/**
* The entry point.
* @param[in] argc the number of command-line arguments
* @param[in] argv argv[0] is the executable name; argv[1], if supplied, is the
* suffix for the controller
* @return 0
*/
int main(int argc, char** argv)
{
std::cout << "AppTetraSpineHT" << std::endl;
// First create the world
const tgWorld::Config config(981); // gravity, cm/sec^2
tgWorld world(config);
// 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 = 3;
TetraSpineStaticModel_hf* myModel =
new TetraSpineStaticModel_hf(segments);
htSpineSine* const myControl =
new htSpineSine();
myModel->attach(myControl);
/*
tgCPGLogger* const myLogger =
new tgCPGLogger("logs/CPGValues.txt");
myControl->attach(myLogger);
*/
simulation.addModel(myModel);
int i = 0;
while (i < 1)
{
simulation.run(60000);
//simulation.reset();
i++;
}
/// @todo Does the model assume ownership of the controller?
/** No - a single controller could be attached to multiple subjects
* However, having this here causes a segfault, since there is a call
* to onTeardown() when the simulation is deleted
*/
#if (0)
delete myControl;
#endif
//Teardown is handled by delete, so that should be automatic
return 0;
}
/**
* The entry point.
* @param[in] argc the number of command-line arguments
* @param[in] argv argv[0] is the executable name; argv[1], if supplied, is the
* suffix for the controller
* @return 0
*/
int main(int argc, char** argv)
{
std::cout << "AppTetraSpineHardwareLearning" << std::endl;
// First create the world
const tgWorld::Config config(981); // gravity, cm/sec^2
tgWorld world(config);
// 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 = 3;
TetraSpineStaticModel_hf* myModel =
new TetraSpineStaticModel_hf(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 = 6;
const int numParams = 2;
const int segment = 1;
const double controlTime = .001;
BaseSpineCPGControl::Config control_config(segmentSpan, numMuscles, numMuscles, numParams, segment, controlTime);
LearningSpineJSON* const myControl =
new LearningSpineJSON(control_config, suffix);
myModel->attach(myControl);
tgCPGLogger* const myLogger =
new tgCPGLogger("logs/CPGValues.txt");
myControl->attach(myLogger);
simulation.addModel(myModel);
int i = 0;
while (i < 1)
{
simulation.run(60000);
simulation.reset();
i++;
}
/// @todo Does the model assume ownership of the controller?
/** No - a single controller could be attached to multiple subjects
* However, having this here causes a segfault, since there is a call
* to onTeardown() when the simulation is deleted
*/
#if (0)
delete myControl;
#endif
//Teardown is handled by delete, so that should be automatic
return 0;
}
