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C++ OdeAgent::addCallbackable方法代码示例

本文整理汇总了C++中OdeAgent::addCallbackable方法的典型用法代码示例。如果您正苦于以下问题：C++ OdeAgent::addCallbackable方法的具体用法？C++ OdeAgent::addCallbackable怎么用？C++ OdeAgent::addCallbackable使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类OdeAgent的用法示例。


在下文中一共展示了OdeAgent::addCallbackable方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: start

  // starting function (executed once at the beginning of the simulation loop)
  void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global)
  {
    D=0;

    setCameraHomePos(Pos(-1.55424, 10.0881, 1.58559),  Pos(-170.16, -7.29053, 0));
    // initialization
    // - set noise to 0.1
    // - register file chess.ppm as a texture called chessTexture (used for the wheels)
    global.odeConfig.setParam("noise", 0.05);
    global.odeConfig.setParam("controlinterval", 1);
    //    global.odeConfig.setParam("gravity", 0);

    for(int i=0; i< 2; i++){
      PassiveBox* b = new PassiveBox(odeHandle, osgHandle.changeColor(Color(0.,0.,0.)),
                                     osg::Vec3(1,10,0.3+i*.1),10);
      b->setPosition(osg::Vec3(30+i*7,0,0));
      global.obstacles.push_back(b);
    }


    controller=0;

    /******* S L I D E R - w H E E L I E *********/
    SliderWheelieConf mySliderWheelieConf = SliderWheelie::getDefaultConf();
    mySliderWheelieConf.segmNumber   = segmnum;
    mySliderWheelieConf.motorPower   = 5;
    mySliderWheelieConf.jointLimitIn = M_PI/3;
//     mySliderWheelieConf.frictionGround=0.5;
//    mySliderWheelieConf.segmLength=1.4;
    mySliderWheelieConf.sliderLength = 0;
    mySliderWheelieConf.motorType    = SliderWheelieConf::CenteredServo;
    //mySliderWheelieConf.drawCenter   = false;
    vehicle = new SliderWheelie(odeHandle, osgHandle.changeColor(Color(1,222/255.0,0)),
                                mySliderWheelieConf, "sliderWheelie_" + std::itos(teacher*10000));

    vehicle->place(Pos(0,0,2));
    global.configs.push_back(vehicle);

//     InvertMotorNStepConf cc = InvertMotorNStep::getDefaultConf();
//     cc.cInit=1.0;
//     cc.useS=false;
//     cc.someInternalParams=true;
//     InvertMotorNStep *semox = new InvertMotorNStep(cc);
//     semox->setParam("steps", 1);
//     semox->setParam("continuity", 0.005);
//     semox->setParam("teacher", teacher);

    SeMoXConf cc = SeMoX::getDefaultConf();
    cc.cInit=1.2;
    cc.modelExt=false;
    cc.someInternalParams=true;
    SeMoX* semox = new SeMoX(cc);

//     AbstractController* controller = new SineController(~0, SineController::Sine);   // local variable!
// //     // motorpower 20
//     controller->setParam("period", 300);
//     controller->setParam("phaseshift", 0.3);

    if(useSym){
      semox->setParam("epsC", 0.1);
      semox->setParam("epsA", 0.1);
    }else{
      semox->setParam("epsC", 0.1);
      semox->setParam("epsA", 0.1);
    }
    semox->setParam("rootE", 3);
    semox->setParam("s4avg", 1);
    semox->setParam("gamma_cont", 0.005);

    semox->setParam("gamma_teach", teacher);

    //controller=semox;
    controller = new CrossMotorCoupling( semox, semox, 0.4);

    //    One2OneWiring* wiring = new One2OneWiring(new ColorUniformNoise(0.1));
    AbstractWiring* wiring = new FeedbackWiring(new ColorUniformNoise(0.1),
                                                FeedbackWiring::Motor, 0.75);
    //global.plotoptions.push_back(PlotOption(GuiLogger,Robot,5));
    OdeAgent* agent = new OdeAgent(global);
    agent->addCallbackable(&stats);
    agent->init(controller, vehicle, wiring);
    if(track) agent->setTrackOptions(TrackRobot(true,false,false, false,
                                                 change < 50 ? std::itos(change).c_str() : "uni", 50));
    global.agents.push_back(agent);
    global.configs.push_back(controller);

    this->getHUDSM()->setColor(Color(1.0,1.0,0));
    this->getHUDSM()->setFontsize(18);
    this->getHUDSM()->addMeasure(teacher,"Gamma_s",ID,1);
    this->getHUDSM()->addMeasure(D,"D",ID,1);

