// starting function (executed once at the beginning of the simulation loop)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
D=0;
setCameraHomePos(Pos(-1.55424, 10.0881, 1.58559), Pos(-170.16, -7.29053, 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", 0);
for(int i=0; i< 2; 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(30+i*7,0,0));
global.obstacles.push_back(b);
}
controller=0;
/******* S L I D E R - w H E E L I E *********/
SliderWheelieConf mySliderWheelieConf = SliderWheelie::getDefaultConf();
mySliderWheelieConf.segmNumber = segmnum;
mySliderWheelieConf.motorPower = 5;
mySliderWheelieConf.jointLimitIn = M_PI/3;
// mySliderWheelieConf.frictionGround=0.5;
// mySliderWheelieConf.segmLength=1.4;
mySliderWheelieConf.sliderLength = 0;
mySliderWheelieConf.motorType = SliderWheelieConf::CenteredServo;
//mySliderWheelieConf.drawCenter = false;
vehicle = new SliderWheelie(odeHandle, osgHandle.changeColor(Color(1,222/255.0,0)),
mySliderWheelieConf, "sliderWheelie_" + std::itos(teacher*10000));
vehicle->place(Pos(0,0,2));
global.configs.push_back(vehicle);
// 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);
SeMoXConf cc = SeMoX::getDefaultConf();
cc.cInit=1.2;
cc.modelExt=false;
cc.someInternalParams=true;
SeMoX* semox = new SeMoX(cc);
// AbstractController* controller = new SineController(~0, SineController::Sine); // local variable!
// // // motorpower 20
// controller->setParam("period", 300);
// controller->setParam("phaseshift", 0.3);
if(useSym){
semox->setParam("epsC", 0.1);
semox->setParam("epsA", 0.1);
}else{
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);
//controller=semox;
controller = new CrossMotorCoupling( semox, semox, 0.4);
// One2OneWiring* wiring = new One2OneWiring(new ColorUniformNoise(0.1));
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->addCallbackable(&stats);
agent->init(controller, vehicle, wiring);
if(track) agent->setTrackOptions(TrackRobot(true,false,false, false,
change < 50 ? std::itos(change).c_str() : "uni", 50));
global.agents.push_back(agent);
global.configs.push_back(controller);
this->getHUDSM()->setColor(Color(1.0,1.0,0));
this->getHUDSM()->setFontsize(18);
this->getHUDSM()->addMeasure(teacher,"Gamma_s",ID,1);
this->getHUDSM()->addMeasure(D,"D",ID,1);
// if(useSym){
// int k= 0;
// std::list<int> perm;
// int len = controller->getMotorNumber();
// for(int i=0; i<len; i++){
// perm.push_back((i+k+(len)/2)%len);
// }
// CMC cmc = controller->getPermutationCMC(perm);
// controller->setCMC(cmc);
// }
}
// starting function (executed once at the beginning of the simulation loop)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
setCameraHomePos(Pos(-0.777389, 6.34573, 1.83396), Pos(-170.594, -5.10046, 0));
setCameraMode(Follow);
// 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("realtimefactor", 1);
// global.odeConfig.setParam("gravity", 0);
for(int i=0; i< 4; i++){
PassiveBox* b = new PassiveBox(odeHandle, osgHandle.changeColor(Color(.6, .6, .4)),
osg::Vec3(1,10,0.3+i*0.02),0);
b->setTexture(0,TextureDescr("Images/playfulmachines.rgb",1,1));
b->setPosition(osg::Vec3(-75+i*30,0,0));
global.obstacles.push_back(b);
}
controller=0;
/******* S L I D E R - w H E E L I E *********/
SliderWheelieConf mySliderWheelieConf = SliderWheelie::getDefaultConf();
mySliderWheelieConf.segmNumber = segmnum;
mySliderWheelieConf.motorPower = 5;
mySliderWheelieConf.jointLimitIn = M_PI/3;
// mySliderWheelieConf.frictionGround=0.5;
// mySliderWheelieConf.segmLength=1.4;
mySliderWheelieConf.sliderLength = 0;
mySliderWheelieConf.motorType = SliderWheelieConf::CenteredServo;
//mySliderWheelieConf.drawCenter = false;
vehicle = new SliderWheelie(odeHandle, osgHandle.changeColor(Color(1,222/255.0,0)),
mySliderWheelieConf, "Armband");
vehicle->place(Pos(0,0,.1));
SeMoXConf cc = SeMoX::getDefaultConf();
cc.cInit=1.1;
cc.modelExt=false;
cc.someInternalParams=false;
SeMoX* semox = new SeMoX(cc);
if(useSym){
semox->setParam("epsC", 0.1);
semox->setParam("epsA", 0.1);
}else{
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);
//controller=semox;
controller = new CrossMotorCoupling( semox, semox, 0.4);
// One2OneWiring* wiring = new One2OneWiring(new ColorUniformNoise(0.1));
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->addCallbackable(&stats);
agent->init(controller, vehicle, wiring);
if(track) agent->setTrackOptions(TrackRobot(true,false,false, false, "uni", 20));
global.agents.push_back(agent);
global.configs.push_back(agent);
thisConfig.controller=controller;
global.configs.push_back(&thisConfig);
this->getHUDSM()->setColor(osgHandle.getColor("hud"));
this->getHUDSM()->setFontsize(16);
// this->getHUDSM()->setColor(Color(1.0,1.0,0));
// this->getHUDSM()->setFontsize(18);
this->getHUDSM()->addMeasure(teacher,"Gamma",ID,1);
this->getHUDSM()->addMeasure(thisConfig.D_display,"D",ID,1);
// if(useSym){
// int k= 0;
// std::list<int> perm;
// int len = controller->getMotorNumber();
// for(int i=0; i<len; i++){
// perm.push_back((i+k+(len)/2)%len);
// }
// CMC cmc = controller->getPermutationCMC(perm);
// controller->setCMC(cmc);
// }
}