Added tgBox functionality to the YAML builder. Also added a demo of t…

…gBox in src/dev/ultra-spine/HorizontalSpine/BoxDemo.yaml.

src/core/tgBox.h

@@ -51,15 +51,15 @@ class tgBox : public tgBaseRigid
      */
     struct Config
     {
-            /**
+        /**
          * Initialize with radius and density, which may default.
          * @param[in] radius the rod's radius; must be non-negative
          * @param[in] density the rod's density; must be non-negative
          */
             Config(double w = 1.0,
                     double h = 1.0,
                     double d = 1.0,
-					double f = 1.0,
+		    double f = 1.0,
                     double rf = 0.0,
                     double res = 0.2);
 
@@ -70,7 +70,7 @@ class tgBox : public tgBaseRigid
             /** The rod's height; must be nonnegative. */
             const double height;
 
-			/** The rod's density; must be nonnegative. */
+            /** The rod's density; must be nonnegative. */
             const double density;
 
             /** The rod's friction; 

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

@@ -0,0 +1,17 @@
+# YAML file showing how to use a tgBox
+
+nodes:
+  bottom: [0, 2, 0]
+  top:	  [0, 10, 0]
+
+pair_groups:
+  box:
+    - [bottom, top]
+
+builders:
+  box:
+    class: tgBoxInfo
+    parameters:
+      width: 0.5
+      height: 5
+      density: 0.014

src/yamlbuilder/TensegrityModel.cpp

@@ -19,7 +19,7 @@
 /**
  * @file TensegrityModel.cpp
  * @brief Contains the definition of the members of the class TensegrityModel.
- * @author Simon Kotwicz & Jonah Eisen
+ * @author Simon Kotwicz, Jonah Eisen, Drew Sabelhaus
  * $Id$
  */
 
@@ -31,11 +31,13 @@
 #include "core/tgBasicActuator.h"
 #include "core/tgKinematicActuator.h"
 #include "core/tgRod.h"
+#include "core/tgBox.h"
 #include "tgcreator/tgBasicActuatorInfo.h"
 #include "tgcreator/tgBasicContactCableInfo.h"
 #include "tgcreator/tgKinematicActuatorInfo.h"
 #include "tgcreator/tgKinematicContactCableInfo.h"
 #include "tgcreator/tgRodInfo.h"
+#include "tgcreator/tgBoxInfo.h"
 #include "tgcreator/tgStructureInfo.h"
 
 TensegrityModel::TensegrityModel(const std::string& structurePath) : tgModel() {
@@ -48,11 +50,12 @@ void TensegrityModel::setup(tgWorld& world) {
     // create the build spec that uses tags to turn the structure into a model
     tgBuildSpec spec;
 
-    // add default rod and string builders that match the tags rods & strings
+    // add default builders (rods, strings, boxes) that match the tags (rods, strings, boxes)
     // (these will be overwritten if a different builder is specified for those tags)
     Yam emptyYam = Yam();
     addRodBuilder("tgRodInfo", "rod", emptyYam, spec);
     addBasicActuatorBuilder("tgBasicActuatorInfo", "string", emptyYam, spec);
+    addBoxBuilder("tgBoxInfo", "box", emptyYam, spec);
 
     tgStructure structure;
     buildStructure(structure, topLvlStructurePath, spec);
@@ -494,6 +497,9 @@ void TensegrityModel::addBuilders(tgBuildSpec& spec, const Yam& builders) {
         else if (builderClass == "tgKinematicContactCableInfo" || builderClass == "tgKinematicActuatorInfo") {
             addKinematicActuatorBuilder(builderClass, tagMatch, parameters, spec);
         }
+	if (builderClass == "tgBoxInfo") {
+            addBoxBuilder(builderClass, tagMatch, parameters, spec);
+        }
         // add more builders here if they use a different Config
         else {
             throw std::invalid_argument("Unsupported builder class: " + builderClass);
@@ -611,6 +617,66 @@ void TensegrityModel::addKinematicActuatorBuilder(const std::string& builderClas
     // add more builders that use tgKinematicActuator::Config here
 }
 
