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AppFlemonsSpineLearningCL.cpp
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1 /*
2  * Copyright © 2012, United States Government, as represented by the
3  * Administrator of the National Aeronautics and Space Administration.
4  * All rights reserved.
5  *
6  * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
7  * under the Apache License, Version 2.0 (the "License");
8  * you may not use this file except in compliance with the License.
9  * You may obtain a copy of the License at
10  * http://www.apache.org/licenses/LICENSE-2.0.
11  *
12  * Unless required by applicable law or agreed to in writing,
13  * software distributed under the License is distributed on an
14  * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
15  * either express or implied. See the License for the specific language
16  * governing permissions and limitations under the License.
17 */
18 
27 // This application
29 // This library
31 #include "core/tgModel.h"
32 #include "core/tgSimView.h"
33 #include "core/tgSimViewGraphics.h"
34 #include "core/tgSimulation.h"
35 #include "core/tgWorld.h"
36 // The C++ Standard Library
37 #include <iostream>
38 
46 int main(int argc, char** argv)
47 {
48  std::cout << "AppNestedStructureTest" << std::endl;
49 
50  // First create the world
51  const tgWorld::Config config(981); // gravity, cm/sec^2
52  tgWorld world(config);
53 
54  // Second create the view
55  const double stepSize = 1.0/1000.0; // Seconds
56  const double renderRate = 1.0/60.0; // Seconds
57  tgSimViewGraphics view(world, stepSize, renderRate);
58 
59  // Third create the simulation
60  tgSimulation simulation(view);
61 
62  // Fourth create the models with their controllers and add the models to the
63  // simulation
64  const int segments = 12;
66  new FlemonsSpineModelLearningCL(segments);
67 
68  /* Required for setting up learning file input/output. */
69  const std::string suffix((argc > 1) ? argv[1] : "default");
70 
71  const int segmentSpan = 3;
72  const int numMuscles = 4;
73  const int numParams = 2;
74  const int segNumber = 0;
75 
76  const double controlTime = 0.1;
77  const double lowPhase = -1 * M_PI;
78  const double highPhase = M_PI;
79  const double lowAmplitude = 0.0;
80  const double highAmplitude = 30.0;
81 
82  const double tension = 0.0;
83  const double kPosition = 400.0;
84  const double kVelocity = 40.0;
85 
86  BaseSpineCPGControl::Config control_config(segmentSpan, numMuscles, numMuscles, numParams, segNumber, controlTime,
87  lowAmplitude, highAmplitude, lowPhase, highPhase,
88  tension, kPosition, kVelocity);
89  BaseSpineCPGControl* const myControl =
90  new BaseSpineCPGControl(control_config, suffix, "learningSpines/OctahedralComplex/");
91  myModel->attach(myControl);
92 
93  simulation.addModel(myModel);
94 
95  int i = 0;
96  while (i < 20000)
97  {
98  simulation.run(60000);
99  simulation.reset();
100  i++;
101  }
102 
104 
108  #if (0)
109  delete myControl;
110  #endif
111  //Teardown is handled by delete, so that should be automatic
112  return 0;
113 }
Implementing the cross-linked octahedral complex spine inspired by Tom Flemons.
void addModel(tgModel *pModel)
Contains the definition of class tgSimulation.
Contains the definition of class tgModel.
Contains the definition of class tgSimViewGraphics.
int main(int argc, char **argv)
Contains the definition of class tgWorld $Id$.
A controller for the template class BaseSpineModelLearning.
void run() const
Contains the definition of class tgSimView.
void attach(tgObserver< T > *pObserver)
Definition: tgSubject.h:91