31 #include "dev/btietz/kinematicString/KinematicSpineCPGControl.h"
49 int main(
int argc,
char** argv)
51 std::cout <<
"AppNestedStructureTest" << std::endl;
58 const double stepSize = 1.0/1000.0;
59 const double renderRate = 1.0/60.0;
67 const int segments = 12;
72 const std::string suffix((argc > 1) ? argv[1] :
"default");
74 const int segmentSpan = 3;
75 const int numMuscles = 8;
76 const int numParams = 2;
77 const int segNumber = 6;
78 const double controlTime = .001;
79 const double lowPhase = -1 * M_PI;
80 const double highPhase = M_PI;
81 const double lowAmplitude = -30.0;
82 const double highAmplitude = 30.0;
83 const double kt = 0.0;
84 const double kp = 1000.0;
85 const double kv = 210.0;
86 const bool def =
true;
89 const double cl = 10.0;
90 const double lf = -30.0;
91 const double hf = 30.0;
114 myModel->
attach(myControl);
119 myControl->
attach(myLogger);
126 simulation.
run(30000);
127 #ifdef BT_USE_DOUBLE_PRECISION
128 std::cout <<
"Double precision" << std::endl;
130 std::cout <<
"Single Precision" << std::endl;
int main(int argc, char **argv)
Implementing the tetrahedral complex spine inspired by Tom Flemons.
void addModel(tgModel *pModel)
Contains the definition of class tgSimulation.
Contains the definition of class tgModel.
Contains the definition of class tgSimViewGraphics.
Contains the definition of class tgWorld $Id$.
A controller for the template class BaseSpineModelLearning.
Contains the definition of class tgSimView.
Contains the definition of interface class tgCPGLogger.
void attach(tgObserver< T > *pObserver)