/*
* Find Playground in image and calc its Extrinsics
*/
bool PlaygroundDetector::detect(const cv::Mat &image, Playground &playground, Contours &candidateContours, aruco::CameraParameters &cameraParameters)
{
// pg not valid
playground.id = -1;
// get all contours from color thres image
Contours contours;
findContours(image, contours);
// search for L shaped contours
filterContours(contours, candidateContours);
if(candidateContours.size() < 4) return false;
// combine exatly 4 L-contours to one rectangle with 4 corners
std::vector<cv::Point2f> corners; // max length: 4
extractPlayGroundCorners(candidateContours, corners);
if(corners.size() != 4) return false;
playground.resize(4);
std::copy(corners.begin(), corners.end(), playground.begin());
// playground valid
playground.id = 0;
// calc translation and rotation
playground.calculateExtrinsics(cameraParameters);
return true;
}
// set up Playground
void setup_Playground(GlobalData& global)
{
// inner Platform
double length_pg = 0.0;
double width_pg = 9.5;
double height_pg = 1.0;
Playground* playground = new Playground(odeHandle, osgHandle.changeColor(Color(0.6,0.0,0.6)),
osg::Vec3(length_pg /*length*/, width_pg /*width*/, height_pg/*height*/), /*factorxy = 1*/1, /*createGround=true*/true /*false*/);
playground->setPosition(osg::Vec3(0,0,0.0));
global.obstacles.push_back(playground);
// DSW: outer_pg = outter platform
double length_outer_pg = 22.0;
double width_outer_pg = 5.0;
double height_outer_pg = 1.0;
Playground* outer_playground = new Playground(odeHandle, osgHandle.changeColor(Color(0.6,0.0,0.6)),
osg::Vec3(length_outer_pg /*length*/, width_outer_pg /*width*/, height_outer_pg/*height*/), /*factorxy = 1*/1, /*createGround=true*/true /*false*/);
outer_playground->setPosition(osg::Vec3(0,0,0.0));
global.obstacles.push_back(outer_playground);
// DSW: outer_pg2 = walls
double length_outer_pg2 = 32.0;
double width_outer_pg2 = 1.0;
double height_outer_pg2 = 2.0;
Playground* outer_playground2 = new Playground(odeHandle, osgHandle.changeColor(Color(0.6,0.0,0.6)),
osg::Vec3(length_outer_pg2 /*length*/, width_outer_pg2 /*width*/, height_outer_pg2/*height*/), /*factorxy = 1*/1, /*createGround=true*/true /*false*/);
outer_playground2->setPosition(osg::Vec3(0,0,0.0));
global.obstacles.push_back(outer_playground2);
}
// starting function (executed once at the beginning of the simulation loop)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
setCameraHomePos(Pos(-26.6849, 17.3789, 16.7798), Pos(-120.46, -24.7068, 0));
setCameraMode(Static);
global.odeConfig.setParam("noise",0.0);
global.odeConfig.setParam("realtimefactor",1);
global.odeConfig.setParam("gravity",0);
Playground* playground = new Playground(odeHandle, osgHandle,
osg::Vec3(20 , 0.2, .5));
playground->setPosition(osg::Vec3(0,0,0));
global.obstacles.push_back(playground);
b1 = new PassiveBox(odeHandle, osgHandle, osg::Vec3(1, 1, 1));
b1->setPosition(Vec3(0,0,1.1));
global.obstacles.push_back(b1);
rs = new RaySensor(0.1,5, RaySensor::drawAll);
rs->setInitData(odeHandle, osgHandle, ROTM(M_PI,0,1,0) * TRANSM(0,0,-.5));
rs->init(b1->getMainPrimitive());
b2 = new PassiveBox(odeHandle, osgHandle, osg::Vec3(1, 1, 1));
b2->setPosition(Vec3(2,0,1.1));
global.obstacles.push_back(b2);
ir = new IRSensor(1.0, 0.1,2, RaySensor::drawAll);
ir->setInitData(odeHandle, osgHandle, ROTM(M_PI,0,1,0) * TRANSM(0,0,-.5));
ir->init(b2->getMainPrimitive());
}
// starting function (executed once at the beginning of the simulation loop)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
setCameraHomePos(Pos(5.2728, 7.2112, 3.31768), Pos(140.539, -13.1456, 0));
// initialization
// - set noise to 0.1
// - register file chess.ppm as a texture called chessTexture (used for the wheels)
global.odeConfig.setParam("noise",0.05);
global.odeConfig.setParam("controlinterval",1);
global.odeConfig.setParam("gravity:",1); // normally at -9.81
// initialization
Playground* playground = new Playground(odeHandle, osgHandle, osg::Vec3(25, 0.2, 1.5));
playground->setPosition(osg::Vec3(0,0,0)); // playground positionieren und generieren
global.obstacles.push_back(playground);
for(int i=0; i<5; i++){
PassiveSphere* s =
new PassiveSphere(odeHandle,
osgHandle.changeColor(Color(184 / 255.0, 233 / 255.0, 237 / 255.0)), 0.2);
s->setPosition(Pos(i*0.5-2, i*0.5, 1.0));
s->setTexture("Images/dusty.rgb");
global.obstacles.push_back(s);
}
OdeAgent* agent;
AbstractWiring* wiring;
// OdeRobot* robot;
AbstractController *controller;
CaterPillar* myCaterPillar;
CaterPillarConf myCaterPillarConf = DefaultCaterPillar::getDefaultConf();
//******* R A U P E *********/
myCaterPillarConf.segmNumber=6;
myCaterPillarConf.jointLimit=M_PI/4;
myCaterPillarConf.motorPower=0.8;
myCaterPillarConf.frictionGround=0.04;
myCaterPillar = new CaterPillar ( odeHandle, osgHandle.changeColor(Color(0.0f,1.0f,0.0f)), myCaterPillarConf, "Raupe1");
((OdeRobot*) myCaterPillar)->place(Pos(-5,-5,0.2));
InvertMotorNStepConf invertnconf = InvertMotorNStep::getDefaultConf();
invertnconf.cInit=2.0;
controller = new InvertMotorNStep(invertnconf);
wiring = new One2OneWiring(new ColorUniformNoise(0.1));
agent = new OdeAgent( global, plotoptions );
agent->init(controller, myCaterPillar, wiring);
global.agents.push_back(agent);
global.configs.push_back(controller);
global.configs.push_back(myCaterPillar);
myCaterPillar->setParam("gamma",/*gb");
global.obstacles.push_back(s)0.0000*/ 0.0);
}
/// start() is called at the start and should create all the object (obstacles, agents...).
