First commit of ezhu dev directory with 6 bar generated through yaml

src/dev/ezhu/6BarSphere.yaml

@@ -0,0 +1,68 @@
+# Convention refers to the Solidworks file 6BarGeoModel.sldprt. n0-n3 refer to the 4 nodes of the 2 non-overlapping and non-point-view parallel rods in the front view starting with the bottom left one and going CW, n4-n7 refer to the same in the right view, and n8-n13 refer to the same in the top view.
+nodes:
+  n0: [0, 0, 0]
+  n1: [0, 10, 0]
+  n2: [6.18, 10, 0]
+  n3: [6.18, 0, 0]
+  n4: [3.09, 1.91, 5]
+  n5: [3.09, 8.09, 5]
+  n6: [3.09, 8.09, -5]
+  n7: [3.09, 1.91, -5]
+  n8: [-1.91, 5, 3.09]
+  n11: [-1.91, 5, -3.09]
+  n12: [8.09, 5, -3.09]
+  n13: [8.09, 5, 3.09]
+
+pair_groups:
+  rod:
+    # Front view 
+    - [n0, n1]
+    - [n2, n3]
+
+    # Right view
+    - [n4, n5]
+    - [n6, n7]
+
+    # Top view
+    - [n8, n9]
+    - [n10, n11]
+
+  string:
+    - [n0, n4]
+    - [n0, n7]
+    - [n0, n8]
+    - [n0, n9]
+
+    - [n1, n5]
+    - [n1, n6]
+    - [n1, n8]
+    - [n1, n9]
+
+    - [n2, n5]
+    - [n2, n6]
+    - [n2, n10]
+    - [n2, n11]
+
+    - [n3, n4]
+    - [n3, n7]
+    - [n3, n10]
+    - [n3, n11]
+
+    - [n4, n8]
+    - [n4, n11]
+
+    - [n5, n8]
+    - [n5, n11]
+
+    - [n6, n9]
+    - [n6, n10]
+
+    - [n7, n9]
+    - [n7, n10]
+
+builders:
+  rod:
+    class: tgRodInfo
+    parameters: 
+      density: 0.688
+      radius: 0.31

src/dev/ezhu/6BarTensegrity/6BarSphere.yaml

@@ -0,0 +1,118 @@
+# Convention refers to the Solidworks file 6BarGeoModel.sldprt. n0-n3 refer to the 4 nodes of the 2 non-overlapping and non-point-view parallel rods in the front view starting with the bottom left one and going CW, n4-n7 refer to the same in the right view, and n8-n13 refer to the same in the top view.
+nodes:
+  # Scaling factor of 10 from meters
+#  n0: [0, 0, 0]
+#  n1: [0, 10.0, 0]
+#  n2: [6.18, 10.0, 0]
+#  n3: [6.18, 0, 0]
+#  n4: [3.09, 1.91, 5.0]
+#  n5: [3.09, 8.09, 5.0]
+#  n6: [3.09, 8.09, -5.0]
+#  n7: [3.09, 1.91, -5.0]
+#  n8: [-1.91, 5.0, 3.09]
+#  n9: [-1.91, 5.0, -3.09]
+#  n10: [8.09, 5.0, -3.09]
+#  n11: [8.09, 5.0, 3.09]
+
+  # Scaling factor of 30 from meters
+  n0: [0, 0, 0]
+  n1: [0, 30.0, 0]
+  n2: [18.54, 30.0, 0]
+  n3: [18.54, 0, 0]
+  n4: [9.27, 5.73, 15.0]
+  n5: [9.27, 24.27, 15.0]
+  n6: [9.27, 24.27, -15.0]
+  n7: [9.27, 5.73, -15.0]
+  n8: [-5.73, 15.0, 9.27]
+  n9: [-5.73, 15.0, -9.27]
+  n10: [24.27, 15.0, -9.27]
+  n11: [24.27, 15.0, 9.27]
+
+pair_groups:
+  rod:
+    # Front view 
+    - [n0, n1]
+    - [n2, n3]
+
+    # Right view
+    - [n4, n7]
+    - [n5, n6]
+
+    # Top view
+    - [n8, n11]
+    - [n9, n10]
+
+  string:
+    - [n0, n4]
+    - [n0, n7]
+    - [n0, n8]
+    - [n0, n9]
+
+    - [n1, n5]
+    - [n1, n6]
+    - [n1, n8]
+    - [n1, n9]
+
+    - [n2, n5]
+    - [n2, n6]
+    - [n2, n10]
+    - [n2, n11]
+
+    - [n3, n4]
+    - [n3, n7]
+    - [n3, n10]
+    - [n3, n11]
+
+    - [n4, n8]
+    - [n4, n11]
+
+    - [n5, n8]
+    - [n5, n11]
+
+    - [n6, n9]
+    - [n6, n10]
+
+    - [n7, n9]
+    - [n7, n10]
+
+# Builders with scaling factor 10
+#builders:
+#  rod:
+#    class: tgRodInfo
+#    parameters: 
+#      density: 0.688
+#      radius: 0.21
+#      friction: 0.99
+#      roll_friction: 0.01
+#      restitution: 0.0
+#
+#  string:
+#    class: tgBasicActuatorInfo
+#    parameters:
+#      stiffness: 400.0
+#      damping: 20.0
+#      pretension: 400.0
+#      history: 0
+#      max_tension: 1000
+#      target_velocity: 10
+
+# Builders with scaling factor 30
+builders:
+  rod:
+    class: tgRodInfo
+    parameters: 
+      density: 0.688
+      radius: 0.21
+      friction: 0.99
+      roll_friction: 0.01
+      restitution: 0.0
+
+  string:
+    class: tgBasicActuatorInfo
+    parameters:
+      stiffness: 400.0
+      damping: 60.0
+      pretension: 1200.0
+      history: 0
+      max_tension: 3000
+      target_velocity: 10

