ContactCableDemo Class Reference

#include <ContactCableDemo.h>

Inheritance diagram for ContactCableDemo:

Collaboration diagram for ContactCableDemo:

Public Member Functions
	ContactCableDemo ()
virtual	~ContactCableDemo ()
virtual void	setup (tgWorld &world)
virtual void	teardown ()
virtual void	step (double dt)
virtual void	onVisit (const tgModelVisitor &r) const
virtual double	getEnergy () const
virtual btVector3	getMomentum () const
virtual btVector3	getVelocityOfBody (int body_num) const
void	attach (tgObserver< ContactCableDemo > *pObserver)
void	notifyStep (double dt)
void	notifySetup ()
void	notifyTeardown ()
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)
virtual std::vector < tgSenseable * >	getSenseableDescendants () const
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 ()
tgTags &	getTags ()
const tgTags &	getTags () const
void	setTags (tgTags tags)
std::string	getTagStr (std::string delim=" ") const

Detailed Description

A class that constructs a three bar tensegrity prism using the tools in tgcreator.

Definition at line 50 of file ContactCableDemo.h.

Constructor & Destructor Documentation

ContactCableDemo::ContactCableDemo

(

)

The only constructor. Configuration parameters are within the .cpp file in this case, not passed in.

Definition at line 41 of file ContactCableDemo.cpp.

ContactCableDemo::~ContactCableDemo ( )

virtual

Destructor. Deletes controllers, if any were added during setup. Teardown handles everything else.

Definition at line 45 of file ContactCableDemo.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]

pChild

a pointer to a sub-model

Exceptions

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 122 of file tgModel.cpp.

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void tgSubject< ContactCableDemo >::attach ( tgObserver< ContactCableDemo > *  pObserver )

inherited

Attach an observer to the subject of the observer.

Parameters

[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 ( 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,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 128 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,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 141 of file tgModel.h.

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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 170 of file tgModel.cpp.

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double ContactCableDemo::getEnergy ( ) const

virtual

Sums the square of the velocity times the mass

Todo:

account for rotational energy as well, and energy in the string

Definition at line 180 of file ContactCableDemo.cpp.

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btVector3 ContactCableDemo::getMomentum ( ) const

virtual

Returns a btVector3 of the current center of mass velocity (momentum)

Definition at line 196 of file ContactCableDemo.cpp.

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std::vector< tgSenseable * > tgModel::getSenseableDescendants ( ) const

virtualinherited

From tgSenseable: need to return all the children of this class. Since tgModels are tgSenseables, just return getDescendants().

Returns

a vector of tgModels, with pointers changed into pointers for tgSenseables.

For tgSenseable: just return the results of getDescendants here. This should be OK, since a vector of tgModel* is also a vector of tgSenseable*.

Reimplemented from tgSenseable.

Definition at line 191 of file tgModel.cpp.

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void tgSubject< ContactCableDemo >::notifySetup ( )

inherited

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

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void tgSubject< ContactCableDemo >::notifyStep ( double  dt )

inherited

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

Parameters

[in]

dt

the number of seconds since the previous call; do nothing if not positive

void tgSubject< ContactCableDemo >::notifyTeardown ( )

inherited

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

void ContactCableDemo::onVisit ( const tgModelVisitor &  r ) const

virtual

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

[in]

r

- a tgModelVisitor which will pass this model back to itself

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

Parameters

[in,out]

r

a reference to a tgModelVisitor

Reimplemented from tgModel.

Definition at line 174 of file ContactCableDemo.cpp.

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void ContactCableDemo::setup ( tgWorld &  world )

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

[in]

world

- the world we're building into

Reimplemented from tgModel.

Definition at line 49 of file ContactCableDemo.cpp.

void ContactCableDemo::step ( double  dt )

virtual

Step the model, its children. Notifies controllers of step.

Parameters

[in]

dt,the

timestep. Must be positive.

Reimplemented from tgModel.

Definition at line 126 of file ContactCableDemo.cpp.

void ContactCableDemo::teardown ( )

virtual

Undoes setup. Deletes child models. Called automatically on reset and end of simulation. Notifies controllers of teardown

Reimplemented from tgModel.

Definition at line 121 of file ContactCableDemo.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]

prefix

a string to append to

Returns

the original string with this model and its children's tags appended

Definition at line 152 of file tgModel.cpp.

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

• examples/contactCables/ContactCableDemo.h
• examples/contactCables/ContactCableDemo.cpp