evan-lloyd / labman Goto Github PK

This project was recovered from my backups; no guarantees that things will compile smoothly. The below notes were written for future students of the course, when Professor Terzopoulos asked for permission to use the project as an example course project.

There is an associated term paper and video demonstration.

LabMan Project copyright 2010 by Evan Lloyd. Free for academic use. All other rights are reserved by the author.

Some code may work improperly as I recently had to restore it from an incomplete and not fully-recent backup, and there are a few visual bugs with the labman model as I also lost the most recent version of that. While the CMake system in theory should allow compilation on any platform, I have only tested it on Windows using Visual Studio 2008.

The LabManApp class demonstrates a simple application utilizing the motion controller hierarchy to reach for a tennis ball. I recommend starting there to see how the different parts fit together. Focus on what is going on in the MotionController directory. The top level of the controller hierarchy is handled by the MotionPlan class, which concatenates multiple trajectories. The mid-level controller (Motion class) determines when to advance to each pose. Finally, the low-level PID controller is implemented in the PoseController class.

1. Download and install the CMake build system (http://www.cmake.org)
2. Download, compile, and install (build the "install" target) the dependencies (listed below) using CMake
3. Run CMake on the root LabMan directory. Set BULLET_INSTALL_DIR to the directory where Bullet was installed. The Ogre installation should be detected automatically; if not, try setting the environment variable OGRE_HOME to the directory where Ogre was installed.
4. Compile. The program executable will be placed in the "bin" directory under the project root. Make sure that the Ogre libraries are accessible to execution from that directory (for instance in Windows, you must copy OgreMain.dll, OIS.dll, and RenderSystem_X.dll [where X is Direct3D or GL] into the bin directory)

Make sure you run the application from within the bin directory so that paths to media files are correct.

• 'b' - toggle "debug" drawing of rigid bodies (overlays collision wireframes)
• 'u' - toggle updating the simulation
• 'g' - toggle gravity
• 'w' - move forward
• 's' - move backward
• 'a' - move left
• 'd' - move right
• 'q' - place a ball on the table and reach for it
• 'esc' - exit program

• Left click - hold to apply force to the body under the cursor
• Right click - hold and drag the mouse to rotate the camera

• OGRE 3D rendering library - http://www.ogre3d.org
• Bullet physics library - http://www.bulletphysics.com

See the respective package directories for license and other information.

• OpenTissue - a minimal subset of the OpenTissue meta-library (http://www.opentissue.org) supporting inverse kinematics and numerical optimization is included
• boost - a minimal subset of the Boost library (http://www.boost.org) is included as it is a dependency of OpenTissue (you may need to download boost and configure for your system, overwriting config.hpp)