TetraSpineStaticModel_hf.cpp

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/*
 * 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 module
#include "TetraSpineStaticModel_hf.h"
// This library
#include "core/tgCast.h"
#include "core/tgSpringCableActuator.h"
#include "core/tgBasicActuator.h"
#include "core/tgString.h"
#include "core/tgSphere.h"
#include "core/abstractMarker.h"
#include "tgcreator/tgBuildSpec.h"
#include "tgcreator/tgBasicActuatorInfo.h"
#include "tgcreator/tgRodInfo.h"
#include "tgcreator/tgSphereInfo.h"
#include "tgcreator/tgStructure.h"
#include "tgcreator/tgStructureInfo.h"
#include "tgcreator/tgUtil.h"
// The Bullet Physics library
#include "LinearMath/btVector3.h"
// The C++ Standard Library
#include <iostream>
#include <stdexcept>
#include <algorithm>
#include <deque>

TetraSpineStaticModel_hf::TetraSpineStaticModel_hf(size_t segments) : 
    BaseSpineModelLearning(segments)
{
}

TetraSpineStaticModel_hf::~TetraSpineStaticModel_hf()
{
}
namespace
{
    void addNodes(tgStructure& tetra, double edge, double height)
    {
                                // Front segment
        // right
        tetra.addNode(-edge / 2.0, 0, 0, "base");
                                // left
                                tetra.addNode( edge / 2.0, 0, 0, "base");
        // top
                                tetra.addNode(0, height, 0, "base");
                                // front
                                tetra.addNode(0, edge / 2.0 * tan(M_PI / 6.0), 25.0, "tip");
                                
                                // Get the next two nodes from existing nodes:
                                tgNodes oldNodes = tetra.getNodes();
                                tgNode nn1 = (oldNodes[0] + oldNodes[2])/2.0; // 4 mid
                                nn1.addTags("PCB");
                                tetra.addNode(nn1);
                                tgNode nn2 = (oldNodes[1] + oldNodes[2])/2.0; // 5 mid
                                nn2.addTags("PCB");
                                tetra.addNode(nn2);
                                
                                std::cout << (oldNodes[3] - oldNodes[2]).length() << std::endl;
                                std::cout << (oldNodes[3] - oldNodes[1]).length() << std::endl;
                                std::cout << (oldNodes[3] - oldNodes[0]).length() << std::endl;
                                
    }

    void addPairs(tgStructure& tetra)
    {
        tetra.addPair(0, 1, "back bottom rod");
                                tetra.addPair(0, 4, "back rightBottom rod");
                                tetra.addPair(4, 2, "back rightTop rod");
                                tetra.addPair(0, 3, "front right rod");
                                tetra.addPair(1, 5, "back leftBottom rod");
                                tetra.addPair(5, 2, "back leftTop rod");
                                tetra.addPair(1, 3, "front left rod");
                                tetra.addPair(2, 3, "front top rod");
    }
                
                
    void addSegments(tgStructure& snake, const tgStructure& tetra, double edge,
             size_t segmentCount)
    {
        const btVector3 offset(0, 0, -23.0);
                                for (size_t i = 0; i < segmentCount; ++i)
                                {
                                  tgStructure* const t = new tgStructure(tetra);
                                  t->addTags(tgString("segment num", i )); // Use num0, num1, num2 as a tag!!
                                  
                                  t->move((i + 1) * offset);
                                  
                                  // Add a child to the snake
                                  snake.addChild(t);

                                }
    }

    // Add muscles that connect the segments
    void addMuscles(tgStructure& snake)
    {
        const std::vector<tgStructure*> children = snake.getChildren();
                                for (size_t i = 1; i < children.size(); ++i)
                                {
                                                tgNodes n0 = children[i-1]->getNodes();
                                                tgNodes n1 = children[i  ]->getNodes();

                                                snake.addPair(n0[0], n1[0], tgString("outer right muscle seg", i));
                                                snake.addPair(n0[1], n1[1], tgString("outer left muscle seg", i));
                                                snake.addPair(n0[2], n1[2], tgString("outer top muscle seg", i));

