AI Detector - Trusted AI Checker for ChatGPT, GPT4 & Gemini
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Overview
This project is made in rust, to let us experience path planning in robotics. To experience path planning we are doing two operations, linear motion and rotational motion. In linear motion, we will be give start point and end point we need to print path to which we can get there in one-unit increment. Similarly, in rotational motion we will be given a position of circle, it radius and a direction (clockwise or counterclockwise), and a end point, we need to print the path to reach end point at 5 degree interval. In this project we will implement these following things:
o File reading: Read the give "*.cmd" file
o Text parsing: Take the text and parse it appropriately
o Linear Motion Calculation
o Rotational Motion Calculation
Modules and Imports
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Overview
AI Detector - Trusted AI Checker for ChatGPT, GPT4 & Gemini
https://www.zerogpt.com/
o File reading: Read the give "*.cmdd" file.
o Text parsing: Take the text and parse it appropriately
o Linear Motion Calculation
o Rotational Motion Calculation
Modules and Imports
First import all the necessary modules for the program to run.
These imports will help the program to take the necessary library for calculation, testing, reading and parsing the file.
Function: parse_file
The function is responsible for parsing the given file to text so that we can do operation on that obtained text(string).
• Input: File path, where the file is located.
• Output: Return vector of vector of string, where each string will be a single word from the file which is given a input.
This function takes the file path as input and gives us the string written in that file. It does this by first making a string to hold file content then using fs library to read the contents of that file into that string. Then break this string by whitespaces and stores in the vector then returns it.
Function: linear_motion
The function basically calculate the linear motion between two points namely start and end point by incrementing by 1 step.
Input: Takes start point coordinates in 3-D world (x,y,z) in float value, same for end point.
Output: Return vector filled with the path, which to follow to reach from start to end.
The function does this by creating an empty vector to first to store the result, then do some basic checking like if start and end are same, the just add start point, else it calculate the number of steps needed to motion by calculating increment for each axis and finding which one is the largest.
Function: rotational_motion
The function like linear motion, finds a path from start to end point but in circular motion either clockwise or anticlockwise, so basically from start angle to end angle.
Input: Location of centre of circle for which we need to rotate in float (as x, y, z), radius of that circle in float, start angle, end angle, clockwise or anticlockwise boolean value.
Output: Return the coordinates which to follow to reach the path, that is from start angle to end angle.
The function works by taking the input and checking first whether to do clockwise or anti clockwise motion. If clockwise motion we do angle increment of 5, otherwise decrement of 5. We start rotating the angle until it exceeded end angle, and calculate new position based of current angle for each angle in that loop. We push those position into the vector. And return those vector coordinates.
Function: process_commands
The function has been made to process command from the file, or basically parse those commands which we got from the "*.cmdd" file.
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05/05/2024, 5:29 pm
AI Detector - Trusted AI Checker for ChatGPT, GPT4 & Gemini
https://www.zerogpt.com/
• Input: Takes input as vector of vector of string which is basically and output of parse file function.
• Output: Not return anything.
The function takes the string and iterate over all those words of a given command. Print the command which is getting processed. We initialized start to 0,0 and end is given in the command file. In the command line then we see, if first word is “LIN” then it is linear motion, if first word is “CW or CCW” then it is rotational motion, we then call their function linear motion in the case of “LIN” and rotational motion in the case of “CW or CCW”. Afterwards, we print the path which we get from either of the functions.
Function: main
This function is made to call the other function and run the code.
• Output: Return OK to indicate success.
This function calls the other function one by one so that our code can work. First, we define the path of command file. Then we call parse file function on that file, then we call process command function on the give commands which we got form parse file function. Then we return OK to indicate success of the code running.
Testing Module: tests
We use this command to define the test module, with conditional compilation, that is it will not compile everytime, it will only compile when we want it to.
In this test module, different types of test are there which will test the robustness of our main.rs code and verify that our code handles all the errors and does not break if it catches some anomalies.
Test Function: test_lm_zero
This test call linear motion function and test if the start and end point are same then what will happen, whether the code will break or throw error or will successfully execute.
For this we put start position as 0, 0, 0 and end as the same and called linear motion function.
Test Function: test_lm_negative
This test is to ensure whether our linear motion function can handle negative coordinates or not, if it doesn’t we need to handle that edge case in our main code.
This test work by taking start and -5, -5, -5 and end as -10, -10, -10 and then calls linear motion function.
Test Function: test_rm_full
This test check the rotational motion with full circle, whether when we go full circle the code will break or not.
For this we take start angle as 0 and end angle as 360 and radius as 5 and center as 0,0,0 and run the rotational function using these parameters.
Test Function: test_rm_zero
This test is done to show that when start angle and end angle are same and no movement takes place in the circle.
This test will show whether rotational motion function will show some abnormal behaviour or not.
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05/05/2024, 5:29 pm
AI Detector - Trusted AI Checker for ChatGPT, GPT4 & Gemini
https://www.zerogpt.com/
For this we took start angle as 0 and end angle as 0 and radius as 5 and centre as 0, 0, 0 and called rotational motion function.
Test Function: test_rm_negative
This test is done to check whether rotational motion function can handle negative angle or not, whether it will show correct result when we give negative angle as a parameter.
For this test we took start angle as -180 and end angle as 180 center as 0, 0, 0 and radius as 5, and then called rotational motion function.
Test Function: test_rm_large
This test if the angle is more than 360 can it handle the angle and gives us correct path for the same.
For this we took one angle as 720 and other as 0 and ran rotational motion on the same.
Example Usage
To use the program, you will need a commands file, if you don’t have that then create some commands and save as "data.cmmd", then you can put the correct path of that file in the main function.
To run that command file call cargo run in the terminal and press enter.
You will see the output, of all the commands that you have typed.
This is output of linear motion from 5, 5, 5 to 0, 0, 0.
To run all the test call cargo test in the terminal and press enter.
You will see results of all the test.
Conclusion
The code is important to understand robotics file path and how they move it is the basic foundation function for that.
By writing the functions we got the grasp of how motion works particularly linear and rotational motion. Usage of rust is also very essential as it showed usage to rust gives us better tooling and gave us more exposure to the rust programming which has its own significant advantages.
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