virtual void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
// Initial position and orientation of the camera (use 'p' in graphical window to find out)
setCameraHomePos(Pos(-14,14, 10), Pos(-135, -24, 0));
// Some simulation parameters can be set here
global.odeConfig.setParam("controlinterval", 1);
global.odeConfig.setParam("gravity", -9.8);
/** New robot instance */
// Get the default configuration of the robot
DifferentialConf conf = Differential::getDefaultConf();
// Values can be modified locally
conf.wheelMass = .5;
// Instantiating the robot
OdeRobot* robot = new Differential(odeHandle, osgHandle, conf, "Differential robot");
// Placing the robot in the scene
((OdeRobot*)robot)->place(Pos(.0, .0, .2));
// Instantiatign the controller
AbstractController* controller = new BasicController("Basic Controller", "$ID$");
// Create the wiring with color noise
AbstractWiring* wiring = new One2OneWiring(new ColorUniformNoise(.1));
// Create Agent
OdeAgent* agent = new OdeAgent(global);
// Agent initialisation
agent->init(controller, robot, wiring);
// Adding the agent to the agents list
global.agents.push_back(agent);
global.configs.push_back(agent);
/** Environment and obstacles */
// New playground
Playground* playground = new Playground(odeHandle, osgHandle,osg::Vec3(15., .2, 1.2), 1);
// Set colours
playground->setGroundColor(Color(.784, .784, .0));
playground->setColor(Color(1., .784, .082, .3));
// Set position
playground->setPosition(osg::Vec3(.0, .0, .1));
// Adding playground to obstacles list
global.obstacles.push_back(playground);
// Add a new box obstacle (or use 'o' to drop random obstacles)
//PassiveBox* box = new PassiveBox(odeHandle, osgHandle, osg::Vec3(1., 1., 1.), 2.);
//box->setPose(osg::Matrix::translate(-.5, 4., .7));
//global.obstacles.push_back(box);
}
/*
* Draw playground, color according to lock / newly detected
*/
void HUD::drawPlayground(const Playground &playground, const Contours &candidateContours, bool highlight, bool pglock)
{
// show detected single edges
if(candidateContours.size() > 0) {
cv::drawContours(image, candidateContours, -1, cv::Scalar(0,0,255), 1);
}
cv::Scalar color = (pglock) ? cv::Scalar(0,255,0) : cv::Scalar(0,134,209);
int lineSize = (highlight) ? 4 : 1;
playground.draw(image,color,lineSize);
}
int main(int argc, char* argv[]) {
Playground app;
return app.run();
}
// starting function (executed once at the beginning of the simulation loop)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
// set initial camera position
setCameraHomePos(Pos(-1.14383, 10.1945, 42.7865), Pos(179.991, -77.6244, 0));
// initialization simulation parameters
//1) - set noise to 0.1
global.odeConfig.noise= 0.02;//0.05;
//2) - set controlinterval -> default = 1
global.odeConfig.setParam("controlinterval", 1);/*update frequency of the simulation ~> amos = 20*/
//3) - set simulation setp size
global.odeConfig.setParam("simstepsize", 0.01); /*stepsize of the physical simulation (in seconds)*/
//Update frequency of simulation = 1*0.01 = 0.01 s ; 100 Hz
//4) - set gravity if not set then it uses -9.81 =earth gravity
//global.odeConfig.setParam("gravity", -9.81);
//5) - set Playground as boundary:
// - create pointer to playground (odeHandle contains things like world and space the
// playground should be created in; odeHandle is generated in simulation.cpp)
// - setting geometry for each wall of playground:
// setGeometry(double length, double width, double height)
// - setting initial position of the playground: setPosition(double x, double y, double z)
// - push playground in the global list of obstacles(globla list comes from simulation.cpp)
// odeHandle and osgHandle are global references
// vec3 == length, width, height
double length_pg = 35;//28;//0.0; //45, 32, 22
double width_pg = 0.5;//0.0; //0.2
double height_pg = 0.5;//0.0; //0.5
Playground* playground = new Playground(odeHandle, osgHandle.changeColor(Color(0.6,0.0,0.6)),
osg::Vec3(length_pg /*length*/, width_pg /*width*/, height_pg/*height*/), /*factorxy = 1*/1, /*createGround=true*/true /*false*/);
playground->setPosition(osg::Vec3(4,0,0.0)); // playground positionieren und generieren
// register playground in obstacles list
global.obstacles.push_back(playground);
// Playground* playground =
// new Playground(odeHandle, osgHandle.changeColor(Color(0.88f,0.4f,0.26f,0.2f)),osg::Vec3(18, 0.2, 2.0));
// playground->setPosition(osg::Vec3(0,0,0)); // playground positionieren und generieren
// Substance substance;
// substance.toRubber(40);
// playground->setGroundSubstance(substance);
// global.obstacles.push_back(playground);
// for(int i=0; i<0; i++)
// {
// PassiveSphere* s =
// new PassiveSphere(odeHandle,
// osgHandle.changeColor(Color(184 / 255.0, 233 / 255.0, 237 / 255.0)), 0.2);
// s->setTexture("Images/dusty.rgb");
// s->setPosition(Pos(i*0.5-2, i*0.5, 1.0));
// global.obstacles.push_back(s);
// }
if(!ico_learning_task)
{
for (int j=0;j<4;j++)
{
for(int i=0; i<4; i++)
{
PassiveBox* b =
new PassiveBox(odeHandle,
osgHandle.changeColor(Color(1.0f,0.2f,0.2f,0.5f)), osg::Vec3(1.5+i*0.01,1.5+i*0.01,1.5+i*0.01),40.0);
b->setTexture("Images/light_chess.rgb");
b->setPosition(Pos(i*4-5, -5+j*4, 1.0));
global.obstacles.push_back(b);
}
}
}
//6) - add passive spheres as TARGET!