//     if(useSym){
//       int k= 0;
//       std::list<int> perm;
//       int len  = controller->getMotorNumber();
//       for(int i=0; i<len; i++){
//         perm.push_back((i+k+(len)/2)%len);
//       }
//       CMC cmc = controller->getPermutationCMC(perm);
//.........这里部分代码省略.........
开发者ID:CentreForBioRobotics，项目名称:lpzrobots，代码行数:101，代码来源:main.cpp

示例2: start

  // starting function (executed once at the beginning of the simulation loop)
  void start(const OdeHandle& odeHandle, const OsgHandle& osgHandle, GlobalData& global) 
  {

    setCameraHomePos(Pos(-0.777389, 6.34573, 1.83396),  Pos(-170.594, -5.10046, 0));
    setCameraMode(Follow);
    // initialization
    // - set noise to 0.1
    // - register file chess.ppm as a texture called chessTexture (used for the wheels)
    global.odeConfig.setParam("noise", 0.05);
    global.odeConfig.setParam("controlinterval", 1);
    global.odeConfig.setParam("realtimefactor", 1); 
    //    global.odeConfig.setParam("gravity", 0);

    for(int i=0; i< 4; i++){
      PassiveBox* b = new PassiveBox(odeHandle, osgHandle.changeColor(Color(.6, .6, .4)), 
				     osg::Vec3(1,10,0.3+i*0.02),0);
      b->setTexture(0,TextureDescr("Images/playfulmachines.rgb",1,1));
      b->setPosition(osg::Vec3(-75+i*30,0,0));
      global.obstacles.push_back(b);    
    }

    controller=0;
  

    /******* S L I D E R - w H E E L I E *********/
    SliderWheelieConf mySliderWheelieConf = SliderWheelie::getDefaultConf();
    mySliderWheelieConf.segmNumber   = segmnum;
    mySliderWheelieConf.motorPower   = 5;
    mySliderWheelieConf.jointLimitIn = M_PI/3;
//     mySliderWheelieConf.frictionGround=0.5;
//    mySliderWheelieConf.segmLength=1.4;
    mySliderWheelieConf.sliderLength = 0;
    mySliderWheelieConf.motorType    = SliderWheelieConf::CenteredServo;
    //mySliderWheelieConf.drawCenter   = false;
    vehicle = new SliderWheelie(odeHandle, osgHandle.changeColor(Color(1,222/255.0,0)), 
				mySliderWheelieConf, "Armband");

    vehicle->place(Pos(0,0,.1));    

    SeMoXConf cc = SeMoX::getDefaultConf();    
    cc.cInit=1.1; 
    cc.modelExt=false;
    cc.someInternalParams=false;
    SeMoX* semox = new SeMoX(cc);  

    if(useSym){
      semox->setParam("epsC", 0.1);
      semox->setParam("epsA", 0.1);
    }else{
      semox->setParam("epsC", 0.1);
      semox->setParam("epsA", 0.1);
    }
    semox->setParam("rootE", 3);
    semox->setParam("s4avg", 1);
    semox->setParam("gamma_cont", 0.005);

    semox->setParam("gamma_teach", teacher);

    //controller=semox;
    controller = new CrossMotorCoupling( semox, semox, 0.4);

    //    One2OneWiring* wiring = new One2OneWiring(new ColorUniformNoise(0.1));
    AbstractWiring* wiring = new FeedbackWiring(new ColorUniformNoise(0.1),
						FeedbackWiring::Motor, 0.75);
    //global.plotoptions.push_back(PlotOption(GuiLogger,Robot,5));
    OdeAgent* agent = new OdeAgent(global);
    agent->addCallbackable(&stats);	  
    agent->init(controller, vehicle, wiring);
    if(track) agent->setTrackOptions(TrackRobot(true,false,false, false, "uni", 20));
    global.agents.push_back(agent);
    global.configs.push_back(agent);

    thisConfig.controller=controller;    
    global.configs.push_back(&thisConfig);


    this->getHUDSM()->setColor(osgHandle.getColor("hud"));
    this->getHUDSM()->setFontsize(16);    
    //    this->getHUDSM()->setColor(Color(1.0,1.0,0));
    //    this->getHUDSM()->setFontsize(18);    
    this->getHUDSM()->addMeasure(teacher,"Gamma",ID,1);
    this->getHUDSM()->addMeasure(thisConfig.D_display,"D",ID,1);

//     if(useSym){
//       int k= 0;
//       std::list<int> perm;
//       int len  = controller->getMotorNumber();
//       for(int i=0; i<len; i++){
// 	perm.push_back((i+k+(len)/2)%len);
//       }
//       CMC cmc = controller->getPermutationCMC(perm);
//       controller->setCMC(cmc);
//     }

  }
开发者ID:amr1985，项目名称:playful，代码行数:96，代码来源:main.cpp


注：本文中的OdeAgent::addCallbackable方法示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。