// 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());
}
void addCallback(GlobalData& globalData, bool draw, bool pause, bool control) {
if(globalData.sim_step < 4) return;
rs->update();
if(control){
rs->sense(globalData);
}
if(rs->getList().front()!=1.0)
cerr << "ERROR Ray: " << rs->getList().front() << "!= 1.0" <<endl;
if(control){ // second call in the same timestep
rs->sense(globalData);
if(rs->getList().front()!=1.0)
cerr << "ERROR Ray: " << rs->getList().front() << "!= 1.0 (second call)" <<endl;
}
ir->update();
if(control){
ir->sense(globalData);
}
double p_last = sin(0.5*(globalData.time-(globalData.odeConfig.simStepSize*globalData.odeConfig.controlInterval)));
double v = ir->getList().front();
double s = (2-(p_last+1))/2;
if(fabs(v - s) > 10e-4){
cerr << "ERROR IR: " << v << "!= " << s << endl;
}
double p = sin(0.5*globalData.time);
b2->setPosition(Vec3(2,0,p+1.1));
}
// starting function (executed once at the beginning of the simulation loop)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
setCameraHomePos(Pos(6.5701, 17.3534, 11.7749), Pos(159.449, -30.0839, 0));
// initialization
// - set noise to 0.1
// - register file chess.ppm as a texture called chessTexture (used for the wheels)
global.odeConfig.noise=0.1;
// global.odeConfig.setParam("gravity", 0);
// int chessTexture = dsRegisterTexture("chess.ppm");
// 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)
OctaPlayground* playground =
new OctaPlayground(odeHandle, osgHandle,
osg::Vec3(8.0f, 0.2, 6.0f),
12, // number of corners
true); // if ground is created (only create one)
// true); // if ground is created (only create one)
// when you not set this texture, a brown wooden texture
// is used, the setColor would overlay with the wooden texture
playground->setColor(Color(1.0,0.5,0.0,0.2));
// when you not set this texture, a brown wooden texture
// is used, the setColor would overlay with the wooden texture
playground->setTexture("Images/really_white.rgb");
playground->setPosition(osg::Vec3(0,0,0)); // playground positionieren und generieren
global.obstacles.push_back(playground);
OctaPlayground* playground2 =
new OctaPlayground(odeHandle, osgHandle,
osg::Vec3(1.0f, 0.2, 2.5f),
12, // number of corners
false); // if ground is created (only create one)
playground2->setColor(Color(1.0,0.5,0.0,0.1));
// when you not set this texture, a brown wooden texture
// is used, the setColor would overlay with the wooden texture
playground2->setTexture("Images/really_white.rgb");
playground2->setPosition(osg::Vec3(0.0,0.0,0)); // playground positionieren und generieren
global.obstacles.push_back(playground2);
// Creation of passive boxes
// add passive spheres, boxes and capsules as obstacles
// - create pointer to sphere, box or capsule (with odehandle, osghandle and
// optional parameters radius and mass,where the latter is not used here) )
// - set Pose(Position) of sphere, box or capsule
// - set a texture for the sphere, box or capsule
// - add sphere, box or capsule to list of obstacles
// note that the dependent header file has to be include above
// ("passivesphere.h", "passivebox.h" and/or "passivecapsule.h"
int n=10;
int m=3;
for (int j=0;j<m;j++) {
for(int i=0; i<n; i++){
PassiveSphere* s =
new PassiveSphere(odeHandle,
osgHandle.changeColor(Color(184 / 255.0, 233 / 255.0, 237 / 255.0)),
/*Diameter=*/.2+i*0.03,/*Mass=*/.5);
s->setPosition(Pos(sin(2*M_PI*(((float)i)/((float)n)+0.05f))*(3.0f+2.0f*j),
cos(2*M_PI*(((float)i)/((float)n)+0.05f))*(3.0f+2.0f*j),
0.8f+2.0f*j));
s->setTexture("Images/dusty.rgb");
global.obstacles.push_back(s);
}
}
n=8;
m=3;
for (int j=0;j<m;j++) {
for(int i=0; i<n; i++){
PassiveBox* b =
new PassiveBox(odeHandle,
osgHandle.changeColor(Color(184 / 255.0, 233 / 255.0, 237 / 255.0)),
osg::Vec3(0.4+i*0.1, 0.8-i*0.03, 0.4), 0.2+i*0.1);
if (i==1)
b->setTexture("Images/light_chess.rgb");
else
b->setTexture("Images/dusty.rgb");
b->setPosition(Pos(sin(2*M_PI*(((float)i)/((float)n))+0.1f)*(3.0f+2.0f*j),
cos(2*M_PI*(((float)i)/((float)n))+0.1f)*(3.0f+2.0f*j),
3.0f+2.0f*j));
global.obstacles.push_back(b);
}
}
n=15;
m=3;
for (int j=0;j<m;j++) {
for(int i=0; i<n; i++){
PassiveCapsule* b =
new PassiveCapsule(odeHandle,
osgHandle.changeColor(Color(184 / 255.0, 233 / 255.0, 237 / 255.0)),
0.2f+0.03*i,1.0f-i*0.04);
b->setPosition(Pos(sin(2*M_PI*(((float)i)/((float)n)))*(3.0f+2.0f*j),
cos(2*M_PI*(((float)i)/((float)n)))*(3.0f+2.0f*j),
5.0f+2.0f*j));
b->setTexture("Images/dusty.rgb");
global.obstacles.push_back(b);
}
}
// Creation of spherical robots:
for(int i=0; i<0; i++){
OdeRobot* sphere1;
Sphererobot3MassesConf conf = Sphererobot3Masses::getDefaultConf();
conf.diameter=2;
conf.irAxis1=true;
conf.irAxis2=true;
conf.irAxis3=true;
sphere1 = new Sphererobot3Masses ( odeHandle, osgHandle.changeColor(Color(0.0+.1*i,0.0,1.0)),
conf, "Sphere1", 0.4);
// sphere1 = new ForcedSphere(odeHandle, osgHandle, "FSphere");
// sphere1->place ( Pos(-3,1/2,3+2*i));
sphere1->place ( Pos(0,0,7+2*i));
