AppFlemonsSpineLearning.cpp

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/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

// This application
#include "FlemonsSpineModelLearning.h"
#include "examples/learningSpines/BaseSpineCPGControl.h"
#include "examples/learningSpines/KinematicSpineCPGControl.h"
#include "examples/learningSpines/tgCPGLogger.h"
// This library
#include "core/tgModel.h"
#include "core/tgSimView.h"
#include "core/tgSimViewGraphics.h"
#include "core/tgSimulation.h"
#include "core/tgWorld.h"
// The C++ Standard Library
#include <iostream>

int main(int argc, char** argv)
{
    std::cout << "AppNestedStructureTest" << std::endl;

    // First create the world
    const tgWorld::Config config(981); // gravity, cm/sec^2
    tgWorld world(config); 

    // Second create the view
    const double stepSize = 1.0/1000.0; // Seconds
    const double renderRate = 1.0/60.0; // Seconds
    tgSimViewGraphics view(world, stepSize, renderRate);

    // Third create the simulation
    tgSimulation simulation(view);

    // Fourth create the models with their controllers and add the models to the
    // simulation
    const int segments = 12;
    FlemonsSpineModelLearning* myModel =
      new FlemonsSpineModelLearning(segments);

    /* Required for setting up learning file input/output. */
    const std::string suffix((argc > 1) ? argv[1] : "default");
    
                                                                const int segmentSpan = 3;
                                                                const int numMuscles = 8;
                                                                const int numParams = 2;
                                                                const int segNumber = 6; // For learning results
                                                                const double controlTime = .001;
                                                                const double lowPhase = -1 * M_PI;
                                                                const double highPhase = M_PI;
                                                                const double lowAmplitude = -30.0;
                                                                const double highAmplitude = 30.0;
                                                                const double kt = 0.0;
                                                                const double kp = 1000.0;
                                                                const double kv = 210.0;
                                                                const bool def = true;
                                                                                
                                                                // Overridden by def being true
                                                                const double cl = 10.0;
                                                                const double lf = -30.0;
                                                                const double hf = 30.0;

    
                                                                BaseSpineCPGControl::Config control_config(segmentSpan, 
                                                                                                                                                                                                                                                numMuscles,
                                                                                                                                                                                                                                                numMuscles,
                                                                                                                                                                                                                                                numParams, 
                                                                                                                                                                                                                                                segNumber, 
                                                                                                                                                                                                                                                controlTime,
                                                                                                                                                                                                                                                lowAmplitude,
                                                                                                                                                                                                                                                highAmplitude,
                                                                                                                                                                                                                                                lowPhase,
                                                                                                                                                                                                                                                highPhase,
                                                                                                                                                                                                                                                kt,
                                                                                                                                                                                                                                                kp,
                                                                                                                                                                                                                                                kv,
                                                                                                                                                                                                                                                def,
                                                                                                                                                                                                                                                cl,
                                                                                                                                                                                                                                                lf,
                                                                                                                                                                                                                                                hf
                                                                                                                                                                                                                                                );
    KinematicSpineCPGControl* const myControl =
      new KinematicSpineCPGControl(control_config, suffix, "learningSpines/TetrahedralComplex/");
    myModel->attach(myControl);
#if (0)    
    tgCPGLogger* const myLogger = 
      new tgCPGLogger("logs/CPGValues.txt");
    
    myControl->attach(myLogger);
#endif    
    simulation.addModel(myModel);
    
    int i = 0;
    while (i < 1)
    {
        simulation.run(30000);
                #ifdef BT_USE_DOUBLE_PRECISION
                                std::cout << "Double precision" << std::endl;
                #else
                                std::cout << "Single Precision" << std::endl;
                #endif
        simulation.reset();
        i++;
    }
    

    #if (0)
    delete myControl;
    #endif
    //Teardown is handled by delete, so that should be automatic
    return 0;
}