Goals

There are a variety of different "goal" types that can be provided. Think of these as settings that you would like to achieve (e.g. a PositionMatch objective accepts a Translation goal).

Translation

A 3-vector representing coordinates that is used by the PositionMatch, PositionMirroring objectives.

Javascript
Python
Rust

let goal = {Translation:[1.0,0.0,0.5]}

goal = Translation(x:1.0,y:0.0,z:0.5);

let goal = Translation3::new(0.0,0.0,0.0);

Rotation

A Quaternion representing rotation that is used by the OrientationMatch, OrientationMirroring objectives.

Javascript
Python
Rust

let goal = {Rotation:[0.707,0.0,0.0,0.707]} // [x, y, z, w] ordering

goal = Rotation(w:0.707,x:0.0,y:0.0,z:0.707)

let goal = UnitQuaternion::from_quaternion(Quaternion::new(0.0,0.0,-0.7069999677447771,0.7072135784958345));

Scalar

A float value that is used by the JointMatch, JointMirroring, DistanceMatch, JointLiveliness, and RelativeMotionLiveliness objectives.

Javascript
Python
Rust

let goal = {Scalar:0.5}

goal = 0.5

let goal = 0.5;

Size

A 3-vector representing scale of a 3D shape that is used by the PositionLiveliness, OrientationLiveliness, OriginPositionLiveliness objectives.

Javascript
Python
Rust

let goal = {Size:[1.0,0.1,0.5]}

goal = Size(x:1.0,y:0.1,z:0.5)

let goal = Vector3::new(1.0,0.1,0.5);

Ellipse

A structure designating a rotated ellipsoid, with Translation, Rotation, and Size components. The ellipse goal is used by the PositionBounding objective.

Javascript
Python
Rust

let goal = {Ellipse: {
  pose: {translation: [1.0,0.0,0.4], rotation: [0.707,0.0,0.0,0.707]}, // [x, y, z, w] ordering for quaternion
  size: [0.1,0.1,0.2]}}

goal = Ellipse(
  translation=Translation(x:1.0,y:0.0,z:0.4),
  rotation=Rotation(w:0.707,x:0.0,y:0.0,z:0.707),
  size=Size(x:0.1,y:0.1,z:0.2)
)

let pose = Isometry3::from_parts(
          Translation3::new(
              0.0,
              0.0,
              0.0,
          ),
          UnitQuaternion::from_quaternion(Quaternion::new(
              0.0,
              0.0,
              -0.7069999677447771,
              0.7072135784958345,
          )),
      );
let goal = Ellipse::new(pose, Vector3::new(0.1,0.1,0.2));

RotationRange

A structure including a center Rotation, as well as a float value indicating allowed delta in radians from that rotation. The RotationRange goal is used by the RotationBounding objective.

Javascript
Python
Rust

let goal = {RotationRange: {rotation: [0.707,0.0,0.0,0.707], // [x, y, z, w] ordering for quaternion
                            delta:0.4}}

goal = RotationRange(rotation=Rotation(w:0.707,x:0.0,y:0.0,z:0.707),delta=0.4)

let rotation = (
          UnitQuaternion::from_quaternion(Quaternion::new(
              0.0,
              0.0,
              -0.7069999677447771,
              0.7072135784958345,
          )),
      );
let goal = RotationRange::new(rotation,0.4);

ScalarRange

A structure including a center float value, and float value representing allowed delta from that value. The ScalarRange goal is used by the JointBounding objective.

Javascript
Python
Rust

let goal = {ScalarRange: {value:0.0,delta:0.4}}

goal = ScalarRange(value=0.0,delta=0.4)

let goal = ScalarRange::new(0.0,0.4);

Import

note

There is no need to import for Javascript.

Python
Rust

from lively import Translation #Rotation, Scalar, Size, Ellipse, RotationRange, ScalarRange

use lively::utils::goals::Goal;

Goals

Translation​

Rotation​

Scalar​

Size​

Ellipse​

RotationRange​

ScalarRange​

Import​