TetraSpineCPGControl Class Reference

#include <TetraSpineCPGControl.h>

Inheritance diagram for TetraSpineCPGControl:

Collaboration diagram for TetraSpineCPGControl:

Public Member Functions
	TetraSpineCPGControl (BaseSpineCPGControl::Config config, std::string args, std::string ec="edgeConfig.ini", std::string nc="nodeConfig.ini")
virtual void	setupCPGs (BaseSpineModelLearning &subject, array_2D nodeActions, array_4D edgeActions)
virtual void	onStep (BaseSpineModelLearning &subject, double dt)
virtual void	onSetup (BaseSpineModelLearning &subject)
virtual void	onTeardown (BaseSpineModelLearning &subject)
virtual void	onAttach (BaseSpineModelLearning &subject)

Protected Member Functions
virtual array_4D	scaleEdgeActions (std::vector< std::vector< double > > actions)
virtual array_2D	scaleNodeActions (std::vector< std::vector< double > > actions)

Protected Attributes
CPGEquations *	m_pCPGSys
std::vector< tgCPGStringControl * >	m_allControllers

Detailed Description

Inherits from BaseSpineCPGControl, and overrides setupCPGs so different muscle groups can have different ImpedanceControl parameters

Definition at line 37 of file TetraSpineCPGControl.h.

Constructor & Destructor Documentation

TetraSpineCPGControl::TetraSpineCPGControl	(	BaseSpineCPGControl::Config	config,
		std::string	args,
		std::string	ec = "edgeConfig.ini",
		std::string	nc = "nodeConfig.ini"
	)

Defining the adapters here assumes the controller is around and attached for the lifecycle of the learning runs. I.E. that the setup and teardown functions are used for tgModel

Definition at line 49 of file TetraSpineCPGControl.cpp.

Member Function Documentation

virtual void tgObserver< BaseSpineModelLearning >::onAttach ( BaseSpineModelLearning &  subject )

inlinevirtualinherited

Notify the observers when an attach action has occurred. Will only occur once, typically before setup

Parameters

[in,out]

subject

the subject being observed

Definition at line 54 of file tgObserver.h.

void BaseSpineCPGControl::onSetup ( BaseSpineModelLearning &  subject )

virtualinherited

Notify the observers when a setup action has occurred.

Parameters

[in,out]

subject

the subject being observed

Reimplemented from tgObserver< BaseSpineModelLearning >.

Definition at line 148 of file BaseSpineCPGControl.cpp.

void BaseSpineCPGControl::onStep ( BaseSpineModelLearning &  subject, double  dt  )

virtualinherited

Notify the observers when a step action has occurred.

Parameters

[in,out]	subject	the subject being observed
[in]	the	number of seconds since the previous call; must be positive

Implements tgObserver< BaseSpineModelLearning >.

Definition at line 223 of file BaseSpineCPGControl.cpp.

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void BaseSpineCPGControl::onTeardown ( BaseSpineModelLearning &  subject )

virtualinherited

Notify the observers when a teardown action has occurred.

Parameters

[in,out]

subject

the subject being observed

Todo:

• consolidate with other controller classes.

Todo:

• return length scale as a parameter

Reimplemented from tgObserver< BaseSpineModelLearning >.

Definition at line 241 of file BaseSpineCPGControl.cpp.

array_4D BaseSpineCPGControl::scaleEdgeActions ( std::vector< std::vector< double > >  actions )

protectedvirtualinherited

Takes a vector of parameters reported by learning, and then converts it into a format used to assign to the CPGEdges Note that if the CPG edges change, this will need to change

Definition at line 297 of file BaseSpineCPGControl.cpp.

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void TetraSpineCPGControl::setupCPGs ( BaseSpineModelLearning &  subject, array_2D  nodeActions, array_4D  edgeActions  )

virtual

Todo:

: redo with for_each

Reimplemented from BaseSpineCPGControl.

Definition at line 57 of file TetraSpineCPGControl.cpp.

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

• examples/learningSpines/TetraSpine/TetraSpineCPGControl.h
• examples/learningSpines/TetraSpine/TetraSpineCPGControl.cpp