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T6RestLengthController Class Reference

#include <T6RestLengthController.h>

Inheritance diagram for T6RestLengthController:
Collaboration diagram for T6RestLengthController:

Public Member Functions

 T6RestLengthController (T6Model *subject, const double restLengthDiff=4)
 
virtual ~T6RestLengthController ()
 
virtual void onSetup (T6Model &subject)
 
virtual void onStep (T6Model &subject, double dt)
 
 T6RestLengthController (T6Model *subject, const double restLengthDiff=4)
 
virtual ~T6RestLengthController ()
 
virtual void onSetup (T6Model &subject)
 
virtual void onStep (T6Model &subject, double dt)
 
virtual void onAttach (T6Model &subject)
 
virtual void onTeardown (T6Model &subject)
 

Detailed Description

A controller to apply uniform rest length offset to all cables in a T6Model. Does a one-time adjust of all cable rest lengths, thereby tightening up the structure and keeping it held together without further control input.

Definition at line 42 of file T6RestLengthController.h.

Constructor & Destructor Documentation

T6RestLengthController::T6RestLengthController ( T6Model subject,
const double  restLengthDiff = 4 
)

Construct a T6RestLengthController.

Parameters
[in]restLengthDiff,theamount of cable retraction to enact. This length will be subtracted from the geometric length of each cable in the structure.

Definition at line 41 of file T6RestLengthController.cpp.

virtual T6RestLengthController::~T6RestLengthController ( )
inlinevirtual

Nothing to delete, destructor must be virtual

Definition at line 59 of file T6RestLengthController.h.

T6RestLengthController::T6RestLengthController ( T6Model subject,
const double  restLengthDiff = 4 
)

Construct a T6RestLengthController.

Parameters
[in]restLengthDiff,theamount of cable retraction to enact. This length will be subtracted from the geometric length of each cable in the structure.
virtual T6RestLengthController::~T6RestLengthController ( )
inlinevirtual

Nothing to delete, destructor must be virtual

Definition at line 59 of file T6RestLengthController.h.

Member Function Documentation

virtual void tgObserver< T6Model >::onAttach ( T6Model subject)
inlinevirtualinherited

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

Parameters
[in,out]subjectthe subject being observed

Definition at line 55 of file tgObserver.h.

void T6RestLengthController::onSetup ( T6Model subject)
virtual

Apply the RestLength controller. On setup, adjust the cable lengths one time.

Parameters
[in]subject- the T6Model that is being controlled. Must have a list of allMuscles populated

Reimplemented from tgObserver< T6Model >.

Definition at line 51 of file T6RestLengthController.cpp.

virtual void T6RestLengthController::onSetup ( T6Model subject)
virtual

Apply the RestLength controller. On setup, adjust the cable lengths one time.

Parameters
[in]subject- the T6Model that is being controlled. Must have a list of allMuscles populated

Reimplemented from tgObserver< T6Model >.

virtual void T6RestLengthController::onStep ( T6Model subject,
double  dt 
)
virtual

The onStep method is not used for this controller.

Parameters
[in]subject- the T6Model that is being controlled. Must have a list of allMuscles populated
[in]dt,currenttimestep must be positive

Implements tgObserver< T6Model >.

void T6RestLengthController::onStep ( T6Model subject,
double  dt 
)
virtual

The onStep method is not used for this controller.

Parameters
[in]subject- the T6Model that is being controlled. Must have a list of allMuscles populated
[in]dt,currenttimestep must be positive
Todo:
consider whether this is really necessary, or of tgBasicActuator has all of the functions you need _BTM

Implements tgObserver< T6Model >.

Definition at line 80 of file T6RestLengthController.cpp.

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virtual void tgObserver< T6Model >::onTeardown ( T6Model subject)
inlinevirtualinherited

Notify the observers when a teardown action has occurred.

Parameters
[in,out]subjectthe subject being observed

Definition at line 67 of file tgObserver.h.


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