First commit of horizontal spine generated using yaml

src/dev/ultra-spine/CMakeLists.txt

@@ -3,4 +3,5 @@ Project(ultra-spine)
 subdirs(
     VerticalSpine
     VerticalSpine_CableCollision
+    HorizontalSpine
 ) 

src/dev/ultra-spine/HorizontalSpine/AppHorizontalSpine.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 AppHorizontalSpine.cpp
+ * @brief Contains the definition function main() for AppHorizontalSpine
+ * which builds a horizontal spine structure defined in YAML
+ * @author Edward Zhu, Andrew Sabelhaus & Lara Janse van Vuuren
+ * $Id$
+ */
+
+// 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/ultra-spine/HorizontalSpine/CMakeLists.txt

@@ -0,0 +1,20 @@
+link_directories(${LIB_DIR})
+
+link_libraries(core
+               tgcreator
+               util
+               sensors
+               terrain
+               tgOpenGLSupport
+               yaml-cpp
+	       Adapters
+	       TensegrityModel)
+
+# add_library(TensegrityModel
+#     TensegrityModel.cpp)
+
+add_executable(AppHorizontalSpine
+#    TensegrityModel.cpp
+    AppHorizontalSpine.cpp)
+
+

src/dev/ultra-spine/HorizontalSpine/TetrahedralSpine.yaml

@@ -0,0 +1,27 @@
+substructures:
+  t1/t2/t3/t4/t5/t6:
+    path: ./Tetrahedron.yaml
+    offset: [0, 0 , -12]
+
+bond_groups:
+  string:
+    t1/t2/t3/t4/t5/t6/node_node:
+      - [front, front]
+      - [right, right]
+      - [back, back]
+      - [left, left]
+      - [right, front]
+      - [right, left]
+      - [back, front]
+      - [back, left]
+
+builders:
+  string:
+    class: tgBasicActuatorInfo
+    parameters:
+      stiffness: 1000.0
+      damping: 10.0
+      pretension: 0.0
+      history: 1
+      max_tension: 7000.0
+      target_velocity: 12.0

src/dev/ultra-spine/HorizontalSpine/Tetrahedron.yaml

@@ -0,0 +1,20 @@
+nodes:
+  center: [0, 10, 0]
+  front: [10, 20, 10]
+  right: [10, 0, -10]
+  back: [-10, 20, -10]
+  left: [-10, 0,10]
+
+pair_groups:
+  rod:
+    - [center, front]
+    - [center, right]
+    - [center, back]
+    - [center, left]
+
+builders:
+  rod:
+    class: tgRodInfo
+    parameters:
+      density: 0.014
+      radius: 0.5