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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 "MyWindow.hpp"
#include <iostream>
//==============================================================================
MyWindow::MyWindow(Controller* _controller)
: SimWindow(), mController(_controller), mCircleTask(false)
{
assert(_controller != nullptr);
// Set the initial target positon to the initial position of the end effector
mTargetPosition = mController->getEndEffector()->getTransform().translation();
}
//==============================================================================
MyWindow::~MyWindow() {}
//==============================================================================
void MyWindow::timeStepping()
{
if (mCircleTask)
{
static double time = 0.0;
const double dt = 0.0005;
const double radius = 0.6;
Eigen::Vector3d center = Eigen::Vector3d(0.0, 0.1, 0.0);
mTargetPosition = center;
mTargetPosition[0] = radius * std::sin(time);
mTargetPosition[1] = 0.25 * radius * std::sin(time);
mTargetPosition[2] = radius * std::cos(time);
time += dt;
}
// Update the controller and apply control force to the robot
mController->update(mTargetPosition);
// Step forward the simulation
mWorld->step();
}
//==============================================================================
void MyWindow::drawWorld() const
{
// Draw the target position
if (mRI)
{
mRI->setPenColor(Eigen::Vector3d(0.8, 0.2, 0.2));
mRI->pushMatrix();
mRI->translate(mTargetPosition);
mRI->drawEllipsoid(Eigen::Vector3d(0.05, 0.05, 0.05));
mRI->popMatrix();
}
// Draw world
SimWindow::drawWorld();
}
//==============================================================================
void MyWindow::keyboard(unsigned char _key, int _x, int _y)
{
double incremental = 0.01;
switch (_key)
{
case 'c': // print debug information
if (mCircleTask)
{
std::cout << "Circle task [off]." << std::endl;
mCircleTask = false;
}
else
{
std::cout << "Circle task [on]." << std::endl;
mCircleTask = true;
}
break;
case 'q':
mTargetPosition[0] -= incremental;
break;
case 'w':
mTargetPosition[0] += incremental;
break;
case 'a':
mTargetPosition[1] -= incremental;
break;
case 's':
mTargetPosition[1] += incremental;
break;
case 'z':
mTargetPosition[2] -= incremental;
break;
case 'x':
mTargetPosition[2] += incremental;
break;
default:
// Default keyboard control
SimWindow::keyboard(_key, _x, _y);
break;
}
// Keyboard control for Controller
mController->keyboard(_key, _x, _y);
glutPostRedisplay();
}
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