106 lines
3.0 KiB
C++
Executable File
106 lines
3.0 KiB
C++
Executable File
#include "include.hpp"
|
|
|
|
#define DATA_PATH std::string("./../../data/")
|
|
|
|
int main() {
|
|
CSVProcessor processor;
|
|
try {
|
|
processor.readCSVFile("data.csv");
|
|
|
|
// Access headers
|
|
const auto& headers = processor.getHeaders();
|
|
for (const auto& header : headers) {
|
|
std::cout << header << "\t";
|
|
}
|
|
std::cout << std::endl;
|
|
|
|
// Access data
|
|
int n = 0;
|
|
const auto& data = processor.getData();
|
|
for (const auto& row : data) {
|
|
if (n++ >40) break;
|
|
for (float value : row) {
|
|
std::cout << value << "\t";
|
|
}
|
|
std::cout << std::endl;
|
|
}
|
|
} catch (const std::exception& e) {
|
|
std::cerr << "Error: " << e.what() << std::endl;
|
|
}
|
|
|
|
// inizializzo variabili per gestire l'intervallo di visualizzazione
|
|
|
|
unsigned int min = 0;
|
|
unsigned int pos = 0;
|
|
unsigned int maj = 100;
|
|
|
|
//Costruisco la GUI
|
|
State gs(800, 600, "Visualizzatore passo",&maj,&min,&pos);
|
|
gs.window.setFramerateLimit(70);
|
|
printf("Costruisco gli oggetti\n");
|
|
|
|
try{
|
|
processor.readCSVFile (DATA_PATH + "coscia_filt.csv");
|
|
const auto& coscia = processor.getData();
|
|
gs.setIntervall(coscia.size());
|
|
|
|
|
|
gs.pieces.push_back(new Coscia (rb::Vector3{300,300,300},2));
|
|
gs.pieces.push_back(new Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),&pos,coscia));
|
|
gs.pieces.push_back(new Caviglia (rb::Vector3{300,300,500},1));
|
|
|
|
gs.pieces[1]->body.setRot({0,0,0});
|
|
|
|
|
|
processor.readCSVFile(DATA_PATH + "caviglia_filt.csv");
|
|
const auto& caviglia = processor.getData();
|
|
gs.pieces.push_back(new Sensore (rb::Vector3{300,300,500},_Float16( 0.2 ),&pos,caviglia));
|
|
|
|
gs.pieces.push_back(new Torso(rb::Vector3{300,400,150},2));
|
|
|
|
// modifico la rotazione relativa della gamba
|
|
gs.pieces[1]->body.setRot({_Float16 (1.3),_Float16 (1.7),0});
|
|
gs.pieces[3]->body.setRot({_Float16 (1.8),_Float16 (1.7),0});
|
|
|
|
|
|
|
|
// aggiungo i joint
|
|
gs.joints.push_back(new PivotJoint(gs.pieces[4], {gs.pieces[1]}, rb::Vector3{0,-100,50}));
|
|
gs.joints.push_back(new RigidJoint(gs.pieces[1], {gs.pieces[0]}));
|
|
gs.joints.push_back(new PivotJoint(gs.pieces[1], {gs.pieces[3]}, rb::Vector3{0,0,100}));
|
|
gs.joints.push_back(new RigidJoint(gs.pieces[3], {gs.pieces[2]}));
|
|
|
|
|
|
printf("Ho costruito tutto!\n");
|
|
}
|
|
catch(char* e){
|
|
printf("%s\n",e);
|
|
}
|
|
printf("Avvio l'interfaccia grafica\n");
|
|
|
|
|
|
unsigned int curTime = 0;
|
|
unsigned int freq = 50;
|
|
const unsigned int T = 1000/freq; //i sensori hanno una freq di campionamento di 50hz
|
|
|
|
//Avvio il loop della GUI
|
|
gs.clock.start();
|
|
|
|
sf::Clock mainClock;
|
|
while (gs.window.isOpen())
|
|
{
|
|
curTime += mainClock.restart().asMilliseconds();
|
|
if (curTime > T){
|
|
if (gs.play && pos+curTime/T < maj) pos += curTime / T;
|
|
curTime = 0;
|
|
}
|
|
|
|
// Show update
|
|
gs.update();
|
|
doGraphics(gs);
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|