off-by: Drew Hoener <[email protected]>

* refactor(UrdfCylinder): Convert UrdfCylinder to TypeScript, fix parsing warning.

Signed-off-by: Drew Hoener <[email protected]>

* refactor(UrdfJoint, UrdfUtils): Convert UrdfJoint to TypeScript and extract origin parsing logic to UrdfUtils.

Signed-off-by: Drew Hoener <[email protected]>

* refactor(UrdfMaterial): Convert UrdfMaterial to TypeScript.

Signed-off-by: Drew Hoener <[email protected]>

* refactor(UrdfMesh): Convert UrdfMesh to TypeScript.

Signed-off-by: Drew Hoener <[email protected]>

* refactor(UrdfSphere): Convert UrdfSphere to TypeScript.

Signed-off-by: Drew Hoener <[email protected]>

* refactor(UrdfVisual, UrdfUtils): Convert UrdfVisual to TypeScript, add isElement check in UrdfUtils

Signed-off-by: Drew Hoener <[email protected]>

* refactor(UrdfLink): Convert UrdfLink to TypeScript, loop with for-of since ES6 provides it

Signed-off-by: Drew Hoener <[email protected]>

* refactor(UrdfModel): Convert UrdfModel to TypeScript, replace loops with for-of, and improve type safety

Signed-off-by: Drew Hoener <[email protected]>

---------

Signed-off-by: Drew Hoener <[email protected]>

Author: drewhoener

src/urdf/UrdfBox.ts

@@ -4,32 +4,30 @@
  * @author Russell Toris - [email protected]
  */
 
-import Vector3 from '../math/Vector3.js';
-import * as UrdfTypes from './UrdfTypes.js';
+import { Vector3 } from '../math/index.js';
+import { UrdfAttrs, UrdfType, type UrdfDefaultOptions } from './UrdfTypes.js';
+import type { Optional, Nullable } from '../types/interface-types.js';
 
 /**
  * A Box element in a URDF.
  */
 export default class UrdfBox {
-  /** @type {Vector3 | null} */
-  dimension;
-  /**
-   * @param {Object} options
-   * @param {Element} options.xml - The XML element to parse.
-   */
-  constructor(options) {
-    this.type = UrdfTypes.URDF_BOX;
+  type: UrdfType;
+  dimension: Nullable<Vector3> = null;
+
+  constructor({ xml }: UrdfDefaultOptions) {
+    this.type = UrdfType.BOX;
 
     // Parse the xml string
-    var xyz = options.xml.getAttribute('size')?.split(' ');
-    if (xyz) {
-      this.dimension = new Vector3({
-        x: parseFloat(xyz[0]),
-        y: parseFloat(xyz[1]),
-        z: parseFloat(xyz[2])
-      });
-    } else {
-      this.dimension = null;
+    const size: Optional<string[]> = xml.getAttribute(UrdfAttrs.Size)?.split(' ');
+    if (!size || size.length !== 3) {
+      return;
     }
+
+    this.dimension = new Vector3({
+      x: parseFloat(size[0]),
+      y: parseFloat(size[1]),
+      z: parseFloat(size[2])
+    });
   }
 }

src/urdf/UrdfColor.ts

@@ -4,22 +4,41 @@
  * @author Russell Toris - [email protected]
  */
 
+import { UrdfAttrs, type UrdfDefaultOptions } from './UrdfTypes.js';
+import type { Optional } from '../types/interface-types.js';
+
 /**
  * A Color element in a URDF.
  */
 export default class UrdfColor {
+
+  /**
+   * Color Red, [0, 1]
+   */
+  r = 0.0;
+  /**
+   * Color Green, [0, 1]
+   */
+  g = 0.0;
+  /**
+   * Color Blue, [0, 1]
+   */
+  b = 0.0;
   /**
-   * @param {Object} options
-   * @param {Element} options.xml - The XML element to parse.
+   * Alpha/Opacity, [0, 1]
    */
-  constructor(options) {
+  a = 1.0;
+
+  constructor({ xml }: UrdfDefaultOptions) {
     // Parse the xml string
-    var rgba = options.xml.getAttribute('rgba')?.split(' ');
-    if (rgba) {
-      this.r = parseFloat(rgba[0]);
-      this.g = parseFloat(rgba[1]);
-      this.b = parseFloat(rgba[2]);
-      this.a = parseFloat(rgba[3]);
+    const rgba: Optional<string[]> = xml.getAttribute(UrdfAttrs.Rgba)?.split(' ');
+    if (!rgba || rgba.length !== 4) {
+      return;
     }
+
+    this.r = parseFloat(rgba[0]);
+    this.g = parseFloat(rgba[1]);
+    this.b = parseFloat(rgba[2]);
+    this.a = parseFloat(rgba[3]);
   }
 }

src/urdf/UrdfCylinder.ts

@@ -4,21 +4,21 @@
  * @author Russell Toris - [email protected]
  */
 
-import * as UrdfTypes from './UrdfTypes.js';
+import { type UrdfDefaultOptions, UrdfType, UrdfAttrs } from './UrdfTypes.js';
 
