First commit of mcdaly dev folder

src/dev/CMakeLists.txt

@@ -17,5 +17,6 @@ subdirs(
     CPG_feedback
     eajung
     ezhu
+    mcdaly
 )
 

src/dev/mcdaly/12BarTensegrity/12BarCube.yaml

@@ -0,0 +1,98 @@
+nodes:
+  n0: [-1.85, 0, -.43]
+  n1: [-0.76, -3.69, 0.65]
+  n2: [-1.85, 0, -1.96]
+  n3: [1.85, -1.08, -3.04]
+  n4: [-0.76, 0, -3.04]
+  n5: [-1.85, -3.69, -1.96]
+  n6: [0.76, 0, -3.04]
+  n7: [1.85, -1.08, 0.65] 
+  n8: [1.85, 0, -1.96]
+  n9: [0.76, -3.69, -3.04]
+  n10: [1.85, 0, -.43]
+  n11: [-1.85, -1.08, 0.65]
+  n12: [0.76, 0, 0.65]
+  n13: [1.85, -3.69, -.43] 
+  n14: [-.76, 0, 0.65]
+  n15: [-1.85, -1.08, -3.04]
+  n16: [-1.85, -3.69, -0.43]
+  n17: [1.85, -2.61, 0.65] 
+  n18: [-0.76, -3.69, -3.04]
+  n19: [-1.85, -2.61, 0.65]
+  n20: [1.85, -3.69, -1.96]
+  n21: [-1.85, -2.61, -3.04]
+  n22: [0.76, -3.69, 0.65] 
+  n23: [1.85, -2.61, -3.04]
+
+pair_groups:
+  rod:
+    - [n0, n1]
+    - [n2, n3]
+    - [n4, n5]
+    - [n6, n7]
+    - [n8, n9]
+    - [n10, n11]
+    - [n12, n13]
+    - [n14, n15]
+    - [n16, n17]
+    - [n18, n19]
+    - [n20, n21]
+    - [n22, n23]
+
+  string:
+    - [n0, n2]
+    - [n0, n14]
+    - [n0, n11]
+    - [n2, n4]
+    - [n2, n15]
+    - [n4, n15]
+    - [n4, n6]
+    - [n6, n8]
+    - [n6, n3]
+    - [n8, n3]
+    - [n3, n23]
+    - [n8, n10]
+    - [n10, n12]
+    - [n10, n7]
+    - [n7, n12]
+    - [n14, n12]
+    - [n14, n11]
+    - [n23, n20]
+    - [n9, n23]
+    - [n7, n17]
+    - [n17, n13]
+    - [n13, n22]
+    - [n22, n17]
+    - [n22, n1]
+    - [n1, n16]
+    - [n16, n19]
+    - [n19, n1]
+    - [n19, n11]
+    - [n5, n18]
+    - [n18, n21]
+    - [n21, n5]
+    - [n21, n15]
+    - [n18, n9]
+    - [n9, n20]
+    - [n20, n13]
+    - [n16, n5]
+
+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: 800.0
+      damping: 60.0
+      pretension: 400.0
+      history: 0
+      max_tension: 3000
+      target_velocity: 10

src/dev/mcdaly/12BarTensegrity/12BarOrient.yaml

@@ -0,0 +1,8 @@
+substructures:
+  12BarCube:
+    path: ./12BarCube.yaml
+    translation: [0, 25, 0]
+    rotation:
+      axis: [1, 1, 0]
+      angle: 0
+    scale: 2

src/dev/mcdaly/12BarTensegrity/App12Bar.cpp

@@ -0,0 +1,82 @@
+/*
+ * 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"
+#include "RPLengthController.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]);
+
+    RPLengthController* const tension_sensor = new RPLengthController();
+    myModel -> attach(tension_sensor);
+
+    // Add the model to the world
+    simulation.addModel(myModel);
+
+    simulation.run();
+
+    // teardown is handled by delete
+    return 0;
+}