// - create pointer to sphere (with odehandle, osghandle and
// optional parameters radius and mass,where the latter is not used here) )
// - set Pose(Position) of sphere
// - set a texture for the sphere
// - add sphere to list of obstacles
PassiveSphere* s1;
double target_z_position = 1.5;
if(ico_learning_task)
{
target_z_position = 0.5;
}
for (int i=0; i < number_spheres; i++){
s1 = new PassiveSphere(odeHandle, osgHandle, 0.5);
//Target 1
if(random_positon_spheres)
{
/*******Generating Random Position****/
random_position_S = ((MAX_x-MIN_x)*((float)rand()/RAND_MAX))+MIN_x; // Input 0 (m) between -2.4 and 2.4
std::cout<<"\n\n\n\n\n"<<"Inital Random Target X position"<<" = "<<-1*random_position_S<<"\t"<<"Inital Random Target Y position"<<" = "<<random_position_S<<"\n\n\n\n";
/************************************/
if (i==0) s1->setPosition(osg::Vec3(-1*random_position_S,random_position_S,target_z_position/*2*/));
}
else
{
//position_S = 0.0;// -2.0---------------------------------------------------------------------------TEST
if (i==0) s1->setPosition(osg::Vec3(-10.0 /*position_S*/, position_S, target_z_position/*0*/));
}
//Target 2
//if (i==1) s1->setPosition(osg::Vec3(15-11.0 /*position_S*/, position_S+10, 0.5/*0*/));
if (i==1) s1->setPosition(osg::Vec3(0.0 /*position_S*/, position_S+5, target_z_position/*0*/));
//Target 3
//if (i==2) s1->setPosition(osg::Vec3(15-11.0 /*position_S*/, position_S-10, 0.5/*0*/));
if (i==2) s1->setPosition(osg::Vec3(0.0 /*position_S*/, position_S-5, target_z_position/*0*/));
//Target 4
if (i==3) s1->setPosition(osg::Vec3(-10.0 /*position_S*/, position_S, target_z_position/*0*/));
//if (i==3) s1->setPosition(osg::Vec3(-10, 10,2/*2*/));
s1->setTexture("Images/dusty.rgb");
//Target 1
if (i==0){ s1->setColor(Color(1,0,0)); }
//Target 2
if (i==1){ s1->setColor(Color(0,1,0)); }
//Target 3
if (i==2){ s1->setColor(Color(0,0,1)); }
//Target 4
if (i==3){ s1->setColor(Color(1,1,0)); }
obst.push_back(s1);
global.obstacles.push_back(s1);
// fix sphere (in actual position) to simulation
//fixator.push_back(new FixedJoint(s1->getMainPrimitive(), global.environment)); //create pointer
//fixator.at(i)->init(odeHandle, osgHandle);
fixator2 = new FixedJoint(s1->getMainPrimitive(), global.environment);
fixator2->init(odeHandle, osgHandle);
}
// int number_spheres = 4;
// PassiveSphere* s1;
// for (int i=0; i < number_spheres; i++){
// s1 = new PassiveSphere(odeHandle, osgHandle, 0.5);
// if (i==0) s1->setPosition(osg::Vec3(-10,-10,2));
// if (i==1) s1->setPosition(osg::Vec3( 10, 10,2));
// if (i==2) s1->setPosition(osg::Vec3( 10, -10,2));
// if (i==3) s1->setPosition(osg::Vec3(-10, 10,2));
//
// s1->setTexture("Images/dusty.rgb");
// if (i==0){ s1->setColor(Color(1,0,0)); }
// if (i==1){ s1->setColor(Color(0,1,0)); }
// if (i==2){ s1->setColor(Color(0,0,1)); }
// if (i==3){ s1->setColor(Color(1,1,0)); }
// obst.push_back(s1);
// global.obstacles.push_back(s1);
// // fix sphere (in actual position) to simulation
// fixator.push_back( new FixedJoint(s1->getMainPrimitive(), global.environment)); //create pointer
// fixator.at(i)->init(odeHandle, osgHandle);
// }
//7) - add passive box as OBSTACLES
// - create pointer to Box (with odehandle, osghandle and
// optional parameters radius and mass,where the latter is not used here) )
// - set Pose(Position) of sphere
// - set a texture for the sphere
// - add sphere to list of obstacles
PassiveBox* b1;
double length = 10.0;//1.5 /*for learning*/; //3.5 /*for*/;//testing//---------------------------------------------------------------------------TEST
double width = 1.0;
double height = 1.0;
if(ico_learning_task)
{
obstacle_on = false;
}
if(obstacle_on)
{
for (int i=0; i < number_boxes /*SET NUMBER OF OBSTACLES*/; i++){
b1 = new PassiveBox(odeHandle, osgHandle, osg::Vec3(length, width, height /*size*/));
