#include <PrismModel.h>
Inherits tgSubject< PrismModel >, tgModel, tgSubject< PrismModel >, and tgModel.
A class that constructs a three bar tensegrity prism using the tools in tgcreator. This iteration avoids using a controller and instead uses the new (to v1.1) ability to define pretension in a tgBasicActuator's constructor
A class that constructs a three bar tensegrity prism using the tools in tgcreator.
Definition at line 48 of file PrismModel.h.
PrismModel::PrismModel |
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The only constructor. Configuration parameters are within the .cpp file in this case, not passed in.
Definition at line 73 of file PrismModel.cpp.
PrismModel::~PrismModel |
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virtual |
Destructor. Deletes controllers, if any were added during setup. Teardown handles everything else.
Definition at line 78 of file PrismModel.cpp.
PrismModel::PrismModel |
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The only constructor. Configuration parameters are within the .cpp file in this case, not passed in.
virtual PrismModel::~PrismModel |
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virtual |
Destructor. Deletes controllers, if any were added during setup. Teardown handles everything else.
void tgModel::addChild |
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tgModel * |
pChild | ) |
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inherited |
Add a sub-model to this model. The model takes ownership of the child sub-model and is responsible for deallocating it.
- Parameters
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[in,out] | pChild | a pointer to a sub-model |
- Exceptions
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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 124 of file tgModel.cpp.
Attach an observer to the subject of the observer.
- Parameters
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[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 |
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const tgTagSearch & |
tagSearch | ) |
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inlineinherited |
Get a vector of descendants sorted by type and a tagsearch. Useful for pulling out muscle groups, or similar.
- Parameters
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[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 125 of file tgModel.h.
template<typename T >
std::vector<T*> tgModel::find |
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const std::string & |
tagSearch | ) |
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inlineinherited |
Get a vector of descendants sorted by type and a tagsearch. Useful for pulling out muscle groups, or similar.
- Parameters
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[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 138 of file tgModel.h.
Return a vector of all actuators for the controllers to work with.
- Returns
- A vector of all of the actuators
Return a vector of all muscles for the controllers to work with.
- Returns
- A vector of all of the muscles
Definition at line 191 of file PrismModel.cpp.
std::vector< tgModel * > tgModel::getDescendants |
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const |
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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 172 of file tgModel.cpp.
Call tgObserver<T>::onStep() on all observers in the order in which they were attached.
- Parameters
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[in] | dt | the number of seconds since the previous call; do nothing if not positive |
Receives a tgModelVisitor and dispatches itself into the visitor's "render" function. This model will go to the default tgModel function, which does nothing.
- Parameters
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Receives a tgModelVisitor and dispatches itself into the visitor's "render" function. This model will go to the default tgModel function, which does nothing.
- Parameters
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Definition at line 185 of file PrismModel.cpp.
Call tgModelVisitor::render() on self and all descendants.
- Parameters
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Reimplemented in ConnectorTestModel, BuildTestModel, tgKinematicActuator, tgSphere, tgBox, tgRod, MuscleNPCons, tgBasicActuator, hillyMuscleNP, simpleMuscleNP, tgBaseRigid, and tgGhostModel.
Definition at line 107 of file tgModel.cpp.
virtual void PrismModel::setup |
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tgWorld & |
world | ) |
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virtual |
Create the model. Place the rods and strings into the world that is passed into the simulation. This is triggered automatically when the model is added to the simulation, when tgModel::setup(world) is called (if this model is a child), and when reset is called. Also notifies controllers of setup.
- Parameters
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[in] | world | - the world we're building into |
Reimplemented from tgModel.
void PrismModel::setup |
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tgWorld & |
world | ) |
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virtual |
Create the model. Place the rods and strings into the world that is passed into the simulation. This is triggered automatically when the model is added to the simulation, when tgModel::setup(world) is called (if this model is a child), and when reset is called. Also notifies controllers of setup.
- Parameters
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[in] | world | - the world we're building into |
Reimplemented from tgModel.
Definition at line 126 of file PrismModel.cpp.
virtual void PrismModel::step |
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double |
dt | ) |
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virtual |
Step the model, its children. Notifies controllers of step.
- Parameters
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[in] | dt,the | timestep. Must be positive. |
Reimplemented from tgModel.
void PrismModel::step |
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double |
dt | ) |
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virtual |
Step the model, its children. Notifies controllers of step.
- Parameters
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[in] | dt,the | timestep. Must be positive. |
Reimplemented from tgModel.
Definition at line 170 of file PrismModel.cpp.
virtual void PrismModel::teardown |
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virtual |
Undoes setup. Deletes child models. Called automatically on reset and end of simulation. Notifies controllers of teardown
Reimplemented from tgModel.
void PrismModel::teardown |
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virtual |
Undoes setup. Deletes child models. Called automatically on reset and end of simulation. Notifies controllers of teardown
Reimplemented from tgModel.
Definition at line 196 of file PrismModel.cpp.
std::string tgModel::toString |
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std::string |
prefix = "" | ) |
const |
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virtualinherited |
Returns the tag names of this model and its children
- Parameters
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[in] | prefix | a string to append to |
- Returns
- the original string with this model and its children's tags appended
Definition at line 154 of file tgModel.cpp.
The documentation for this class was generated from the following files: