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tgBasicActuator Class Reference
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Public Member Functions

 tgBasicActuator (tgBulletSpringCable *muscle, const tgTags &tags, tgSpringCableActuator::Config &config)
 
virtual ~tgBasicActuator ()
 
virtual void setup (tgWorld &world)
 
virtual void teardown ()
 
virtual void step (double dt)
 
virtual void onVisit (const tgModelVisitor &r) const
 
virtual void setControlInput (double input)
 
virtual void setControlInput (double input, double dt)
 
virtual void moveMotors (double 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
 
virtual const
tgSpringCableActuator::SpringCableActuatorHistory
getHistory () const
 
const tgSpringCablegetSpringCable () const
 
const ConfiggetConfig () 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
 
const std::vector
< abstractMarker > & 
getMarkers () const
 
void addMarker (abstractMarker a)
 
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 ()
 
tgTagsgetTags ()
 
const tgTagsgetTags () const
 
void setTags (tgTags tags)
 
std::string getTagStr (std::string delim=" ") const
 
void attach (tgObserver< tgSpringCableActuator > *pObserver)
 
void notifyStep (double dt)
 
void notifySetup ()
 
void notifyTeardown ()
 

Protected Attributes

tgSpringCablem_springCable
 
Config m_config
 
SpringCableActuatorHistory *const m_pHistory
 
double m_restLength
 
double m_startLength
 
double m_prevVelocity
 

Detailed Description

Definition at line 40 of file tgBasicActuator.h.

Constructor & Destructor Documentation

tgBasicActuator::tgBasicActuator ( tgBulletSpringCable muscle,
const tgTags tags,
tgSpringCableActuator::Config config 
)

Constructor using tags. Typically called in tgBasicActuatorInfo.cpp

Parameters
[in]muscleThe muscle2P object that this controls and logs. Set up in tgBasicActuatorInfo.cpp
[in]tagsas passed through tgStructure and tgStructureInfo
[in]configHolds member variables like elasticity, damping and motor parameters. See tgSpringCableActuator

Definition at line 64 of file tgBasicActuator.cpp.

tgBasicActuator::~tgBasicActuator ( )
virtual

Destructor deletes the tgBulletSpringCable

Definition at line 77 of file tgBasicActuator.cpp.

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]pChilda pointer to a sub-model
Exceptions
std::invalid_argumentis 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.

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void tgSubject< tgSpringCableActuator >::attach ( tgObserver< tgSpringCableActuator > *  pObserver)
inherited

Attach an observer to the subject of the observer.

Parameters
[in,out]pObservera pointer to an observer for the subject; do nothing if the pointer is NULL
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,atagSearch 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.

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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,astd::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.

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const Config& tgSpringCableActuator::getConfig ( ) const
inlineinherited

Return a const reference to m_config for scaling values in neural networks

Definition at line 236 of file tgSpringCableActuator.h.

const double tgSpringCableActuator::getCurrentLength ( ) const
virtualinherited

Returns the current length of the spring cable

Definition at line 163 of file tgSpringCableActuator.cpp.

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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 172 of file tgModel.cpp.

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const tgSpringCableActuator::SpringCableActuatorHistory & tgSpringCableActuator::getHistory ( ) const
virtualinherited

Return a const reference to the history struct

Reimplemented in tgKinematicActuator.

Definition at line 183 of file tgSpringCableActuator.cpp.

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const double tgSpringCableActuator::getRestLength ( ) const
virtualinherited

Returns the rest length of the spring-cable

Definition at line 173 of file tgSpringCableActuator.cpp.

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const tgSpringCable* tgSpringCableActuator::getSpringCable ( ) const
inlineinherited

Returns a pointer the string's tgBulletSpringCable. Used for rendering in tgBulletRenderer

Definition at line 227 of file tgSpringCableActuator.h.

const double tgSpringCableActuator::getStartLength ( ) const
virtualinherited

Functions for interfacing with tgSpringCable Returns the length of the spring cable when the simulation started

Definition at line 158 of file tgSpringCableActuator.cpp.

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const double tgSpringCableActuator::getTension ( ) const
virtualinherited

Returns the current tension in the spring. Equal to stiffness * (current length - rest length)

Definition at line 168 of file tgSpringCableActuator.cpp.

