NTRT Simulator  Version: Master
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AppsimpleMuscleNP.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 */
25 // This application
26 #include "simpleMuscleNP.h"
27 // This library
30 #include "core/tgModel.h"
31 #include "core/tgSimViewGraphics.h"
32 #include "core/tgSimulation.h"
33 #include "core/tgWorld.h"
34 #include "tgcreator/tgUtil.h"
35 
36 // The Bullet Physics Library
37 #include "LinearMath/btVector3.h"
38 #include "LinearMath/btQuaternion.h"
39 // The C++ Standard Library
40 #include <iostream>
47 int main(int argc, char** argv)
48 {
49 
50  std::cout << "AppMuscleNPTest" << 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 
58  // the world will delete this
59 #if (0)
60  tgBoxGround* ground = new tgBoxGround(groundConfig);
61 #else
62  tgEmptyGround* ground = new tgEmptyGround();
63 #endif
64  const tgWorld::Config config(9.81); // gravity, cm/sec^2
65  tgWorld world(config, ground);
66 
67  // Second create the view
68  const double timestep_physics = 1.0/1000.0; // seconds
69  const double timestep_graphics = 1.f/60.f; // seconds
70  tgSimViewGraphics view(world, timestep_physics, timestep_graphics);
71 
72  // Third create the simulation
73  tgSimulation simulation(view);
74 
75 
76  // Fourth create the models with their controllers and add the models to the
77  // simulation
78  simpleMuscleNP* const myModel = new simpleMuscleNP();
79  // Add the model to the world
80  simulation.addModel(myModel);
81  simulation.run();
82  return 0;
83 }
int main(int argc, char **argv)
For testing MuscleNP contacts.
Contains the definition of class tgSimulation.
Contains the definition of class tgModel.
Contains the definition of class tgSimViewGraphics.
Contains the definition of class tgWorld $Id$.
Contains the definition of class tgBoxGround.
Rand seeding simular to the evolution and terrain classes.
Contains the definition of class tgEmptyGround.