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AppMountainGoat.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 
28 // This application
29 #include "MountainGoat.h"
30 // This library
32 #include "core/tgModel.h"
33 #include "core/tgSimViewGraphics.h"
34 #include "core/tgSimulation.h"
35 #include "core/tgWorld.h"
36 // Bullet Physics
37 #include "LinearMath/btVector3.h"
38 // The C++ Standard Library
39 #include <iostream>
40 
48 int main(int argc, char** argv)
49 {
50  std::cout << "AppMountainGoat" << std::endl;
51 
52  // First create the ground and world. Specify ground rotation in radians
53  const double yaw = 0.0;
54  const double pitch = 0.0;
55  const double roll = 0.0;
56  const tgBoxGround::Config groundConfig(btVector3(yaw, pitch, roll));
57  // the world will delete this
58  tgBoxGround* ground = new tgBoxGround(groundConfig);
59 
60  const tgWorld::Config config(981); // gravity, cm/sec^2 981
61  tgWorld world(config, ground);
62 
63  // Second create the view
64  const double timestep_physics = 0.001; // seconds
65  const double timestep_graphics = 1.f/60.f; // seconds
66  tgSimViewGraphics view(world, timestep_physics, timestep_graphics);
67 
68  // Third create the simulation
69  tgSimulation simulation(view);
70 
71  //Parameters for the structure:
72  const int segments = 7;
73  const int hips = 4;
74  const int legs = 4;
75 
76  MountainGoat* const myModel = new MountainGoat(segments, hips, legs);
77 
78  // Add the model to the world
79  simulation.addModel(myModel);
80 
81  simulation.run();
82 
83  //Teardown is handled by delete, so that should be automatic
84  return 0;
85 }
int main(int argc, char **argv)
Implementing the Flemons quadruped model (roughly), but as a subclass of Brian's BaseSpineModelLearni...
void addModel(tgModel *pModel)
Contains the definition of class tgSimulation.
Contains the definition of class tgModel.
Contains the definition of class tgSimViewGraphics.
Contains the definition of class tgWorld $Id$.
void run() const
Contains the definition of class tgBoxGround.