tgRBString Class Reference

Inheritance diagram for tgRBString:

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Classes
struct	Config

Public Member Functions
	tgRBString (const tgTags &tags, tgRBString::Config &config, double restLength)
	tgRBString (std::string space_separated_tags, tgRBString::Config &config, double restLength)
virtual void	setup (tgWorld &world)
virtual void	step (double dt)
void	changeMuscles (double lengthPercent, double dt)
virtual void	teardown ()
virtual void	moveMotors (double dt)
virtual void	tensionMinLengthController (const double targetTension, float dt)
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
const int	getSegments () const
virtual void	setRestLength (double newLength, float dt)
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

Protected Attributes
BaseStringHistory *const	m_pHistory
double	m_restLength
double	m_preferredLength
double	m_startLength
double	m_prevVelocity

Detailed Description

Definition at line 44 of file tgRBString.h.

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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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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void tgRBString::moveMotors ( double  dt )

virtual

Functions for interfacing with muscle2P, and higher level controllers

Implements tgBaseString.

Definition at line 161 of file tgRBString.cpp.

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

virtualinherited

Call tgModelVisitor::render() on self and all descendants.

Parameters

[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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void tgRBString::setup ( tgWorld &  world )

virtual

Todo:

Get rid of this.

Reimplemented from tgBaseString.

Definition at line 77 of file tgRBString.cpp.

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void tgRBString::step ( double  dt )

virtual

Just calls tgModel::step(dt) - steps any children

Reimplemented from tgBaseString.

Definition at line 117 of file tgRBString.cpp.

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void tgRBString::teardown ( )

virtual

Deletes the children (undoes setup)

Reimplemented from tgBaseString.

Definition at line 112 of file tgRBString.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

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:

• dev/btietz/tgRBString.h
• dev/btietz/tgRBString.cpp