UndefVarError: orientation not defined

General Usage
1

I am getting this error:

UndefVarError: orientation not defined

Stacktrace:
  [1] overdub
    @ .\In[31]:4 [inlined]
  [2] overdub(::Cassette.Context{MeshCat.var"##AnimationCtx#Name", Tuple{MeshCat.Animation, Int64}, Nothing, Cassette.var"##PassType#285", Nothing, Nothing}, ::typeof(visualize!), ::Visualizer, ::RBState{Float64})
    @ Cassette C:\Users\xxx\.julia\packages\Cassette\4UsSX\src\overdub.jl:0
  [3] overdub
    @ .\In[31]:18 [inlined]
  [4] overdub(::Cassette.Context{MeshCat.var"##AnimationCtx#Name", Tuple{MeshCat.Animation, Int64}, Nothing, Cassette.var"##PassType#285", Nothing, Nothing}, ::typeof(visualize!), ::Visualizer, ::Quadrotor{QuatRotation{Float64}, 9}, ::SVector{13, Float64})
    @ Cassette C:\Users\xxx\.julia\packages\Cassette\4UsSX\src\overdub.jl:0
 ...

Here is my code:

function visualize!(vis, x::RBState{<:Real})
    p = position(x)
    q = orientation(x)
    settransform!(robot, compose(Translation(p), LinearMap(UnitQuaternion(q))))
end

function visualize!(vis, model::Quadrotor, x::StaticVector)
    xbar = RBState(model, x)
    if model.ned
        r = position(xbar)
        v = linear_velocity(xbar)
        r = SA[r[1],-r[2],-r[3]]
        v = SA[v[1],-v[2],-v[3]]
        xbar = RBState(r, RotX(pi)*orientation(xbar), v, angular_velocity(xbar)) 
    end
    visualize!(vis, xbar)
end

How to solve it?
Looking forward to your reply very much.

2

Your post lacks a lot of detail required to help you.

See Please read: make it easier to help you

1 Like
4

I recently encountered the same error while running several examples.An error occurs when the orientation() function is called in some functions.Maybe I need to add a package.But which package does the orientation() function belong to?
Thank you very much for your reply.

5

What examples are you talking about?

Itā€™s impossible to know since you havenā€™t indicated at all what code you are trying to run and where it comes from.

1 Like
6

Such as the Quadrotor. Ipynb example in TrajectoryOptimization.jl:
TrajectoryOptimization-Quadrotor.ipynb
When I build the trajectory optimization problem and provide a dynamically-feasible initialization:

prob = Problem(model, obj, x0,  tf, xf=xf, constraints=conSet)
initial_controls!(prob, U_hover)
rollout!(prob);

I get the error:

UndefVarError: orientation not defined



Stacktrace:

  [1] forces(model::Quadrotor{QuatRotation{Float64}}, x::SubArray{Float64, 1, Vector{Float64}, Tuple{UnitRange{Int64}}, true}, u::SubArray{Float64, 1, Vector{Float64}, Tuple{UnitRange{Int64}}, true})

    @ Main d:\Document\Julia\Vscode\TrajectoryOptimization.jl-main\examples\jl_notebook_cell_df34fa98e69747e1a8f8a730347b8e2f_X11sZmlsZQ==.jl:2

  [2] forces

    @ C:\Users\xxx\.julia\packages\RobotDynamics\OMNjA\src\rigidbody.jl:250 [inlined]

  [3] wrenches(model::Quadrotor{QuatRotation{Float64}}, x::SubArray{Float64, 1, Vector{Float64}, Tuple{UnitRange{Int64}}, true}, u::SubArray{Float64, 1, Vector{Float64}, Tuple{UnitRange{Int64}}, true}, t::Float64)

    @ RobotDynamics C:\Users\xxx\.julia\packages\RobotDynamics\OMNjA\src\rigidbody.jl:245

  [4] dynamics(model::Quadrotor{QuatRotation{Float64}}, x::SubArray{Float64, 1, Vector{Float64}, Tuple{UnitRange{Int64}}, true}, u::SubArray{Float64, 1, Vector{Float64}, Tuple{UnitRange{Int64}}, true}, t::Float64)

    @ RobotDynamics C:\Users\xxx\.julia\packages\RobotDynamics\OMNjA\src\rigidbody.jl:217

  [5] integrate(#unused#::RobotDynamics.RK4, model::Quadrotor{QuatRotation{Float64}}, x::SubArray{Float64, 1, Vector{Float64}, Tuple{UnitRange{Int64}}, true}, u::SubArray{Float64, 1, Vector{Float64}, Tuple{UnitRange{Int64}}, true}, t::Float64, h::Float64)

    @ RobotDynamics C:\Users\xxx\.julia\packages\RobotDynamics\OMNjA\src\integration.jl:281
...
    @ TrajectoryOptimization C:\Users\xxx\.julia\packages\TrajectoryOptimization\9vKEc\src\problem.jl:330

 [12] top-level scope

    @ d:\Document\Julia\Vscode\TrajectoryOptimization.jl-main\examples\jl_notebook_cell_df34fa98e69747e1a8f8a730347b8e2f_X26sZmlsZQ==.jl:6
Output is truncated. View as a scrollable element or open in a text editor. Adjust cell output settings...

Based on the error message, I looked at the force function.In this example, the force function is defined as follows:

function RobotDynamics.forces(model::Quadrotor, x, u)
    q = orientation(model, x)
    kf = model.kf
    g = model.gravity
    m = model.mass

    # Extract motor speeds
    w1 = u[1]
    w2 = u[2]
    w3 = u[3]
    w4 = u[4]

    # Calculate motor forces
    F1 = max(0,kf*w1);
    F2 = max(0,kf*w2);
    F3 = max(0,kf*w3);
    F4 = max(0,kf*w4);
    F = @SVector [0., 0., F1+F2+F3+F4] #total rotor force in body frame

    m*g + q*F # forces in world frame
end

I guess the error may come from q = orientation(model, x). But how to fix it?
Here is the package I use:

using RobotDynamics, Rotations
using TrajectoryOptimization
using StaticArrays, LinearAlgebra
7

Try RobotDynamics.orientation

8

This successfully solved my problemļ¼Thank you very much.