Escape_T6Model Class Reference

#include <Escape_T6Model.h>

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Public Member Functions
	Escape_T6Model ()
virtual	~Escape_T6Model ()
virtual void	setup (tgWorld &world)
void	teardown ()
virtual void	step (double dt)
virtual void	onVisit (tgModelVisitor &r)
const std::vector < tgBasicActuator * > &	getAllMuscles () const
std::vector< double >	getBallCOM ()
void	attach (tgObserver< Escape_T6Model > *pObserver)
void	notifyStep (double dt)
void	notifySetup ()
void	notifyTeardown ()
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

Class that creates the six strut "superball" model using tgcreator

Definition at line 43 of file Escape_T6Model.h.

Constructor & Destructor Documentation

Escape_T6Model::Escape_T6Model

(

)

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

Definition at line 105 of file Escape_T6Model.cpp.

Escape_T6Model::~Escape_T6Model ( )

virtual

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

Definition at line 109 of file Escape_T6Model.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< Escape_T6Model >::attach ( tgObserver< Escape_T6Model > *  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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const std::vector< tgBasicActuator * > & Escape_T6Model::getAllMuscles

(

)

const

Return a vector of all muscles for the controllers to work with.

Returns

A vector of all of the muscles

Definition at line 254 of file Escape_T6Model.cpp.

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std::vector< double > Escape_T6Model::getBallCOM

(

)

Returns the center of mass of this model as an <x,y,z>

Definition at line 267 of file Escape_T6Model.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 170 of file tgModel.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< Escape_T6Model >::notifySetup ( )

inherited

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

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void tgSubject< Escape_T6Model >::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< Escape_T6Model >::notifyTeardown ( )

inherited

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

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void Escape_T6Model::onVisit ( tgModelVisitor &  r )

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

Definition at line 249 of file Escape_T6Model.cpp.

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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 Escape_T6Model::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

Todo:

acceleration constraint was removed on 12/10/14 Replace with tgKinematicActuator as appropreate

Reimplemented from tgModel.

Definition at line 178 of file Escape_T6Model.cpp.

void Escape_T6Model::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 234 of file Escape_T6Model.cpp.

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void Escape_T6Model::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 259 of file Escape_T6Model.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:

• dev/steve/Escape_T6/Escape_T6Model.h
• dev/steve/Escape_T6/Escape_T6Model.cpp