int main(int argc, const char * argv[]) {
Node* list=NULL;
addNodes(&list, 11,1,2,11,3,4,5,6,7,8,9,10);
printf("test delete..\n");
deleteNode(&list, 11);
printList(list);
printf("\ntest reverse..\n");
printList(reverse(&list));
//reverse back
reverse(&list);
printf("\nmake ring at 10..\n");
findNode(list, 10)->next=findNode(list, 1);
auto ringAt=findCircleStart(list);
printf("find ring at %d",findCircleStart(list)?ringAt->data:-1);
printf("\nbreak ring..\n");
findCircleStart(list)->next=NULL;
printf("is ring? %s",findCircleStart(list)?"yes":"no");
return 0;
}
int main()
{
int N;
scanf ("%d",&N);
List l1, l2;
for (int i = 0; i < N; i++)
{
int val;
scanf ("%d",&val);
l1.add (val);
}
int n1;
scanf ("%d",&n1);
for (int i = 0; i < n1; i++)
{
int val;
scanf ("%d",&val);
l2.add (val);
}
if (l1.length() < l2.length())
{
int k = l2.length() - l1.length();
while (k--)
{
addNodes (0, 0, l1);
l1.incr_size();
}
}
else
{
int k = l1.length() - l2.length();
while (k--)
{
addNodes (0, 0, l2);
l2.incr_size ();
}
}
traverse (l1);
traverse (l2);
cout << "+" << "\n";
Node* l1_head = l1.getHead();
Node* l2_head = l2.getHead();
add (l1_head, l2_head);
traverse (l3);
return 0;
}
//交叉
void crossover() {
randomArrangeCDS(); //分组准备交叉，两两一组
for (int i = 0; i < countOfDominatingSets; i++) {
randomArrangeNodesOfCDS(i);
}
printf("分组的结果是：\n");
printDominatingSets();//打印所有支配集
for (int i = 0; i < countOfDominatingSets; i++) {
//找出要交叉的两组中支配集节点个数少的那一个
int maxIndex = countOfBlackNodesArr[i];
if (countOfBlackNodesArr[i+1] < countOfBlackNodesArr[i]) {
maxIndex = countOfBlackNodesArr[i+1];
}
//生成交叉区间
int startIndex = rand() % maxIndex;
int endIndex = rand() % maxIndex;
if (startIndex > endIndex) {
int tmp = startIndex;
startIndex = endIndex;
endIndex = tmp;
}
//记录交叉的节点
chiasmatypyItems[i][0] = endIndex - startIndex + 1;
chiasmatypyItems[i+1][0] = endIndex - startIndex + 1;
for (int j = 0; j < endIndex - startIndex + 1; j++) {
chiasmatypyItems[i][j+1] = dominatingSetsArr[i][startIndex + j];
chiasmatypyItems[i+1][j+1] = dominatingSetsArr[i+1][startIndex + j];
}
printf("下标为 %2d 和 %2d 的个体交叉了：下标从 %2d 到 %2d 的项\n", i, i + 1, startIndex, endIndex);
//开始交叉
for (int j = startIndex; j <= endIndex; j++) {
if (dominatingSetsArr[i][j] != dominatingSetsArr[i+1][j]) {
int tmp = dominatingSetsArr[i][j];
dominatingSetsArr[i][j] = dominatingSetsArr[i+1][j];
dominatingSetsArr[i+1][j] = tmp;
}
}
i++;
}
printf("\n");
for (int i = 0; i < countOfDominatingSets; i++) {
deleteRepeatedNodes(i);//剔除重复的节点
addNodes(i); //判断交叉后的结果能否构成连通支配集,不是则添加一些点使它构成连通支配集
}
printf("交叉的结果是：\n");
printDominatingSets();//打印所有支配集
for (int i = 0; i < countOfDominatingSets; i++) {
if (isThisGraphCDS(i) == 0) {
printf("下标为%2d的个体不是支配集\n", i);
exit(0);
}
}
}
void Escape_T6Model::setup(tgWorld& world)
{
const tgRod::Config rodConfig(c.radius, c.density, c.friction,
c.rollFriction, c.restitution);
/// @todo acceleration constraint was removed on 12/10/14 Replace with tgKinematicActuator as appropreate
tgBasicActuator::Config activeMuscleConfig(c.stiffness, c.damping, c.hist, c.rotation,
c.maxTens, c.targetVelocity);
/*
tgBasicActuator::Config passiveMuscleConfig(c.stiffness_passive, c.damping, c.hist, c.rotation,
c.maxTens, c.targetVelocity,
c.maxAcc);*/
// Start creating the structure
tgStructure s;
addNodes(s);
addRods(s);
addMuscles(s);
s.move(btVector3(0, 10, 0));
// Add a rotation. This is needed if the ground slopes too much,
// otherwise glitches put a rod below the ground.
