NTRT Simulator  v1.1
 All Classes Namespaces Files Functions Variables Typedefs Friends Pages
AppTetraSpineHT.cpp
Go to the documentation of this file.
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 */
18 
28 // This application
29 #include "dev/btietz/TetraSpineStatic/TetraSpineStaticModel_hf.h"
30 #include "htSpineSine.h"
31 // This library
32 #include "core/tgModel.h"
33 #include "core/tgSimView.h"
34 #include "core/tgSimViewGraphics.h"
35 #include "core/tgSimulation.h"
36 #include "core/tgWorld.h"
38 // The C++ Standard Library
39 #include <iostream>
40 
48 int main(int argc, char** argv)
49 {
50  std::cout << "AppTetraSpineHT" << std::endl;
51 
52  // First create the world
53  const tgWorld::Config config(981); // gravity, cm/sec^2
54  tgWorld world(config);
55 
56  // Second create the view
57  const double stepSize = 1.0/4000.0; // Seconds
58  const double renderRate = 1.0/60.0; // Seconds
59  tgSimView view(world, stepSize, renderRate);
60 
61  // Third create the simulation
62  tgSimulation simulation(view);
63 
64  // Fourth create the models with their controllers and add the models to the
65  // simulation
66  const int segments = 3;
67  TetraSpineStaticModel_hf* myModel =
68  new TetraSpineStaticModel_hf(segments);
69 
70  htSpineSine* const myControl =
71  new htSpineSine();
72 
73  myModel->attach(myControl);
74  /*
75  tgCPGLogger* const myLogger =
76  new tgCPGLogger("logs/CPGValues.txt");
77 
78  myControl->attach(myLogger);
79  */
80  simulation.addModel(myModel);
81 
82  int i = 0;
83  while (i < 1)
84  {
85  simulation.run(240000);
86  //simulation.reset();
87  i++;
88  }
89 
91 
95  #if (0)
96  delete myControl;
97  #endif
98  //Teardown is handled by delete, so that should be automatic
99  return 0;
100 }
int main(int argc, char **argv)
Controller for TetraSpineLearningModel.
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 $Id$.
void run() const
Contains the definition of class tgSimView.
Contains the definition of interface class tgCPGLogger.
void attach(tgObserver< T > *pObserver)
Definition: tgSubject.h:91