// starting function (executed once at the beginning of the simulation loop)
void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
{
setCameraHomePos(Pos(6.5701, 17.3534, 11.7749), Pos(159.449, -30.0839, 0));
// initialization
// - set noise to 0.1
// - register file chess.ppm as a texture called chessTexture (used for the wheels)
global.odeConfig.noise=0.1;
// global.odeConfig.setParam("gravity", 0);
// int chessTexture = dsRegisterTexture("chess.ppm");
// 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 geometry for each wall of playground:
// setGeometry(double length, double width, double height)
// - setting initial position of the playground: setPosition(double x, double y, double z)
// - push playground in the global list of obstacles(globla list comes from simulation.cpp)
OctaPlayground* playground =
new OctaPlayground(odeHandle, osgHandle,
osg::Vec3(8.0f, 0.2, 6.0f),
12, // number of corners
true); // if ground is created (only create one)
// true); // if ground is created (only create one)
// when you not set this texture, a brown wooden texture
// is used, the setColor would overlay with the wooden texture
playground->setColor(Color(1.0,0.5,0.0,0.2));
// when you not set this texture, a brown wooden texture
// is used, the setColor would overlay with the wooden texture
playground->setTexture("Images/really_white.rgb");
playground->setPosition(osg::Vec3(0,0,0)); // playground positionieren und generieren
global.obstacles.push_back(playground);
OctaPlayground* playground2 =
new OctaPlayground(odeHandle, osgHandle,
osg::Vec3(1.0f, 0.2, 2.5f),
12, // number of corners
false); // if ground is created (only create one)
playground2->setColor(Color(1.0,0.5,0.0,0.1));
// when you not set this texture, a brown wooden texture
// is used, the setColor would overlay with the wooden texture
playground2->setTexture("Images/really_white.rgb");
playground2->setPosition(osg::Vec3(0.0,0.0,0)); // playground positionieren und generieren
global.obstacles.push_back(playground2);
// Creation of passive boxes
// add passive spheres, boxes and capsules as obstacles
// - create pointer to sphere, box or capsule (with odehandle, osghandle and
// optional parameters radius and mass,where the latter is not used here) )
// - set Pose(Position) of sphere, box or capsule
// - set a texture for the sphere, box or capsule
// - add sphere, box or capsule to list of obstacles
// note that the dependent header file has to be include above
// ("passivesphere.h", "passivebox.h" and/or "passivecapsule.h"
int n=10;
int m=3;
for (int j=0;j<m;j++) {
for(int i=0; i<n; i++){
PassiveSphere* s =
new PassiveSphere(odeHandle,
osgHandle.changeColor(Color(184 / 255.0, 233 / 255.0, 237 / 255.0)),
/*Diameter=*/.2+i*0.03,/*Mass=*/.5);
s->setPosition(Pos(sin(2*M_PI*(((float)i)/((float)n)+0.05f))*(3.0f+2.0f*j),
cos(2*M_PI*(((float)i)/((float)n)+0.05f))*(3.0f+2.0f*j),
0.8f+2.0f*j));
s->setTexture("Images/dusty.rgb");
global.obstacles.push_back(s);
}
}
n=8;
m=3;
for (int j=0;j<m;j++) {
for(int i=0; i<n; i++){
PassiveBox* b =
new PassiveBox(odeHandle,
osgHandle.changeColor(Color(184 / 255.0, 233 / 255.0, 237 / 255.0)),
osg::Vec3(0.4+i*0.1, 0.8-i*0.03, 0.4), 0.2+i*0.1);
if (i==1)
b->setTexture("Images/light_chess.rgb");
else
b->setTexture("Images/dusty.rgb");
b->setPosition(Pos(sin(2*M_PI*(((float)i)/((float)n))+0.1f)*(3.0f+2.0f*j),
cos(2*M_PI*(((float)i)/((float)n))+0.1f)*(3.0f+2.0f*j),
3.0f+2.0f*j));
global.obstacles.push_back(b);
}
}
n=15;
m=3;
for (int j=0;j<m;j++) {
for(int i=0; i<n; i++){
PassiveCapsule* b =
new PassiveCapsule(odeHandle,
osgHandle.changeColor(Color(184 / 255.0, 233 / 255.0, 237 / 255.0)),
0.2f+0.03*i,1.0f-i*0.04);
b->setPosition(Pos(sin(2*M_PI*(((float)i)/((float)n)))*(3.0f+2.0f*j),
cos(2*M_PI*(((float)i)/((float)n)))*(3.0f+2.0f*j),
5.0f+2.0f*j));