btVector3 rotationPoint = btVector3(0, 0, 0); // origin
btVector3 rotationAxis = btVector3(0, 1, 0); // y-axis
double rotationAngle = M_PI/2;
s.addRotation(rotationPoint, rotationAxis, rotationAngle);
// Create the build spec that uses tags to turn the structure into a real model
tgBuildSpec spec;
spec.addBuilder("rod", new tgRodInfo(rodConfig));
#if (0)
spec.addBuilder("muscle", new tgBasicActuatorInfo(activeMuscleConfig));
#else
spec.addBuilder("muscle", new tgBasicContactCableInfo(activeMuscleConfig));
#endif
//spec.addBuilder("active muscle", new tgBasicActuatorInfo(activeMuscleConfig));
//spec.addBuilder("passive muscle", new tgBasicActuatorInfo(passiveMuscleConfig));
// Create your structureInfo
tgStructureInfo structureInfo(s, spec);
// Use the structureInfo to build ourselves
structureInfo.buildInto(*this, world);
// We could now use tgCast::filter or similar to pull out the
// models (e.g. muscles) that we want to control.
allMuscles = tgCast::filter<tgModel, tgBasicActuator> (getDescendants());
// call the onSetup methods of all observed things e.g. controllers
notifySetup();
// Actually setup the children
tgModel::setup(world);
}
void mapQuadTreeAbstraction::buildAbstraction()
{
//inefficient for the moment
abstractions.push_back(getMapGraph(getMap()));
while (abstractions.back()->getNumEdges() > 0)
{
graph *g = new graph();
addNodes(g);
addEdges(g);
abstractions.push_back(g);
}
}
void ScarrArmModel::setup(tgWorld& world) {
const tgRod::Config rodConfig(cRod.radius, cRod.density, cRod.friction, cRod.rollFriction, cRod.restitution);
const tgRod::Config rodConfigMassless(cRod.radius, 0.00/*c.density*/, cRod.friction, cRod.rollFriction, cRod.restitution);
/// @todo acceleration constraint was removed on 12/10/14 Replace with tgKinematicActuator as appropreate
tgBasicActuator::Config olecranonMuscleConfig(cCable.stiffness, cCable.damping, cCable.pretension_olecranon,
cCable.history, cCable.maxTens, cCable.targetVelocity);
tgBasicActuator::Config anconeusMuscleConfig(cCable.stiffness, cCable.damping, cCable.pretension_anconeus,
cCable.history, cCable.maxTens, cCable.targetVelocity);
tgBasicActuator::Config brachioradialisMuscleConfig(cCable.stiffness, cCable.damping, cCable.pretension_brachioradialis,
cCable.history, cCable.maxTens, cCable.targetVelocity);
tgBasicActuator::Config supportstringMuscleConfig(cCable.stiffness, cCable.damping, cCable.pretension_support,
cCable.history, cCable.maxTens, cCable.targetVelocity);
// Start creating the structure
tgStructure s;
addNodes(s);
addRods(s);
addMuscles(s);
// Move the arm out of the ground
btVector3 offset(0.0, 50.0, 0.0);
s.move(offset);
// Create the build spec that uses tags to turn the structure into a real model
tgBuildSpec spec;
spec.addBuilder("massless", new tgRodInfo(rodConfigMassless));
spec.addBuilder("rod", new tgRodInfo(rodConfig));
spec.addBuilder("olecranon muscle", new tgBasicActuatorInfo(olecranonMuscleConfig));
spec.addBuilder("anconeus muscle", new tgBasicActuatorInfo(anconeusMuscleConfig));
spec.addBuilder("brachioradialis muscle", new tgBasicActuatorInfo(brachioradialisMuscleConfig));
spec.addBuilder("support muscle", new tgBasicActuatorInfo(supportstringMuscleConfig));
// Create your structureInfo
tgStructureInfo structureInfo(s, spec);
// Use the structureInfo to build ourselves
structureInfo.buildInto(*this, world);
// We could now use tgCast::filter or similar to pull out the
// models (e.g. muscles) that we want to control.
