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/*
* Copyright (c) 2011-2022, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* 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 <iostream>
#include <dart/dart.hpp>
#include <dart/utils/urdf/urdf.hpp>
#include <dart/utils/utils.hpp>
#include "Controller.hpp"
#include "MyWindow.hpp"
using namespace std;
using namespace Eigen;
using namespace dart::common;
using namespace dart::math;
using namespace dart::dynamics;
using namespace dart::simulation;
using namespace dart::utils;
int main(int argc, char* argv[])
{
// Create empty soft world
WorldPtr myWorld = World::create();
// Load ground and Atlas robot and add them to the world
DartLoader urdfLoader;
SkeletonPtr ground
= urdfLoader.parseSkeleton("dart://sample/sdf/atlas/ground.urdf");
SkeletonPtr atlas = SdfParser::readSkeleton(
"dart://sample/sdf/atlas/atlas_v3_no_head_soft_feet.sdf");
myWorld->addSkeleton(atlas);
myWorld->addSkeleton(ground);
// Set initial configuration for Atlas robot
VectorXd q = atlas->getPositions();
q[0] = -0.5 * constantsd::pi();
atlas->setPositions(q);
// Set gravity of the world
myWorld->setGravity(Vector3d(0.0, -9.81, 0.0));
// Create a window and link it to the world
MyWindow window(new Controller(atlas, myWorld->getConstraintSolver()));
window.setWorld(myWorld);
// Print manual
cout << "space bar: simulation on/off" << endl;
cout << "'p': playback/stop" << endl;
cout << "'[' and ']': play one frame backward and forward" << endl;
cout << "'v': visualization on/off" << endl;
cout << endl;
cout << "'h': harness pelvis on/off" << endl;
cout << "'j': harness left foot on/off" << endl;
cout << "'k': harness right foot on/off" << endl;
cout << "'r': reset robot" << endl;
cout << "'n': transite to the next state manually" << endl;
cout << endl;
cout << "'1': standing controller" << endl;
cout << "'2': walking controller" << endl;
// Run glut loop
glutInit(&argc, argv);
window.initWindow(640, 480, "Atlas Robot");
glutMainLoop();
return 0;
}
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