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make standalone versions (console, tinyrender, opengl) of InverseDynamics/InverseDynamicsExample

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This commit is contained in:
erwin coumans
2016-05-06 13:57:48 -07:00
parent 8360e2e66d
commit 0a3efbe349
18 changed files with 246 additions and 53 deletions
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56
examples/InverseDynamics/InverseDynamicsExample.cpp
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@@ -129,13 +129,15 @@ void InverseDynamicsExample::initPhysics()
SliderParams slider("Kp",&kp);
slider.m_minVal=0;
slider.m_maxVal=2000;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
if (m_guiHelper->getParameterInterface())
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Kd",&kd);
slider.m_minVal=0;
slider.m_maxVal=50;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
if (m_guiHelper->getParameterInterface())
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
if (m_option == BT_ID_PROGRAMMATICALLY)
@@ -148,6 +150,7 @@ void InverseDynamicsExample::initPhysics()
switch (m_option)
{
case 0:
case BT_ID_LOAD_URDF:
{
BulletURDFImporter u2b(m_guiHelper);
@@ -189,9 +192,11 @@ void InverseDynamicsExample::initPhysics()
if(m_multiBody) {
{
m_timeSeriesCanvas = new TimeSeriesCanvas(m_guiHelper->getAppInterface()->m_2dCanvasInterface,512,230, "Joint Space Trajectory");
m_timeSeriesCanvas ->setupTimeSeries(3,100, 0);
if (m_guiHelper->getAppInterface() && m_guiHelper->getParameterInterface())
{
m_timeSeriesCanvas = new TimeSeriesCanvas(m_guiHelper->getAppInterface()->m_2dCanvasInterface,512,230, "Joint Space Trajectory");
m_timeSeriesCanvas ->setupTimeSeries(3,100, 0);
}
}
// construct inverse model
@@ -203,23 +208,30 @@ void InverseDynamicsExample::initPhysics()
}
// add joint target controls
qd.resize(m_multiBody->getNumDofs());
qd[3]=B3_HALF_PI;
qd_name.resize(m_multiBody->getNumDofs());
q_name.resize(m_multiBody->getNumDofs());
for(std::size_t dof=0;dof<qd.size();dof++) {
qd[dof] = 0;
char tmp[25];
sprintf(tmp,"q_desired[%zu]",dof);
qd_name[dof] = tmp;
SliderParams slider(qd_name[dof].c_str(),&qd[dof]);
slider.m_minVal=-3.14;
slider.m_maxVal=3.14;
sprintf(tmp,"q[%zu]",dof);
q_name[dof] = tmp;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
btVector4 color = sJointCurveColors[dof&7];
m_timeSeriesCanvas->addDataSource(q_name[dof].c_str(), color[0]*255,color[1]*255,color[2]*255);
}
if (m_timeSeriesCanvas && m_guiHelper->getParameterInterface())
{
for(std::size_t dof=0;dof<qd.size();dof++)
{
qd[dof] = 0;
char tmp[25];
sprintf(tmp,"q_desired[%zu]",dof);
qd_name[dof] = tmp;
SliderParams slider(qd_name[dof].c_str(),&qd[dof]);
slider.m_minVal=-3.14;
slider.m_maxVal=3.14;
sprintf(tmp,"q[%zu]",dof);
q_name[dof] = tmp;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
btVector4 color = sJointCurveColors[dof&7];
m_timeSeriesCanvas->addDataSource(q_name[dof].c_str(), color[0]*255,color[1]*255,color[2]*255);
}
}
}
@@ -246,7 +258,8 @@ void InverseDynamicsExample::stepSimulation(float deltaTime)
const btScalar qd_dot=0;
const btScalar qd_ddot=0;
m_timeSeriesCanvas->insertDataAtCurrentTime(q[dof],dof,true);
if (m_timeSeriesCanvas)
m_timeSeriesCanvas->insertDataAtCurrentTime(q[dof],dof,true);
// pd_control is either desired joint torque for pd control,
// or the feedback contribution to nu
@@ -330,3 +343,4 @@ CommonExampleInterface* InverseDynamicsExampleCreateFunc(CommonExampleOptions
B3_STANDALONE_EXAMPLE(InverseDynamicsExampleCreateFunc)