allMuscles = tgCast::filter<tgModel, tgBasicActuator> (getDescendants());
// call the onSetup methods of all observed things e.g. controllers
notifySetup();
// Actually setup the children
tgModel::setup(world);
//map the rods and add the markers to them
//addMarkers(s);
}
void NestedBoxTestModel::setup(tgWorld& world)
{
const double edge = 30.0;
const double height = tgUtil::round(std::sqrt(3.0)/2 * edge);
std::cout << "edge: " << edge << "; height: " << height << std::endl;
// Create the tetrahedra
tgStructure tetra;
addNodes(tetra, edge, height);
addPairs(tetra);
// Move the first one so we can create a longer snake.
// Or you could move the snake at the end, up to you.
tetra.move(btVector3(0.0, 2.0, 100.0));
// Create our snake segments
tgStructure snake;
addSegments(snake, tetra, edge, m_segments);
addMuscles(snake);
// Create the build spec that uses tags to turn the structure into a real model
// Note: This needs to be high enough or things fly apart...
const double density = 4.2 / 3000.0; // kg / length^3 - see app for length
const double radius = 0.5;
const double h = 0.5;
const tgBox::Config rodConfig(radius, density);
tgBuildSpec spec;
spec.addBuilder("rod", new tgBoxInfo(rodConfig));
tgSpringCableActuator::Config muscleConfig(1000, 10);
//spec.addBuilder("muscle", new tgBasicActuatorInfo(muscleConfig));
const tgSphere::Config sphereConfig(0.5, 0.5);
spec.addBuilder("light", new tgSphereInfo(sphereConfig));
const tgSphere::Config sphereConfig2(0.5, 2.5);
spec.addBuilder("light", new tgSphereInfo(sphereConfig2));
// Create your structureInfo
tgStructureInfo structureInfo(snake, spec);
// Use the structureInfo to build ourselves
structureInfo.buildInto(*this, world);
// We could now use tgCast::filter or similar to pull out the models (e.g. muscles)
// that we want to control.
allMuscles = tgCast::filter<tgModel, tgSpringCableActuator> (getDescendants());
mapMuscles(muscleMap, *this);
trace(structureInfo, *this);
// Actually setup the children
tgModel::setup(world);
}
void T12SuperBallPayload::setup(tgWorld& world)
{
const tgRod::Config rodConfig(c.radius, c.density, c.friction,
c.rollFriction, c.restitution);
/// @todo acceleration constraint was removed on 12/10/14 Replace with tgKinematicActuator as appropreate
tgBasicActuator::Config muscleConfig(c.stiffness, c.damping, c.pretension,
c.history, c.maxTens, c.targetVelocity);
// Start creating the structure
tgStructure s;
addNodes(s);
addRods(s);
addMuscles(s);
// // Add a rotation. This is needed if the ground slopes too much,
// // otherwise glitches put a rod below the ground.
// btVector3 rotationPoint = btVector3(0, 0, 0); // origin
// btVector3 rotationAxis = btVector3(0, 1, 0); // y-axis
// double rotationAngle = M_PI/2;
// s.addRotation(rotationPoint, rotationAxis, rotationAngle);
//s.move(btVector3(0,30,0));
// Create the build spec that uses tags to turn the structure into a real model
tgBuildSpec spec;
spec.addBuilder("rod", new tgRodInfo(rodConfig));
spec.addBuilder("muscle", new tgBasicActuatorInfo(muscleConfig));
// Create your structureInfo
tgStructureInfo structureInfo(s, spec);
// Use the structureInfo to build ourselves
structureInfo.buildInto(*this, world);
// We could now use tgCast::filter or similar to pull out the
// models (e.g. muscles) that we want to control.
