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tgSineStringControl Class Reference
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Public Member Functions

 tgSineStringControl (const double controlStep, tgImpedanceController *p_ipc, const double amplitude, const double frequency, const double phase, const double offset, const double length)
 
virtual void onStep (tgSpringCableActuator &subject, double dt)
 
const double getCommandedTension () const
 
virtual void onAttach (tgSpringCableActuator &subject)
 
virtual void onSetup (tgSpringCableActuator &subject)
 
virtual void onTeardown (tgSpringCableActuator &subject)
 

Detailed Description

Definition at line 28 of file tgSineStringControl.h.

Constructor & Destructor Documentation

tgSineStringControl::tgSineStringControl ( const double  controlStep,
tgImpedanceController *  p_ipc,
const double  amplitude,
const double  frequency,
const double  phase,
const double  offset,
const double  length 
)
Todo:
check all of the above.

Definition at line 28 of file tgSineStringControl.cpp.

Member Function Documentation

virtual void tgObserver< tgSpringCableActuator >::onAttach ( tgSpringCableActuator &  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

Reimplemented in tgCPGActuatorControl, and tgSCASineControl.

Definition at line 55 of file tgObserver.h.

virtual void tgObserver< tgSpringCableActuator >::onSetup ( tgSpringCableActuator &  subject)
inlinevirtualinherited

Notify the observers when a setup action has occurred.

Parameters
[in,out]subjectthe subject being observed

Reimplemented in tgCPGCableControl.

Definition at line 61 of file tgObserver.h.

void tgSineStringControl::onStep ( tgSpringCableActuator &  subject,
double  dt 
)
virtual

Notify the observers when a step action has occurred.

Parameters
[in,out]subjectthe subject being observed
[in]thenumber of seconds since the previous call; must be positive
Todo:
this fails if its attached to multiple controllers! is there a way to track global time at this level

Implements tgObserver< tgSpringCableActuator >.

Definition at line 63 of file tgSineStringControl.cpp.

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virtual void tgObserver< tgSpringCableActuator >::onTeardown ( tgSpringCableActuator &  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: