void PendulumTest::startTest()
{
SimulationEngine engine;
if (!engine.init())
{
return;
}
// Get a pointer to the trial number overlay and make it visible.
Ogre::OverlayManager::getSingleton().getByName("Verve/TrialNumber")->show();
engine.setUpdateMode(SimulationEngine::SIMULATE_REAL_TIME_MULTIPLE, 1);
engine.setCameraMoveSpeed(5);
//// Set to capture frames at 29.97 fps.
//engine.setUpdateMode(SIMULATE_CONSTANT_CHUNK, 0.0333667);
engine.getSimulator()->setStepSize(mPhysicsStepSize);
engine.getSimulator()->setGravity(opal::Vec3r(0, -9.81, 0));
// Make sure we get notified at the end of each step.
engine.getSimulator()->addPostStepEventHandler(this);
// Create a static box for a ground plane.
opal::Solid* boxSolid = engine.getSimulator()->createSolid();
boxSolid->setStatic(true);
boxSolid->setPosition(0, -1.5, 0);
opal::BoxShapeData data;
data.dimensions.set(6, 3, 6);
boxSolid->addShape(data);
engine.createPhysicalEntity("ground", "Plastic/Gray", boxSolid);
DataFile dataFile(mNumTrialsPerRun);
opal::Matrix44r initialTransform;
initialTransform.translate(0, 1.2, 0);
assert(NULL == mPendulum);
mPendulum = new Pendulum(engine, initialTransform);
mAgentDebugger = new AgentVisualDebugger(engine.getSceneManager());
for (unsigned int run = 0; run < mNumRuns; ++run)
{
mPendulum->resetBodyAndCreateNewAgent();
mAgentDebugger->setAgent(mPendulum->getAgent());
for (unsigned int trial = 0; trial < mNumTrialsPerRun; ++trial)
{
updateOverlayData(trial);
mPendulum->resetBodyAndSTM();
mPendulum->randomizeState();
mAvgRewardPerStep = 0;
mCurrentTrialTime = 0;
while (mCurrentTrialTime < mTrialLength)
{
Ogre::Real elapsedSimTime = 0;
Ogre::Real elapsedRealTime = 0;
engine.update(elapsedSimTime, elapsedRealTime);
handleInput(elapsedRealTime, engine);
if (engine.quitApp())
{
return;
}
mAgentDebugger->updateVisuals();
}
mAvgRewardPerStep = mAvgRewardPerStep * mPhysicsStepSize /
mCurrentTrialTime;
dataFile.storeData("trial", trial, (float)trial);
dataFile.storeData("avg reward per step", trial,
mAvgRewardPerStep);
printTrialAndRunStatus(run, trial, mAvgRewardPerStep);
//// Print value function data.
//if (0 == run &&
// (trial == 0 || trial == 4 || trial == 19 || trial == 99))
//{
// char fileStr[1024];
// sprintf(fileStr, "./results/pendulum-trial%d-value.dat", trial);
// mPendulum->getAgent()->saveValueData(400, fileStr);
// sprintf(fileStr, "./results/pendulum-trial%d-RBF.dat", trial);
// mPendulum->getAgent()->saveStateRBFData(fileStr);
//}
}
std::cout << "Agent age = " << mPendulum->getAgent()->getAgeString()
<< std::endl;
}
dataFile.printToFile("./results/pendulum-performance.dat");
}
int main(int argc, char* argv[])
{
srand((unsigned int)time(NULL));
SDL_Init(SDL_INIT_JOYSTICK);
if(SDL_NumJoysticks() > 0)
{
// Setup the joystick.
std::cout << "========================================" << std::endl;
std::cout << "Initializing game controller: " << SDL_JoystickName(0)
<< std::endl;
gGamePad = SDL_JoystickOpen(0);
std::cout << SDL_JoystickNumAxes(gGamePad) << " axes" << std::endl;
std::cout << SDL_JoystickNumBalls(gGamePad) << " trackballs" << std::endl;
std::cout << SDL_JoystickNumHats(gGamePad) << " hats" << std::endl;
std::cout << SDL_JoystickNumButtons(gGamePad) << " buttons" << std::endl;
std::cout << "========================================" << std::endl;
}
else
{
std::cout << "========================================" << std::endl;
std::cout << "No game controller detected" << std::endl;
std::cout << "========================================" << std::endl;
}
//Ogre::Overlay* trialOverlay;
///// The current amount of elapsed time within a trial.
//Ogre::Real mCurrentTrialTime;
///// The length of each trial in seconds.
//Ogre::Real mTrialLength;
///// The rewards received during a single trial, in rewards per step.
//verve::real mAvgRewardPerStep;
if (!gEngine.init())
{
return 0;
}
gEngine.setUpdateMode(SimulationEngine::SIMULATE_REAL_TIME_MULTIPLE, 1);
//// Set to capture frames at 29.97 fps.
//engine.setUpdateMode(SIMULATE_CONSTANT_CHUNK, 0.0333667);
// Use feet for this simulation.
gEngine.getSimulator()->setGravity(opal::Vec3r(0, -30, 0));
gEngine.getSimulator()->setStepSize(gPhysicsStepSize);
// Make sure we get notified at the end of each step.
gEngine.getSimulator()->addPostStepEventHandler(&gPostStepEventHandler);
// Create the robot.
opal::Matrix44r robotTransform;
robotTransform.translate(0, 1, 0);
gRobot = new Robot(gEngine, 5);
gRobot->init("../data/blueprints/robot1.xml", "Plastic/LightBlue",
0.5, robotTransform, 2);
gRobot->resetBodyAndCreateNewAgent();
gRobot->resetBodyAndSTM();
gRobot->randomizeState();
gRobot->getFLMotor()->setMaxTorque((opal::real)2);
gRobot->getFRMotor()->setMaxTorque((opal::real)2);
gRobot->getFLMotor()->setMaxVelocity(1000);
gRobot->getFRMotor()->setMaxVelocity(1000);
// Create the car.
opal::Matrix44r carTransform;
carTransform.translate(-12, 2, 4);
gCar = new Car(gEngine);
gCar->init("../data/blueprints/car1.xml", "Plastic/Blue", 1,
carTransform, 1);
//DataFile dataFile(mNumTrialsPerRun);
//updateOverlayData(trial);
//mAvgRewardPerStep = 0;
//mCurrentTrialTime = 0;
gAgentDebugger = new AgentVisualDebugger(gEngine.getSceneManager());
gAgentDebugger->setAgent(gRobot->getAgent());
gAgentDebugger->setDisplayEnabled(false);
Ogre::OverlayManager::getSingleton().getByName("Verve/Debug")->hide();
Ogre::OverlayManager::getSingleton().getByName("Core/DebugOverlay")->hide();
// Setup camera.
gEngine.getCamera()->setPosition(opal::Point3r(0, 25, 25));
gEngine.getCamera()->lookAt(opal::Point3r(0, (opal::real)0.1, 0));
gEngine.setCameraMoveSpeed(15);
setupEnvironment();
mainLoop();
delete gRobot;
delete gCar;
delete gAgentDebugger;
return 0;
}
