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tgSpringCableActuator Class Referenceabstract

#include <tgSpringCableActuator.h>

Inherits tgModel, tgControllable, and tgSubject< tgSpringCableActuator >.

Inherited by tgBasicActuator, and tgKinematicActuator.

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Classes

struct  Config
 
struct  SpringCableActuatorHistory
 

Public Member Functions

virtual ~tgSpringCableActuator ()
 
virtual void setup (tgWorld &world)
 
virtual void teardown ()
 
virtual void step (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
 
virtual void onVisit (const tgModelVisitor &r) 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
 
virtual void setControlInput (double input)=0
 
virtual void setControlInput (double input, double dt)
 
void attach (tgObserver< tgSpringCableActuator > *pObserver)
 
void notifyStep (double dt)
 
void notifySetup ()
 
void notifyTeardown ()
 

Protected Member Functions

 tgSpringCableActuator (tgSpringCable *springCable, const tgTags &tags, tgSpringCableActuator::Config &config)
 

Protected Attributes

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

Detailed Description

Sets a basic API for spring cable actuator models, so controllers can interface with all of them the same way. Abstract since it doesn not define tgControllable's setControlInput.

Definition at line 46 of file tgSpringCableActuator.h.

Constructor & Destructor Documentation

tgSpringCableActuator::~tgSpringCableActuator ( )
virtual

Deletes history and spring cable instantiation

Definition at line 130 of file tgSpringCableActuator.cpp.

tgSpringCableActuator::tgSpringCableActuator ( tgSpringCable springCable,
const tgTags tags,
tgSpringCableActuator::Config config 
)
protected

Need to pass tags down to tgModel, but these should only be called by sub classes

Definition at line 112 of file tgSpringCableActuator.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
inline

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
virtual

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
virtual

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
virtual

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
inline

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
virtual

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
virtual

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
virtual

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 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 tgModel::onVisit ( const tgModelVisitor r) const
virtualinherited

Call tgModelVisitor::render() on self and all descendants.

Parameters
[in,out]ra reference to a tgModelVisitor

Reimplemented in ConnectorTestModel, BuildTestModel, tgKinematicActuator, tgSphere, tgBox, tgRod, MuscleNPCons, tgBasicActuator, hillyMuscleNP, simpleMuscleNP, tgBaseRigid, and tgGhostModel.

Definition at line 107 of file tgModel.cpp.

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virtual void tgControllable::setControlInput ( double  input)
pure virtualinherited

Set the relevant control variable for this class, such as commanded position or torque

Parameters
[in]input,thecontrol input, units are application dependent

Implemented in tgKinematicActuator, and tgBasicActuator.

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virtual void tgControllable::setControlInput ( double  input,
double  dt 
)
inlinevirtualinherited

Secondary function for those classes which need to know how much time has elapsed since they last recieved input (such as tgBasicActuator's moveMotors(dt) function) This will silently fail if it is called erroneously

Parameters
[in]input,thedesired control input
[in]dt,thetime elapsed since the last call. Must be positive (typically enforced in child class)

Reimplemented in tgBasicActuator.

Definition at line 65 of file tgControllable.h.

void tgSpringCableActuator::setup ( tgWorld world)
virtual

Just calls tgModel::setup(world) - sets up any children

Reimplemented from tgModel.

Reimplemented in tgKinematicActuator, and tgBasicActuator.

Definition at line 136 of file tgSpringCableActuator.cpp.

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void tgSpringCableActuator::step ( double  dt)
virtual

Just calls tgModel::step(dt) - steps any children

Reimplemented from tgModel.

Reimplemented in tgKinematicActuator, and tgBasicActuator.

Definition at line 146 of file tgSpringCableActuator.cpp.

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void tgSpringCableActuator::teardown ( )
virtual

Just calls tgModel::teardown(world) - sets up any children

Reimplemented from tgModel.

Reimplemented in tgKinematicActuator, and tgBasicActuator.

Definition at line 141 of file tgSpringCableActuator.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
protected

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
protected

All history sequences.

Definition at line 262 of file tgSpringCableActuator.h.

double tgSpringCableActuator::m_prevVelocity
protected

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
protected

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
protected

The tgSpringCable system this actuator acts upon

Definition at line 253 of file tgSpringCableActuator.h.

double tgSpringCableActuator::m_startLength
protected

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: