C++ (Cpp) BaseSpineModelLearning::getNumberofMuslces示例

示例#1

文件： JSONCPGControl.cpp 项目： CarlosManriquez/NTRTsim

void JSONCPGControl::onStep(BaseSpineModelLearning& subject, double dt)
{
    m_updateTime += dt;
    if (m_updateTime >= m_config.controlTime)
    {
        std::size_t numControllers = subject.getNumberofMuslces();
        
        double descendingCommand = 2.0;
        std::vector<double> desComs (numControllers, descendingCommand);
        
        m_pCPGSys->update(desComs, m_updateTime);
#ifdef LOGGING // Conditional compile for data logging        
        m_dataObserver.onStep(subject, m_updateTime);
#endif
		notifyStep(m_updateTime);
        m_updateTime = 0;
    }
    
    double currentHeight = subject.getSegmentCOM(m_config.segmentNumber)[1];
    
    /// @todo add to config
    if (currentHeight > 25 || currentHeight < 1.0)
    {
		/// @todo if bogus, stop trial (reset simulation)
		bogus = true;
	}
}

示例#2

文件： JSONGoalTensionNNW.cpp 项目： CarlosManriquez/NTRTsim

void JSONGoalTensionNNW::onStep(BaseSpineModelLearning& subject, double dt)
{
    m_updateTime += dt;
    m_totalTime += dt;
    double currentHeight = subject.getSegmentCOM(m_config.segmentNumber)[1];
    
    if (m_updateTime >= m_config.controlTime)
    {
        
        
#if (1) // Goal and cable

    std::vector<double> desComs = getFeedback(subject);
    
    const BaseSpineModelGoal* goalSubject = tgCast::cast<BaseSpineModelLearning, BaseSpineModelGoal>(subject);
    
    getGoalFeedback(goalSubject);
    
#else // Just goal
    std::size_t numControllers = subject.getNumberofMuslces() * 3;
    
    double descendingCommand = 0.0;
    std::vector<double> desComs (numControllers, descendingCommand);
    
    const BaseSpineModelGoal* goalSubject = tgCast::cast<BaseSpineModelLearning, BaseSpineModelGoal>(subject);
        
    getGoalFeedback(goalSubject);
    
#endif       
        try
        {
            m_pCPGSys->update(desComs, m_updateTime);
        }
        catch (std::runtime_error& e)
        {
            //  Stops the trial immediately,  lets teardown know it broke
            bogus = true;
            throw (e);
        }
        
#ifdef LOGGING // Conditional compile for data logging        
        m_dataObserver.onStep(subject, m_updateTime);
#endif
		notifyStep(m_updateTime);
        m_updateTime = 0;
        //std::cout << m_totalTime << " " << currentHeight<< std::endl;
    }
    
    
#if (0)

    /// @todo add to config
    if (currentHeight > 25 || currentHeight < 1.0)
    {
		/// @todo if bogus, stop trial (reset simulation)
		bogus = true;
		throw std::runtime_error("Height out of range");
	}
#endif
}

示例#3

文件： JSONQuadFeedbackControl.cpp 项目： NASA-Tensegrity-Robotics-Toolkit/NTRTsim

void JSONQuadFeedbackControl::onStep(BaseSpineModelLearning& subject, double dt)
{
    m_updateTime += dt;
    if (m_updateTime >= m_config.controlTime)
    {
#if (1)
        std::vector<double> desComs = getFeedback(subject);

#else        
        std::size_t numControllers = subject.getNumberofMuslces() * 3;
        
        double descendingCommand = 0.0;
        std::vector<double> desComs (numControllers, descendingCommand);
#endif       
        try
        {
            m_pCPGSys->update(desComs, m_updateTime);
        }
        catch (std::runtime_error& e)
        {
            //  Stops the trial immediately,  lets teardown know it broke
            bogus = true;
            throw (e);
        }
        
#ifdef LOGGING // Conditional compile for data logging        
        m_dataObserver.onStep(subject, m_updateTime);
#endif
		notifyStep(m_updateTime);
        m_updateTime = 0;
    }
    
    double currentHeight = subject.getSegmentCOM(m_config.segmentNumber)[1];
    
    /// Max and min heights added to config
    if (currentHeight > m_config.maxHeight || currentHeight < m_config.minHeight)
    {
		/// @todo if bogus, stop trial (reset simulation)
		bogus = true;
		throw std::runtime_error("Height out of range");
	}
}