//b1->setTexture("dusty.rgb");
b1->setColor(Color(1,0,0));
//b1->setPosition(osg::Vec3(/*-4.5+*/i*4.5,3+i,0)); // Fixed robot position
//osg::Matrix pose;
// pose.setTrans(osg::Vec3(/*-4.5+*/i*4.5,3+i,0));
b1->setPose(osg::Matrix::rotate(0.3*(M_PI/2)*i, 0,0, 1) * osg::Matrix::translate(/*-4.5+*/i*5,5+i,0.5) /* pose*/);
//b1->setPose(osg::Matrix::rotate(/*-0.5*(M_PI/4)*/ (M_PI/2), 0,0, 1) * osg::Matrix::translate(/*i*4.5+*/pos_obstacle_x, pos_obstacle_y+i*-pos_obstacle_y*2.0/*0+i*/,height/2) /* pose*/);
global.obstacles.push_back(b1);
fixator.push_back( new FixedJoint(b1->getMainPrimitive(), global.environment)); //create pointer
fixator.at(i)->init(odeHandle, osgHandle);
}
}
////////////////////////////////////Call this set up and Control//////////////////////////////////////////////
bool ac_ico_robot = true;
if (ac_ico_robot)
{
//0)
//qcontroller->setReset(1);
//1) Activate IR sensors
FourWheeledConf fconf =FourWheeledRPos::getDefaultConf();
///2) relative sensors
for (int i=0; i < number_spheres; i++){
fconf.rpos_sensor_references.push_back(obst.at(i)->getMainPrimitive());
}
OdeRobot* vehicle3 = new FourWheeledRPos(odeHandle, osgHandle, fconf);
/****Initial position of Nimm4******/
if(random_positon_frist)
{
/*******Generating Random Position****/
//srand (time(NULL));
random_position = ((MAX_x-MIN_x)*((float)rand()/RAND_MAX))+MIN_x; // Input 0 (m) between -2.4 and 2.4
/************************************/
do
{
int r = rand();
std::cout << "random value 1: " << r << std::endl;
random_position = ((MAX_x-MIN_x)*((float)r/RAND_MAX))+MIN_x;
//std::cout<<"\n\n\n\n\n"<<"Inital Random_Robot X position"<<" = "<<random_position<<"\t"<<"Inital Random_Robot Y position"<<" = "<<-1*random_position<<"\n\n\n\n";
}while(abs(abs(position_S) - abs(random_position)) <= 4);
//while(abs(abs(random_position_S) - abs(random_position)) <= 4);
std::cout<<"\n\n"<<"Inital Random X position"<<" = "<<random_position<<"\t"<<"Inital Random Y position"<<" = "<<-1*random_position<<"\n\n";
//vehicle3->place(Pos(position_x-10.0 /* 20 random_position*/ /*+x = to left (sphere in front of robot), -x = to right sphere behind robot*/, 0.0 /*-1*random_position*/ /*+y = to up, -y = to down*/,0.0/*z*/));
vehicle3->place(Pos(position_x-15.0 /* 20 random_position*/ /*+x = to left (sphere in front of robot), -x = to right sphere behind robot*/, 0.0 /*-1*random_position*/ /*+y = to up, -y = to down*/,0.0/*z*/));
}
else
{
/*******Generating Random Position****/
//srand (time(NULL));
int r = rand();
std::cout << "random value 2: " << r << std::endl;
random_or = ((MAX_or-MIN_or)*((float)r/RAND_MAX))+MIN_or; // between -pi/3 (60 deg) and pi/3 (60 deg)
/************************************/
Pos pos(position_x-5.0/*, +x = to left, -x = to right*/,0.0/*y*/,0.0/*z*/);
std::cout << "random_or1: " << random_or << std::endl;
//setting position and orientation
vehicle3->place(osg::Matrix::rotate(random_or, 0, 0, 1) *osg::Matrix::translate(pos));
//setting only position
//vehicle3->place(Pos(position_x-5.0/*5.5x, +x = to left, -x = to right*/,0.0/*y*/,0.0/*z*/));
}
qcontroller = new EmptyController("1","1");
global.configs.push_back(qcontroller);
// create pointer to one2onewiring
AbstractWiring* wiring3 = new One2OneWiring(new ColorUniformNoise(0.1));
// create pointer to agent
plotoptions.push_back(PlotOption(NoPlot /*select "File" to save signals, "NoPlot" to not save*/));
OdeAgent* agent3 = new OdeAgent(plotoptions);
if(drawtrace_on)
{
TrackRobot* track3 = new TrackRobot(/*bool trackPos*/true,
/*bool trackSpeed*/false,
/*bool trackOrientation*/false,
/*bool displayTrace*/true //,
/*const char *scene="", int interval=1*/);
agent3->setTrackOptions(*track3);
}
agent3->init(qcontroller, vehicle3, wiring3);///////////// Initial controller!!!
