forked from pz4kybsvg/Conception
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62 lines
2.0 KiB
62 lines
2.0 KiB
#include <memory>
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#include <gflags/gflags.h>
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#include "drake/common/find_resource.h"
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#include "drake/examples/compass_gait/compass_gait.h"
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#include "drake/examples/compass_gait/compass_gait_geometry.h"
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#include "drake/geometry/drake_visualizer.h"
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#include "drake/systems/analysis/simulator.h"
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#include "drake/systems/framework/diagram_builder.h"
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namespace drake {
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namespace examples {
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namespace compass_gait {
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namespace {
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DEFINE_double(target_realtime_rate, 1.0,
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"Playback speed. See documentation for "
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"Simulator::set_target_realtime_rate() for details.");
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/// Simulates the compass gait from various initial velocities (accepted as
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/// command-line arguments. Run meldis to watch the results.
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int DoMain() {
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systems::DiagramBuilder<double> builder;
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auto compass_gait = builder.AddSystem<CompassGait>();
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compass_gait->set_name("compass_gait");
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auto scene_graph = builder.AddSystem<geometry::SceneGraph>();
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CompassGaitGeometry::AddToBuilder(&builder,
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compass_gait->get_floating_base_state_output_port(), scene_graph);
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geometry::DrakeVisualizerd::AddToBuilder(&builder, *scene_graph);
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auto diagram = builder.Build();
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systems::Simulator<double> simulator(*diagram);
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systems::Context<double>& cg_context = diagram->GetMutableSubsystemContext(
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*compass_gait, &simulator.get_mutable_context());
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CompassGaitContinuousState<double>& state =
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compass_gait->get_mutable_continuous_state(&cg_context);
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state.set_stance(0.0);
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state.set_swing(0.0);
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state.set_stancedot(0.4);
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state.set_swingdot(-2.0);
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compass_gait->get_input_port(0).FixValue(&cg_context, Vector1d(0.0));
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simulator.set_target_realtime_rate(FLAGS_target_realtime_rate);
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simulator.get_mutable_context().SetAccuracy(1e-4);
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simulator.AdvanceTo(10);
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return 0;
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}
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} // namespace
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} // namespace compass_gait
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} // namespace examples
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} // namespace drake
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int main(int argc, char* argv[]) {
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gflags::ParseCommandLineFlags(&argc, &argv, true);
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return drake::examples::compass_gait::DoMain();
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}
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