allMuscles = tgCast::filter<tgModel, tgBasicActuator> (getDescendants());
// call the onSetup methods of all observed things e.g. controllers
notifySetup();
// Actually setup the children
tgModel::setup(world);
//map the rods and add the markers to them
addMarkers(s);
btVector3 location(0,10.0,0);
btVector3 rotation(0.0,0.6,0.8);
btVector3 speed(0,20,100);
this->moveModel(location,rotation,speed);
}
MutableNodeRefList&
MutableNodeRefList::operator=(const XalanNodeList* theRHS)
{
clear();
if (theRHS != 0)
{
addNodes(*theRHS);
}
return *this;
}
void TensegrityModel::buildStructure(tgStructure& structure, const std::string& structurePath, tgBuildSpec& spec) {
Yam root = YAML::LoadFile(structurePath);
// Validate YAML
std::string rootKeys[] = {"nodes", "pair_groups", "builders", "substructures", "bond_groups"};
std::vector<std::string> rootKeysVector(rootKeys, rootKeys + sizeof(rootKeys) / sizeof(std::string));
yamlContainsOnly(root, structurePath, rootKeysVector);
yamlNoDuplicates(root, structurePath);
addChildren(structure, structurePath, spec, root["substructures"]);
addBuilders(spec, root["builders"]);
addNodes(structure, root["nodes"]);
addPairGroups(structure, root["pair_groups"]);
addBondGroups(structure, root["bond_groups"], spec);
}
void add (Node* n1, Node* n2)
{
if (n1->getNext() == NULL or n2->getNext() == NULL)
{
int val = (n1->get() + n2->get() + carry);
//cout << val%10 << " ";
l3.add (val%10);
carry = val/10;
return;
}
add (n1->getNext(), n2->getNext());
int val = (n1->get() + n2->get() + carry);
//cout << val%10 << " ";
addNodes (val%10, 0, l3);
l3.incr_size();
carry = val/10;
}
main()
{
int n;
printf("Enter from the following option\n");
while(1)
{
printf("1.Add Elements to the Linked List \n");
printf("2.Delete Node\n");
printf("3.Display Element \n");
printf("4.Display Reverse\n");
printf("5.Exit\n");
scanf("%d",&n);
switch(n)
{
case 1:{
printf("Enter the Value:\n");
int value;
scanf("%d",&value);
addNodes(value);
break;
}
case 2:{
printf("Enter the node to delete\n");
int value;
scanf("%d",&value);
deleteNode(value);
break;
}
case 3:{
display();
break;
}
case 4:{
displayReverse();
break;
}
case 5:
exit(1);
default:
printf("Wrong Input\n");
}
printf("\n\n");
}
}
void runBench(HASH_FUNCTION hash_fn, int numReplicas, int numNodes, int numKeys, int keySize) {
char *hash = NULL;
if(hash_fn == HASH_FUNCTION_MD5) hash = "MD5";
else if(hash_fn == HASH_FUNCTION_SHA1) hash = "SHA1";
printf("----------------------------------------------------\n");
printf("bench (%s): replicas = %d, nodes = %d, keys: %d, ring size: %d\n", hash, numReplicas, numNodes, numKeys, numReplicas * numNodes);
printf("----------------------------------------------------\n");
hash_ring_t *ring = hash_ring_create(numReplicas, hash_fn);
addNodes(ring, numNodes);
uint8_t *keys = (uint8_t*)malloc(keySize * numKeys);
generateKeys(keys, numKeys, keySize);
printf("running...\r");
uint64_t min = 0;
uint64_t max = 0;
uint64_t total = 0;
int times = 100;
int x, y;
for(y = 0; y < times; y++) {
startTiming();
for(x = 0; x < numKeys; x++) {
assert(hash_ring_find_node(ring, keys + (keySize * x), keySize) != NULL);
}
uint64_t result = endTiming();
if(result > max) max = result;
if(min == 0 || result < min) min = result;
total += result;
}
printf("stats: total = %.5fs, avg/lookup: %.5fus, min: %.5fus, max: %.5fus, ops/sec: %.0f\n",
(double)total / 1000000000,
(((double)(total / numKeys)) / 1000) / times,
(double)min / numKeys / 1000,
(double)max / numKeys / 1000,
1000000000 / ((double)(total / (numKeys * times))));
free(keys);
hash_ring_free(ring);
}
void tgCraterShallow::setup(tgWorld& world) {
const tgBox::Config boxConfig(c.width, c.height, c.density, c.friction, c.rollFriction, c.restitution);
// Start creating the structure
tgStructure s;
addNodes(s);
// Create the build spec that uses tags to turn the structure into a real model
tgBuildSpec spec;
spec.addBuilder("box", new tgBoxInfo(boxConfig));
// Create your structureInfo
tgStructureInfo structureInfo(s, spec);
// Use the structureInfo to build ourselves
