tgLinearString Class Reference

Inheritance diagram for tgLinearString:

Collaboration diagram for tgLinearString:

Public Member Functions
	tgLinearString (Muscle2P *muscle, const tgTags &tags, tgBaseString::Config &config)
	tgLinearString (Muscle2P *muscle, std::string space_separated_tags, tgBaseString::Config &config)
virtual	~tgLinearString ()
virtual void	setup (tgWorld &world)
virtual void	teardown ()
virtual void	step (double dt)
virtual void	onVisit (const tgModelVisitor &r) const
virtual void	tensionMinLengthController (const double targetTension, float dt)
void	setRestLength (double newLength, float dt)
const Muscle2P *	getMuscle () const
virtual const double	getStartLength () const
virtual const double	getCurrentLength () const
virtual const double	getTension () const
virtual const double	getRestLength () const
virtual const double	getVelocity () const
virtual const tgBaseString::BaseStringHistory &	getHistory () const
void	attach (tgObserver< tgLinearString > *pObserver)
void	notifyStep (double dt)
void	notifySetup ()
void	notifyTeardown ()
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

Protected Member Functions
virtual void	moveMotors (double dt)

Protected Attributes
Muscle2P *	m_muscle
Config	m_config
BaseStringHistory *const	m_pHistory
double	m_restLength
double	m_preferredLength
double	m_startLength
double	m_prevVelocity

Detailed Description

Definition at line 41 of file tgLinearString.h.

Constructor & Destructor Documentation

tgLinearString::tgLinearString	(	Muscle2P *	muscle,
		const tgTags &	tags,
		tgBaseString::Config &	config
	)

Constructor using tags. Typically called in tgLinearStringInfo.cpp

Parameters

[in]	muscle	The muscle2P object that this controls and logs. Set up in tgLinearStringInfo.cpp
[in]	tags	as passed through tgStructure and tgStructureInfo
[in]	config	Holds member variables like elasticity, damping and motor parameters. See tgBaseString
[in]	hist	whether or not to log additional history

Todo:

move hist to config

Definition at line 65 of file tgLinearString.cpp.

tgLinearString::tgLinearString	(	Muscle2P *	muscle,
		std::string	space_separated_tags,
		tgBaseString::Config &	config
	)

Same as other constructor, just a different type of tags

Definition at line 79 of file tgLinearString.cpp.

tgLinearString::~tgLinearString ( )

virtual

Destructor deletes the Muscle2P

Definition at line 96 of file tgLinearString.cpp.

Member Function Documentation

void tgModel::addChild ( tgModel *  pChild )

inherited

Add a sub-model to this model. The model takes ownership of the child sub-model and is responsible for deallocating it.

Parameters

[in,out]

pChild

a pointer to a sub-model

Exceptions

std::invalid_argument

is pChild is NULL, this object, or already a descendant

Todo:

Make sure that every child appears no more than once in the tree.

Definition at line 126 of file tgModel.cpp.

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void tgSubject< tgLinearString >::attach ( tgObserver< tgLinearString > *  pObserver )

inherited

Attach an observer to the subject of the observer.

Parameters

[in,out]

pObserver

a pointer to an observer for the subject; do nothing if the pointer is NULL

template<typename T >

std::vector<T*> tgModel::find ( const tgTagSearch &  tagSearch )

inlineinherited

Get a vector of descendants sorted by type and a tagsearch. Useful for pulling out muscle groups, or similar.

Parameters

[in]

tagSearch,a

tagSearch that contains the desired tags

Returns

a std::vector of pointers to members that match the tag search and typename T

Definition at line 129 of file tgModel.h.

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template<typename T >

std::vector<T*> tgModel::find ( const std::string &  tagSearch )

inlineinherited

Get a vector of descendants sorted by type and a tagsearch. Useful for pulling out muscle groups, or similar.

Parameters

[in]

tagSearch,a

std::string& that contains the desired tags

Returns

a std::vector of pointers to members that match the tag search and typename T

Definition at line 142 of file tgModel.h.

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std::vector< tgModel * > tgModel::getDescendants ( ) const

inherited

Return a std::vector of const pointers to all sub-models.

Todo:

examine whether this should be public, and perhaps create a read only version

Returns

a std::vector of const pointers all sub-models.