global.agents.push_back(agent3);
}
//bool random_controlled_robot =false;
showParams(global.configs);
}
// starting function (executed once at the beginning of the simulation loop)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
setCameraHomePos(Pos(-16.4509, 15.6927, 12.5683), Pos(-133.688, -26.4496, 0));
setCameraMode(Static);
global.odeConfig.setParam("noise",0.05);
global.odeConfig.setParam("realtimefactor",2);
// global.odeConfig.setParam("gravity", 0);
Playground* playground;
if(env==ElipticBasin){
playground = new Playground(odeHandle, osgHandle,
osg::Vec3(20, 0.2, height+1.f), 2);
}else{
playground = new Playground(odeHandle, osgHandle,
osg::Vec3(20, 0.2, height+0.3f), 1);
}
playground->setColor(Color(.1,0.7,.1));
playground->setTexture("");
playground->setPosition(osg::Vec3(0,0,0.01f)); // playground positionieren und generieren
global.obstacles.push_back(playground);
int numpassive=0;
switch(env){
case ThreeBump:
{
TerrainGround* terrainground =
new TerrainGround(odeHandle, osgHandle.changeColor(Color(1.0f,1.0,1.0)),
"terrains/macrospheresLMH_64.ppm","terrains/macrospheresTex_256.ppm",
20, 20, height, OSGHeightField::LowMidHigh);
terrainground->setPose(osg::Matrix::translate(0, 0, 0.1));
global.obstacles.push_back(terrainground);
addRobot(odeHandle, osgHandle, global, 0);
addRobot(odeHandle, osgHandle, global, 1);
numpassive=4;
}
break;
case SingleBasin:
// at Radius 3.92 height difference of 0.5 and at 6.2 height difference of 1
// ./start -single -track -f 2 -r 1297536669
case ElipticBasin:
// ./start -eliptic -f 5 -track -r 1297628680
{
TerrainGround* terrainground =
new TerrainGround(odeHandle, osgHandle.changeColor(Color(1.0f,1.0f,1.0f)),
// "terrains/dip128_flat.ppm","terrains/dip128_flat_texture.ppm",
"terrains/dip128.ppm","terrains/dip128_texture.ppm",
20, env == SingleBasin ? 20 : 40, height, OSGHeightField::Red);
terrainground->setPose(osg::Matrix::translate(0, 0, 0.1));
global.obstacles.push_back(terrainground);
addRobot(odeHandle, osgHandle, global, 3);
}
break;
}
// add passive spheres as obstacles
// - create pointer to sphere (with odehandle, osghandle and
// optional parameters radius and mass,where the latter is not used here) )
// - set Pose(Position) of sphere
// - set a texture for the sphere
// - add sphere to list of obstacles
for (int i=0; i< numpassive; i+=1){
PassiveSphere* s1 = new PassiveSphere(odeHandle, osgHandle, 0.5,0.1);
s1->setPosition(osg::Vec3(-8+2*i,-2,height+0.5));
s1->setTexture("Images/dusty.rgb");
global.obstacles.push_back(s1);
}
}
// starting function (executed once at the beginning of the simulation loop)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
int num_barrels=1;
int num_barrels_test=0;
sensor=0;
setCameraMode(Follow);
bool normalplayground=false;
// setCameraHomePos(Pos(-0.497163, 11.6358, 3.67419), Pos(-179.213, -11.6718, 0));
setCameraHomePos(Pos(-2.60384, 13.1299, 2.64348), Pos(-179.063, -9.7594, 0));
// initialization
global.odeConfig.setParam("noise",0.1);
// global.odeConfig.setParam("gravity",-10);
global.odeConfig.setParam("controlinterval",4);
global.odeConfig.setParam("realtimefactor",5);
// add a new parameter to be configured on the console
global.odeConfig.addParameterDef("friction", &friction, 0.1, "rolling friction coefficient");
if(normalplayground){
Playground* playground = new Playground(odeHandle, osgHandle,osg::Vec3(20, 0.01, 0.01 ), 1);
playground->setGroundColor(Color(255/255.0,200/255.0,0/255.0));
playground->setGroundTexture("Images/really_white.rgb");
playground->setColor(Color(255/255.0,200/255.0,21/255.0, 0.1));
playground->setPosition(osg::Vec3(0,0,0.05));
global.obstacles.push_back(playground);
}
/* * * * BARRELS * * * */
for(int i=0; i< num_barrels; i++){
//****************
Sphererobot3MassesConf conf = Barrel2Masses::getDefaultConf();
conf.pendularrange = 0.3;//0.15;
conf.motorpowerfactor = 200;//150;
conf.motorsensor=false;
conf.addSensor(new AxisOrientationSensor(AxisOrientationSensor::ZProjection, Sensor::X | Sensor::Y));
conf.spheremass = 1;
conf.addSensor(new SpeedSensor(10, SpeedSensor::Translational, Sensor::X ));
conf.irAxis1=false;
conf.irAxis2=false;
conf.irAxis3=false;
conf.axesShift = 0;
// conf.axesShift = conf.diameter/2 - conf.pendularrange/2;
sphere1 = new Barrel2Masses ( odeHandle, osgHandle.changeColor(Color(0.0,0.0,1.0)),
conf, "Barrel1", 0.4);
sphere1->place (osg::Matrix::rotate(M_PI/2, 1,0,0)*osg::Matrix::translate(0,0,0.2));
// InvertMotorNStepConf cc = InvertMotorNStep::getDefaultConf();
// cc.cInit=1;
// // cc.useSD=true;
// controller = new InvertMotorNStep(cc);
// controller->setParam("steps", 2);
// controller->setParam("adaptrate", 0.0);
// controller->setParam("nomupdate", 0.00);
// controller->setParam("epsC", 0.03);
// controller->setParam("epsA", 0.05);
// controller->setParam("rootE", 0);
// controller->setParam("logaE", 0);
