APP-8776 Move geometry proto conversions to reference frame (#5149)

Author: DTCurrie

components/arm/client.go

@@ -218,7 +218,7 @@ func (c *client) Geometries(ctx context.Context, extra map[string]interface{}) (
 	if err != nil {
 		return nil, err
 	}
-	return spatialmath.NewGeometriesFromProto(resp.GetGeometries())
+	return referenceframe.NewGeometriesFromProto(resp.GetGeometries())
 }
 
 // warnKinematicsUnsafe is a helper function to warn the user that no kinematics have been supplied for the conversion between

components/arm/server.go

@@ -184,11 +184,12 @@ func (s *serviceServer) GetGeometries(ctx context.Context, req *commonpb.GetGeom
 			if err != nil {
 				return nil, err
 			}
-			return &commonpb.GetGeometriesResponse{Geometries: spatialmath.NewGeometriesToProto(gifs.Geometries())}, nil
+			return &commonpb.GetGeometriesResponse{Geometries: referenceframe.NewGeometriesToProto(
+				gifs.Geometries())}, nil
 		}
 		return nil, err
 	}
-	return &commonpb.GetGeometriesResponse{Geometries: spatialmath.NewGeometriesToProto(geometries)}, nil
+	return &commonpb.GetGeometriesResponse{Geometries: referenceframe.NewGeometriesToProto(geometries)}, nil
 }
 
 // GetKinematics returns the kinematics information associated with the arm.

components/base/client.go

@@ -13,6 +13,7 @@ import (
 
 	"go.viam.com/rdk/logging"
 	rprotoutils "go.viam.com/rdk/protoutils"
+	"go.viam.com/rdk/referenceframe"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/spatialmath"
 )
@@ -162,5 +163,5 @@ func (c *client) Geometries(ctx context.Context, extra map[string]interface{}) (
 	if err != nil {
 		return nil, err
 	}
-	return spatialmath.NewGeometriesFromProto(resp.GetGeometries())
+	return referenceframe.NewGeometriesFromProto(resp.GetGeometries())
 }

components/base/server.go

@@ -10,8 +10,8 @@ import (
 
 	"go.viam.com/rdk/operation"
 	"go.viam.com/rdk/protoutils"
+	"go.viam.com/rdk/referenceframe"
 	"go.viam.com/rdk/resource"
-	"go.viam.com/rdk/spatialmath"
 )
 
 // ErrGeometriesNil is the returned error if base geometries are nil.
@@ -171,7 +171,7 @@ func (s *serviceServer) GetGeometries(ctx context.Context, req *commonpb.GetGeom
 	if geometries == nil {
 		return nil, ErrGeometriesNil(req.GetName())
 	}
-	return &commonpb.GetGeometriesResponse{Geometries: spatialmath.NewGeometriesToProto(geometries)}, nil
+	return &commonpb.GetGeometriesResponse{Geometries: referenceframe.NewGeometriesToProto(geometries)}, nil
 }
 
 // DoCommand receives arbitrary commands.

components/base/server_test.go

@@ -11,6 +11,7 @@ import (
 	"go.viam.com/test"
 
 	"go.viam.com/rdk/components/base"
+	"go.viam.com/rdk/referenceframe"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/spatialmath"
 	"go.viam.com/rdk/testutils/inject"
@@ -210,7 +211,7 @@ func TestServer(t *testing.T) {
 		req := &pbcommon.GetGeometriesRequest{Name: testBaseName}
 		resp, err := server.GetGeometries(context.Background(), req) // TODO (rh) rename server to bServer after review
 		test.That(t, resp, test.ShouldResemble, &pbcommon.GetGeometriesResponse{
-			Geometries: spatialmath.NewGeometriesToProto([]spatialmath.Geometry{box}),
+			Geometries: referenceframe.NewGeometriesToProto([]spatialmath.Geometry{box}),
 		})
 		test.That(t, err, test.ShouldBeNil)
 

components/camera/client.go

@@ -30,6 +30,7 @@ import (
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/protoutils"
+	"go.viam.com/rdk/referenceframe"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/rimage/transform"
 	"go.viam.com/rdk/spatialmath"
@@ -340,7 +341,7 @@ func (c *client) Geometries(ctx context.Context, extra map[string]interface{}) (
 	if err != nil {
 		return nil, err
 	}
-	return spatialmath.NewGeometriesFromProto(resp.GetGeometries())
+	return referenceframe.NewGeometriesFromProto(resp.GetGeometries())
 }
 
 // TODO(RSDK-6433): This method can be called more than once during a client's lifecycle.

components/camera/server.go

@@ -14,8 +14,8 @@ import (
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/protoutils"
+	"go.viam.com/rdk/referenceframe"
 	"go.viam.com/rdk/resource"
-	"go.viam.com/rdk/spatialmath"
 	"go.viam.com/rdk/utils"
 )
 
@@ -256,5 +256,5 @@ func (s *serviceServer) GetGeometries(ctx context.Context, req *commonpb.GetGeom
 	if err != nil {
 		return nil, err
 	}
-	return &commonpb.GetGeometriesResponse{Geometries: spatialmath.NewGeometriesToProto(geometries)}, nil
+	return &commonpb.GetGeometriesResponse{Geometries: referenceframe.NewGeometriesToProto(geometries)}, nil
 }

components/gripper/client.go

@@ -128,7 +128,7 @@ func (c *client) Geometries(ctx context.Context, extra map[string]interface{}) (
 	if err != nil {
 		return nil, err
 	}
-	return spatialmath.NewGeometriesFromProto(resp.GetGeometries())
+	return referenceframe.NewGeometriesFromProto(resp.GetGeometries())
 }
 
 func (c *client) Kinematics(ctx context.Context) (referenceframe.Model, error) {

components/gripper/server.go

@@ -13,7 +13,6 @@ import (
 	rprotoutils "go.viam.com/rdk/protoutils"
 	"go.viam.com/rdk/referenceframe"
 	"go.viam.com/rdk/resource"
-	"go.viam.com/rdk/spatialmath"
 )
 
 // ErrGeometriesNil is the returned error if gripper geometries are nil.
@@ -118,7 +117,7 @@ func (s *serviceServer) GetGeometries(ctx context.Context, req *commonpb.GetGeom
 	if geometries == nil {
 		return nil, ErrGeometriesNil(req.GetName())
 	}
-	return &commonpb.GetGeometriesResponse{Geometries: spatialmath.NewGeometriesToProto(geometries)}, nil
+	return &commonpb.GetGeometriesResponse{Geometries: referenceframe.NewGeometriesToProto(geometries)}, nil
 }
 
 func (s *serviceServer) GetKinematics(ctx context.Context, req *commonpb.GetKinematicsRequest) (*commonpb.GetKinematicsResponse, error) {

config/proto_conversions.go

@@ -519,7 +519,7 @@ func FrameConfigFromProto(proto *pb.Frame) (*referenceframe.LinkConfig, error) {
 	}
 
 	if proto.GetGeometry() != nil {
-		geom, err := spatial.NewGeometryFromProto(proto.GetGeometry())
+		geom, err := referenceframe.NewGeometryFromProto(proto.GetGeometry())
 		if err != nil {
 			return nil, err
 		}