// starting function (executed once at the beginning of the simulation loop)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
setCameraHomePos(Pos(-6.32561, 5.12705, 3.17278), Pos(-130.771, -17.7744, 0));
global.odeConfig.setParam("noise", 0.05);
global.odeConfig.setParam("controlinterval", 2);
global.odeConfig.setParam("cameraspeed", 250);
global.odeConfig.setParam("gravity", -6);
setParam("UseQMPThread", false);
// use Playground as boundary:
AbstractGround* playground =
new Playground(odeHandle, osgHandle, osg::Vec3(8, 0.2, 1), 1);
// // playground->setColor(Color(0,0,0,0.8));
playground->setGroundColor(Color(2,2,2,1));
playground->setPosition(osg::Vec3(0,0,0.05)); // playground positionieren und generieren
global.obstacles.push_back(playground);
Boxpile* boxpile = new Boxpile(odeHandle, osgHandle);
boxpile->setColor("wall");
boxpile->setPose(ROTM(M_PI/5.0,0,0,1)*TRANSM(0, 0,0.2));
global.obstacles.push_back(boxpile);
// global.obstacles.push_back(playground);
// double diam = .90;
// OctaPlayground* playground3 = new OctaPlayground(odeHandle, osgHandle, osg::Vec3(/*Diameter*/4.0*diam, 5,/*Height*/ .3), 12,
// false);
// // playground3->setColor(Color(.0,0.2,1.0,1));
// playground3->setPosition(osg::Vec3(0,0,0)); // playground positionieren und generieren
// global.obstacles.push_back(playground3);
controller=0;
// addParameter("gamma_s",&teacher);
global.configs.push_back(this);
for(int i=0; i< bars; i++) {
PassiveBox* b = new PassiveBox(odeHandle, osgHandle.changeColor(Color(0.,0.,0.)),
osg::Vec3(1,10,0.3+i*.1),10);
b->setPosition(osg::Vec3(10+i*7,0,0));
global.obstacles.push_back(b);
}
/******* H E X A P O D *********/
int numhexapods = 1;
for ( int ii = 0; ii< numhexapods; ii++) {
HexapodConf myHexapodConf = Hexapod::getDefaultConf();
myHexapodConf.coxaPower = 1.5;
myHexapodConf.tebiaPower = 0.8;
myHexapodConf.coxaJointLimitV = .9; // M_PI/8; // angle range for vertical dir. of legs
myHexapodConf.coxaJointLimitH = 1.3; //M_PI/4;
myHexapodConf.tebiaJointLimit = 1.8; // M_PI/4; // +- 45 degree
myHexapodConf.percentageBodyMass = .5;
myHexapodConf.useBigBox = false;
myHexapodConf.tarsus = true;
myHexapodConf.numTarsusSections = 1;
myHexapodConf.useTarsusJoints = true;
// myHexapodConf.numTarsusSections = 2;
OdeHandle rodeHandle = odeHandle;
rodeHandle.substance.toRubber(20);
vehicle = new Hexapod(rodeHandle, osgHandle.changeColor("Green"),
myHexapodConf, "Hexapod_" + std::itos(teacher*10000));
// on the top
vehicle->place(osg::Matrix::rotate(M_PI*1,1,0,0)*osg::Matrix::translate(0,0,1.5+ 2*ii));
// normal position
// vehicle->place(osg::Matrix::translate(0,0,0));
// InvertMotorNStepConf cc = InvertMotorNStep::getDefaultConf();
// cc.cInit=1.0;
// cc.useS=false;
// cc.someInternalParams=true;
// InvertMotorNStep *semox = new InvertMotorNStep(cc);
// semox->setParam("steps", 1);
// semox->setParam("continuity", 0.005);
// semox->setParam("teacher", teacher);
SoMLConf sc = SoML::getDefaultConf();
sc.useHiddenContr=true;
sc.useHiddenModel=false;
sc.someInternalParams=false;
sc.useS=false;
SoML* soml = new SoML(sc);
soml->setParam("epsC",0.105);
soml->setParam("epsA",0.05);
Sox* sox = new Sox(1.2, false);
sox->setParam("epsC",0.105);
sox->setParam("epsA",0.05);
sox->setParam("Logarithmic",1);
SeMoXConf cc = SeMoX::getDefaultConf();
//cc.cInit=.95;
cc.cInit=.99;
cc.modelExt=false;
cc.someInternalParams=true;
SeMoX* semox = new SeMoX(cc);
DerInfConf dc = DerInf::getDefaultConf();
dc.cInit=.599;
dc.someInternalParams=false;
AbstractController* derinf = new DerInf(dc);
derinf->setParam("epsC",0.1);
derinf->setParam("epsA",0.05);
AbstractController* sine = 0;
if(useSineController) {
// sine = new SineController(~0, SineController::Sine);
sine = new SineController(~0, SineController::Impulse);
// // // // // motorpower 20
sine->setParam("period", 30);
sine->setParam("phaseshift", 0.5);
sine->setParam("amplitude", 0.5);
}
