// starting function (executed once at the beginning of the simulation loop)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
setCameraHomePos(Pos(5.2728, 7.2112, 3.31768), Pos(140.539, -13.1456, 0));
// initialization
// - set noise to 0.1
// - register file chess.ppm as a texture called chessTexture (used for the wheels)
global.odeConfig.noise=0.05;
// global.odeConfig.setParam("gravity", 0);
global.odeConfig.setParam("controlinterval", 5);
global.odeConfig.setParam("simstepsize", 0.01);
// use Playground as boundary:
OctaPlayground* playground = new OctaPlayground(odeHandle, osgHandle, osg::Vec3(11, 0.2, 1), 12);
playground->setPosition(osg::Vec3(0,0,0)); // playground positionieren und generieren
global.obstacles.push_back(playground);
/*
for(int i=0; i<50; i++){
PassiveSphere* s = new PassiveSphere(odeHandle, osgHandle.changeColor(Color(0.0,1.0,0.0)), 0.5);
s->setPosition(osg::Vec3(-4+(i/10),-4+(i%10),1));
global.obstacles.push_back(s);
}
*/
OdeRobot* nimm2;
// AbstractController* contrl;
AbstractWiring* wiring;
OdeAgent* agent;
Nimm2Conf conf = Nimm2::getDefaultConf();
conf.speed=10;
conf.force=1.0;
//conf.bumper=true;
//conf.cigarMode=true;
//conf.irFront=true;
//conf.irBack=true;
wiring = new One2OneWiring(new ColorUniformNoise(0.1));
//controller = new InvertMotorNStep();
controller = new InvertNChannelController(10);
// controller = new InvertMotorSpace(10);
agent = new OdeAgent(global);
nimm2 = new Nimm2(odeHandle, osgHandle, conf, "Nimm2Yellow");
nimm2->setColor(Color(1.0,1.0,0));
global.configs.push_back(controller);
agent->init(controller, nimm2, wiring);
/* controller->setParam("adaptrate", 0.000);
controller->setParam("nomupdate", 0.0005);
controller->setParam("epsA", 0.01);
controller->setParam("epsC", 0.05);
controller->setParam("rootE", 0);
controller->setParam("steps", 2);
controller->setParam("s4avg", 5);
controller->setParam("s4del", 5);
controller->setParam("factorB",0);*/
controller->setParam("eps",0.1);
controller->setParam("factor_a",0.01);
nimm2->place(Pos(2.5,1.26,0));
global.agents.push_back(agent);
}
// starting function (executed once at the beginning of the simulation loop)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
setCameraHomePos(Pos(5.2728, 7.2112, 3.31768), Pos(140.539, -13.1456, 0));
// initialization
// - set global noise sensor to 0.05
global.odeConfig.setParam("noise",0.05);
// global.odeConfig.setParam("gravity", 0); // no gravity
// 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 initial position of the playground: setPosition(osg::Vec3(double x, double y, double z))
// - push playground to the global list of obstacles (global list comes from simulation.cpp)
OctaPlayground* playground = new OctaPlayground(odeHandle, osgHandle, osg::Vec3(10, 0.2, 1), 12);
playground->setPosition(osg::Vec3(0,0,0)); // place and create playground
global.obstacles.push_back(playground);
// add passive spheres as obstacles
// - 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
// - add sphere to list of obstacles
for(int i=0; i<8; i++){
PassiveSphere* s = new PassiveSphere(odeHandle, osgHandle.changeColor(Color(0.0,1.0,0.0)), 0.5);
s->setPosition(osg::Vec3(5,0,i*3));
global.obstacles.push_back(s);
}
// Spherical Robot with axis (gyro) sensors:
// - get default configuration for robot
// - create pointer to spherical robot (with odeHandle, osgHandle and configuration)
// - place robot (unfortunatelly there is a type cast necessary, which is not quite understandable)
Sphererobot3MassesConf conf = Sphererobot3Masses::getDefaultConf();
conf.addSensor(std::make_shared<Sensor>(AxisOrientationSensor(AxisOrientationSensor::ZProjection)));
conf.diameter=1.0;
conf.pendularrange= 0.35;
robot = new Sphererobot3Masses ( odeHandle, osgHandle.changeColor(Color(1.0,0.0,0)),
conf, "Spherical", 0.2);
(robot)->place ( Pos( 0 , 0 , 0.1 ));
// Selforg - Controller (Note there are several: use Sos or Sox now)
// create pointer to controller
// set some parameters
// push controller in global list of configurables
controller = new InvertMotorSpace(10);
controller->setParam("epsA",0.05); // model learning rate
controller->setParam("epsC",0.2); // controller learning rate
controller->setParam("rootE",3); // model and contoller learn with square rooted error
global.configs.push_back ( controller );
// SineController (produces just sine waves)
// controller = new SineController();
// controller->setParam("sinerate", 40);
// controller->setParam("phaseshift", 0.0);
// create pointer to one2onewiring which uses colored-noise
One2OneWiring* wiring = new One2OneWiring ( new ColorUniformNoise() );
// create pointer to agent
// initialize pointer with controller, robot and wiring
// push agent in globel list of agents
OdeAgent* agent = new OdeAgent ( global );
agent->init ( controller , robot , wiring );
if(track){
// the following line will enables a position tracking of the robot, which is written into a file
// you can customize what is logged with the TrackRobotConf
TrackRobotConf tc = TrackRobot::getDefaultConf();
tc.scene = "zaxis";
tc.displayTrace = true;
agent->setTrackOptions(TrackRobot(tc));
}
global.agents.push_back ( agent );
}