AbstractController* controller = new InvertMotorNStep();
controller->setParam("steps", 2);
controller->setParam("adaptrate", 0.005);
controller->setParam("nomupdate", 0.01);
controller->setParam("epsC", 0.01);
controller->setParam("epsA", 0.005);
controller->setParam("rootE", 3);
DerivativeWiringConf c = DerivativeWiring::getDefaultConf();
c.useId = true;
c.useFirstD = true;
DerivativeWiring* wiring = new DerivativeWiring ( c , new ColorUniformNoise() );
// One2OneWiring* wiring = new One2OneWiring ( new ColorUniformNoise() );
OdeAgent* agent = new OdeAgent ( plotoptions );
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 );
}
//creation of snakes
for(int i=0; i<1; i++){
//****************/
SchlangeConf conf = Schlange::getDefaultConf();
conf.motorPower=.3;
conf.segmNumber =10-i/2;
conf.segmDia = 0.15; // diameter of a snake element
// conf.jointLimit=conf.jointLimit*3;
conf.jointLimit=conf.jointLimit*2.0;
conf.frictionJoint=0.002;
SchlangeServo2* schlange1 =
//new SchlangeServo2 ( odeHandle, osgHandle.changeColor(Color(0.8, 0.3, 0.5)),
new SchlangeServo2 ( odeHandle, osgHandle.changeColor(Color(1.0, 1.0, 1.0)),
conf, "S1");
//Positionieren und rotieren
schlange1->place(osg::Matrix::rotate(M_PI/2, 0, 1, 0)*
osg::Matrix::translate(2*i,i,conf.segmNumber/2+2));
if (i==0) {
// schlange1->setTexture("Images/whitemetal_tiefgruen.rgb");
// schlange1->setHeadTexture("Images/whitemetal_tiefrot.rgb");
} else {
// schlange1->setTexture("Images/whitemetal_tiefrot.rgb");
// schlange1->setHeadTexture("Images/whitemetal_tiefgruen.rgb");
}
//AbstractController *controller = new InvertNChannelController(100/*,true*/);
// AbstractController *controller = new InvertMotorSpace(100/*,true*/);
AbstractController *controller = new InvertMotorNStep();
// AbstractController *controller = new invertmotornstep();
//AbstractController *controller = new SineController();
// AbstractController *controller = new InvertMotorNStep();
// AbstractController *controller = new SineController();
// AbstractWiring* wiring = new One2OneWiring(new ColorUniformNoise(0.05)); //Only this line for one2Onewiring
// AbstractWiring* wiring = new DerivativeWiring(c, new ColorUniformNoise(0.1));
DerivativeWiringConf c = DerivativeWiring::getDefaultConf();
c.useId = true;
c.useFirstD = true;
// c.derivativeScale=10;
DerivativeWiring* wiring = new DerivativeWiring ( c , new ColorUniformNoise() );
OdeAgent* agent = new OdeAgent(global);
agent->init(controller, schlange1, wiring);
global.agents.push_back(agent);
global.configs.push_back(controller);
global.configs.push_back(schlange1);
global.odeConfig.setParam("controlinterval",2);
global.odeConfig.setParam("gravity", -2);
controller->setParam("steps",2);
controller->setParam("epsC",0.01);
controller->setParam("epsA",0.01);
controller->setParam("adaptrate",0.005);
controller->setParam("logaE",3);
// controller->setParam("desens",0.0);
controller->setParam("s4delay",3.0);
// controller->setParam("s4avg",1.0);
controller->setParam("factorB",0.0);
// controller->setParam("zetaupdate",0.1);
}//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)
{
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)
{
// 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(-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);
}
}
/// 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)
{
setCameraHomePos(Pos(-0.0114359, 6.66848, 0.922832), Pos(178.866, -7.43884, 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("cameraspeed", 250);
// use Playground as boundary:
// 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);
controller=0;
addParameter("k",&k);
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),0.0);
b->setPosition(osg::Vec3(10+i*7,0,0));
global.obstacles.push_back(b);
}
double h = 0.;
RandGen rgen;
rgen.init(2);
for(int i=0; i<stairs; i++){
do{
h+=(rgen.rand()-.5)*0.6; // values between (-.25.25)
}while(h<0);
PassiveBox* b = new PassiveBox(odeHandle, osgHandle.changeColor(Color(0.3,0.3,0.3)),
osg::Vec3(1,10,h),0.0);
b->setPosition(osg::Vec3(5+i,0,0));
global.obstacles.push_back(b);
}
/******* 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.showCenter = false;
vehicle = new SliderWheelie(odeHandle, osgHandle.changeColor(Color(1,222/255.0,0)),
mySliderWheelieConf, "sliderWheelie_" + std::itos(teacher*10000));
vehicle->place(Pos(0,0,.1));
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=.95;
cc.cInit=.5;
cc.modelExt=false;
// cc.someInternalParams=true;
cc.someInternalParams=false;
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);
// AbstractWiring* wiring = new One2OneWiring(new ColorUniformNoise(0.1));
//AbstractWiring* wiring = new MotorAsSensors(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->init(controller, vehicle, wiring);
if(track) agent->setTrackOptions(TrackRobot(true,false,false, false,
change != 0 ? 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(k_double,"k",ID,1);
setCMC(k);
blink=0;
}
// 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);
// }
}