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HOW TO RUN THE CONTROLLER EXAMPLE, IMPROVE IT, AND RUN IT AGAIN
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Chand T. John
March 14, 2011
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0) Make sure your PATH contains C:\Program Files\OpenSim 2.3\bin; if not, add
   this to your PATH.  Also, make sure that no other OpenSim "\bin" directory
   is in your PATH.  If you've ever built OpenSim from source code, make sure
   no directory containing .lib or .dll files for OpenSim are present in your
   PATH either.  If you don't do this, OpenSim will get confused and possibly
   use .dll and .lib files from other/older versions of OpenSim instead of
   the files from the current version of OpenSim and you will likely experience
   run-time errors.

1) Start Menu -> CMake 2.8 -> CMake (cmake-gui)

2) Where is the source code: (copy-paste this into the text field)
   C:\Program Files\OpenSim 2.3\sdk\APIExamples\ControllerExample

3) Where to build the binaries: (copy-paste this into the text field; it's ok
   if you use all backslashes instead of all forward slashes)
   C:/Program Files/OpenSim 2.3/sdk/APIExamples/ControllerExample/Build

4) Click Configure.

5) If the "Build" directory doesn't exist yet, a message box will pop up asking
   if you want to create this directory.  Click Yes.

6) Another dialog box will open up entitled "cmake-gui" - in the drop-down
   menu, select the version of Visual Studio you will use to compile the
   Controller Example program.  I chose Visual Studio 9 2008.  I honestly don't
   know if the example would work, in its current form, on any environment
   other than Visual Studio in Windows.

   Leave "Use default native compilers" selected in the option menu below the
   drop-down box.

7) Click Finish.

8) One pink field will show up called OPENSIM_INSTALL_DIR.  Click to the right
   of where it says C:/OpenSim2.2 and change this to:
   C:\Program Files\OpenSim 2.3

9) Press Enter and click once in the box below the OPENSIM_INSTALL_DIR to
   de-select it.

10) Click Configure.  The message window at the bottom of the CMake window
    should say "Configuring done"

11) Click Generate.  The message window should now display:
    Configuring done
    Generating done

12) Close CMake.

13) In Windows Explorer, navigate to:
    C:\Program Files\OpenSim 2.3\sdk\APIExamples\ControllerExample\Build

14) Double-click on ControllerExample.sln.

15) Right-click on ALL_BUILD and choose Build from the drop-down menu.

16) Open a Command Prompt window. (e.g., Start -> Run -> cmd and click Run)

17) Navigate to:
    C:\Program Files\OpenSim 2.3\sdk\APIExamples\ControllerExample\Build

18) Type:
    Release\main.exe
    and press Enter.

19) Launch OpenSim 2.3.

20) File -> Open Model...

21) Navigate to:
    C:\Program Files\OpenSim 2.3\sdk\APIExamples\ControllerExample\Build

22) Select tugOfWar_model_ThelenOnly.osim and click Open

23) File -> Load Motion...

24) Select tugOfWar_states_degrees.mot and click Open

25) Play the motion.

26) File -> Load Motion...

27) Select tugOfWar_desired_motion.sto and click Open

28) Play the motion.  Notice how the motion we played previously does not
    quite match this motion: the previous motion, which was computed by the
    controller in the controller example program, doesn't quite move the block
    to the left or right ends of this desired motion, and the block also does
    not move all the way to the center by the end of the motion like it does in
    the desired motion.

29) Do the controller example exercises indicated in the ControllerExample.cpp
    file.  If you get stuck, the solution is in the OutputReference directory
    inside the ControllerExample directory, as are the output motions computed
    by the controller in the ControllerExample_Solution.cpp file.

30) Once you have completed all the steps outlined in ControllerExample.cpp,
    repeat steps 15 through 25 above.  Note how much more closely the motion
    computed by the controller now matches the desired motion!