AppFlemonsSpineContact.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 application
#include "FlemonsSpineModelContact.h"
#include "examples/learningSpines/SpineFeedbackControl.h"

// This library
#include "core/tgModel.h"
#include "core/tgSimView.h"
#include "core/tgSimViewGraphics.h"
#include "core/tgSimulation.h"
#include "core/tgWorld.h"
#include "core/terrain/tgHillyGround.h"
// The C++ Standard Library
#include <iostream>
#include <exception>

int main(int argc, char** argv)
{
    std::cout << "AppFlemonsSpineContact" << std::endl;

    // First create the world
    const tgWorld::Config config(981); // gravity, cm/sec^2
#if (1)
                btVector3 eulerAngles = btVector3(0.0, 0.0, 0.0);
   btScalar friction = 0.5;
   btScalar restitution = 0.0;
   btVector3 size = btVector3(500.0, 0.5, 500.0);
   btVector3 origin = btVector3(0.0, 0.0, 0.0);
   size_t nx = 100;
   size_t ny = 100;
   double margin = 0.5;
   double triangleSize = 5.0;
   double waveHeight = 3.0;
   double offset = 0.0;
                tgHillyGround::Config groundConfig(eulerAngles, friction, restitution,
                                                                                                                                                size, origin, nx, ny, margin, triangleSize,
                                                                                                                                                waveHeight, offset);
                
                tgHillyGround* ground = new tgHillyGround(groundConfig);
                
   tgWorld world(config, ground); 
#else
    tgWorld world(config); 
#endif

    // Second create the view
    const double stepSize = 1.0/1000.0; // Seconds
    const double renderRate = 1.0/60.0; // Seconds
    tgSimView view(world, stepSize, renderRate);

    // Third create the simulation
    tgSimulation simulation(view);

    // Fourth create the models with their controllers and add the models to the
    // simulation
    const int segments = 6;
    FlemonsSpineModelContact* myModel =
      new FlemonsSpineModelContact(segments);

    /* Required for setting up learning file input/output. */
    const std::string suffix((argc > 1) ? argv[1] : "default");
    
    const int segmentSpan = 3;
    const int numMuscles = 8;
    const int numParams = 2;
    const int segNumber = 0; // For learning results
    const double controlTime = .01;
    const double lowPhase = -1 * M_PI;
    const double highPhase = M_PI;
    const double lowAmplitude = 0.0;
    const double highAmplitude = 300.0;
    const double kt = 0.0;
    const double kp = 1000.0;
    const double kv = 200.0;
    const bool def = true;
        
    // Overridden by def being true
    const double cl = 10.0;
    const double lf = 0.0;
    const double hf = 30.0;
    
    // Feedback parameters
    const double ffMin = -0.5;
    const double ffMax = 10.0;
    const double afMin = 0.0;
    const double afMax = 200.0;
    const double pfMin = -0.5;
    const double pfMax =  6.28;

    SpineFeedbackControl::Config control_config(segmentSpan, 
                                                numMuscles,
                                                numMuscles,
                                                numParams, 
                                                segNumber, 
                                                controlTime,
                                                lowAmplitude,
                                                highAmplitude,
                                                lowPhase,
                                                highPhase,
                                                kt,
                                                kp,
                                                kv,
                                                def,
                                                cl,
                                                lf,
                                                hf,
                                                ffMin,
                                                ffMax,
                                                afMin,
                                                afMax,
                                                pfMin,
                                                pfMax
                                                );
    SpineFeedbackControl* const myControl =
      new SpineFeedbackControl(control_config, suffix, "bmirletz/TetrahedralComplex_Contact/");
    myModel->attach(myControl);
    
    simulation.addModel(myModel);
    
    int i = 0;
    while (i < 30000)
    {
        try
        {
            simulation.run(30000);
            simulation.reset();
            i++;
        }  
        catch (std::runtime_error e)
        {
            simulation.reset();
        }
    }
    

    #if (0)
    delete myControl;
    #endif
    //Teardown is handled by delete, so that should be automatic
    return 0;
}