void Block::removeAllBlocks(){
while (getBlocks()->size()) {
getBlocks()->back()->removeFromParent();
getBlocks()->popBack();
}
}
/* \fn Timer32_1_ISR
* \param void
* \return void
* \brief Fonction d'interruption activé par le timer à chaque front montant, permet par la
* suite d'utiliser les deux caméras successivement.
*/
void Timer32_1_ISR(void)
{
int maxBlocks=1, k, j=0;
static int masterCam = 1, h=0;
// Lis les informations de l'objet
if (masterCam == 1){
k = getBlocks(maxBlocks, masterCam);
masterCam=2;
}
else if (masterCam == 2){
k = getBlocks(maxBlocks, masterCam);
masterCam=1;
}
j = asservissement();
if (j==1){
balayage();
}
// Affiche ces informations sur l'écran
printCoor();
if(h==25){
printRS232();
h=0;
}
h++;
}
int BlockMgr::findBlockedOverlaps(RecordKeyVector &keyList, RecordKeyVector &hitList, RecordKeyVector &resultList)
{
bool deleteKeyBlocks = false;
if (keyList.empty()) {
//get all the blocks for the query record, put them in it's list.
getBlocks(keyList, deleteKeyBlocks);
}
_overlapBases.clear();
int keyBlocksSumLength = getTotalBlockLength(keyList);
//Loop through every database record the query intersected with
for (RecordKeyVector::const_iterator_type hitListIter = hitList.begin(); hitListIter != hitList.end(); hitListIter = hitList.next()) {
RecordKeyVector hitBlocks(*hitListIter);
bool deleteHitBlocks = false;
getBlocks(hitBlocks, deleteHitBlocks); //get all blocks for the hit record.
int hitBlockSumLength = getTotalBlockLength(hitBlocks); //get total length of the bocks for the hitRecord.
int totalHitOverlap = 0;
bool hitHasOverlap = false;
//loop through every block of the database record.
for (RecordKeyVector::const_iterator_type hitBlockIter = hitBlocks.begin(); hitBlockIter != hitBlocks.end(); hitBlockIter = hitBlocks.next()) {
//loop through every block of the query record.
for (RecordKeyVector::const_iterator_type keyListIter = keyList.begin(); keyListIter != keyList.end(); keyListIter = keyList.next()) {
const Record *keyBlock = *keyListIter;
const Record *hitBlock = *hitBlockIter;
int maxStart = max(keyBlock->getStartPos(), hitBlock->getStartPos());
int minEnd = min(keyBlock->getEndPos(), hitBlock->getEndPos());
int overlap = minEnd - maxStart;
if (overlap > 0) {
hitHasOverlap = true;
totalHitOverlap += overlap;
}
}
}
if (hitHasOverlap) {
if ((float) totalHitOverlap / (float)keyBlocksSumLength >= _overlapFraction) {
if (_hasReciprocal &&
((float)totalHitOverlap / (float)hitBlockSumLength >= _overlapFraction)) {
_overlapBases.push_back(totalHitOverlap);
resultList.push_back(*hitListIter);
} else if (!_hasReciprocal) {
_overlapBases.push_back(totalHitOverlap);
resultList.push_back(*hitListIter);
}
}
}
if (deleteHitBlocks) {
deleteBlocks(hitBlocks);
}
}
if (deleteKeyBlocks) {
deleteBlocks(keyList);
}
resultList.setKey(keyList.getKey());
return (int)resultList.size();
}
void AppTSGoal::simulate(tgSimulation *simulation)
{
for (int i=0; i<nEpisodes; i++) {
fprintf(stderr,"Episode %d\n", i);
try
{
simulation->run(nSteps);
}
catch (std::runtime_error e)
{
// Nothing to do here, score will be set to -1
}
// Don't change the terrain before the last episode to avoid leaks
if (i != nEpisodes - 1)
{
if (all_terrain)
{
// Next run has Hills
if (i % nTypes == 0)
{
const tgHillyGround::Config hillGroundConfig = getHillyConfig();
tgBulletGround* ground = new tgHillyGround(hillGroundConfig);
simulation->reset(ground);
}
// Flat
else if (i % nTypes == 1)
{
const tgBoxGround::Config groundConfig = getBoxConfig();
tgBulletGround* ground = new tgBoxGround(groundConfig);