//controller = new PiMax();
//controller->setParam("epsC", 0.001);
// controller = new Sox();
// controller->setParam("epsC", 0.5);
controller = new ROSController("Test");
AbstractWiring* wiring = new SelectiveOne2OneWiring(new ColorUniformNoise(), new select_from_to(0,1));
// OdeAgent* agent = new OdeAgent ( PlotOption(File, Robot, 1) );
OdeAgent* agent = new OdeAgent ();
agent->init ( controller , sphere1 , wiring );
// agent->setTrackOptions(TrackRobot(true, false, false, "ZSens_Ring10_11", 50));
global.agents.push_back ( agent );
global.configs.push_back ( controller );
}
/* * * * TEST BARRELS * * * */
for(int i=0; i< num_barrels_test; i++){
global.odeConfig.setParam("realtimefactor",1);
//****************
Sphererobot3MassesConf conf = Sphererobot3Masses::getDefaultConf();
conf.pendularrange = 0.15;
conf.motorsensor=true;
conf.irAxis1=false;
conf.irAxis2=false;
conf.irAxis3=false;
conf.spheremass = 1;
sphere1 = new Barrel2Masses ( odeHandle, osgHandle.changeColor(Color(0.0,0.0,1.0)),
conf, "Barrel1", 0.4);
sphere1->place ( osg::Matrix::rotate(M_PI/2, 1,0,0));
controller = new SineController();
controller->setParam("sinerate", 15);
controller->setParam("phaseshift", 0.45);
// DerivativeWiringConf dc = DerivativeWiring::getDefaultConf();
// dc.useId=true;
// dc.useFirstD=false;
// AbstractWiring* wiring = new DerivativeWiring(dc,new ColorUniformNoise());
AbstractWiring* wiring = new One2OneWiring(new ColorUniformNoise());
OdeAgent* agent = new OdeAgent ();
agent->init ( controller , sphere1 , wiring );
// agent->setTrackOptions(TrackRobot(true, false, false, "ZSens_Ring10_11", 50));
global.agents.push_back ( agent );
global.configs.push_back ( controller );
}
}
/// start() is called at the start and should create all the object (obstacles, agents...).
virtual void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global){
setCameraHomePos(Pos(1.86452, 21.1998, 8.7964), Pos(174.993, -10.688, 0));
setCameraMode(Follow);
global.odeConfig.setParam("controlinterval",1);
global.odeConfig.setParam("gravity", -9.81);
global.odeConfig.setParam("noise", 0);
global.odeConfig.setParam("realtimefactor", 1.);
int sliderwheelies = 1;
int snakes = 0;
Playground* playground = new Playground(odeHandle, osgHandle,
osg::Vec3(120, 0.2, 2.5),.5,true);
// playground->setColor(Color(1,0.2,0,0.1));
playground->setPosition(osg::Vec3(0,0,0)); // playground positionieren und generieren
global.obstacles.push_back(playground);
// Creation of Obstacle
PassiveBox* b =
new PassiveBox(odeHandle,
osgHandle.changeColor(Color(180.0 / 255.0, 180.0 / 255.0, 130.0 / 255.0)),
osg::Vec3(4.0, 20.0, .8), 0);
b->setTexture(0,TextureDescr("Images/playfulmachines.rgb",1,1));
b->setPosition(Pos(-32, 0, 0));
global.obstacles.push_back(b);
/******* S L I D E R - W H E E L I E *********/
for(int i=0; i<sliderwheelies; i++){
SliderWheelieConf mySliderWheelieConf = SliderWheelie::getDefaultConf();
mySliderWheelieConf.segmNumber=12;
mySliderWheelieConf.jointLimitIn=M_PI/3;
mySliderWheelieConf.frictionGround=0.5;
mySliderWheelieConf.motorPower=8;
mySliderWheelieConf.motorDamp=0.05;
mySliderWheelieConf.sliderLength=0.5;
mySliderWheelieConf.segmLength=1.4;
OdeRobot* robot = new SliderWheelie(odeHandle, osgHandle, mySliderWheelieConf, "Slider Armband");
robot->place(Pos(0,0,2.0));
//controller = new Sos(1.0);
controller = new OneControllerPerChannel(new ControlGen(),"OnePerJoint");
AbstractWiring* wiring = new One2OneWiring(new ColorUniformNoise(0.05));
OdeAgent* agent = new OdeAgent(global);
// only the first controller is exported to guilogger and Co
agent->addInspectable(((OneControllerPerChannel*)controller)->getControllers()[0]);
agent->init(controller, robot, wiring);
if(track)
agent->setTrackOptions(TrackRobot(true,true,false,false,"split_control",1));
global.agents.push_back(agent);
global.configs.push_back(agent);
}
//****** SNAKES **********/
for(int i=0; i<snakes; i++){
//****************/
SchlangeConf conf = Schlange::getDefaultConf();
// conf.segmMass = .2;
// conf.segmLength= .5// 0.8;
// conf.segmDia=.6;
// conf.motorPower=.5;
conf.segmNumber = 12+2*i;//-i/2;
conf.jointLimit=conf.jointLimit* 1.6;
conf.frictionJoint=0.02;
conf.useServoVel=true;
SchlangeServo2* schlange1;
if (i==0) {
schlange1 =
new SchlangeServo2 ( odeHandle, osgHandle.changeColor(Color(0.1, 0.3, 0.8)),
conf, "S1");
} else {
schlange1 =
new SchlangeServo2 ( odeHandle, osgHandle.changeColor(Color(0.1, 0.3, 0.8)),
conf, "S2");
}
//Positionieren und rotieren
schlange1->place(osg::Matrix::rotate(M_PI/2,0, 1, 0)*
osg::Matrix::translate(-.7+0.7*i,0,(i+1)*(.2+conf.segmNumber)/2.0/*+2*/));
// osg::Matrix::translate(5-i,2 + i*2,height+2));
schlange1->setTexture("Images/whitemetal_farbig_small.rgb");
if (i==0) {
schlange1->setHeadColor(Color(1.0,0,0));
} else {
schlange1->setHeadColor(Color(0,1.0,0));
}
OneControllerPerChannel *controller = new OneControllerPerChannel(new ControlGen(),"OnePerJoint");