 /**
  * A Cylinder element in a URDF.
  */
 export default class UrdfCylinder {
-  /**
-   * @param {Object} options
-   * @param {Element} options.xml - The XML element to parse.
-   */
-  constructor(options) {
-    this.type = UrdfTypes.URDF_CYLINDER;
-    // @ts-expect-error -- possibly null
-    this.length = parseFloat(options.xml.getAttribute('length'));
-    // @ts-expect-error -- possibly null
-    this.radius = parseFloat(options.xml.getAttribute('radius'));
+
+  type: UrdfType;
+  length: number;
+  radius: number;
+
+  constructor({ xml }: UrdfDefaultOptions) {
+    this.type = UrdfType.CYLINDER;
+
+    this.length = parseFloat(xml.getAttribute(UrdfAttrs.Length) ?? 'NaN');
+    this.radius = parseFloat(xml.getAttribute(UrdfAttrs.Radius) ?? 'NaN');
   }
 }

src/urdf/UrdfJoint.ts

@@ -3,93 +3,49 @@
  * @author David V. Lu!! - [email protected]
  */
 
-import Pose from '../math/Pose.js';
-import Vector3 from '../math/Vector3.js';
-import Quaternion from '../math/Quaternion.js';
+import { UrdfAttrs, type UrdfDefaultOptions } from './UrdfTypes.js';
+import { Pose } from '../math/index.js';
+import { parseUrdfOrigin } from './UrdfUtils.js';
+import type { Nullable } from '../types/interface-types.js';
 
 /**
  * A Joint element in a URDF.
  */
 export default class UrdfJoint {
-  /**
-   * @param {Object} options
-   * @param {Element} options.xml - The XML element to parse.
-   */
-  constructor(options) {
-    this.name = options.xml.getAttribute('name');
-    this.type = options.xml.getAttribute('type');
 
-    var parents = options.xml.getElementsByTagName('parent');
+  name: string;
+  type: Nullable<string>;
+  parent: Nullable<string> = null;
+  child: Nullable<string> = null;
+  minval = NaN;
+  maxval = NaN;
+  origin: Pose = new Pose();
+
+
+  constructor({xml}: UrdfDefaultOptions) {
+    this.name = xml.getAttribute(UrdfAttrs.Name) ?? 'unknown_name';
+    this.type = xml.getAttribute(UrdfAttrs.Type);
+
+    const parents = xml.getElementsByTagName(UrdfAttrs.Parent);
     if (parents.length > 0) {
-      this.parent = parents[0].getAttribute('link');
+      this.parent = parents[0].getAttribute(UrdfAttrs.Link);
     }
 
-    var children = options.xml.getElementsByTagName('child');
+    const children = xml.getElementsByTagName(UrdfAttrs.Child);
     if (children.length > 0) {
-      this.child = children[0].getAttribute('link');
+      this.child = children[0].getAttribute(UrdfAttrs.Link);
     }
 
-    var limits = options.xml.getElementsByTagName('limit');
+    const limits = xml.getElementsByTagName(UrdfAttrs.Limit);
     if (limits.length > 0) {
-      this.minval = parseFloat(limits[0].getAttribute('lower') || 'NaN');
-      this.maxval = parseFloat(limits[0].getAttribute('upper') || 'NaN');
+      this.minval = parseFloat(limits[0].getAttribute(UrdfAttrs.Lower) ?? 'NaN');
+      this.maxval = parseFloat(limits[0].getAttribute(UrdfAttrs.Upper) ?? 'NaN');
     }
 