simulation->reset(ground);
}
// Flat with blocks
else if (i % nTypes == 2)
{
simulation->reset();
tgModel* obstacle = getBlocks();
simulation->addObstacle(obstacle);
}
}
else if(add_blocks)
{
simulation->reset();
tgModel* obstacle = getBlocks();
simulation->addObstacle(obstacle);
}
// Avoid resetting twice on the last run
else
{
simulation->reset();
}
}
}
}
int main()
{
getLeader();
getBlocks();
makeFlowGraph();
findGen();
findKill();
return 0;
}
QDomElement ExerciseWindow::getBlocks(const FCWidget *fc, QDomDocument &doc, QString Name)
{
int n = fc->layout()->count();
int i = 0;
QDomElement domElement = doc.createElement(Name);
while (i < n) {
QDomElement block;
QDomAttr attr = doc.createAttribute("text");
QString tag = fc->layout()->itemAt(i)->widget()->metaObject()->className();
if (tag != "FCLine" && tag != "FCLeftLine" && tag != "RightLine") {
block = doc.createElement(tag);
FCWidget *widget = (FCWidget*)fc->layout()->itemAt(i)->widget();
attr.setValue(widget->getText());
block.setAttributeNode(attr);
domElement.appendChild(block);
if (tag == "FCDivarWidget") {
FCDivarWidget *divar = (FCDivarWidget*)widget;
QDomElement left = getBlocks(divar->getRightLine(), doc, "Left");
QDomElement right = getBlocks(divar->getLeftLine(), doc, "Right");
block.appendChild(left);
block.appendChild(right);
}
else if (tag == "FCPrefixCycleWidget") {
FCPrefixCycleWidget *cycle = (FCPrefixCycleWidget*)widget;
QDomElement body = getBlocks(cycle->getCycleBody(), doc, "Body");
block.appendChild(body);
}
else if (tag == "FCPostfixCycleWidget") {
FCPostfixCycleWidget *cycle = (FCPostfixCycleWidget*)widget;
QDomElement body = getBlocks(cycle->getCycleBody(), doc, "Body");
block.appendChild(body);
}
else if (tag == "FCParameterCycleWidget") {
FCParameterCycleWidget *cycle = (FCParameterCycleWidget*)widget;
QDomElement body = getBlocks(cycle->getCycleBody(), doc, "Body");
block.appendChild(body);
}
}
i++;
}
return domElement;
}
rxcpp::observable<model::Transaction> StorageImpl::getAccountTransactions(
std::string account_id) {
std::shared_lock<std::shared_timed_mutex> write(rw_lock_);
auto last_id = block_store_->last_id();
return getBlocks(1, last_id)
.flat_map([](auto block) {
return rxcpp::observable<>::iterate(block.transactions);
})
.filter([account_id](auto tx) {
return tx.creator_account_id == account_id;
});
}
int HexReader::readBlockMeshDict(QTextStream *in)
{
fileContents = readFileContents(in);
//Read vertices
getVertices();
getBlocks();
getBCs();
getEdges();
return 0;
}
int_list *gen(analysis_block *ablock){
if(ablock != NULL)
{
block* b = getBlockWithLabel(getBlocks(),ablock->label);
if(b != NULL)
{
switch(b->bType)
{
case B_SKIP:
return NULL; break;
case B_BOOL_EXP:
case B_ASSIGN:
return free_variables(b);
break;
}
}
}
return NULL;
}
void VideoCommunication::transmit(){
std::string windowName = "Broadcating Video Stream";
cv::namedWindow( windowName, CV_WINDOW_FREERATIO);
videoSource.grab();
videoSource.retrieve(sendFrame);
int blocks_sent = 0;
//unsigned long t1;
do{
//t1 = clock();
getBlocks(sendFrame);
blocks_sent = sendBlocks();
//printf("Blocks sent: %d\n", blocks_sent);
cv::imshow( windowName, sendFrame ); // visualize frame to be set
if( cv::waitKey(33) >= 0 ) break;
sendFrame.release();
videoSource.grab();
//printf("%lf\n",(double)(clock() - t1)/CLOCKS_PER_SEC);
}while (videoSource.retrieve(sendFrame));
}
int_list *kill(analysis_block *ablock)
{
if(ablock != NULL)
{
block* b = getBlockWithLabel(getBlocks(),ablock->label);
if(b != NULL)
{
switch(b->bType)
{
case B_SKIP:
case B_BOOL_EXP:
return NULL;
break;
case B_ASSIGN:
return mk_int_list(b->assignedVar,NULL);
break;
}
}
}
return NULL;
}
void ExerciseWindow::toCode()
{
QDomDocument doc("flowchart");
QDomElement domElement = getBlocks(wdg, doc);
doc.appendChild(domElement);
//qDebug()<<doc.toString();
QTextStream text;
QString line_text;
text.setString(&line_text);
//text.setDevice(doc.toString());
QString name = windowTitle();
int n = name.indexOf(".xml");
if (n > 0) {
name = QString::fromStdString((name.toStdString()).substr(0, name.length() - 4));
}
text << "void " << name << "()";
XMLtoCode(text, domElement, 5);
ui->textBrowser_2->setPlainText(text.readAll());
}
int main(int argc, char** argv, char** enp)
{
BLOCK_LIST_T blockList;
BLOCK_T* pBlock;
char plainText[] = "This is plaintext and this is not a jokes";
int result = 0;
int i = 0;
blockList.head = NULL;
blockList.tail = NULL;
result = getBlocks(plainText, strlen(plainText), &blockList);
if (result > 0)
{
printf("Error getting blocks: %d\n", result);
}
/* Print the blocks */
pBlock = blockList.head;
while (pBlock != NULL)
{
printf("Block: [%s]\n", pBlock->pBlockText);
pBlock = pBlock->pNext;
}
result = deleteBlocks(&blockList);
if (result > 0)
{
printf("Error deleting list: %d\n", result);
}
return 0;
}
int BlockMgr::findBlockedOverlaps(RecordKeyVector &hitList, bool useOverlappingSubBlocks)
{
RecordKeyVector keyList(hitList.getKey());
bool deleteKeyBlocks = true;
getBlocks(keyList, deleteKeyBlocks);
_overlapBases.clear();
int keyBlocksSumLength = getTotalBlockLength(keyList);
//Loop through every database record the query intersected with
RecordKeyVector::iterator_type hitListIter = hitList.begin();
for (; hitListIter != hitList.end();)
{
RecordKeyVector hitBlocks(*hitListIter);
bool deleteHitBlocks = false;
getBlocks(hitBlocks, deleteHitBlocks); //get all blocks for the hit record.
int hitBlockSumLength = getTotalBlockLength(hitBlocks); //get total length of the bocks for the hitRecord.
int totalHitOverlap = 0;
bool hitHasOverlap = false;
//loop through every block of the database record.
RecordKeyVector::iterator_type hitBlockIter = hitBlocks.begin();
for (; hitBlockIter != hitBlocks.end(); hitBlockIter = hitBlocks.next())
{
//loop through every block of the query record.
RecordKeyVector::iterator_type keyListIter = keyList.begin();
for (; keyListIter != keyList.end(); keyListIter = keyList.next())
{
const Record *keyBlock = *keyListIter;
const Record *hitBlock = *hitBlockIter;
int maxStart = max(keyBlock->getStartPos(), hitBlock->getStartPos());
int minEnd = min(keyBlock->getEndPos(), hitBlock->getEndPos());
int overlap = minEnd - maxStart;
if (overlap > 0)
{
hitHasOverlap = true;
totalHitOverlap += overlap;
if (useOverlappingSubBlocks == true)
{
(*hitListIter)->block_starts.push_back(maxStart);
(*hitListIter)->block_ends.push_back(minEnd);
}
}
}
}
if (hitHasOverlap && useOverlappingSubBlocks == false)
{
bool enoughKeyOverlap = (float) totalHitOverlap / (float) keyBlocksSumLength >= _overlapFraction;
bool enoughHitOverlap = (float) totalHitOverlap / (float) hitBlockSumLength >= _overlapFraction;
if (enoughKeyOverlap)
{
if (_hasReciprocal && enoughHitOverlap)
{
//(*hitListIter)->setValid(true);
_overlapBases.push_back(totalHitOverlap);
hitListIter = hitList.next();
}
else if (_hasReciprocal && !enoughHitOverlap)
{
hitList.erase();
//(*hitListIter)->setValid(false);
}
else if (!_hasReciprocal)
{
//(*hitListIter)->setValid(true);
_overlapBases.push_back(totalHitOverlap);
hitListIter = hitList.next();
}
}
else
{
hitList.erase();