structureInfo.buildInto(*this, world);
// call the onSetup methods of all observed things e.g. controllers
notifySetup();
// Actually setup the children
tgModel::setup(world);
}
void addNodes(Graph& graph, std::map<SoNode*, Vertex>& vertexNodeMap, SoNode* node)
{
if (node->getTypeId().isDerivedFrom(SoGroup::getClassTypeId())) {
SoGroup* group = static_cast<SoGroup*>(node);
Vertex groupV = vertexNodeMap[group];
for (int i=0; i<group->getNumChildren(); i++) {
SoNode* child = group->getChild(i);
auto it = vertexNodeMap.find(child);
// the child node is not yet added to the map
if (it == vertexNodeMap.end()) {
Vertex childV = add_vertex(graph);
vertexNodeMap[child] = childV;
add_edge(groupV, childV, graph);
addNodes(graph, vertexNodeMap, child);
}
// the child is already there, only add the edge then
else {
add_edge(groupV, it->second, graph);
}
}
}
}
// This is basically a manual setup of a model.
// There are things that do this for us (@todo: reference the things that do this for us)
void TetraSpineGoal::setup(tgWorld& world)
{
const double edge = 3.8 * scaleFactor;
const double height = tgUtil::round(std::sqrt(3.0)/2 * edge);
std::cout << "edge: " << edge << "; height: " << height << std::endl;
// Create the tetrahedra
tgStructure tetra;
addNodes(tetra, edge, height, scaleFactor);
addPairs(tetra);
// Move the first one so we can create a longer snake.
// Or you could move the snake at the end, up to you.
tetra.move(btVector3(0.0, 8.0, 10.0));
// Create our snake segments
tgStructure snake;
addSegments(snake, tetra, -2.30 * scaleFactor, m_segments);
addMuscles(snake);
// Create the build spec that uses tags to turn the structure into a real model
// Note: This needs to be high enough or things fly apart...
// Params for In Won
const double radius = 0.635 * scaleFactor / 10.0;
const double sphereRadius = 0.635 * scaleFactor / (10.0);
const double density = 2.0 *.0201 / (pow(radius, 2) * M_PI * edge); // Mass divided by volume... should there be a way to set this automatically??
const double friction = 0.5;
const tgRod::Config rodConfig(radius, density, friction);
tgBuildSpec spec;
spec.addBuilder("rod", new tgRodInfo(rodConfig));
// 1000 is so the units below can be in grams
const double sphereVolume1 = 1000.0 * 4.0 / 3.0 * M_PI * pow(sphereRadius, 3);
const double sphereVolume2 = 1000.0 * 4.0 / 3.0 * M_PI * pow(sphereRadius, 3);
const double baseCornerMidD = 180.0 / sphereVolume1;
const tgSphere::Config baseCornerMidConfig(sphereRadius, baseCornerMidD, friction);
spec.addBuilder("base", new tgSphereInfo(baseCornerMidConfig));
const double tipCornerMidD = 120.0 / sphereVolume1;
const tgSphere::Config tipCornerMidConfig(sphereRadius, tipCornerMidD, friction);
spec.addBuilder("tip", new tgSphereInfo(tipCornerMidConfig));
const double PCBD = 70.0 / sphereVolume2;
const tgSphere::Config PCB_1_Config(radius, PCBD, friction);
spec.addBuilder("PCB", new tgSphereInfo(PCB_1_Config));
const double elasticity = 1000.0;
const double damping = 10.0;
const double pretension = 0.0;
const bool history = false;
const double maxTens = 7000.0;
const double maxSpeed = 12.0;
const double mRad = 1.0;
const double motorFriction = 10.0;
const double motorInertia = 1.0;
const bool backDrivable = false;
tgKinematicActuator::Config motorConfig(elasticity, damping, pretension,
mRad, motorFriction, motorInertia, backDrivable,
history, maxTens, maxSpeed);
spec.addBuilder("muscle", new tgKinematicContactCableInfo(motorConfig));
// Create your structureInfo
tgStructureInfo structureInfo(snake, spec);
// Use the structureInfo to build ourselves
structureInfo.buildInto(*this, world);
// We could now use tgCast::filter or similar to pull out the models (e.g. muscles)
// that we want to control.
m_allMuscles = this->find<tgSpringCableActuator> ("muscle");
m_allSegments = this->find<tgModel> ("segment");
mapMuscles(m_muscleMap, *this);
//addMarkers(snake, *this);
#if (0)
trace(structureInfo, *this);
#endif
// Actually setup the children
BaseSpineModelGoal::setup(world);
}
// This is basically a manual setup of a model.
