Inheritance diagram for MountainGoat:

Collaboration diagram for MountainGoat:

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

Public Member Functions
	MountainGoat (int segments, int hips, int legs)

virtual void	setup (tgWorld &world)

virtual void	teardown ()

virtual void	step (double dt)

virtual std::vector< double >	getCOM (const int n)

virtual std::vector< double >	getSegmentCOM (const int n)

virtual btVector3	getSegmentCOMVector (const int n)

virtual const std::vector < tgSpringCableActuator * > &	getMuscles (const std::string &key) const

virtual const std::vector < tgSpringCableActuator * > &	getAllMuscles () const

virtual const std::vector < tgBaseRigid * >	getAllRigids () const

virtual const int	getSegments () const

virtual std::size_t	getNumberofMuslces () const

double	getSpineLength ()

void	attach (tgObserver< BaseQuadModelLearning > *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

Protected Attributes
const std::size_t	m_legs

std::vector < tgSpringCableActuator * >	m_allMuscles

std::vector< tgModel * >	m_allSegments

MuscleMap	m_muscleMap

std::size_t	m_subStructures

const std::size_t	m_segments

const std::size_t	m_hips

std::vector< double >	segmentMasses

Detailed Description

Definition at line 49 of file MountainGoat.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< BaseQuadModelLearning >::attach ( tgObserver< BaseQuadModelLearning > * 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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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< BaseQuadModelLearning >::notifySetup ( )

inherited

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

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

inherited

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

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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 MountainGoat::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 BaseQuadModelLearning.

Definition at line 478 of file MountainGoat.cpp.

void MountainGoat::step ( double dt )

virtual

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

Parameters

[in] dt,the timestep. Must be positive.

Reimplemented from BaseQuadModelLearning.

Definition at line 642 of file MountainGoat.cpp.

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