kinect_pendulum_demo
This is a simple demo that primarily involves interacting a Qt/OpenGL/trep application. The application simulates inverted pendula (up to n-links) using trep. In its simplest form the user has the ability to interact with the system using the mouse as the interface. There is also a simple ROS wrapper that allow the user to use ROS/openni_launch/openni_tracker to control the pendulum through a Kinect interface. In the application window, there are also controls for the user to adjust the weights in the LQR stabilizing controller (effectively changing the rate of response of the closed-loop system), and there are controls for adjusting a "trust" metric. With high trust, the user is required to help the controller stabilize the pendulum, at low trusts, the controller will use more control effort to stabilize the pendulum.
This is a work in progress, and may change significantly.
License
Copyright (C) 2012 Jarvis Schultz, schultzjarvis@gmail.com
This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.