b->setTexture("Images/dusty.rgb");
global.obstacles.push_back(b);
}
}
// Creation of spherical robots:
for(int i=0; i<0; i++){
OdeRobot* sphere1;
Sphererobot3MassesConf conf = Sphererobot3Masses::getDefaultConf();
conf.diameter=2;
conf.irAxis1=true;
conf.irAxis2=true;
conf.irAxis3=true;
sphere1 = new Sphererobot3Masses ( odeHandle, osgHandle.changeColor(Color(0.0+.1*i,0.0,1.0)),
conf, "Sphere1", 0.4);
// sphere1 = new ForcedSphere(odeHandle, osgHandle, "FSphere");
// sphere1->place ( Pos(-3,1/2,3+2*i));
sphere1->place ( Pos(0,0,7+2*i));
AbstractController* controller = new InvertMotorNStep();
controller->setParam("steps", 2);
controller->setParam("adaptrate", 0.005);
controller->setParam("nomupdate", 0.01);
controller->setParam("epsC", 0.01);
controller->setParam("epsA", 0.005);
controller->setParam("rootE", 3);
DerivativeWiringConf c = DerivativeWiring::getDefaultConf();
c.useId = true;
c.useFirstD = true;
DerivativeWiring* wiring = new DerivativeWiring ( c , new ColorUniformNoise() );
// One2OneWiring* wiring = new One2OneWiring ( new ColorUniformNoise() );
OdeAgent* agent = new OdeAgent ( plotoptions );
agent->init ( controller , sphere1 , wiring );
// agent->setTrackOptions(TrackRobot(true, false, false, "ZSens_Ring10_11", 50));
global.agents.push_back ( agent );
global.configs.push_back ( controller );
}
//creation of snakes
for(int i=0; i<1; i++){
//****************/
SchlangeConf conf = Schlange::getDefaultConf();
conf.motorPower=.3;
conf.segmNumber =10-i/2;
conf.segmDia = 0.15; // diameter of a snake element
// conf.jointLimit=conf.jointLimit*3;
conf.jointLimit=conf.jointLimit*2.0;
conf.frictionJoint=0.002;
SchlangeServo2* schlange1 =
//new SchlangeServo2 ( odeHandle, osgHandle.changeColor(Color(0.8, 0.3, 0.5)),
new SchlangeServo2 ( odeHandle, osgHandle.changeColor(Color(1.0, 1.0, 1.0)),
conf, "S1");
//Positionieren und rotieren
schlange1->place(osg::Matrix::rotate(M_PI/2, 0, 1, 0)*
osg::Matrix::translate(2*i,i,conf.segmNumber/2+2));
if (i==0) {
// schlange1->setTexture("Images/whitemetal_tiefgruen.rgb");
// schlange1->setHeadTexture("Images/whitemetal_tiefrot.rgb");
} else {
// schlange1->setTexture("Images/whitemetal_tiefrot.rgb");
// schlange1->setHeadTexture("Images/whitemetal_tiefgruen.rgb");
}
//AbstractController *controller = new InvertNChannelController(100/*,true*/);
// AbstractController *controller = new InvertMotorSpace(100/*,true*/);
AbstractController *controller = new InvertMotorNStep();
// AbstractController *controller = new invertmotornstep();
//AbstractController *controller = new SineController();
// AbstractController *controller = new InvertMotorNStep();
// AbstractController *controller = new SineController();
// AbstractWiring* wiring = new One2OneWiring(new ColorUniformNoise(0.05)); //Only this line for one2Onewiring
// AbstractWiring* wiring = new DerivativeWiring(c, new ColorUniformNoise(0.1));
DerivativeWiringConf c = DerivativeWiring::getDefaultConf();
c.useId = true;
c.useFirstD = true;
// c.derivativeScale=10;
DerivativeWiring* wiring = new DerivativeWiring ( c , new ColorUniformNoise() );
OdeAgent* agent = new OdeAgent(global);
agent->init(controller, schlange1, wiring);
global.agents.push_back(agent);
global.configs.push_back(controller);
global.configs.push_back(schlange1);
global.odeConfig.setParam("controlinterval",2);
global.odeConfig.setParam("gravity", -2);
controller->setParam("steps",2);
controller->setParam("epsC",0.01);
controller->setParam("epsA",0.01);
controller->setParam("adaptrate",0.005);
controller->setParam("logaE",3);
// controller->setParam("desens",0.0);
controller->setParam("s4delay",3.0);
// controller->setParam("s4avg",1.0);
controller->setParam("factorB",0.0);
// controller->setParam("zetaupdate",0.1);
}//creation of snakes End
}
// 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 );
}
