Cheetah Software  1.0
main.cpp
Go to the documentation of this file.
1 
5 #include "Collision/CollisionPlane.h"
6 #include "DrawList.h"
7 #include "Dynamics/Cheetah3.h"
8 #include "Dynamics/DynamicsSimulator.h"
9 #include "Dynamics/FloatingBaseModel.h"
10 #include "Dynamics/MiniCheetah.h"
11 #include "Dynamics/Quadruped.h"
12 #include "Graphics3D.h"
13 #include "SimControlPanel.h"
14 #include "Simulation.h"
15 #include "Utilities/utilities.h"
16 #include "Utilities/SegfaultHandler.h"
17 
18 #include <QApplication>
19 #include <QSurfaceFormat>
20 
21 #include <stdio.h>
22 #include <unistd.h>
23 #include <thread>
24 
28 int main(int argc, char *argv[]) {
29  install_segfault_handler();
30  // set up Qt
31  QApplication a(argc, argv);
32 
33  // open simulator UI
34  SimControlPanel panel;
35  panel.show();
36 
37  // run the Qt program
38  a.exec();
39 
40  return 0;
41 }
Simulation.h
Main simulation class.
Quadruped.h
Data structure containing parameters for quadruped robot.
Cheetah3.h
Utility function to build a Cheetah 3 Quadruped object.
MiniCheetah.h
Utility function to build a Mini Cheetah Quadruped object.
SegfaultHandler.h
DrawList.h
Data structure to store robot model to be drawn.
CollisionPlane.h
Collision logic for an infinite plane.
install_segfault_handler
void install_segfault_handler()
Definition: SegfaultHandler.cpp:25
SimControlPanel.h
QT gui for the simulator.
DynamicsSimulator.h
Rigid Body Dynamics Simulator with Collisions.
main
int main(int argc, char *argv[])
Definition: main.cpp:28
FloatingBaseModel.h
Implementation of Rigid Body Floating Base model data structure.
Graphics3D.h
Visualizer window for simulator.