NTRT Simulator  v1.1
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AppTetraSpineHardwareSine.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 */
18 
28 // This application
30 #include "dev/btietz/TetraSpineStatic/TetraSpineStaticModel_hf.h"
31 #include "LearningSpineSine.h"
32 // This library
33 #include "core/tgModel.h"
34 #include "core/tgSimView.h"
35 #include "core/tgSimViewGraphics.h"
36 #include "core/tgSimulation.h"
37 #include "core/tgWorld.h"
39 // The C++ Standard Library
40 #include <iostream>
41 
49 int main(int argc, char** argv)
50 {
51  std::cout << "AppTetraSpineHardwareLearning" << std::endl;
52 
53  // First create the world
54  const tgWorld::Config config(981); // gravity, cm/sec^2
55  tgWorld world(config);
56 
57  // Second create the view
58  const double stepSize = 1.0/1000.0; // Seconds
59  const double renderRate = 1.0/60.0; // Seconds
60  tgSimView view(world, stepSize, renderRate);
61 
62  // Third create the simulation
63  tgSimulation simulation(view);
64 
65  // Fourth create the models with their controllers and add the models to the
66  // simulation
67  const int segments = 3;
68  TetraSpineStaticModel_hf* myModel =
69  new TetraSpineStaticModel_hf(segments);
70 
71  /* Required for setting up learning file input/output. */
72  const std::string suffix((argc > 1) ? argv[1] : "default");
73 
74  const int segmentSpan = 3;
75  const int numMuscles = 6;
76  const int numParams = 2;
77  const int segment = 1;
78  const double controlTime = .001;
79  const double lowAmp = 0;
80  const double highAmp = 50;
81  const double lowPhase = -1.0 * M_PI;
82  const double highPhase = M_PI;
83 
84  // Impedance control params will be overwritten
85  double kt = 0.0;
86  double kp = 1000.0;
87  double kv = 100.0;
88  bool def = true;
89 
90  double cl = 10.0;
91  double lf = 0.0;
92  double hf = 2.0;
93 
94 
95  BaseSpineCPGControl::Config control_config(segmentSpan,
96  numMuscles,
97  numMuscles,
98  numParams,
99  segment,
100  controlTime,
101  lowAmp,
102  highAmp,
103  lowPhase,
104  highPhase,
105  kt,
106  kp,
107  kv,
108  def,
109  cl,
110  lf,
111  hf
112  );
113 
114 
115  LearningSpineSine* const myControl =
116  new LearningSpineSine(control_config, suffix);
117  myModel->attach(myControl);
118  /*
119  tgCPGLogger* const myLogger =
120  new tgCPGLogger("logs/CPGValues.txt");
121 
122  myControl->attach(myLogger);
123  */
124  simulation.addModel(myModel);
125 
126  int i = 0;
127  while (i < 30000)
128  {
129  simulation.run(60000);
130  simulation.reset();
131  i++;
132  }
133 
135 
139  #if (0)
140  delete myControl;
141  #endif
142  //Teardown is handled by delete, so that should be automatic
143  return 0;
144 }
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 tgSimView.
int main(int argc, char **argv)
Contains the definition of interface class tgCPGLogger.
void attach(tgObserver< T > *pObserver)
Definition: tgSubject.h:91
Controller for TetraSpineLearningModel.
Tetraspine, configured for learning in the NTRT simulator.