//(*hitListIter)->setValid(false);
}
}
else if (!hitHasOverlap && useOverlappingSubBlocks == false)
{
hitList.erase();
//(*hitListIter)->setValid(false);
}
else {
hitListIter = hitList.next();
}
if (deleteHitBlocks)
{
deleteBlocks(hitBlocks);
}
} // end for loop through main hits
if (deleteKeyBlocks)
{
deleteBlocks(keyList);
}
return (int)hitList.size();
}
Block& BufferManager::getIndexOneBlock(string indexName, int offset) {
return getBlocks(offset);
}
int MumuFile::getSize()
{
return getBlocks().size();
}
bool AppGoalOnline::setup()
{
// First create the world
world = createWorld();
// Second create the view
if (use_graphics)
view = createGraphicsView(world); // For visual experimenting on one tensegrity
else
view = createView(world); // For running multiple episodes
// Third create the simulation
simulation = new tgSimulation(*view);
// Fourth create the models with their controllers and add the models to the
// simulation
/// @todo add position and angle to configuration
/// @todo Generalize angle code
FlemonsSpineModelGoal* myModel =
new FlemonsSpineModelGoal(nSegments, 0.0);
// Fifth create the controllers, attach to model
if (add_controller)
{
const int segmentSpan = 3;
const int numMuscles = 8;
const int numParams = 2;
const int segNumber = 0; // For learning results
const double controlTime = .01;
const double lowPhase = -1 * M_PI;
const double highPhase = M_PI;
const double lowAmplitude = 0.0;
const double highAmplitude = 300.0;
const double kt = 0.0;
const double kp = 1000.0;
const double kv = 200.0;
const bool def = true;
// Overridden by def being true
const double cl = 10.0;
const double lf = 0.0;
const double hf = 30.0;
// Feedback parameters
const double ffMin = -0.5;
const double ffMax = 10.0;
const double afMin = 0.0;
const double afMax = 200.0;
const double pfMin = -0.5;
const double pfMax = 6.28;
const double tensionFeedback = 1000.0;
// How often to check/change the controller during online learning
const double feedbackTime = 3.0;
SpineOnlineControl::Config control_config(segmentSpan,
numMuscles,
numMuscles,
numParams,
segNumber,
controlTime,
lowAmplitude,
highAmplitude,
lowPhase,
highPhase,
kt,
kp,
kv,
def,
cl,
lf,
hf,
ffMin,
ffMax,
afMin,
afMax,
pfMin,
pfMax,
tensionFeedback,
feedbackTime
);
/// @todo fix memory leak that occurs here
SpineOnlineControl* const myControl =
new SpineOnlineControl(control_config, suffix, "bmirletz/TetrahedralComplex_Online/");
myModel->attach(myControl);
}
// Sixth add model & controller to simulation
simulation->addModel(myModel);
if (add_blocks)
{
tgModel* blockField = getBlocks();
simulation->addObstacle(blockField);
}
bSetup = true;
return bSetup;
}
bool AppMultiTerrain_OC::setup()
{
// First create the world
world = createWorld();
// Second create the view
if (use_graphics)
view = createGraphicsView(world); // For visual experimenting on one tensegrity
else
view = createView(world); // For running multiple episodes
// Third create the simulation
simulation = new tgSimulation(*view);
// Fourth create the models with their controllers and add the models to the
// simulation
// TODO properly add this to the header info and learning apparatus
double goalAngle = -M_PI / 2.0;
/// @todo add position and angle to configuration
OctahedralComplex* myModel =
new OctahedralComplex(nSegments, goalAngle);
// Fifth create the controllers, attach to model
if (add_controller)
{
const int segmentSpan = 3;
const int numMuscles = 4;
const int numParams = 2;
const int segNumber = 0; // For learning results
const double controlTime = .01;
