AppCordeTest.cpp

Go to the documentation of this file.

/*
 * 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 "CordeModel.h"
// This library
#include "core/tgModel.h"
#include "core/tgSimViewGraphics.h"
#include "core/tgSimulation.h"
#include "core/tgWorld.h"
#include "tgcreator/tgUtil.h"
// The Bullet Physics Library
#include "LinearMath/btVector3.h"
#include "LinearMath/btQuaternion.h"
// The C++ Standard Library
#include <iostream>

int main(int argc, char** argv)
{

#if (1) // X Pos
                btVector3 startPos(0.0, 0.0, 0.0);
                btVector3 endPos  (10.0, 0.0, 0.0);
                
                // Setup for neither bending nor rotation
                btQuaternion startRot( 0, sqrt(2)/2.0, 0, sqrt(2)/2.0);
                btQuaternion endRot = startRot;
#else
                btVector3 startPos(0.0, 0.0, 0.0);
                btVector3 endPos  (0.0, 0.0, 10.0);
                
                // Setup for neither bending nor rotation
                btQuaternion startRot( 0, 0, 0, 1);
                btQuaternion endRot = startRot;
#endif          
                // Values for Rope from Spillman's paper
                const std::size_t resolution = 10;
                const double radius = 0.01;
                const double density = 1300;
                const double youngMod = 0.5;
                const double shearMod = 0.5;
                const double stretchMod = 20.0;
                const double springConst = 100.0 * pow(10, 3);
                const double gammaT = 10.0 * pow(10, -6);
                const double gammaR = 1.0 * pow(10, -6);
                CordeModel::Config config(resolution, radius, density, youngMod, shearMod,
                                                                                                                                stretchMod, springConst, gammaT, gammaR);
                
                CordeModel testString(startPos, endPos, startRot, endRot, config);
                
                double t = 0.0;
                double dt = 0.0001;
                for (int i = 0; i < 10000; i++)
                {
                                testString.step(dt);
                                t += dt;
                }
                #ifdef BT_USE_DOUBLE_PRECISION
                                std::cout << "Double precision" << std::endl;
                #else
                                std::cout << "Single Precision" << std::endl;
                #endif
                
    return 0;
}