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const double tgSpringCableActuator::getVelocity ( ) const
virtualinherited

In the default implementation returns the change in actual length / time of the spring cable. Some child classes return the actuator velocity

Reimplemented in tgKinematicActuator.

Definition at line 178 of file tgSpringCableActuator.cpp.

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void tgBasicActuator::moveMotors ( double  dt)
virtual

Called from public functions, it makes the restLength get closer to preferredlength, according to config constraints.

Parameters
[in]dt,timeelapsed since last call.

Definition at line 170 of file tgBasicActuator.cpp.

void tgSubject< tgSpringCableActuator >::notifySetup ( )
inherited

Call tgObserver<T>::onSetup() on all observers in the order in which they were attached.

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void tgSubject< tgSpringCableActuator >::notifyStep ( double  dt)
inherited

Call tgObserver<T>::onStep() on all observers in the order in which they were attached.

Parameters
[in]dtthe number of seconds since the previous call; do nothing if not positive

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void tgSubject< tgSpringCableActuator >::notifyTeardown ( )
inherited

Call tgObserver<T>::onTeardown() on all observers in the order in which they were attached.

void tgBasicActuator::onVisit ( const tgModelVisitor r) const
virtual

Double dispatch function for a tgModelVisitor. This object will pass itself back to the visitor. Used for rendering and data logging as of May 2014.

Parameters
[in]r,thevisiting tgModelVisitor

Reimplemented from tgModel.

Definition at line 115 of file tgBasicActuator.cpp.

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void tgBasicActuator::setControlInput ( double  input)
virtual

Functions for interfacing with higher level controllers Directly set m_preferredLength (see base class tgSpringCableActuator) Does not call moveMotors.

Parameters
[in]input,thecontrol input for the current step

Implements tgControllable.

Definition at line 137 of file tgBasicActuator.cpp.

void tgBasicActuator::setControlInput ( double  input,
double  dt 
)
virtual

Directly set m_preferredLength (see base class tgSpringCableActuator) Calls moveMotors(dt) to adjust the rest length of tgBulletSpringCable

Parameters
[in]input,thecontrol input for the current step
[in]dt,timeelapsed since last call.

Reimplemented from tgControllable.

Definition at line 149 of file tgBasicActuator.cpp.

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void tgBasicActuator::setup ( tgWorld world)
virtual

Notifies observers of setup, calls setup on children

Parameters
[in]world,thetgWorld the models are being built into

Reimplemented from tgSpringCableActuator.

Definition at line 83 of file tgBasicActuator.cpp.

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void tgBasicActuator::step ( double  dt)
virtual

Step dt forward with the simulation. Notifies observers of step, applies forces to rigid bodies via tgBulletSpringCable, logs history if desired, steps children.

Parameters
[in]dt,mustbe >= 0.0

Reimplemented from tgSpringCableActuator.

Definition at line 96 of file tgBasicActuator.cpp.

void tgBasicActuator::teardown ( )
virtual

Notifies observers of teardown, teardown any children

Reimplemented from tgSpringCableActuator.

Definition at line 90 of file tgBasicActuator.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]prefixa 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.

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Member Data Documentation

Config tgSpringCableActuator::m_config
protectedinherited

A copy of the configuration POD supplied at constuction. This is not const.

Definition at line 259 of file tgSpringCableActuator.h.

SpringCableActuatorHistory* const tgSpringCableActuator::m_pHistory
protectedinherited

All history sequences.

Definition at line 262 of file tgSpringCableActuator.h.

double tgSpringCableActuator::m_prevVelocity
protectedinherited

Tracking the most recent velocity to avoid using deques when history is off.

Definition at line 287 of file tgSpringCableActuator.h.

double tgSpringCableActuator::m_restLength
protectedinherited

Motor Model Parameters The current rest length of the spring cable. Directly sets the m_restLength parameter of m_springCable in the appropreate child class functions

Definition at line 274 of file tgSpringCableActuator.h.

tgSpringCable* tgSpringCableActuator::m_springCable
protectedinherited

The tgSpringCable system this actuator acts upon

Definition at line 253 of file tgSpringCableActuator.h.

double tgSpringCableActuator::m_startLength
protectedinherited

Tracking the start length to avoid using deques when history is off.

Definition at line 281 of file tgSpringCableActuator.h.


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