NTRT Simulator  Version: Master
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AppPIDTest.cpp
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
28 #include "pidTestRig.h"
29 // This library
31 #include "core/tgModel.h"
32 #include "core/tgSimViewGraphics.h"
33 #include "core/tgSimulation.h"
34 #include "core/tgWorld.h"
35 // Bullet Physics
36 #include "LinearMath/btVector3.h"
37 // The C++ Standard Library
38 #include <iostream>
39 
46 int main(int argc, char** argv)
47 {
48  std::cout << "ApptsTestRigTest" << std::endl;
49 
50  // First create the ground and world. Specify ground rotation in radians
51  const double yaw = 0.0;
52  const double pitch = 0.0;
53  const double roll = 0.0;
54  const tgBoxGround::Config groundConfig(btVector3(yaw, pitch, roll));
55  // the world will delete this
56  tgBoxGround* ground = new tgBoxGround(groundConfig);
57 
58  const tgWorld::Config config(98.1); // gravity, cm/sec^2
59  tgWorld world(config, ground);
60 
61  // Second create the view
62  const double timestep_physics = 0.001; // seconds
63  const double timestep_graphics = 1.f/60.f; // seconds
64  tgSimView view(world, timestep_physics, timestep_graphics);
65 
66  // Third create the simulation
67  tgSimulation simulation(view);
68 
69  // Fourth create the models with their controllers and add the models to the
70  // simulation
71 
72  // This needs to be true to test the controller
73  bool useKinematic = true;
74  pidTestRig* const myModel = new pidTestRig(useKinematic);
75 
76  // Add the model to the world
77  simulation.addModel(myModel);
78 
79  simulation.run(440);
80 
81  //Teardown is handled by delete, so that should be automatic
82  return 0;
83 }
int main(int argc, char **argv)
Contains the definition of class tgSimulation.
Contains the definition of class tgModel.
Contains the definition of class tgSimViewGraphics.
Contains the definition of class tgWorld $Id$.
Defines a 3 strut 9 string tensegrity model.
Contains the definition of class tgBoxGround.