// There are things that do this for us (@todo: reference the things that do this for us)
void TetraSpineStaticModel_hf::setup(tgWorld& world)
{
const double edge = 38;
const double height = tgUtil::round(std::sqrt(3.0)/2 * edge);
std::cout << "edge: " << edge << "; height: " << height << std::endl;
// Create the tetrahedra
tgStructure tetra;
addNodes(tetra, edge, height);
addPairs(tetra);
// Move the first one so we can create a longer snake.
// Or you could move the snake at the end, up to you.
tetra.move(btVector3(0.0, 2.0, 100.0));
// Create our snake segments
tgStructure snake;
addSegments(snake, tetra, edge, m_segments);
addMuscles(snake);
// Create the build spec that uses tags to turn the structure into a real model
// Note: This needs to be high enough or things fly apart...
// Params for In Won
const double oldDensity = .00311;
const double radius = 0.635 / 2.0;
const double density = 0.0201 / (pow(radius, 2) * M_PI * edge); // Mass divided by volume... should there be a way to set this automatically??
const double friction = 0.15;
const tgRod::Config rodConfig(radius, density, friction);
tgBuildSpec spec;
spec.addBuilder("rod", new tgRodInfo(rodConfig));
// 1000 is so the units below can be in grams
const double sphereVolume = 1000.0 * 4.0 / 3.0 * M_PI * pow(radius, 3);
const double baseCornerFrontD = 140.0 / sphereVolume;
const tgSphere::Config baseCornerFrontConfig(radius, baseCornerFrontD, friction);
spec.addBuilder("num0 base", new tgSphereInfo(baseCornerFrontConfig));
const double baseCornerMidD = 180.0 / sphereVolume;
const tgSphere::Config baseCornerMidConfig(radius, baseCornerMidD, friction);
spec.addBuilder("num1 base", new tgSphereInfo(baseCornerMidConfig));
const double baseCornerRearD = 100.0 / sphereVolume;
const tgSphere::Config baseCornerRearConfig(radius, baseCornerRearD, friction);
spec.addBuilder("num2 base", new tgSphereInfo(baseCornerRearConfig));
const double tipCornerFrontD = 40.0 / sphereVolume;
const tgSphere::Config tipCornerFrontConfig(radius, tipCornerFrontD, friction);
spec.addBuilder("num0 tip", new tgSphereInfo(tipCornerFrontConfig));
const double tipCornerMidD = 120.0 / sphereVolume;
const tgSphere::Config tipCornerMidConfig(radius, tipCornerMidD, friction);
spec.addBuilder("num1 tip", new tgSphereInfo(tipCornerMidConfig));
spec.addBuilder("num2 tip", new tgSphereInfo(tipCornerMidConfig));
const double PCBD = 70.0 / sphereVolume;
const tgSphere::Config PCB_1_Config(radius, PCBD, friction);
spec.addBuilder("PCB num0", new tgSphereInfo(PCB_1_Config));
spec.addBuilder("PCB num1", new tgSphereInfo(PCB_1_Config));
const double PCB2D = 95.0 / sphereVolume;
const tgSphere::Config PCB_2_Config(radius, PCB2D, friction);
spec.addBuilder("PCB num2", new tgSphereInfo(PCB_2_Config));
// Two different string configs
/// @todo acceleration constraint was removed on 12/10/14 Replace with tgKinematicActuator as appropreate
tgSpringCableActuator::Config muscleConfig(229.16, 20, 2000.0, true, 5000, 7.0, 1.0, 1.0);
tgSpringCableActuator::Config muscleConfig2(229.16, 20, 700.0, true, 5000, 7.0, 1.0, 1.0);
spec.addBuilder("top muscle", new tgBasicActuatorInfo(muscleConfig));
spec.addBuilder("left muscle", new tgBasicActuatorInfo(muscleConfig2));
spec.addBuilder("right muscle", new tgBasicActuatorInfo(muscleConfig2));
// Create your structureInfo
tgStructureInfo structureInfo(snake, spec);
// Use the structureInfo to build ourselves
structureInfo.buildInto(*this, world);
// We could now use tgCast::filter or similar to pull out the models (e.g. muscles)
// that we want to control.
