Page Menu
Home
c4science
Search
Configure Global Search
Log In
Files
F86747392
walkFourLegs2.cpp
No One
Temporary
Actions
Download File
Edit File
Delete File
View Transforms
Subscribe
Mute Notifications
Award Token
Subscribers
None
File Metadata
Details
File Info
Storage
Attached
Created
Tue, Oct 8, 09:22
Size
6 KB
Mime Type
text/x-c
Expires
Thu, Oct 10, 09:22 (2 d)
Engine
blob
Format
Raw Data
Handle
21474929
Attached To
R6622 liboncilla
walkFourLegs2.cpp
View Options
#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 <cca/nodes/Junction.h>
#include <cca/nodes/Collector.h>
#include <cca/processing/RestlessProcessing.h>
#include <cca/processing/ModerateProcessing.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
;
/**
* This example needs AMARSi controller "cca2"
*/
int
main
(
int
ac
,
char
**
av
)
{
double
cycletime
=
10
;
double
amplitude
=
0.5
;
double
offset
=
0.0
;
double
frequency
=
1
;
LoggerFactory
::
getInstance
().
reconfigure
(
Logger
::
LEVEL_ERROR
);
/**
* Command line handling
*/
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
"
;
/**
* Setup main beat
*/
GlobalBeatPtr
heartbeat
;
heartbeat
=
GlobalBeat
::
create
(
cycletime
);
/**
* Setup the two oscillators
*/
CCANodePtr
oscillator1
=
SimpleOscillator
<
JointAngles
>::
create
(
"Oscillator 1"
,
2
*
frequency
,
amplitude
,
offset
);
oscillator1
->
configureOutputPort
(
0
,
PortConfiguration
::
LOCAL
(
"/oscillate/1"
));
oscillator1
->
setProcessingStrategy
(
TimedProcessing
::
create
(
1
));
heartbeat
->
registerReceiver
(
oscillator1
);
CCANodePtr
oscillator2
=
SimpleOscillator
<
JointAngles
>::
create
(
"Oscillator 2"
,
frequency
,
amplitude
,
offset
,
0.5
);
oscillator2
->
configureOutputPort
(
0
,
PortConfiguration
::
LOCAL
(
"/oscillate/2"
));
oscillator2
->
setProcessingStrategy
(
TimedProcessing
::
create
(
1
));
heartbeat
->
registerReceiver
(
oscillator2
);
/**
* Set up two junctions
*/
CCANodePtr
junction1
=
Junction
<
JointAngles
>::
create
(
4
);
junction1
->
setProcessingStrategy
(
RestlessProcessing
::
create
());
CCANodePtr
junction2
=
Junction
<
JointAngles
>::
create
(
4
);
junction2
->
setProcessingStrategy
(
RestlessProcessing
::
create
());
/**
* Register converters for Joint Angles
*/
boost
::
shared_ptr
<
JointAnglesConverter
>
converter
(
new
JointAnglesConverter
());
stringConverterRepository
()
->
registerConverter
(
converter
);
/**
* Connect oscillators to junction
*/
junction1
->
configureInputPort
(
0
,
PortConfiguration
::
LOCAL
(
"/oscillate/1"
));
junction1
->
configureOutputPort
(
0
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/lfhip"
));
junction1
->
configureOutputPort
(
1
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/lhhip"
));
junction1
->
configureOutputPort
(
2
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/rfknee"
));
junction1
->
configureOutputPort
(
3
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/rhknee"
));
junction2
->
configureInputPort
(
0
,
PortConfiguration
::
LOCAL
(
"/oscillate/2"
));
junction2
->
configureOutputPort
(
0
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/rfhip"
));
junction2
->
configureOutputPort
(
1
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/rhhip"
));
junction2
->
configureOutputPort
(
2
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/lfknee"
));
junction2
->
configureOutputPort
(
3
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/lhknee"
));
/**
* Collect all joint angles to send them at once
*/
CCANodePtr
collector
=
Collector
<
JointAngles
>::
create
(
8
);
collector
->
setProcessingStrategy
(
ModerateProcessing
::
create
());
collector
->
configureInputPort
(
0
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/lfhip"
));
collector
->
configureInputPort
(
1
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/rfhip"
));
collector
->
configureInputPort
(
2
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/lhhip"
));
collector
->
configureInputPort
(
3
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/rhhip"
));
collector
->
configureInputPort
(
4
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/lfknee"
));
collector
->
configureInputPort
(
5
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/rfknee"
));
collector
->
configureInputPort
(
6
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/lhknee"
));
collector
->
configureInputPort
(
7
,
PortConfiguration
::
LOCAL
(
"/oncilla/command/nodes/angles/rhknee"
));
collector
->
configureOutputPort
(
0
,
PortConfiguration
::
REMOTE
(
"/oncilla/command/nodes/angles/all"
));
std
::
cout
<<
std
::
endl
<<
"Two oscillators oscillating between "
<<
(
offset
-
amplitude
)
<<
" and "
<<
(
offset
+
amplitude
)
<<
" with "
<<
frequency
<<
" Hertz ..."
<<
std
::
endl
;
heartbeat
->
run
();
return
EXIT_SUCCESS
;
}
Event Timeline
Log In to Comment