NTRT Simulator  Version: Master
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AppRBString.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 
28 // This application
29 #include "RBStringTest.h"
30 // This library
31 #include "core/tgModel.h"
32 #include "tgcreator/tgNode.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( 9.81); // gravity, cm/sec^2
52 
53  tgWorld world(config);
54 
55  // Second create the view
56  const double stepSize = 1.0/1000.0; //Seconds
57  tgSimViewGraphics view(world, stepSize);
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 = 10;
65  tgNode start(-10, 0, 0);
66  tgNode end (5, 5.0, .1);
67 
68 
69  const double radius = 0.2;
70  const double density = 2; // Note: This needs to be high enough or things fly apart...
71  const tgRod::Config rodConfig(radius, density);
72 
73  const double stiffness = 1000.0;
74  const double damping = .01*stiffness;
75  const tgBasicActuator::Config stringConfig(stiffness, damping);
76  const RBStringTest::Config rbConfig(segments, rodConfig, stringConfig, 3.0);
77  RBStringTest* myModel = new RBStringTest(&start, &end, rbConfig);
78 #if (0)
80  myModel->attach(*muscleControl);
81 #endif
82  simulation.addModel(myModel);
83 
84  simulation.run(1000);
85 
86  //Teardown is handled by delete, so that should be automatic
87  return 0;
88 }
int main(int argc, char **argv)
Contains the definition of class tgSimulation.
Contains the definition of class tgModel.
Contains the definition of class tgSimViewGraphics.
Definition of class tgNode.
Contains the definition of class tgWorld $Id$.
Definition: tgNode.h:45
void attach(tgObserver< T > *pObserver)
Definition: tgSubject.h:91