src/dev/mcdaly/12BarTensegrity/CMakeLists.txt

@@ -0,0 +1,23 @@
+link_directories(${LIB_DIR})
+
+link_libraries(core
+               tgcreator
+               controllers
+               util
+               sensors
+               terrain
+               tgOpenGLSupport
+               yaml-cpp
+	       Adapters
+	       TensegrityModel)
+
+# add_library(TensegrityModel
+#     TensegrityModel.cpp)
+
+add_executable(App12Bar
+#    TensegrityModel.cpp
+    App12Bar.cpp
+    RPLengthController.h
+    RPLengthController_rand.cpp)
+
+

src/dev/mcdaly/12BarTensegrity/RPLengthController.h

@@ -0,0 +1,91 @@
+/*
+ * 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.
+*/
+
+#ifndef RP_LENGTH_CONTROLLER_H
+#define RP_LENGTH_CONTROLLER_H
+
+/**
+ * @file RPTensionController.h
+ * @brief Contains the definition of class RPTensionController.
+ * @author Brian Tietz
+ * @version 1.0.0
+ * $Id$
+ */
+
+// This library
+#include "core/tgObserver.h"
+#include "controllers/tgBasicController.h"
+ #include "core/tgBasicActuator.h"
+
+// The C++ Standard Library
+#include <vector>
+
+// Forward declarations
+class TensegrityModel;
+
+#include "core/abstractMarker.h" //needed in order to fetch node positions
+
+/**
+ * A controller to apply uniform tension to a RPModel. Iterates through
+ * all tgLinearString members and calls tensionMinLengthController
+ */
+class RPLengthController : public tgObserver<TensegrityModel>
+{
+public:
+
+	/**
+	 * Construct a RPTensionController.
+	 * @param[in] tension, a double specifying the desired tension
+	 * throughougt structure. Must be non-negitive
+	 */
+    RPLengthController(const double length = 400);
+
+    /**
+     * Nothing to delete, destructor must be virtual
+     */
+    virtual ~RPLengthController();
+
+    virtual void onSetup(TensegrityModel& subject);
+
+    /**
+     * Apply the tension controller. Called my notifyStep(dt) of its
+     * subject. The tgLinearStrings will update using
+     * their tensionMinLengthController each step
+     * @param[in] subject - the RPModel that is being controlled. Must
+     * have a list of allMuscles populated
+     * @param[in] dt, current timestep must be positive
+     */
+    virtual void onStep(TensegrityModel& subject, double dt);
+
+    std::vector<tgBasicController*> m_controllers;
+    std::vector<double> rand_lengths;
+    std::vector<tgSpringCableActuator*> actuators;
+
+private:
+
+	/**
+	 * The tension setpoint that will be passed to the muscles. Set
+	 * in the constructor
+	 */
+    const double m_length;
+    double globalTime;
+    int toggle;
+
+};
+
+#endif // RP_LENGTH_CONTROLLER_H

src/dev/mcdaly/12BarTensegrity/RPLengthController_rand.cpp

@@ -0,0 +1,77 @@
+/*
+ * 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 RPTensionController.cpp
+ * @brief Implementation of six strut tensegrity.
+ * @author Brian Tietz
+ * @version 1.0.0
+ * $Id$
+ */
+
+#include <iostream>
+// This module
+#include "RPLengthController.h"
+// This application
+#include "../../../yamlbuilder/TensegrityModel.h"
+// This library
+#include "core/tgBasicActuator.h"
+#include "core/tgCast.h"
+// The C++ Standard Library
+#include <cassert>
+#include <stdexcept>
+#include <time.h>
+
+using namespace std;
+
+RPLengthController::RPLengthController(const double length) :
+  m_length(length)
+{
+  if (length < 0.0)
+    {
+      throw std::invalid_argument("Negative length");
+    }
+}
+
+RPLengthController::~RPLengthController()
+{
+}	
+
+void RPLengthController::onSetup(TensegrityModel& subject)
+{
+
+  actuators = subject.getAllActuators();
+
+}
+
+void RPLengthController::onStep(TensegrityModel& subject, double dt)
+{
+  if (dt <= 0.0)
+    {
+      throw std::invalid_argument("dt is not positive");
+    }
+  else{
+        for(int k=0;k<actuators.size();k++){
+        //std::cout << k << ": " << actuators[k]->getTension() << ", ";
+        std::cout << actuators[k]->getTension() << ", ";
+        }
+        std::cout << std::endl;
+  }
+}
+
+