src/dev/ezhu/6BarTensegrity/App6Bar.cpp

@@ -0,0 +1,78 @@
+/*
+ * Copyright © 2012, United States Government, as represented by the
+ * Administrator of the National Aeronautics and Space Administration.
+ * All rights reserved.
+ *
+ * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
+ * under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0.
+ *
+ * Unless required by applicable law or agreed to in writing,
+ * software distributed under the License is distributed on an
+ * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
+ * either express or implied. See the License for the specific language
+ * governing permissions and limitations under the License.
+*/
+
+/**
+ * @file App6Bar.cpp
+ * @brief Contains the definition function main() for App6Bar
+ * which builds a 6 bar tensegrity structure defined in YAML
+ * @author Edward Zhu
+ * $Id$
+ */
+
+// This application
+#include "../../../yamlbuilder/TensegrityModel.h"
+// This library
+#include "core/terrain/tgBoxGround.h"
+#include "core/tgModel.h"
+#include "core/tgSimulation.h"
+#include "core/tgSimViewGraphics.h"
+#include "core/tgWorld.h"
+// Bullet Physics
+#include "LinearMath/btVector3.h"
+// The C++ Standard Library
+#include <iostream>
+
+/**
+ * The entry point.
+ * @param[in] argc the number of command-line arguments
+ * @param[in] argv argv[0] is the executable name
+ * @param[in] argv argv[1] is the path of the YAML encoded structure
+ * @return 0
+ */
+int main(int argc, char** argv)
+{
+    // create the ground and world. Specify ground rotation in radians
+    const double yaw = 0.0;
+    const double pitch = 0.0;
+    const double roll = 0.0;
+    const tgBoxGround::Config groundConfig(btVector3(yaw, pitch, roll));
+    // the world will delete this
+    tgBoxGround* ground = new tgBoxGround(groundConfig);
+
+    const tgWorld::Config config(98.1); // gravity, dm/sec^2
+    tgWorld world(config, ground);
+
+    // create the view
+    const double timestep_physics = 0.001; // seconds
+    const double timestep_graphics = 1.f/60.f; // seconds
+    tgSimViewGraphics view(world, timestep_physics, timestep_graphics);
+
+    // create the simulation
+    tgSimulation simulation(view);
+
+    // create the models with their controllers and add the models to the simulation
+    TensegrityModel* const myModel = new TensegrityModel(argv[1]);
+
+    // Add the model to the world
+    simulation.addModel(myModel);
+
+    simulation.run();
+
+    // teardown is handled by delete
+    return 0;
+}

src/dev/ezhu/6BarTensegrity/CMakeLists.txt

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+link_directories(${LIB_DIR})
+
+link_libraries(core
+               tgcreator
+               util
+               sensors
+               terrain
+               tgOpenGLSupport
+               yaml-cpp
+	       Adapters
+	       TensegrityModel)
+
+# add_library(TensegrityModel
+#     TensegrityModel.cpp)
+
+add_executable(App6Bar
+#    TensegrityModel.cpp
+    App6Bar.cpp)
+
+

src/dev/ezhu/CMakeLists.txt

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+Project(ezhu)
+
+subdirs(
+    6BarTensegrity
+    )