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walkOneLeg.cpp
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Fri, Oct 11, 21:10
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Sun, Oct 13, 21:10 (1 d, 21 h)
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21570478
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R6622 liboncilla
walkOneLeg.cpp
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#include <iostream>
#include <fstream>
#include <stdlib.h>
#include <math.h>
#include <ctime>
#include <rsc/logging/LoggerFactory.h>
#include <boost/thread/recursive_mutex.hpp>
#include <boost/thread/condition.hpp>
#include <boost/timer.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/program_options.hpp>
#include <rsb/Informer.h>
#include <rsb/Handler.h>
#include <rsb/Factory.h>
#include <rsb/converter/Repository.h>
#include <rsb/converter/ProtocolBufferConverter.h>
#include <cca/Beat.h>
#include <rci/nodes/SimpleOscillator.h>
#include <rci/dto/JointAngles.h>
#include <rci/dto/converter/JointAnglesConverter.h>
using
namespace
std
;
using
namespace
boost
;
using
namespace
boost
::
program_options
;
using
namespace
rsc
;
using
namespace
rsc
::
logging
;
using
namespace
rsb
;
using
namespace
rsb
::
converter
;
using
namespace
rst
::
converter
::
rci
;
using
namespace
cca
;
using
namespace
cca
::
rci
;
using
namespace
cca
::
rci
::
driver
;
int
main
(
int
ac
,
char
**
av
)
{
unsigned
int
cycleTimeMs
=
50
;
double
amplitude
=
1.0
;
double
offset
=
0.0
;
double
frequency
=
1
;
LoggerFactory
::
getInstance
().
reconfigure
(
Logger
::
LEVEL_ERROR
);
/**
* Handle command line options
*/
options_description
desc
(
"Allowed options"
);
desc
.
add_options
()(
"help"
,
"Produce help message"
)(
"frequency"
,
value
<
double
>
(),
"Frequency of oscillation in Hertz"
)(
"amplitude"
,
value
<
double
>
(),
"Amplitude of the sine"
)(
"offset"
,
value
<
double
>
(),
"Offset to the output value"
);
variables_map
vm
;
store
(
parse_command_line
(
ac
,
av
,
desc
),
vm
);
notify
(
vm
);
if
(
vm
.
count
(
"help"
))
{
cout
<<
desc
<<
"
\n
"
;
return
1
;
}
if
(
vm
.
count
(
"frequency"
))
{
frequency
=
vm
[
"frequency"
].
as
<
double
>
();
}
cout
<<
"Frequency set to "
<<
frequency
<<
" Hertz.
\n
"
;
if
(
vm
.
count
(
"amplitude"
))
{
amplitude
=
vm
[
"amplitude"
].
as
<
double
>
();
}
cout
<<
"Amplitude set to "
<<
amplitude
<<
".
\n
"
;
if
(
vm
.
count
(
"offset"
))
{
offset
=
vm
[
"offset"
].
as
<
double
>
();
}
cout
<<
"Offset set to "
<<
offset
<<
".
\n
"
;
/**
* Register converters for Joint Angles
*/
boost
::
shared_ptr
<
JointAnglesConverter
>
converter
(
new
JointAnglesConverter
());
stringConverterRepository
()
->
registerConverter
(
converter
);
/**
* Create Oscillator Node
*/
CCANodePtr
oscillator
=
SimpleOscillator
<
JointAngles
>::
create
(
"Knee Oscillator"
,
frequency
,
amplitude
,
offset
);
oscillator
->
configureOutputPort
(
0
,
PortConfiguration
::
REMOTE
(
"/oncilla/command/nodes/angles/lhknee"
));
/**
* Setup and run the main beat
*/
GlobalBeatPtr
heartbeat
;
heartbeat
=
GlobalBeat
::
create
(
cycleTimeMs
);
heartbeat
->
registerReceiver
(
oscillator
);
std
::
cout
<<
"Oscillating between "
<<
(
offset
-
amplitude
)
<<
" and "
<<
(
offset
+
amplitude
)
<<
" with "
<<
frequency
<<
" Hertz ..."
<<
std
::
endl
;
heartbeat
->
run
();
return
EXIT_SUCCESS
;
}
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