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Main.cpp
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Main.cpp
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/*
* Copyright (c) 2014-2016, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Karen Liu <karenliu@cc.gatech.edu>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include "apps/jointConstraints/MyWindow.h"
#include <iostream>
#include "dart/dart.h"
#include "dart/gui/gui.h"
using namespace dart;
using namespace dynamics;
using namespace simulation;
int main(int argc, char* argv[])
{
// load a skeleton file
// create and initialize the world
dart::simulation::WorldPtr myWorld
= utils::SkelParser::readWorld(DART_DATA_PATH"skel/fullbody1.skel");
assert(myWorld != nullptr);
Eigen::Vector3d gravity(0.0, -9.81, 0.0);
myWorld->setGravity(gravity);
std::vector<std::size_t> genCoordIds;
genCoordIds.push_back(1); // global orientation y
genCoordIds.push_back(4); // global position y
genCoordIds.push_back(6); // left hip
genCoordIds.push_back(9); // left knee
genCoordIds.push_back(10); // left ankle
genCoordIds.push_back(13); // right hip
genCoordIds.push_back(16); // right knee
genCoordIds.push_back(17); // right ankle
genCoordIds.push_back(21); // lower back
Eigen::VectorXd initConfig(9);
initConfig << -0.1, 0.2, 0.2, -0.5, 0.3, 0.2, -0.5, 0.3, -0.1;
myWorld->getSkeleton(1)->setPositions(genCoordIds, initConfig);
// create controller
Controller* myController = new Controller(myWorld->getSkeleton(1),
myWorld->getConstraintSolver(),
myWorld->getTimeStep());
// create a window and link it to the world
MyWindow window;
window.setWorld(myWorld);
window.setController(myController);
std::cout << "space bar: simulation on/off" << std::endl;
std::cout << "'p': playback/stop" << std::endl;
std::cout << "'[' and ']': play one frame backward and forward" << std::endl;
std::cout << "'v': visualization on/off" << std::endl;
std::cout << "'1'--'4': programmed interaction" << std::endl;
std::cout << "'h': harness on/off" << std::endl;
glutInit(&argc, argv);
window.initWindow(640, 480, "Harness Test");
glutMainLoop();
return 0;
}