     // Origin
-    var origins = options.xml.getElementsByTagName('origin');
-    if (origins.length === 0) {
-      // use the identity as the default
-      this.origin = new Pose();
-    } else {
-      // Check the XYZ
-      var xyzValue = origins[0].getAttribute('xyz');
-      var position = new Vector3();
-      if (xyzValue) {
-        var xyz = xyzValue.split(' ');
-        position = new Vector3({
-          x: parseFloat(xyz[0]),
-          y: parseFloat(xyz[1]),
-          z: parseFloat(xyz[2])
-        });
-      }
-
-      // Check the RPY
-      var rpyValue = origins[0].getAttribute('rpy');
-      var orientation = new Quaternion();
-      if (rpyValue) {
-        var rpy = rpyValue.split(' ');
-        // Convert from RPY
-        var roll = parseFloat(rpy[0]);
-        var pitch = parseFloat(rpy[1]);
-        var yaw = parseFloat(rpy[2]);
-        var phi = roll / 2.0;
-        var the = pitch / 2.0;
-        var psi = yaw / 2.0;
-        var x =
-          Math.sin(phi) * Math.cos(the) * Math.cos(psi) -
-          Math.cos(phi) * Math.sin(the) * Math.sin(psi);
-        var y =
-          Math.cos(phi) * Math.sin(the) * Math.cos(psi) +
-          Math.sin(phi) * Math.cos(the) * Math.sin(psi);
-        var z =
-          Math.cos(phi) * Math.cos(the) * Math.sin(psi) -
-          Math.sin(phi) * Math.sin(the) * Math.cos(psi);
-        var w =
-          Math.cos(phi) * Math.cos(the) * Math.cos(psi) +
-          Math.sin(phi) * Math.sin(the) * Math.sin(psi);
-
-        orientation = new Quaternion({
-          x: x,
-          y: y,
-          z: z,
-          w: w
-        });
-        orientation.normalize();
-      }
-      this.origin = new Pose({
-        position: position,
-        orientation: orientation
-      });
+    const origins = xml.getElementsByTagName(UrdfAttrs.Origin);
+    if (origins.length > 0) {
+      this.origin = parseUrdfOrigin(origins[0]);
     }
   }
 }

src/urdf/UrdfLink.ts

@@ -5,24 +5,24 @@
  */
 
 import UrdfVisual from './UrdfVisual.js';
+import { UrdfAttrs, type UrdfDefaultOptions } from './UrdfTypes.js';
 
 /**
  * A Link element in a URDF.
  */
 export default class UrdfLink {
-  /**
-   * @param {Object} options
-   * @param {Element} options.xml - The XML element to parse.
-   */
-  constructor(options) {
-    this.name = options.xml.getAttribute('name');
-    this.visuals = [];
-    var visuals = options.xml.getElementsByTagName('visual');
 
-    for (var i = 0; i < visuals.length; i++) {
+  name: string;
+  visuals: UrdfVisual[] = [];
+
+  constructor({ xml }: UrdfDefaultOptions) {
+    this.name = xml.getAttribute(UrdfAttrs.Name) ?? 'unknown_name';
+    const visuals = xml.getElementsByTagName(UrdfAttrs.Visuals);
+
+    for (const visual of visuals) {
       this.visuals.push(
         new UrdfVisual({
-          xml: visuals[i]
+          xml: visual
         })
       );
     }

src/urdf/UrdfMaterial.ts

@@ -5,42 +5,43 @@
  */
 
 import UrdfColor from './UrdfColor.js';
+import { UrdfAttrs, type UrdfDefaultOptions } from './UrdfTypes.js';
+import type { Nullable } from '../types/interface-types.js';
 
 /**
  * A Material element in a URDF.
  */
 export default class UrdfMaterial {
-  /** @type {string | null} */
-  textureFilename = null;
-  /** @type {UrdfColor | null} */
-  color = null;
-  /**
-   * @param {Object} options
-   * @param {Element} options.xml - The XML element to parse.
-   */
-  constructor(options) {
-
-    this.name = options.xml.getAttribute('name');
+
+  name: string;
+  textureFilename: Nullable<string> = null;
+  color: Nullable<UrdfColor> = null;
+
+  constructor({ xml }: UrdfDefaultOptions) {
+
+    this.name = xml.getAttribute(UrdfAttrs.Name) ?? 'unknown_name';
 
     // Texture
-    var textures = options.xml.getElementsByTagName('texture');
+    const textures = xml.getElementsByTagName(UrdfAttrs.Texture);
     if (textures.length > 0) {
-      this.textureFilename = textures[0].getAttribute('filename');
+      this.textureFilename = textures[0].getAttribute(UrdfAttrs.Filename);
     }
 
     // Color
-    var colors = options.xml.getElementsByTagName('color');
+    const colors = xml.getElementsByTagName(UrdfAttrs.Color);
     if (colors.length > 0) {
       // Parse the RBGA string
       this.color = new UrdfColor({
         xml: colors[0]
       });
     }
   }
+
   isLink() {
     return this.color === null && this.textureFilename === null;
   }
-  assign(obj) {
+
+  assign(obj: UrdfMaterial): this & UrdfMaterial {
     return Object.assign(this, obj);
   }
 }