const double lowPhase = -1 * M_PI;
const double highPhase = M_PI;
const double lowAmplitude = 0.0;
const double highAmplitude = 300.0;
const double kt = 0.0;
const double kp = 1000.0;
const double kv = 210.0;
const bool def = true;
// Overridden by def being true
const double cl = 10.0;
const double lf = 0.0;
const double hf = 30.0;
// Feedback parameters
const double ffMin = -0.5;
const double ffMax = 10.0;
const double afMin = 0.0;
const double afMax = 200.0;
const double pfMin = -0.5;
const double pfMax = 6.28;
const double tensionFeedback = 1000.0;
#if (1)
JSONGoalControl::Config control_config(segmentSpan,
numMuscles,
numMuscles,
numParams,
segNumber,
controlTime,
lowAmplitude,
highAmplitude,
lowPhase,
highPhase,
kt,
kp,
kv,
def,
cl,
lf,
hf,
ffMin,
ffMax,
afMin,
afMax,
pfMin,
pfMax,
tensionFeedback
);
/// @todo fix memory leak that occurs here
OctahedralGoalControl* const myControl =
new OctahedralGoalControl(control_config, suffix, "bmirletz/OctaCL_6/");
#else
SpineFeedbackControl::Config control_config(segmentSpan,
numMuscles,
numMuscles,
numParams,
segNumber,
controlTime,
lowAmplitude,
highAmplitude,
lowPhase,
highPhase,
kt,
kp,
kv,
def,
cl,
lf,
hf,
ffMin,
ffMax,
afMin,
afMax,
pfMin,
pfMax);
SpineFeedbackControl* const myControl =
new SpineFeedbackControl(control_config, suffix, "bmirletz/OctaCL_6/");
#endif
myModel->attach(myControl);
}
// Sixth add model & controller to simulation
simulation->addModel(myModel);
if (add_blocks)
{
tgModel* blockField = getBlocks();
simulation->addObstacle(blockField);
}
bSetup = true;
return bSetup;
}
bool AppGoalTension::setup()
{
// First create the world
world = createWorld();
// Second create the view
if (use_graphics)
view = createGraphicsView(world); // For visual experimenting on one tensegrity
else
view = createView(world); // For running multiple episodes
// Third create the simulation
simulation = new tgSimulation(*view);
// Fourth create the models with their controllers and add the models to the
// simulation
#if (0)
startAngle = ((rand() / (double)RAND_MAX) - 0.5) * 3.1415;
#endif
FlemonsSpineModelGoal* myModel =
new FlemonsSpineModelGoal(nSegments, goalAngle, startAngle);
// Fifth create the controllers, attach to model
if (add_controller)
{
Json::Value root; // will contains the root value after parsing.
Json::Reader reader;
std::string resourcePath = "bmirletz/TC_Tension/";
std::string controlFilePath = FileHelpers::getResourcePath(resourcePath);
std::string controlFilename = controlFilePath + suffix;
bool parsingSuccessful = reader.parse( FileHelpers::getFileString(controlFilename.c_str()), root );
if ( !parsingSuccessful )
{
// report to the user the failure and their locations in the document.
std::cout << "Failed to parse configuration\n"
<< reader.getFormattedErrorMessages();
throw std::invalid_argument("Bad filename for JSON");
}
// Get the value of the member of root named 'encoding', return 'UTF-8' if there is no
// such member.
Json::Value impedenceVals = root.get("impedenceVals", "UTF-8");
impedenceVals = impedenceVals.get("params", "UTF-8");
// Keep drilling if necessary
if (impedenceVals[0].isArray())
{
impedenceVals = impedenceVals[0];
}
const double impedanceMax = 2000.0;
const int segmentSpan = 3;
const int numMuscles = 8;
const int numParams = 2;
const int segNumber = 5; // For learning results
const double controlTime = .01;
const double lowPhase = -1 * M_PI;
const double highPhase = M_PI;
const double lowAmplitude = 0.0;
const double highAmplitude = 300.0;
// JSONCPP's .get really wants this to be typed...