                                                snake.addPair(n0[0], n1[3], tgString("inner right muscle seg", i));
                                                snake.addPair(n0[1], n1[3], tgString("inner left muscle seg", i));
                                                snake.addPair(n0[2], n1[3], tgString("inner top muscle seg", i));
                                }
    }

    void mapMuscles(TetraSpineStaticModel_hf::MuscleMap& muscleMap,
            tgModel& model)
    {
        // Note that tags don't need to match exactly, we could create
        // supersets if we wanted to
                                muscleMap["inner left"]  = model.find<tgSpringCableActuator>("inner left muscle");
                                muscleMap["inner right"] = model.find<tgSpringCableActuator>("inner right muscle");
                                muscleMap["inner top"]   = model.find<tgSpringCableActuator>("inner top muscle");
                                muscleMap["outer left"]  = model.find<tgSpringCableActuator>("outer left muscle");
                                muscleMap["outer right"] = model.find<tgSpringCableActuator>("outer right muscle");
                                muscleMap["outer top"]   = model.find<tgSpringCableActuator>("outer top muscle");
    }
                
                void addMarkers(tgStructure& structure, TetraSpineStaticModel_hf& model)
                {
                                
                                const std::vector<tgStructure*> children = structure.getChildren();
                                tgNodes n0 = children[0]->getNodes();
                                
                                // TODO: consider using the segments vector here
                                btRigidBody* firstBody = model.getAllRigids()[0]->getPRigidBody();
                                
                                std::vector<tgBaseRigid*> myRigids = model.getAllRigids();
#if (0)
                                for (int i =0; i < myRigids.size(); i++)
                                {
                                                std::cout << myRigids[i]->mass() << " " <<myRigids[i]->getPRigidBody() << std::endl;
                                }
#endif                                          
                                
                                abstractMarker marker1(firstBody, n0[3] - firstBody->getCenterOfMassPosition (), btVector3(1, 0, 0), 0);
                                
                                model.addMarker(marker1);
                                
                                tgNodes n1 = children[1]->getNodes();
                                
                                btRigidBody* secondBody = model.getAllRigids()[15]->getPRigidBody();
                                
                                abstractMarker marker2(secondBody, n1[3] - secondBody->getCenterOfMassPosition (), btVector3(1, 0, 0), 0);
                                
                                model.addMarker(marker2);
                                
                                abstractMarker marker3(secondBody, n1[1] - secondBody->getCenterOfMassPosition (), btVector3(1, 0, 0), 0);
                                
                                model.addMarker(marker3);
                                
                                abstractMarker marker4(secondBody, n1[0] - secondBody->getCenterOfMassPosition (), btVector3(1, 0, 0), 0);
                                
                                model.addMarker(marker4);
                                
                                tgNodes n2 = children[2]->getNodes();
                                
                                btRigidBody* thirdBody = model.getAllRigids()[29]->getPRigidBody();
                                
                                abstractMarker marker5(thirdBody, n2[3] - thirdBody->getCenterOfMassPosition (), btVector3(1, 0, 0), 0);
                                
                                model.addMarker(marker5);
                }
                
    void trace(const tgStructureInfo& structureInfo, tgModel& model)
    {
        std::cout << "StructureInfo:" << std::endl
          << structureInfo    << std::endl
          << "Model: "        << std::endl
          << model            << std::endl;    
    // Showing the find function
    const std::vector<tgSpringCableActuator*> outerMuscles =
        model.find<tgSpringCableActuator>("outer");
    for (size_t i = 0; i < outerMuscles.size(); ++i)
    {
        const tgSpringCableActuator* const pMuscle = outerMuscles[i];
        assert(pMuscle != NULL);
        std::cout << "Outer muscle: " << *pMuscle << std::endl;
    }
    }

} // namespace

// This is basically a manual setup of a model.
// There are things that do this for us (@todo: reference the things that do this for us)
void TetraSpineStaticModel_hf::setup(tgWorld& world)
{
    const double edge = 38;
    const double height = tgUtil::round(std::sqrt(3.0)/2 * edge);
    std::cout << "edge: " << edge << "; height: " << height << std::endl;
                
    // Create the tetrahedra
    tgStructure tetra;
    addNodes(tetra, edge, height);
    addPairs(tetra);

    // Move the first one so we can create a longer snake.
    // Or you could move the snake at the end, up to you. 
    tetra.move(btVector3(0.0, 2.0, 100.0));

    // Create our snake segments
    tgStructure snake;
    addSegments(snake, tetra, edge, m_segments);
    addMuscles(snake);

    // Create the build spec that uses tags to turn the structure into a real model
    // Note: This needs to be high enough or things fly apart...
    

