ImpedanceControl Class Reference

#include <ImpedanceControl.h>

Public Member Functions
	ImpedanceControl ()
	Constructors. More...
	ImpedanceControl (double offsetTension, double lengthStiffness, double velStiffness)
double	control (tgBaseString *const mString, double deltaTimeSeconds, double newPosition, double offsetVel=0)
	Control Functions. More...
double	controlTension (tgBaseString *const mString, double deltaTimeSeconds, double newPosition, double offsetTension, double offsetVel=0)
void	setOffsetTension (double offsetTension)
void	setLengthStiffness (double lengthStiffness)
void	setVelStiffness (double velStiffness)
double	getOffsetTension () const
double	getLengthStiffness () const
double	getVelStiffness () const

Protected Attributes
double	_offsetTension
double	_lengthStiffness
double	_velStiffness

Detailed Description

Influences the Muscle tension using length and velocity.

Definition at line 33 of file ImpedanceControl.h.

Constructor & Destructor Documentation

ImpedanceControl::ImpedanceControl

(

)

Constructors.

The null constructor sets defaults values for the member variables.

Definition at line 51 of file ImpedanceControl.cpp.

ImpedanceControl::ImpedanceControl	(	double	offsetTension,
		double	lengthStiffness,
		double	velStiffness
	)

This constructor supplies initial values for all member variables.

Parameters

[in]	offsetTension	the initial value for the offset tension property; must be non-negative
[in]	lengthStiffness	the initial value for the length stiffness property; must be non-negative
[in]	velStiffness	the initial value for the velocity stiffness property; must be non-negative

Definition at line 63 of file ImpedanceControl.cpp.

Member Function Documentation

double ImpedanceControl::control	(	tgBaseString *const	mString,
		double	deltaTimeSeconds,
		double	newPosition,
		double	offsetVel = 0
	)

Control Functions.

Parameters

[in]	Control	a tgLinearString given a new offset force and a new offset velocity.
[in]	mString	a pointer to a tgLinearString; must not be NULL
[in]	deltaTimeSeconds	the number of seconds since the last call
[in]	newPosition	the current position of the Muscle

Todo:

Make mMuscle a reference.

should we add an offset position so it can just control??

Definition at line 118 of file ImpedanceControl.cpp.

double ImpedanceControl::getLengthStiffness ( ) const

inline

Return the value of the length stiffness property.

Returns

the value of the length stiffness property

Definition at line 116 of file ImpedanceControl.h.

double ImpedanceControl::getOffsetTension ( ) const

inline

Return the value of the offset tension property.

Returns

the value of the offset tension property

Definition at line 107 of file ImpedanceControl.h.

double ImpedanceControl::getVelStiffness ( ) const

inline

Return the value of the velocity stiffness property.

Returns

the value of the velocity stiffness property

Definition at line 125 of file ImpedanceControl.h.

void ImpedanceControl::setLengthStiffness

(

double

lengthStiffness

)

Set the value of the length stiffness property.

Parameters

[in]

the

new value for the length stiffness property must be non-negative

Definition at line 169 of file ImpedanceControl.cpp.

void ImpedanceControl::setOffsetTension

(

double

offsetTension

)

Set the value of the offset tension property.

Parameters

[in]

the

new value for the offset tension property must be non-negative

Definition at line 157 of file ImpedanceControl.cpp.

void ImpedanceControl::setVelStiffness

(

double

velStiffness

)

Set the value of the velocity stiffness property.

Parameters

[in]

the

new value for the velocity stiffness property must be non-negative

Definition at line 181 of file ImpedanceControl.cpp.

Member Data Documentation

double ImpedanceControl::_lengthStiffness

protected

Used to determine the force component attributable to a Muscle's length. Must be non-negative to ensure stability. The units are kg/sec^2. When multiplied by the Muscle length it gives a force component.

Todo:

Rename m_lengthStiffness.

Definition at line 149 of file ImpedanceControl.h.

double ImpedanceControl::_offsetTension

protected

A force component. Must be non-negative to ensure stability. The units are application-dependent, e.g., Newtons or centinewtons.

Todo:

rename m_offsetTension.

Definition at line 139 of file ImpedanceControl.h.

double ImpedanceControl::_velStiffness

protected

Used to determine the force component attributable to a Muscle's velocity. The units are kg/sec. When multiplied by the Muscle velocity it gives a force component. Must be non-negative to ensure stability

Todo:

Rename m_velocityStiffness.

Definition at line 159 of file ImpedanceControl.h.

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The documentation for this class was generated from the following files:

• core/ImpedanceControl.h
• core/ImpedanceControl.cpp