int j = 0;
const double kt = impedanceMax * (impedenceVals.get(j, 0.0)).asDouble();
const double kp = impedanceMax * (impedenceVals.get(1, 0.0)).asDouble();
const double kv = impedanceMax * (impedenceVals.get(2, 0.0)).asDouble();
const bool def = true;
// Overridden by def being true
const double cl = 10.0;
const double lf = 0.0;
const double hf = 30.0;
// Feedback parameters
const double ffMin = -10.0;
const double ffMax = 10.0;
const double afMin = 0.0;
const double afMax = 200.0;
const double pfMin = 0.0;
const double pfMax = 0.0;
const double tensionFeedback = impedanceMax *(impedenceVals.get(3, 0.0)).asDouble();
JSONGoalControl::Config control_config(segmentSpan,
numMuscles,
numMuscles,
numParams,
segNumber,
controlTime,
lowAmplitude,
highAmplitude,
lowPhase,
highPhase,
kt,
kp,
kv,
def,
cl,
lf,
hf,
ffMin,
ffMax,
afMin,
afMax,
pfMin,
pfMax,
tensionFeedback
);
/// @todo fix memory leak that occurs here
JSONGoalTension* const myControl =
new JSONGoalTension(control_config, suffix, resourcePath);
myModel->attach(myControl);
}
// Sixth add model & controller to simulation
simulation->addModel(myModel);
if (add_blocks)
{
tgModel* blockField = getBlocks();
simulation->addObstacle(blockField);
}
bSetup = true;
return bSetup;
}
void Cterrain::getBlocks(int jmin,int jmax,int imin,int imax,int curDepth)
{
//检查当前节点是否与视截体相交--abc
//求节点p所表示区域的保守包围盒--abc
// 上面--abc
// p[0]--p[3]
// | |
// p[1]--p[2]
// 下面--abc
// p[4]--p[7]
// | |
// p[5]--p[6]
float xmin=m_range.getMinX()+gridSize*jmin;
float xmax=m_range.getMinX()+gridSize*jmax;
float zmin=m_range.getMinZ()+gridSize*imin;
float zmax=m_range.getMinZ()+gridSize*imax;
float ymin=m_range.getMinY();
float ymax=m_range.getMaxY();
float c[3]={(xmax+xmin)/2,(ymin+ymax)/2,(zmin+zmax)/2};
float r=max(xmax-xmin,ymax-ymin)*0.86602540378443864676372317075294;//由于zmax-zmin与xmax-xmin相等,所以不用考虑--abc
//看球体(c,r)是否都在planeList中某个面的反面,如果是则可剔除--abc
bool visible=true;
for(int i=0;i<5;i++){//不考虑远平面--abc
const Cc3dPlane&plane=this->getMesh()->getSubMeshByIndex(0)->getCamera()->getFrustum().getPlaneByIndex(i);
//看球体(c,r)是否在plane的背面--abc
float PND=directedDistanceFromPointToPlane(plane, c);
if(PND<-r){//如果在背面--abc
//断定为不可见,不用再继续检测--abc
visible=false;
break;
}
}//得到visible
if(visible){//如果可见--abc
bool needDiv=false;//是否需要再分--abc
//求needDiv
if(imin+1==imax){//无须再分,因为已经无法再分--abc
needDiv=false;
}else{//进一步判断--abc
//求c到视点的距离--abc
float d2=square(this->getMesh()->getSubMeshByIndex(0)->getCamera()->getEyePos().x()-c[0])
/// +square(this->getMesh()->getSubMeshByIndex(0)->getCamera()->getEyePos().y()-c[1])
+square(this->getMesh()->getSubMeshByIndex(0)->getCamera()->getEyePos().z()-c[2]);
float e=xmax-xmin;//边长--abc
if(d2<square(e*reso))needDiv=true;
}//得到needDiv
if(needDiv){//继续分--abc
int imid=(imin+imax)>>1;//除2
int jmid=(jmin+jmax)>>1;
markmat[imid][jmid]=true;
markedElementIndexList.push_back(Cij(imid,jmid));
//对四个孩子继续递归--abc
getBlocks(jmin,jmid,imin,imid,curDepth+1);
getBlocks(jmin,jmid,imid,imax,curDepth+1);
getBlocks(jmid,jmax,imid,imax,curDepth+1);
getBlocks(jmid,jmax,imin,imid,curDepth+1);
}else{//不分--abc
CterrainBlock block(imin,imax,jmin,jmax);
m_blockList.push_back(block);
}
}
bool AppTSGoal::setup()
{
// First create the world
const double scale = 100;
world = createWorld();
// Second create the view
if (use_graphics)
view = createGraphicsView(world); // For visual experimenting on one tensegrity
else
view = createView(world); // For running multiple episodes
// Third create the simulation
simulation = new tgSimulation(*view);
// Fourth create the models with their controllers and add the models to the
// simulation
/// @todo add position and angle to configuration
TetraSpineGoal* myModel =
new TetraSpineGoal(nSegments, 0.0, scale);
// Fifth create the controllers, attach to model
if (add_controller)
{
const int segmentSpan = 3;
const int numMuscles = 6;
const int numParams = 2;
const int segNumber = 5; // For learning results
const double controlTime = .01;
const double lowPhase = -1 * M_PI;
const double highPhase = M_PI;