AbstractWiring* wiring = new One2OneWiring(new ColorUniformNoise(0.05));
OdeAgent* agent = new OdeAgent(global);
agent->addInspectable(controller->getControllers()[0]);
agent->init(controller, schlange1, wiring);
global.agents.push_back(agent);
global.configs.push_back(agent);
}//creation of snakes End
}
// starting function (executed once at the beginning of the simulation loop)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
// first: position(x,y,z) second: view(alpha,beta,gamma)
// gamma=0;
// alpha == horizontal angle
// beta == vertical angle
setCameraHomePos(Pos(-0.18, 20.36, 13.63), Pos(-179.93, -34.37, 0));
// initialization
// - set noise to 0.1
global.odeConfig.noise=0.1;
global.odeConfig.setParam("controlinterval", 10);
// use Playground as boundary:
// - create pointer to playground (odeHandle contains things like world and space the
// playground should be created in; odeHandle is generated in simulation.cpp)
// - setting geometry for each wall of playground:
// setGeometry(double length, double width, double height)
// - setting initial position of the playground: setPosition(double x, double y, double z)
// - push playground in the global list of obstacles(globla list comes from simulation.cpp)
bool labyrint=false;
bool squarecorridor=false;
bool normalplayground=true;
bool boxes = true;
if(normalplayground){
// Playground* playground = new Playground(odeHandle, osgHandle, osg::Vec3(12, 0.2, 0.5));
Playground* playground = new Playground(odeHandle, osgHandle, osg::Vec3(17, 0.2, 1.0));
playground->setPosition(osg::Vec3(0,0,0.05)); // playground positionieren und generieren
// register playground in obstacles list
global.obstacles.push_back(playground);
}
if(squarecorridor){
Playground* playground = new Playground(odeHandle, osgHandle,osg::Vec3(15, 0.2, 1.2 ), 1);
playground->setGroundColor(Color(255/255.0,200/255.0,0/255.0));
playground->setGroundTexture("Images/really_white.rgb");
playground->setColor(Color(255/255.0,200/255.0,21/255.0, 0.1));
playground->setPosition(osg::Vec3(0,0,0.1));
playground->setTexture("");
global.obstacles.push_back(playground);
// // inner playground
playground = new Playground(odeHandle, osgHandle,osg::Vec3(10, 0.2, 1.2), 1, false);
playground->setColor(Color(255/255.0,200/255.0,0/255.0, 0.1));
playground->setPosition(osg::Vec3(0,0,0.1));
playground->setTexture("");
global.obstacles.push_back(playground);
}
if(labyrint){
double radius=7.5;
Playground* playground = new Playground(odeHandle, osgHandle,osg::Vec3(radius*2+1, 0.2, 5 ), 1);
playground->setGroundColor(Color(255/255.0,200/255.0,0/255.0));
playground->setGroundTexture("Images/really_white.rgb");
playground->setColor(Color(255/255.0,200/255.0,21/255.0, 0.1));
playground->setPosition(osg::Vec3(0,0,0.1));
playground->setTexture("");
global.obstacles.push_back(playground);
int obstanz=30;
OsgHandle rotOsgHandle = osgHandle.changeColor(Color(255/255.0, 47/255.0,0/255.0));
OsgHandle gruenOsgHandle = osgHandle.changeColor(Color(0,1,0));
for(int i=0; i<obstanz; i++){
PassiveBox* s = new PassiveBox(odeHandle, (i%2)==0 ? rotOsgHandle : gruenOsgHandle,
osg::Vec3(random_minusone_to_one(0)+1.2,
random_minusone_to_one(0)+1.2 ,1),5);
s->setPose(osg::Matrix::translate(radius/(obstanz+10)*(i+10),0,i)
* osg::Matrix::rotate(2*M_PI/obstanz*i,0,0,1));
global.obstacles.push_back(s);
}
}
if(boxes) {
for (int i=0; i<= 2; i+=2){
PassiveBox* s1 = new PassiveBox(odeHandle, osgHandle, osg::Vec3(1,1,1), 0.4);
s1->setTexture("Images/dusty.rgb");
s1->setPosition(osg::Vec3(-5+i*5,0,0));
global.obstacles.push_back(s1);
Joint* fixator;
Primitive* p = s1->getMainPrimitive();
fixator = new FixedJoint(p, global.environment);
fixator->init(odeHandle, osgHandle);
s1 = new PassiveBox(odeHandle, osgHandle, osg::Vec3(1,1,1), 0.4);
s1->setTexture("Images/dusty.rgb");
s1->setPosition(osg::Vec3(0,-5+i*5,0));
global.obstacles.push_back(s1);
p = s1->getMainPrimitive();
fixator = new FixedJoint(p, global.environment);
fixator->init(odeHandle, osgHandle);
s1 = new PassiveBox(odeHandle, osgHandle, osg::Vec3(1,1,1), 0.4);
s1->setTexture("Images/dusty.rgb");
s1->setPosition(osg::Vec3(-3.5+i*3.5,-3.5+i*3.5,0));
global.obstacles.push_back(s1);
p = s1->getMainPrimitive();
fixator = new FixedJoint(p, global.environment);
fixator->init(odeHandle, osgHandle);
s1 = new PassiveBox(odeHandle, osgHandle, osg::Vec3(1,1,1), 0.4);
s1->setTexture("Images/dusty.rgb");
s1->setPosition(osg::Vec3(-3.5+i*3.5,3.5-i*3.5,0));
global.obstacles.push_back(s1);
p = s1->getMainPrimitive();
fixator = new FixedJoint(p, global.environment);
fixator->init(odeHandle, osgHandle);
}
}
// add passive spheres as obstacles
// - create pointer to sphere (with odehandle, osghandle and
// optional parameters radius and mass,where the latter is not used here) )
// - set Pose(Position) of sphere
// - set a texture for the sphere
