void UCK::makeUCK(const Molecule& m)
{
vector<String> v, pairs, lambda_map;
PairVector e; // edge set
SizeVector sp;
getGraph(v, e, m);
for(Size i=0; i!=v.size(); ++i)
{
lambda_map.push_back(lambda("", e, v, i, depth_));
}
makePathMatrix(e, sp, v.size());
makePairs(lambda_map, pairs, sp);
createFinalString(pairs);
return;
}
void RibModelMixedContact::setup(tgWorld& world)
{
double v_size = 3.0;
// Create the spinal processes
tgStructure vertebrae;
addNodes(vertebrae, v_size);
addPairs(vertebrae);
// Move the first one so we can create a longer snake.
// Or you could move the snake at the end, up to you.
vertebrae.move(btVector3(0.0, 2 * v_size, v_size * m_segments));
// Create ribs and add them to the vertebrae
double majorAxis = 6.0;
double minorAxis = 4.0;
double startTheta = M_PI / 2.0;
double endTheta = 5.0 * M_PI / 4.0;
size_t segs = 15;
tgStructure ribs;
ellipseNodes(ribs, majorAxis, minorAxis, startTheta, endTheta, segs);
makePairs(ribs);
#if (0) // Attempt at compliant rib attachments
ribs.move(btVector3(v_size / 3.0, 2 * v_size - minorAxis, v_size * m_segments));
#else
ribs.move(btVector3(0.0, 2 * v_size - minorAxis -.3, v_size * m_segments));
#endif
// Create our snake segments
tgStructure snake;
addSegments(snake, vertebrae, ribs, v_size, m_segments);
snake.move(btVector3(0.0, majorAxis, 0.0));
addMuscles(snake);
// Create the build spec that uses tags to turn the structure into a real model
// Note: This needs to be high enough or things fly apart...
const double density = 4.2 / 300.0;
const double radius = 0.5;
const double friction = 0.5; // Default is 0.5
const double rollFriction = 0.5; // Default is 0.0
const double restitution = 0.0; // Default
const tgRod::Config rodConfig(radius, density, friction, rollFriction, restitution);
tgBuildSpec spec;
spec.addBuilder("rod", new tgRodInfo(rodConfig));
const double elasticity = 500.0;
const double elasticityAct = 1000.0;
const double damping = 5.0;
const double dampingAct = 10.0;
const double pretension = 0.0;
const bool history = true;
const double maxTens = 1000.0;
const double maxTensAct = 7000.0;
const double maxSpeed = 100.0;
const double maxSpeedAct = 24.0;
const double mRad = 1.0;
const double motorFriction = 10.0;
const double motorInertia = 1.0;
const bool backDrivable = false;
#if (0) //Replacing with tgKinematicActuator, leaving option to turn it off. 9/9/15.
tgKinematicActuator::Config muscleConfig(elasticity, damping, pretension,
mRad, motorFriction, motorInertia, backDrivable,
history, maxTens, maxSpeed);
spec.addBuilder("muscle", new tgKinematicContactCableInfo(muscleConfig));
tgKinematicActuator::Config muscleConfigAct(elasticityAct, dampingAct, pretension,
mRad, motorFriction, motorInertia, backDrivable,
history, maxTensAct, maxSpeedAct);
spec.addBuilder("muscleAct", new tgKinematicContactCableInfo(muscleConfigAct));
#else
tgSpringCableActuator::Config muscleConfig(elasticity, damping, pretension, history);
spec.addBuilder("muscle", new tgBasicContactCableInfo(muscleConfig));
/// @todo acceleration constraint was removed on 12/10/14 Replace with tgKinematicActuator as appropreate
tgSpringCableActuator::Config muscleConfigAct(elasticityAct, dampingAct, pretension, history, 7000, 24);
spec.addBuilder("muscleAct", new tgBasicContactCableInfo(muscleConfigAct));
#endif
#if (0) // Compliant Rib Attachments
const double stiffness = 1000;
const double damping = .01 * stiffness;
tgSpringCableActuator::Config muscleConfig1(stiffness, damping, -M_PI / 2.0);
tgSpringCableActuator::Config muscleConfig2(stiffness, damping, M_PI / 2.0);
tgSpringCableActuator::Config muscleConfig3(stiffness, damping, M_PI);
tgSpringCableActuator::Config muscleConfig4(stiffness, damping, 0);
spec.addBuilder("multiMuscle", new tgBasicActuatorInfo(muscleConfig1));
spec.addBuilder("multiMuscle", new tgBasicActuatorInfo(muscleConfig2));
spec.addBuilder("multiMuscle", new tgBasicActuatorInfo(muscleConfig3));
spec.addBuilder("multiMuscle", new tgBasicActuatorInfo(muscleConfig4));
#endif
// Create your structureInfo
tgStructureInfo structureInfo(snake, spec);
// Use the structureInfo to build ourselves
structureInfo.buildInto(*this, world);
// We could now use tgCast::filter or similar to pull out the models (e.g. muscles)
// that we want to control.
m_allMuscles = find<tgSpringCableActuator> ("muscleAct");
m_allSegments = find<tgModel> ("segment");
#if (0)
trace(structureInfo, *this);
#endif
// Actually setup the children
BaseSpineModelLearning::setup(world);
}
HandPairCollection::HandPairCollection( const cv::PCA &pca,
const ContourSet &singles ) {
makePairs( pca, singles );
}