semox->setParam("epsC", 0.1);
semox->setParam("epsA", 0.1);
semox->setParam("rootE", 3);
semox->setParam("s4avg", 1);
semox->setParam("gamma_cont", 0.005);
semox->setParam("gamma_teach", teacher);
if(useSineController) {
controller = sine;
} else {
// controller = semox;
controller = sox;
// controller = soml;
// controller = derinf;
}
One2OneWiring* wiring = new One2OneWiring(new ColorUniformNoise(0.1));
// the feedbackwiring feeds here 75% of the motor actions as inputs and only 25% of real inputs
// AbstractWiring* wiring = new FeedbackWiring(new ColorUniformNoise(0.1),
// FeedbackWiring::Motor, 0.75);
//global.plotoptions.push_back(PlotOption(GuiLogger,Robot,5));
OdeAgent* agent = new OdeAgent(global);
agent->init(controller, vehicle, wiring);
// add an operator to keep robot from falling over
agent->addOperator(new LimitOrientationOperator(Axis(0,0,1), Axis(0,0,1), M_PI*0.5, 30));
if(track) {
TrackRobotConf c = TrackRobot::getDefaultConf();
c.displayTrace = true;
c.scene = "";
c.interval = 1;
c.trackSpeed = false;
c.displayTraceThickness = 0.01;
agent->setTrackOptions(TrackRobot(c));
}
if(tracksegm) {
TrackRobotConf c = TrackRobot::getDefaultConf();
Color col = osgHandle.getColor("joint");
c.displayTrace = true;
c.scene = "segm";
c.interval = 1;
c.displayTraceThickness = 0.02;
col.alpha() = 0.5;
agent->addTracking(5, TrackRobot(c), col);
agent->addTracking(8, TrackRobot(c), col);
}
global.agents.push_back(agent);
global.configs.push_back(agent);
//agent->startMotorBabblingMode(5000);
// this->getHUDSM()->setColor(Color(1.0,1.0,0));
// this->getHUDSM()->setFontsize(18);
// this->getHUDSM()->addMeasure(teacher,"gamma_s",ID,1);
}
}
void addRobot(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global, int i){
Color col;
Sphererobot3MassesConf conf = Sphererobot3Masses::getDefaultConf();
conf.addSensor(new AxisOrientationSensor(AxisOrientationSensor::ZProjection));
conf.diameter=1.0;
conf.pendularrange= 0.30; // 0.15;
conf.motorpowerfactor = 150;
conf.spheremass = 1;
conf.motorsensor=false;
conf.addSensor(new SpeedSensor(5, SpeedSensor::RotationalRel));
//SphererobotArms* sphere = new SphererobotArms ( odeHandle, conf);
switch(i){
case 0:
col.r()=0;
col.g()=1;
col.b()=0.1;
sphere = new Sphererobot3Masses ( odeHandle, osgHandle.changeColor(col), conf, "sphere 1", 0.4);
sphere->place ( osg::Matrix::translate(9.5 , 0 , height+1 ));
break;
case 1:
col.r()=1;
col.g()=0.2;
col.b()=0;
sphere = new Sphererobot3Masses ( odeHandle, osgHandle.changeColor(col), conf, "sphere 2", 0.4);
sphere->place ( osg::Matrix::translate( 2 , -2 , height+1 ));
break;
case 3:
col.r()=0;
col.g()=0;
col.b()=1;
sphere = new Sphererobot3Masses ( odeHandle, osgHandle.changeColor(col), conf, "sphere" +
string(envnames[env]), 0.4);
sphere->place ( osg::Matrix::translate( 0 , 0 , .5 ));
break;
default:
case 2:
col.r()=0;
col.g()=1;
col.b()=0.4;
sphere = new Sphererobot3Masses ( odeHandle, osgHandle.changeColor(col), conf, "sphere 3", 0.4);
sphere->place ( osg::Matrix::translate( double(rand())/RAND_MAX*10 , 0 , height+1 ));
break;
}
Sox* sox = new Sox(.8,true);
sox->setParam("epsC", 0.2);
sox->setParam("epsA", 0.2);
if(env==ElipticBasin){
sox->setParam("epsC", 0.3);
sox->setParam("epsA", 0.3);
}
sox->setParam("Logarithmic", 0);
sox->setParam("sense", 0.5);
AbstractController *controller = new GroupController(sox, 3);
// AbstractWiring* wiring = new One2OneWiring ( new ColorUniformNoise() );
AbstractWiring* wiring = new SelectiveOne2OneWiring(new WhiteUniformNoise(),
new select_from_to(0,2),
AbstractWiring::Robot);
OdeAgent* agent;
if(i==0 || i==3 ){
agent = new OdeAgent (global);
}
else
agent = new OdeAgent (global, PlotOption(NoPlot));
agent->init ( controller , sphere , wiring );
if(track)
agent->setTrackOptions(TrackRobot(true,true,true,false,"",2));
global.agents.push_back ( agent );
//global.configs.push_back ( controller );
global.configs.push_back ( sphere);
}