// - add sphere to list of obstacles
for (int i=0; i < 0/*2*/; i++){
PassiveSphere* s1 = new PassiveSphere(odeHandle, osgHandle, 0.5);
s1->setPosition(osg::Vec3(-4.5+i*4.5,0,0));
s1->setTexture("Images/dusty.rgb");
global.obstacles.push_back(s1);
}
// use Nimm2 vehicle as robot:
// - get default configuration for nimm2
// - activate bumpers, cigar mode and infrared front sensors of the nimm2 robot
// - create pointer to nimm2 (with odeHandle, osg Handle and configuration)
// - place robot
Nimm2Conf c = Nimm2::getDefaultConf();
c.bumper = false;//true;
c.cigarMode = false;//true;
c.irFront = true;
c.irBack = true;
//c.irSide = true;
c.irRange = 1.2;//2;//3;
c.force=2;
c.speed=8;
OdeRobot* vehicle = new Nimm2(odeHandle, osgHandle, c, "Nimm2");
vehicle->place(Pos(0,0,0.5));
// vehicle->place(Pos(0,6.25,0));
// use Nimm4 vehicle as robot:
// - create pointer to nimm4 (with odeHandle and osg Handle and possible other settings, see nimm4.h)
// - place robot
//OdeRobot* vehicle = new Nimm4(odeHandle, osgHandle, "Nimm4");
//vehicle->place(Pos(0,1,0));
// create pointer to controller
// push controller in global list of configurables
AbstractController *controller = new LayeredController(10);
controller->setParam("eps",0.1);
controller->setParam("factor_a",0.1);
controller->setParam("eps_hebb",0.03);
global.configs.push_back(controller);
// create pointer to one2onewiring
One2OneWiring* wiring = new One2OneWiring(new ColorUniformNoise(0.1));
// create pointer to agent
// initialize pointer with controller, robot and wiring
// push agent in globel list of agents
OdeAgent* agent = new OdeAgent(global);
agent->init(controller, vehicle, wiring);
agent->setTrackOptions(TrackRobot(true, false, false, false, "hebbh" ,1));
global.agents.push_back(agent);
}
// starting function (executed once at the beginning of the simulation loop/first cycle)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
// first: position(x,y,z) second: view(alpha,beta,gamma)
// gamma=0;
// alpha == horizontal angle
// beta == vertical angle
setCameraHomePos(Pos(5.2728, 7.2112, 3.31768), Pos(140.539, -13.1456, 0));
// initialization
// - set noise to 0.1
global.odeConfig.noise=0.05;
// set realtimefactor to maximum
global.odeConfig.setParam("realtimefactor", 0);
// use Playground as boundary:
// - create pointer to playground (odeHandle contains things like world and space the
// playground should be created in; odeHandle is generated in simulation.cpp)
// - setting geometry for each wall of playground:
// setGeometry(double length, double width, double height)
// - setting initial position of the playground: setPosition(double x, double y, double z)
// - push playground in the global list of obstacles(globla list comes from simulation.cpp)
// odeHandle and osgHandle are global references
// vec3 == length, width, height
Playground* playground = new Playground(odeHandle, osgHandle, osg::Vec3(32, 0.2, 0.5));
playground->setPosition(osg::Vec3(0,0,0.05)); // playground positionieren und generieren
// register playground in obstacles list
global.obstacles.push_back(playground);
// add passive spheres as obstacles
// - create pointer to sphere (with odehandle, osghandle and
// optional parameters radius and mass,where the latter is not used here) )
// - set Pose(Position) of sphere
// - set a texture for the sphere
// - add sphere to list of obstacles
for (int i=0; i < 0/*2*/; i++){
PassiveSphere* s1 = new PassiveSphere(odeHandle, osgHandle, 0.5);
s1->setPosition(osg::Vec3(-4.5+i*4.5,0,0));
s1->setTexture("Images/dusty.rgb");
global.obstacles.push_back(s1);
}
// use Nimm2 vehicle as robot:
// - get default configuration for nimm2
// - activate bumpers, cigar mode and infrared front sensors of the nimm2 robot
// - create pointer to nimm2 (with odeHandle, osg Handle and configuration)
// - place robot
Nimm2Conf c = Nimm2::getDefaultConf();
c.force = 4;
c.bumper = true;
c.cigarMode = true;
// c.irFront = true;
vehicle = new Nimm2(odeHandle, osgHandle, c, "Nimm2");
vehicle->place(Pos(0,0,0));
// use Nimm4 vehicle as robot:
// - create pointer to nimm4 (with odeHandle and osg Handle and possible other settings, see nimm4.h)
// - place robot
//OdeRobot* vehicle = new Nimm4(odeHandle, osgHandle, "Nimm4");
//vehicle->place(Pos(0,1,0));
// create pointer to controller
// push controller in global list of configurables
// AbstractController *controller = new InvertNChannelController(10);
AbstractController *controller = new InvertMotorSpace(10);
global.configs.push_back(controller);
// create pointer to one2onewiring
One2OneWiring* wiring = new One2OneWiring(new ColorUniformNoise(0.1));
// create pointer to agent
// initialize pointer with controller, robot and wiring
// push agent in globel list of agents
agent = new OdeAgent(global);
agent->init(controller, vehicle, wiring);
global.agents.push_back(agent);
}
