AppTetraSpineHardwareSine.cpp

/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

// This application
#include "examples/IROS_2015/TetraSpineStatic/TetraSpineStaticModel.h"
#include "examples/IROS_2015/TetraSpineStatic/TetraSpineStaticModel_hf.h"
#include "LearningSpineSine.h"
// This library
#include "core/tgModel.h"
#include "core/tgSimView.h"
#include "core/tgSimViewGraphics.h"
#include "core/tgSimulation.h"
#include "core/tgWorld.h"
#include "examples/learningSpines/tgCPGLogger.h"
// The C++ Standard Library
#include <iostream>

int main(int argc, char** argv)
{
    std::cout << "AppTetraSpineHardwareLearning" << std::endl;

    // First create the world
    const tgWorld::Config config(981); // gravity, cm/sec^2
    tgWorld world(config); 

    // Second create the view
    const double stepSize = 1.0/1000.0; // Seconds
    const double renderRate = 1.0/60.0; // Seconds
    tgSimViewGraphics view(world, stepSize, renderRate);

    // Third create the simulation
    tgSimulation simulation(view);

    // Fourth create the models with their controllers and add the models to the
    // simulation
    const int segments = 3;
    TetraSpineStaticModel_hf* myModel =
      new TetraSpineStaticModel_hf(segments);
    
    /* Required for setting up learning file input/output. */
    const std::string suffix((argc > 1) ? argv[1] : "default");
    
        const int segmentSpan = 3;
    const int numMuscles = 6;
    const int numParams = 2;
    const int segment = 1;
    const double controlTime = .001;
    const double lowAmp = 0;
    const double highAmp = 50;
    const double lowPhase = -1.0 * M_PI;
    const double highPhase = M_PI;
    
    // Impedance control params will be overwritten
     double kt = 0.0;
        double kp = 1000.0;
        double kv = 100.0;
        bool def = true;
    
        double cl = 10.0;
        double lf = 0.0;
        double hf = 2.0;

    
    BaseSpineCPGControl::Config control_config(segmentSpan, 
                                                                                                                                                                                                numMuscles,
                                                                                                                                                                                                numMuscles,
                                                                                                                                                                                                numParams, 
                                                                                                                                                                                                segment, 
                                                                                                                                                                                                controlTime,
                                                                                                                                                                                                lowAmp,
                                                                                                                                                                                                highAmp,
                                                                                                                                                                                                lowPhase,
                                                                                                                                                                                                highPhase,
                                                                                                                                                                                                kt,
                                                                                                                                                                                                kp,
                                                                                                                                                                                                kv,
                                                                                                                                                                                                def,
                                                                                                                                                                                                cl,
                                                                                                                                                                                                lf,
                                                                                                                                                                                                hf
                                                                                                                                                                                                );
    
    
    LearningSpineSine* const myControl =
      new LearningSpineSine(control_config, suffix, "ICRA2015/learning/");
    myModel->attach(myControl);
    /*
    tgCPGLogger* const myLogger = 
      new tgCPGLogger("logs/CPGValues.txt");
    
    myControl->attach(myLogger);
    */
    simulation.addModel(myModel);
    
    int i = 0;
    while (i < 30000)
    {
        simulation.run(60000);
        simulation.reset();
        i++;
    }
    

    #if (0)
    delete myControl;
    #endif
    //Teardown is handled by delete, so that should be automatic
    return 0;
}