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AppMGControlFM0.h
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 
19 #ifndef APP_MG_CONTROL_FM0_H
20 #define APP_MG_CONTROL_FM0_H
21 
29 //robot
31 
32 // controller
34 
35 // obstacles
37 
38 // This library
39 #include "core/tgModel.h"
40 #include "core/tgSubject.h"
41 #include "core/tgSimViewGraphics.h"
42 #include "core/tgSimulation.h"
43 #include "core/tgWorld.h"
46 
47 // Boost
48 #include <boost/program_options.hpp>
49 
50 // The C++ Standard Library
51 #include <iostream>
52 #include <string>
53 
54 namespace po = boost::program_options;
55 
57 {
58 public:
59  AppMGControlFM0(int argc, char** argv);
60 
62  bool setup();
64  bool run();
65 
66 private:
68  void handleOptions(int argc, char** argv);
69 
70  const tgHillyGround::Config getHillyConfig();
71 
72  const tgBoxGround::Config getBoxConfig();
73 
74  tgModel* getBlocks();
75 
77  tgWorld *createWorld();
78 
80  tgSimViewGraphics *createGraphicsView(tgWorld *world);
81 
83  tgSimView *createView(tgWorld *world);
84 
86  void simulate(tgSimulation *simulation);
87 
88 
89  // Keep these around for cleanup
90  tgWorld* world;
91  tgSimView* view;
92  tgSimulation* simulation;
93  JSONMGFeedbackControlFM0* myControl;
94 
95  bool use_graphics;
96  bool add_controller;
97  bool add_blocks;
98  bool add_hills;
99  bool all_terrain;
100  double timestep_physics; //Seconds
101  double timestep_graphics; // Seconds, AKA render rate. Leave at 1/60 for real-time viewing
102  int nEpisodes; // Number of episodes ("trial runs")
103  int nSteps; // Number of steps in each episode, 60k is 100 seconds (timestep_physics*nSteps)
104  int nSegments; // Number of segments in the tensegrity spine
105  int nTypes; // Number of types of terrain to be used. Currently 3
106 
107  double startX;
108  double startY;
109  double startZ;
110  double startAngle;
111  double goalAngle;
112 
113  std::string lowerPath;
114  std::string suffix;
115 
116  bool bSetup;
117 };
118 
119 #endif // APP_QUAD_CONTROL_H
120 
Definition of tgSubject class.
Contains the definition of class tgHillyGround.
A controller for the template class BaseQuadModelLearning, modified for use on a quadruped.
Contains the definition of class tgSimulation.
Contains the definition of class tgModel.
Contains the definition of class tgSimViewGraphics.
Contains the definition of class tgBlockField. A random field of blocks used to test tensegrities...
Contains the definition of class tgWorld $Id$.
Contains the definition of class tgBoxGround.
Implementing MountainGoat, but as a subclass of Brian's BaseSpineModelLearning module. Seeing what will happen when the number of actuators is reduced, and their placement has changed.