    // Params for In Won
    const double oldDensity = .00311;
    const double radius  = 0.635 / 2.0;
    const double density = 0.0201 / (pow(radius, 2) * M_PI * edge); // Mass divided by volume... should there be a way to set this automatically??
    const double friction = 0.15;
    const tgRod::Config rodConfig(radius, density, friction);
    tgBuildSpec spec;
    spec.addBuilder("rod", new tgRodInfo(rodConfig));
    
    // 1000 is so the units below can be in grams
    const double sphereVolume = 1000.0 * 4.0 / 3.0 * M_PI * pow(radius, 3);
    
    const double baseCornerFrontD = 140.0 / sphereVolume;
    const tgSphere::Config baseCornerFrontConfig(radius, baseCornerFrontD, friction);
    spec.addBuilder("num0 base", new tgSphereInfo(baseCornerFrontConfig));

    const double baseCornerMidD = 180.0 / sphereVolume;
    const tgSphere::Config baseCornerMidConfig(radius, baseCornerMidD, friction);
    spec.addBuilder("num1 base", new tgSphereInfo(baseCornerMidConfig));

    const double baseCornerRearD = 100.0 / sphereVolume;
    const tgSphere::Config baseCornerRearConfig(radius, baseCornerRearD, friction);
    spec.addBuilder("num2 base", new tgSphereInfo(baseCornerRearConfig));

    const double tipCornerFrontD = 40.0 / sphereVolume;
    const tgSphere::Config tipCornerFrontConfig(radius, tipCornerFrontD, friction);
    spec.addBuilder("num0 tip", new tgSphereInfo(tipCornerFrontConfig));

    const double tipCornerMidD = 120.0 / sphereVolume;
    const tgSphere::Config tipCornerMidConfig(radius, tipCornerMidD, friction);
    spec.addBuilder("num1 tip", new tgSphereInfo(tipCornerMidConfig));
    spec.addBuilder("num2 tip", new tgSphereInfo(tipCornerMidConfig));
    
    const double PCBD = 70.0 / sphereVolume;
    const tgSphere::Config PCB_1_Config(radius, PCBD, friction);
    spec.addBuilder("PCB num0", new tgSphereInfo(PCB_1_Config));
    spec.addBuilder("PCB num1", new tgSphereInfo(PCB_1_Config));
    
    const double PCB2D = 95.0 / sphereVolume;
    const tgSphere::Config PCB_2_Config(radius, PCB2D, friction);
    spec.addBuilder("PCB num2", new tgSphereInfo(PCB_2_Config));
    
    // Two different string configs
    tgSpringCableActuator::Config muscleConfig(229.16, 20, 2000.0, true, 5000, 7.0, 1.0, 1.0);
    tgSpringCableActuator::Config muscleConfig2(229.16, 20, 700.0, true, 5000, 7.0, 1.0, 1.0);
    spec.addBuilder("top muscle", new tgBasicActuatorInfo(muscleConfig));
    spec.addBuilder("left muscle", new tgBasicActuatorInfo(muscleConfig2));
    spec.addBuilder("right muscle", new tgBasicActuatorInfo(muscleConfig2));

    // Create your structureInfo
    tgStructureInfo structureInfo(snake, spec);

    // Use the structureInfo to build ourselves
    structureInfo.buildInto(*this, world);

    // We could now use tgCast::filter or similar to pull out the models (e.g. muscles)
    // that we want to control.    
    m_allMuscles = this->find<tgSpringCableActuator> ("muscle");
    m_allSegments = this->find<tgModel> ("segment");
    mapMuscles(m_muscleMap, *this);
    
    addMarkers(snake, *this);
    
    #if (0)
    trace(structureInfo, *this);
    #endif
    
    // Actually setup the children
    BaseSpineModelLearning::setup(world);
}
      
void TetraSpineStaticModel_hf::teardown()
{
                
    BaseSpineModelLearning::teardown();
    
} 
    
void TetraSpineStaticModel_hf::step(double dt)
{
    if (dt < 0.0)
    {
        throw std::invalid_argument("dt is not positive");
    }
    else
    {
        // Step any children, notify observers
        BaseSpineModelLearning::step(dt);
    }
}

std::vector<double> TetraSpineStaticModel_hf::getStringMaxTensions() const
{
                std::vector<double> maxTens;
                
    for(int i=0; i<m_allMuscles.size(); i++)
    {
        tgBasicActuator& m_sca = *(tgCast::cast<tgSpringCableActuator, tgBasicActuator>(m_allMuscles[i]));
        
        std::cout << i << " " << m_sca.getTags();
        
        tgSpringCableActuator::SpringCableActuatorHistory stringHist = m_sca.getHistory();
        std::deque<double>& tensionHist = stringHist.tensionHistory;
        maxTens.push_back( *(std::max_element(tensionHist.begin(), tensionHist.end())) );
        
        std::cout <<" "<< tensionHist[5] << " " << maxTens[i] << std::endl;
    }
                
                return maxTens;
}