+void TensegrityModel::addBoxBuilder(const std::string& builderClass, const std::string& tagMatch, const Yam& parameters, tgBuildSpec& spec) {
+    /**
+     * Builder procedure: 
+     * (1) create a list (a map, really) of all the possible parameters, and initialize
+     * them to the defaults in TensegrityModel.h
+     * (2) substitute these defaults with any parameters from the YAMl file
+     * (3) create the tgBoxInfo object and add it to the list of builders
+     * @TO-DO: this seems to be called multiple times per "builder" block in a YAML file.
+     * That's probably not correct. Why?
+     */
+
+    // Debugging
+    #if (0)
+      std::cout << "addBoxBuilder" << std::endl; 
+    #endif
+
+    // (1)
+    // Parameters to be used in tgBox::Config. See core/tgBox.h
+    // Boxes are treated like rods with a rectangular cross-section: the box length
+    // is specified by the distance between nodes, and the width and height come from
+    // the Config struct.
+    // Create a map of strings to doubles that will hold the parameters
+    std::map<std::string, double> bp;
+    bp["width"] = boxWidth;
+    bp["height"] = boxHeight;
+    bp["density"] = boxDensity;
+    bp["friction"] = boxFriction;
+    bp["roll_friction"] = boxRollFriction;
+    bp["restitution"] = boxRestitution;
+
+    // (2)
+    // Debugging
+    #if (0)
+    std::cout << "Box Builder Parameters: " << std::endl << std::flush; 
+    #endif
+
+    if (parameters) {
+        for (YAML::const_iterator parameter = parameters.begin(); parameter != parameters.end(); ++parameter) {
+            std::string parameterName = parameter->first.as<std::string>();
+            if (bp.find(parameterName) == bp.end()) {
+                throw std::invalid_argument("Unsupported " + builderClass + " parameter: " + parameterName);
+            }
+            // if defined overwrite default parameter value
+            bp[parameterName] = parameter->second.as<double>();
+        }
+    }
+
+    // (3)
+    // this usage is the same as in NTRT v1.0 models.
+    const tgBox::Config boxConfig = tgBox::Config(bp["width"], bp["height"],
+			 bp["density"], bp["friction"], bp["roll_friction"], bp["restitution"]);
+    if (builderClass == "tgBoxInfo") {
+        // tgBuildSpec takes ownership of the tgBoxInfo object
+        spec.addBuilder(tagMatch, new tgBoxInfo(boxConfig));
+        #if (0)
+        std::cout << "Box Builder Added. " << std::endl << std::flush; 
+        #endif	
+    }
+}
+
 void TensegrityModel::yamlNoDuplicates(const Yam& yam, const std::string structurePath) {
     std::set<std::string> keys;
     for (YAML::const_iterator iter = yam.begin(); iter != yam.end(); ++iter) {

src/yamlbuilder/TensegrityModel.h

@@ -22,7 +22,8 @@
 /**
  * @file TensegrityModel.cpp
  * @brief Contains the definition of the members of the class TensegrityModel.
- * @author Simon Kotwicz & Jonah Eisen
+ * @author Simon Kotwicz, Jonah Eisen, Drew Sabelhaus
+ * @copyright Copyright (C) 2016 NASA Ames Research Center
  * $Id$
  */
 
@@ -54,6 +55,13 @@ class TensegrityModel : public tgSubject<TensegrityModel>, public tgModel
 {
 public:
 
+    /**
+     * List of all the default config parameters for all the
+     * types of objects that wil be supported.
+     */
+
+    // Rod parameters:
+
     /*
      * Default rod radius.
      */
@@ -75,6 +83,35 @@ class TensegrityModel : public tgSubject<TensegrityModel>, public tgModel
      */
     const static double rodRestitution = 0.2;
 
+    // Box parameters:
+
+    /*
+     * Default box width. (see tgBox.h)
+     */
+    const static double boxWidth = 1.0;
+    /*
+     * Default box height. (see tgBox.h)
+     */
+    const static double boxHeight = 1.0;
+    /*
+     * Default box density. (see tgBox.h)
+     */
+    const static double boxDensity = 1.0;
+    /*
+     * Default box friction. (see tgBox.h)
+     */
+    const static double boxFriction = 1.0;
+    /*
+     * Default box rolling friction. (see tgBox.h)
+     */
+    const static double boxRollFriction = 0.0;
+    /*
+     * Default box restitution. (see tgBox.h)
+     */
+    const static double boxRestitution = 0.2;
+
+    // String parameters:
+
     /*
      * Default string stiffness.
      */
@@ -323,6 +360,11 @@ class TensegrityModel : public tgSubject<TensegrityModel>, public tgModel
      */
     void addKinematicActuatorBuilder(const std::string& builderClass, const std::string& tagMatch, const Yam& parameters, tgBuildSpec& spec);
 
+    /*
+     * Responsible for adding a builder that uses the tgBox config
+     */
+    void addBoxBuilder(const std::string& builderClass, const std::string& tagMatch, const Yam& parameters, tgBuildSpec& spec);
+
     /*
      * Ensures YAML node contains only keys from the supplied vector
      */