Todo:

Unnecessary copying can be avoided by pasing the result collection in the recursive step.

Definition at line 174 of file tgModel.cpp.

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const Muscle2P* tgLinearString::getMuscle ( ) const

inline

Returns a pointer the string's Muscle2P. Used for rendering in tgBulletRenderer

Definition at line 121 of file tgLinearString.h.

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const double tgLinearString::getStartLength ( ) const

virtual

Return the appropreate values.

Implements tgBaseString.

Definition at line 150 of file tgLinearString.cpp.

void tgLinearString::moveMotors ( double  dt )

protectedvirtual

Called from public functions, it makes the restLength get closer to preferredlength, according to config constraints.

Implements tgBaseString.

Definition at line 196 of file tgLinearString.cpp.

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void tgSubject< tgLinearString >::notifySetup ( )

inherited

Call tgObserver<T>::onSetup() on all observers in the order in which they were attached.

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void tgSubject< tgLinearString >::notifyStep ( double  dt )

inherited

Call tgObserver<T>::onStep() on all observers in the order in which they were attached.

Parameters

[in]

dt

the number of seconds since the previous call; do nothing if not positive

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void tgSubject< tgLinearString >::notifyTeardown ( )

inherited

Call tgObserver<T>::onTeardown() on all observers in the order in which they were attached.

void tgLinearString::onVisit ( const tgModelVisitor &  r ) const

virtual

Double dispatch function for a tgModelVisitor. This object will pass itself back to the visitor. Used for rendering and data logging as of May 2014.

Parameters

[in]

r,the

visiting tgModelVisitor

Reimplemented from tgModel.

Definition at line 131 of file tgLinearString.cpp.

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void tgLinearString::setRestLength ( double  newLength, float  dt  )

virtual

Directly set m_preferredLength (see base class tgBaseString) Calls moveMotors(dt) to adjust the rest length of Muscle2P

Reimplemented from tgBaseString.

Definition at line 175 of file tgLinearString.cpp.

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void tgLinearString::setup ( tgWorld &  world )

virtual

Notifies observers of setup, calls setup on children

Parameters

[in]

world,the

tgWorld the models are being built into

Reimplemented from tgBaseString.

Definition at line 103 of file tgLinearString.cpp.

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void tgLinearString::step ( double  dt )

virtual

Step dt forward with the simulation. Notifies observers of step, applies forces to rigid bodies via Muscle2P, logs history if desired, steps children.

Parameters

[in]

dt,must

be >= 0.0

Reimplemented from tgBaseString.

Definition at line 115 of file tgLinearString.cpp.

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void tgLinearString::teardown ( )

virtual

Notifies observers of teardown, teardown any children

Reimplemented from tgBaseString.

Definition at line 109 of file tgLinearString.cpp.

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void tgLinearString::tensionMinLengthController ( const double  targetTension, float  dt  )

virtual

Functions for interfacing with muscle2P, and higher level controllers Set the desired tension of the string. Will change m_preferredLength (see base class tgBaseString) to reach targetTension, subject to the constraints in the kinematic motor model. Calls moveMotors(dt) upon completion of calculations

Implements tgBaseString.

Definition at line 278 of file tgLinearString.cpp.

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std::string tgModel::toString ( std::string  prefix = "" ) const

virtualinherited

Returns the tag names of this model and its children

Parameters

[in]

prefix

a string to append to

Returns

the original string with this model and its children's tags appended

Definition at line 156 of file tgModel.cpp.

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Member Data Documentation

Config tgBaseString::m_config

protectedinherited

A copy of the configuration POD supplied at constuction. This is not const.

Definition at line 223 of file tgBaseString.h.

BaseStringHistory* const tgBaseString::m_pHistory

protectedinherited

All history sequences.

Definition at line 226 of file tgBaseString.h.

double tgBaseString::m_prevVelocity

protectedinherited

Tracking the most recent velocity to avoid using deques.

Definition at line 245 of file tgBaseString.h.

double tgBaseString::m_restLength

protectedinherited

Motor Model Parameters

Definition at line 233 of file tgBaseString.h.

double tgBaseString::m_startLength

protectedinherited

Tracking the start length to avoid using deques.

Definition at line 240 of file tgBaseString.h.

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

• core/tgLinearString.h
• core/tgLinearString.cpp