const double lowAmplitude = 0.0;
const double highAmplitude = 300.0;
const double kt = 0.0;
const double kp = 1000.0;
const double kv = 200.0;
const bool def = true;
// Overridden by def being true
const double cl = 10.0;
const double lf = 0.0;
const double hf = 30.0;
// Feedback parameters
const double ffMin = -0.5;
const double ffMax = 10.0;
const double afMin = 0.0;
const double afMax = 200.0;
const double pfMin = -0.5;
const double pfMax = 6.28;
const double tensionFeedback = 1000.0;
#if (0) // Switch for .nnw or JSON based methods
JSONGoalControl::Config control_config(segmentSpan,
numMuscles,
numMuscles,
numParams,
segNumber,
controlTime,
lowAmplitude,
highAmplitude,
lowPhase,
highPhase,
kt,
kp,
kv,
def,
cl,
lf,
hf,
ffMin,
ffMax,
afMin,
afMax,
pfMin,
pfMax,
tensionFeedback
);
/// @todo fix memory leak that occurs here
JSONGoalControl* const myControl =
new JSONGoalControl(control_config, suffix, "bmirletz/Tetra_Goal/");
#else
JSONFeedbackControl::Config control_config(segmentSpan,
numMuscles,
numMuscles,
numParams,
segNumber,
controlTime,
lowAmplitude,
highAmplitude,
lowPhase,
highPhase,
kt,
kp,
kv,
def,
cl,
lf,
hf,
ffMin,
ffMax,
afMin,
afMax,
pfMin,
pfMax);
/// @todo fix memory leak that occurs here
JSONFeedbackControl * const myControl =
new JSONFeedbackControl(control_config, suffix, "bmirletz/Tetra_Goal/");
#endif
myModel->attach(myControl);
}
// Sixth add model & controller to simulation
simulation->addModel(myModel);
if (add_blocks)
{
tgModel* blockField = getBlocks();
simulation->addObstacle(blockField);
}
bSetup = true;
return bSetup;
}
bool AppQuadControl::setup()
{
// First create the world
world = createWorld();
// Second create the view
if (use_graphics)
view = createGraphicsView(world); // For visual experimenting on one tensegrity
else
view = createView(world); // For running multiple episodes
// Third create the simulation
simulation = new tgSimulation(*view);
// Fourth create the models with their controllers and add the models to the
// simulation
/// @todo add position and angle to configuration
//FlemonsSpineModelContact* myModel =
//new FlemonsSpineModelContact(nSegments);
//Parameters for the structure:
const int segments = 7;
const int hips = 4;
const int legs = 4;
const int feet = 4;
BigPuppySymmetric* myModel = new BigPuppySymmetric(segments, hips, legs, feet);
// Fifth create the controllers, attach to model
if (add_controller)
{
const int segmentSpan = 3; //Not sure what this will be for mine!
const int numMuscles = 8; //This may be ok, but confirm.
const int numParams = 2;
const int segNumber = 0; // For learning results
const double controlTime = .01;
const double lowPhase = -1 * M_PI;
const double highPhase = M_PI;
const double lowAmplitude = 0.0;
const double highAmplitude = 300.0;
const double kt = 0.0; //May need to retune kt, kp, and kv
const double kp = 1000.0;
const double kv = 200.0;
const bool def = true;
// Overridden by def being true
const double cl = 10.0;
const double lf = 0.0;
const double hf = 30.0;
// Feedback parameters... may need to retune
const double ffMin = -0.5;
const double ffMax = 10.0;
const double afMin = 0.0;
const double afMax = 200.0;
const double pfMin = -0.5;
const double pfMax = 6.28;
const double maxH = 60.0;
const double minH = 1.0;
JSONQuadFeedbackControl::Config control_config(segmentSpan,
numMuscles,
numMuscles,
numParams,
segNumber,
controlTime,
lowAmplitude,
highAmplitude,
lowPhase,
highPhase,
kt,
kp,
kv,
def,
cl,
lf,
hf,
ffMin,
ffMax,
afMin,
afMax,
pfMin,
pfMax,
maxH,
minH);
/// @todo fix memory leak that occurs here
JSONQuadFeedbackControl* const myControl =
new JSONQuadFeedbackControl(control_config, suffix, lowerPath);
#if (0)
tgCPGJSONLogger* const myLogger =
new tgCPGJSONLogger("logs/CPGValues.txt");
myControl->attach(myLogger);
#endif
myModel->attach(myControl);
}
// Sixth add model & controller to simulation
simulation->addModel(myModel);
if (add_blocks)
{
tgModel* blockField = getBlocks();
simulation->addObstacle(blockField);
}
bSetup = true;
return bSetup;
}