m_allMuscles = this->find<tgSpringCableActuator> ("muscle");
m_allSegments = this->find<tgModel> ("segment");
mapMuscles(m_muscleMap, *this);
addMarkers(snake, *this);
#if (0)
trace(structureInfo, *this);
#endif
// Actually setup the children
BaseSpineModelLearning::setup(world);
}
/***************************************
* The primary functions., called from other classes.
**************************************/
void VerticalSpineModel::setup(tgWorld& world)
{
// debugging output: edge and height length
//std::cout << "edge: " << c.edge << "; height: " << c.height << std::endl;
// Create the first fixed snake segment
// @todo move these hard-coded parameters into config
tgStructure tetraB;
addNodes(tetraB, c.edge, c.height);
addPairsB(tetraB);
tetraB.move(btVector3(0.0, 2, 0));
// Create our snake segments
tgStructure snake;
// add 1st child to snake
tgStructure* const tB = new tgStructure(tetraB);
snake.addChild(tB);
tB->addTags(tgString("segment", 1));
// Create the first non-fixed tetrahedra
tgStructure tetra;
addNodes(tetra, c.edge, c.height);
addPairs(tetra);
// Move the first tetrahedra
// @todo move these hard-coded parameters into config
tetra.move(btVector3(0.0, -6, 0));
// add rest of segments using original tetra configuration
addSegments(snake, tetra, c.edge, m_segments);
addMuscles(snake);
// Create the build spec that uses tags to turn the structure into a real model
// Note: This needs to be high enough or things fly apart...
// length of inner strut = 12.25 cm
// m = 1 kg
// volume of 1 rod = 9.62 cm^3
// total volume = 38.48 cm^3
//const double density = 1/38.48; = 0.026 // kg / length^3 - see app for length
const tgRod::Config rodConfigA(c.radius, c.densityA, c.friction,
c.rollFriction, c.restitution);
const tgRod::Config rodConfigB(c.radius, c.densityB, c.friction,
c.rollFriction, c.restitution);
//holder
const tgRod::Config rodConfigHA(0.1, c.densityA, c.friction,
c.rollFriction, c.restitution);
const tgRod::Config rodConfigHB(0.1, c.densityB, c.friction,
c.rollFriction, c.restitution);
tgBuildSpec spec;
spec.addBuilder("rod", new tgRodInfo(rodConfigA));
spec.addBuilder("rodB", new tgRodInfo(rodConfigB));
// set muscle (string) parameters
// @todo replace acceleration constraint with tgKinematicActuator if needed...
tgSpringCableActuator::Config muscleConfig(c.stiffness, c.damping, c.pretension,
c.hist, c.maxTens, c.targetVelocity);
spec.addBuilder("muscle", new tgBasicActuatorInfo(muscleConfig));
// Create your structureInfo
tgStructureInfo structureInfo(snake, spec);
// Use the structureInfo to build ourselves
structureInfo.buildInto(*this, world);
// We could now use tgCast::filter or similar to pull out the models (e.g. muscles)
// that we want to control.
allMuscles = tgCast::filter<tgModel, tgSpringCableActuator> (getDescendants());
mapMuscles(muscleMap, *this, m_segments);
//trace(structureInfo, *this);
// Actually setup the children
notifySetup();
tgModel::setup(world);
}
void RibModelMixedContact::setup(tgWorld& world)
{
double v_size = 3.0;
// Create the spinal processes
tgStructure vertebrae;
addNodes(vertebrae, v_size);
addPairs(vertebrae);
// Move the first one so we can create a longer snake.
