tgBaseString::Config Struct Reference

Public Member Functions
	Config (double s=1000.0, double d=10.0, bool h=false, double rot=0, double mf=1000.0, double tVel=100.0, double mxAcc=10000.0, double mnAL=0.1, double mnRL=0.1)
void	scale (double sf)

Public Attributes
double	stiffness
double	damping
bool	hist
double	rotation
double	maxTens
double	targetVelocity
double	maxAcc
double	minActualLength
double	minRestLength

Detailed Description

Definition at line 46 of file tgBaseString.h.

Constructor & Destructor Documentation

tgBaseString::Config::Config	(	double	s = 1000.0,
		double	d = 10.0,
		bool	h = false,
		double	rot = 0,
		double	mf = 1000.0,
		double	tVel = 100.0,
		double	mxAcc = 10000.0,
		double	mnAL = 0.1,
		double	mnRL = 0.1
	)

The only constructor. Parameters set the defaults for string material properties, construction properties and the motor model. Individual parameters are discussed below.

Todo:

is this the right place for this, or the constructor of this class?

Definition at line 36 of file tgBaseString.cpp.

Member Function Documentation

void tgBaseString::Config::scale

(

double

sf

)

Scale parameters that depend on the length of the simulation. Centemeter scale has been used throughout many of the demos, so those assumptions are baked into the default parameters.

Definition at line 82 of file tgBaseString.cpp.

Member Data Documentation

double tgBaseString::Config::damping

Specifies the damping (b) term in the linear force equation. Units are mass / seconds Must be non-negative. Similar to stiffness in usage

Definition at line 85 of file tgBaseString.h.

bool tgBaseString::Config::hist

Specifies whether data such as length and tension will be stored in deque objects. Useful for computing the energy of a trial.

Definition at line 92 of file tgBaseString.h.

double tgBaseString::Config::maxAcc

Maximum acceleration of the motor. This has the largest effect of the limits at small timesteps. Units are length/s^2 Must be nonnegative

Definition at line 132 of file tgBaseString.h.

double tgBaseString::Config::maxTens

The parameters that affect how the string can be controlled mostly kinematic as of 4/30/14

Todo:

give the motor interia, and specify more things by torque

Maximum tension that the motor can exert. String will not shorten if this threshold is exceeded, but the tension can still be increased by other members. Units are force (length * mass / seconds^2) Must be nonnegative.

Definition at line 117 of file tgBaseString.h.

double tgBaseString::Config::minActualLength

Actual length below which motor ceases to shorten. Units are length Must be nonnegative

Definition at line 139 of file tgBaseString.h.

double tgBaseString::Config::minRestLength

Rest length below which motor ceases to shorten Units are length Must be nonnegative

Definition at line 146 of file tgBaseString.h.

double tgBaseString::Config::rotation

Specifies the rotation around the face of the object its attached to. Any value will work, but +/- PI is the most meaningful. Units are radians.

Todo:

Is this meaningful for non-rod shapes?

Definition at line 101 of file tgBaseString.h.

double tgBaseString::Config::stiffness

Linear Hookean stiffness of the string (k). Must be non-negative. Upper limit depends on the timestep - stiffer springs will require a lower timestep. Used in Muscle2P, tensionMinLengthController, moveMotors (to enforce max force constraints) Units are mass / seconds^2

Definition at line 79 of file tgBaseString.h.

double tgBaseString::Config::targetVelocity

Maximum velocity of the motor, usage in moveMotors Units are length/seconds Must be nonnegative.

Definition at line 124 of file tgBaseString.h.

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

• core/tgBaseString.h
• core/tgBaseString.cpp