bool AppGoalTension::setup()
{
// First create the world
world = createWorld();
// Second create the view
if (use_graphics)
view = createGraphicsView(world); // For visual experimenting on one tensegrity
else
view = createView(world); // For running multiple episodes
// Third create the simulation
simulation = new tgSimulation(*view);
// Fourth create the models with their controllers and add the models to the
// simulation
#if (0)
startAngle = ((rand() / (double)RAND_MAX) - 0.5) * 3.1415;
#endif
FlemonsSpineModelGoal* myModel =
new FlemonsSpineModelGoal(nSegments, goalAngle, startAngle);
// Fifth create the controllers, attach to model
if (add_controller)
{
Json::Value root; // will contains the root value after parsing.
Json::Reader reader;
std::string resourcePath = "bmirletz/TC_Tension/";
std::string controlFilePath = FileHelpers::getResourcePath(resourcePath);
std::string controlFilename = controlFilePath + suffix;
bool parsingSuccessful = reader.parse( FileHelpers::getFileString(controlFilename.c_str()), root );
if ( !parsingSuccessful )
{
// report to the user the failure and their locations in the document.
std::cout << "Failed to parse configuration\n"
<< reader.getFormattedErrorMessages();
throw std::invalid_argument("Bad filename for JSON");
}
// Get the value of the member of root named 'encoding', return 'UTF-8' if there is no
// such member.
Json::Value impedenceVals = root.get("impedenceVals", "UTF-8");
impedenceVals = impedenceVals.get("params", "UTF-8");
// Keep drilling if necessary
if (impedenceVals[0].isArray())
{
impedenceVals = impedenceVals[0];
}
const double impedanceMax = 2000.0;
const int segmentSpan = 3;
const int numMuscles = 8;
const int numParams = 2;
const int segNumber = 5; // 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;
// JSONCPP's .get really wants this to be typed...
int j = 0;
const double kt = impedanceMax * (impedenceVals.get(j, 0.0)).asDouble();
const double kp = impedanceMax * (impedenceVals.get(1, 0.0)).asDouble();
const double kv = impedanceMax * (impedenceVals.get(2, 0.0)).asDouble();
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 = -10.0;
const double ffMax = 10.0;
const double afMin = 0.0;
const double afMax = 200.0;
const double pfMin = 0.0;
const double pfMax = 0.0;
const double tensionFeedback = impedanceMax *(impedenceVals.get(3, 0.0)).asDouble();
JSONGoalControl::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,
tensionFeedback
);
/// @todo fix memory leak that occurs here
JSONGoalTension* const myControl =
new JSONGoalTension(control_config, suffix, resourcePath);
myModel->attach(myControl);
}
// Sixth add model & controller to simulation
simulation->addModel(myModel);
if (add_blocks)
{
tgModel* blockField = getBlocks();
simulation->addObstacle(blockField);
}
bSetup = true;
return bSetup;
}
bool AppGoalOnline::setup()
{
// First create the world
world = createWorld();
// Second create the view
if (use_graphics)
view = createGraphicsView(world); // For visual experimenting on one tensegrity
else
view = createView(world); // For running multiple episodes
// Third create the simulation
simulation = new tgSimulation(*view);
// Fourth create the models with their controllers and add the models to the
// simulation
/// @todo add position and angle to configuration
/// @todo Generalize angle code
FlemonsSpineModelGoal* myModel =
new FlemonsSpineModelGoal(nSegments, 0.0);
// Fifth create the controllers, attach to model
if (add_controller)
{
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;
const double tensionFeedback = 1000.0;
// How often to check/change the controller during online learning
const double feedbackTime = 3.0;
SpineOnlineControl::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,
tensionFeedback,
feedbackTime
);
/// @todo fix memory leak that occurs here
SpineOnlineControl* const myControl =
new SpineOnlineControl(control_config, suffix, "bmirletz/TetrahedralComplex_Online/");
myModel->attach(myControl);
}
// Sixth add model & controller to simulation
simulation->addModel(myModel);
if (add_blocks)
{
tgModel* blockField = getBlocks();
simulation->addObstacle(blockField);
}
bSetup = true;
return bSetup;
}