// Or you could move the snake at the end, up to you.
vertebrae.move(btVector3(0.0, 2 * v_size, v_size * m_segments));
// Create ribs and add them to the vertebrae
double majorAxis = 6.0;
double minorAxis = 4.0;
double startTheta = M_PI / 2.0;
double endTheta = 5.0 * M_PI / 4.0;
size_t segs = 15;
tgStructure ribs;
ellipseNodes(ribs, majorAxis, minorAxis, startTheta, endTheta, segs);
makePairs(ribs);
#if (0) // Attempt at compliant rib attachments
ribs.move(btVector3(v_size / 3.0, 2 * v_size - minorAxis, v_size * m_segments));
#else
ribs.move(btVector3(0.0, 2 * v_size - minorAxis -.3, v_size * m_segments));
#endif
// Create our snake segments
tgStructure snake;
addSegments(snake, vertebrae, ribs, v_size, m_segments);
snake.move(btVector3(0.0, majorAxis, 0.0));
addMuscles(snake);
// Create the build spec that uses tags to turn the structure into a real model
// Note: This needs to be high enough or things fly apart...
const double density = 4.2 / 300.0;
const double radius = 0.5;
const double friction = 0.5; // Default is 0.5
const double rollFriction = 0.5; // Default is 0.0
const double restitution = 0.0; // Default
const tgRod::Config rodConfig(radius, density, friction, rollFriction, restitution);
tgBuildSpec spec;
spec.addBuilder("rod", new tgRodInfo(rodConfig));
const double elasticity = 500.0;
const double elasticityAct = 1000.0;
const double damping = 5.0;
const double dampingAct = 10.0;
const double pretension = 0.0;
const bool history = true;
const double maxTens = 1000.0;
const double maxTensAct = 7000.0;
const double maxSpeed = 100.0;
const double maxSpeedAct = 24.0;
const double mRad = 1.0;
const double motorFriction = 10.0;
const double motorInertia = 1.0;
const bool backDrivable = false;
#if (0) //Replacing with tgKinematicActuator, leaving option to turn it off. 9/9/15.
tgKinematicActuator::Config muscleConfig(elasticity, damping, pretension,
mRad, motorFriction, motorInertia, backDrivable,
history, maxTens, maxSpeed);
spec.addBuilder("muscle", new tgKinematicContactCableInfo(muscleConfig));
tgKinematicActuator::Config muscleConfigAct(elasticityAct, dampingAct, pretension,
mRad, motorFriction, motorInertia, backDrivable,
history, maxTensAct, maxSpeedAct);
spec.addBuilder("muscleAct", new tgKinematicContactCableInfo(muscleConfigAct));
#else
tgSpringCableActuator::Config muscleConfig(elasticity, damping, pretension, history);
spec.addBuilder("muscle", new tgBasicContactCableInfo(muscleConfig));
/// @todo acceleration constraint was removed on 12/10/14 Replace with tgKinematicActuator as appropreate
tgSpringCableActuator::Config muscleConfigAct(elasticityAct, dampingAct, pretension, history, 7000, 24);
spec.addBuilder("muscleAct", new tgBasicContactCableInfo(muscleConfigAct));
#endif
#if (0) // Compliant Rib Attachments
const double stiffness = 1000;
const double damping = .01 * stiffness;
tgSpringCableActuator::Config muscleConfig1(stiffness, damping, -M_PI / 2.0);
tgSpringCableActuator::Config muscleConfig2(stiffness, damping, M_PI / 2.0);
tgSpringCableActuator::Config muscleConfig3(stiffness, damping, M_PI);
tgSpringCableActuator::Config muscleConfig4(stiffness, damping, 0);
spec.addBuilder("multiMuscle", new tgBasicActuatorInfo(muscleConfig1));
spec.addBuilder("multiMuscle", new tgBasicActuatorInfo(muscleConfig2));
spec.addBuilder("multiMuscle", new tgBasicActuatorInfo(muscleConfig3));
spec.addBuilder("multiMuscle", new tgBasicActuatorInfo(muscleConfig4));
#endif
// Create your structureInfo
tgStructureInfo structureInfo(snake, spec);
// Use the structureInfo to build ourselves
structureInfo.buildInto(*this, world);
// We could now use tgCast::filter or similar to pull out the models (e.g. muscles)
// that we want to control.
m_allMuscles = find<tgSpringCableActuator> ("muscleAct");
m_allSegments = find<tgModel> ("segment");
#if (0)
trace(structureInfo, *this);
#endif
// Actually setup the children
BaseSpineModelLearning::setup(world);
}
