NTRT Simulator
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#include <PrismModel.h>
Public Member Functions | |
PrismModel () | |
virtual | ~PrismModel () |
virtual void | setup (tgWorld &world) |
virtual void | teardown () |
virtual void | step (double dt) |
virtual void | onVisit (tgModelVisitor &r) |
const std::vector < tgLinearString * > & | getAllMuscles () const |
void | attach (tgObserver< PrismModel > *pObserver) |
void | notifyStep (double dt) |
void | notifySetup () |
void | notifyTeardown () |
virtual void | onVisit (const tgModelVisitor &r) const |
void | addChild (tgModel *pChild) |
virtual std::string | toString (std::string prefix="") const |
template<typename T > | |
std::vector< T * > | find (const tgTagSearch &tagSearch) |
template<typename T > | |
std::vector< T * > | find (const std::string &tagSearch) |
std::vector< tgModel * > | getDescendants () const |
void | addTags (const std::string &space_separated_tags) |
void | addTags (const tgTags &tags) |
bool | hasTag (const std::string tag) const |
bool | hasAllTags (std::string tags) |
bool | hasAnyTags (const std::string tags) |
bool | hasNoTags () |
tgTags & | getTags () |
const tgTags & | getTags () const |
void | setTags (tgTags tags) |
std::string | getTagStr (std::string delim=" ") const |
A class that constructs a three bar tensegrity prism using the tools in tgcreator.
Definition at line 47 of file PrismModel.h.
PrismModel::PrismModel | ( | ) |
The only constructor. Configuration parameters are within the .cpp file in this case, not passed in.
Definition at line 74 of file PrismModel.cpp.
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virtual |
Destructor. Deletes controllers, if any were added during setup. Teardown handles everything else.
Definition at line 80 of file PrismModel.cpp.
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inherited |
Add a sub-model to this model. The model takes ownership of the child sub-model and is responsible for deallocating it.
[in,out] | pChild | a pointer to a sub-model |
std::invalid_argument | is pChild is NULL, this object, or already a descendant |
Definition at line 126 of file tgModel.cpp.
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inherited |
Attach an observer to the subject of the observer.
[in,out] | pObserver | a pointer to an observer for the subject; do nothing if the pointer is NULL |
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inlineinherited |
Get a vector of descendants sorted by type and a tagsearch. Useful for pulling out muscle groups, or similar.
[in] | tagSearch,a | tagSearch that contains the desired tags |
Definition at line 129 of file tgModel.h.
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inlineinherited |
Get a vector of descendants sorted by type and a tagsearch. Useful for pulling out muscle groups, or similar.
[in] | tagSearch,a | std::string& that contains the desired tags |
Definition at line 142 of file tgModel.h.
const std::vector< tgLinearString * > & PrismModel::getAllMuscles | ( | ) | const |
Return a vector of all muscles for the controllers to work with.
Definition at line 200 of file PrismModel.cpp.
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inherited |
Return a std::vector of const pointers to all sub-models.
Definition at line 174 of file tgModel.cpp.
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inherited |
Call tgObserver<T>::onSetup() on all observers in the order in which they were attached.
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inherited |
Call tgObserver<T>::onStep() on all observers in the order in which they were attached.
[in] | dt | the number of seconds since the previous call; do nothing if not positive |
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inherited |
Call tgObserver<T>::onTeardown() on all observers in the order in which they were attached.
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virtual |
Receives a tgModelVisitor and dispatches itself into the visitor's "render" function. This model will go to the default tgModel function, which does nothing.
[in] | r | - a tgModelVisitor which will pass this model back to itself |
Definition at line 194 of file PrismModel.cpp.
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virtualinherited |
Call tgModelVisitor::render() on self and all descendants.
[in,out] | r | a reference to a tgModelVisitor |
Reimplemented in ConnectorTestModel, BuildTestModel, tgLinearString, and tgRod.
Definition at line 109 of file tgModel.cpp.
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virtual |
Create the model. Place the rods and strings into the world that is passed into the simulation. This is triggered automatically when the model is added to the simulation, when tgModel::setup(world) is called (if this model is a child), and when reset is called. Also notifies controllers of setup.
[in] | world | - the world we're building into |
Reimplemented from tgModel.
Definition at line 129 of file PrismModel.cpp.
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virtual |
Step the model, its children. Notifies controllers of step.
[in] | dt,the | timestep. Must be positive. |
Reimplemented from tgModel.
Definition at line 179 of file PrismModel.cpp.
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virtual |
Undoes setup. Deletes child models. Called automatically on reset and end of simulation. Notifies controllers of teardown
Reimplemented from tgModel.
Definition at line 205 of file PrismModel.cpp.
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virtualinherited |
Returns the tag names of this model and its children
[in] | prefix | a string to append to |
Definition at line 156 of file tgModel.cpp.