DuCTTTestModel Class Reference

#include <DuCTTTestModel.h>

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Public Types
typedef std::map< std::string, std::vector < tgSpringCableActuator * > >	MuscleMap

Public Member Functions
	DuCTTTestModel (size_t segments)
virtual	~DuCTTTestModel ()
virtual void	setup (tgWorld &world)
virtual void	step (const double dt)
const std::vector < tgSpringCableActuator * > &	getMuscles (const std::string &key) const
size_t	getSegments () const
void	attach (tgObserver< DuCTTTestModel > *pObserver)
void	notifyStep (double dt)
void	notifySetup ()
void	notifyTeardown ()
virtual void	teardown ()
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)
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

The DuCTTTestModel implements a tensegrity with rigid tetrahedrons and six strings between segments, also known as Tetraspine.

Definition at line 63 of file DuCTTTestModel.h.

Member Typedef Documentation

typedef std::map<std::string, std::vector<tgSpringCableActuator*> > DuCTTTestModel::MuscleMap

Used within this function to map segments to string keys

Definition at line 70 of file DuCTTTestModel.h.

Constructor & Destructor Documentation

DuCTTTestModel::DuCTTTestModel

(

size_t

segments

)

The only constructor. The model details are instantiated once setup is called typically when the model is added to a simulation.

Parameters

[in]

segments,a

positive integer dictating how many rigid segments will be constructed.

Definition at line 27 of file DuCTTTestModel.cpp.

virtual DuCTTTestModel::~DuCTTTestModel ( )

inlinevirtual

Nothing to do. Most functions already handled by tgModel::teardown

Definition at line 83 of file DuCTTTestModel.h.

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< DuCTTTestModel >::attach ( tgObserver< DuCTTTestModel > *  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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const std::vector< tgSpringCableActuator * > & DuCTTTestModel::getMuscles

(

const std::string &

key

)

const

Get a group of muscles according to the provided key. Groups are populated during setup.

Parameters

[in]

key

- a std:string* used as a key to a std::map from a string to a vector of muscles

Returns

a std::vector of pointers to the muscles found by the key

Definition at line 232 of file DuCTTTestModel.cpp.

size_t DuCTTTestModel::getSegments ( ) const

inline

Return a std::size_t indicating the number of segments in the tetraSpine.

Returns

a std::size_t with the value of m_segments

Definition at line 116 of file DuCTTTestModel.h.

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< DuCTTTestModel >::notifySetup ( )

inherited

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

void tgSubject< DuCTTTestModel >::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

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void tgSubject< DuCTTTestModel >::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]

r

a reference to a tgModelVisitor

Reimplemented in tgCompressionSpringActuator, tgUnidirComprSprActuator, ConnectorTestModel, BuildTestModel, tgKinematicActuator, tgSphere, tgBox, tgRod, ContactCableDemo, tgBasicActuator, hillyMuscleNP, simpleMuscleNP, tgBoxMoreAnchors, tgBaseRigid, and tgGhostModel.

Definition at line 107 of file tgModel.cpp.

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void DuCTTTestModel::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 157 of file DuCTTTestModel.cpp.

void DuCTTTestModel::step ( const 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 216 of file DuCTTTestModel.cpp.

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void tgModel::teardown ( )

virtualinherited

Deletes the children (undoes setup)

Reimplemented in TensegrityModel, tgSpringCableActuator, tgCompressionSpringActuator, ContactTestModel, tgUnidirComprSprActuator, tgBlockField, tgStairs, tgKinematicActuator, tgSphere, tgBox, tgRod, CraterDeep, tgCraterDeep, Crater, tgCraterShallow, Wall, FlemonsArmModel, T6Model, tgBoxAnchorDebugModel, pidTestRig, PrismModel, SuperBallModel, ScarrArmModel, PrismModel, ContactCableDemo, tsTestRig, tgPrismatic, T6Model, T12SuperBallPayload, CaterpillarModel, T6SphereModel, BigPuppy, T6Model, T6Model, Escape_T6Model, EscapeModel, T6Model, hillyMuscleNP, simpleMuscleNP, BigDoxie, BigDoxieNoFeet, BigDoxieSpirals, MountainGoat, MountainGoatAchilles, MountainGoatFM0, tgBasicActuator, BigPuppySymmetricSpiral2, BigPuppySymmetricSpiral2, BigPuppyNoFeet, BigPuppyRigidFeet, BigPuppySpineOnly, BigPuppySpineOnlyStats, BigPuppySymmetric, BigPuppySymmetricArching, BigPuppySymmetricSpiral1, BigPuppySymmetricSpiral2, BigPuppySymmetricSpiralMetrics, BigPuppySymmetricSpiralSegments, MountainGoatNL2, BigPuppy, BigFoot, BigPuppy, BigPuppy, BigPuppy, BaseQuadModelLearning, BaseSpineModelLearning, TetraSpineStaticModel_hf, VerticalSpineModelCableCollision, FlemonsSpineModelGoal, tgGhostModel, OctahedralComplex, BaseSpineModelGoal, TetraSpineKinematic, TetraSpineGoal, TetraSpineCollisions, tgBaseRigid, TetraSpineStaticModel, TetraSpineLearningModel, FlemonsSpineModelContact, FlemonsSpineModelMixed, RibModelMixedContact, FlemonsSpineModelLearningCL, FlemonsSpineModelLearning, and RibModel.

Definition at line 68 of file tgModel.cpp.

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:

• dev/axydes/DuCTT/DuCTTTestModel.h
• dev/axydes/DuCTT/DuCTTTestModel.cpp