#include <NestedStructureTestModel.h>

Inherits tgSubject< NestedStructureTestModel >, tgModel, tgSubject< NestedStructureTestModel >, and tgModel.

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Public Types
typedef std::map< std::string, std::vector< tgBasicActuator * > >	ActuatorMap

Public Member Functions
	NestedStructureTestModel (int segments)

virtual void	setup (tgWorld *world)

virtual void	step (double dt)

void	changeMuscle (double length, double dt)

const std::vector < tgLinearString * >	getMuscles (std::string key)

const int	getSegments ()

	NestedStructureTestModel (size_t segments)

virtual	~NestedStructureTestModel ()

virtual void	setup (tgWorld &world)

virtual void	step (const double dt)

const std::vector < tgBasicActuator * > &	getActuators (const std::string &key) const

size_t	getSegments () const

void	attach (tgObserver< NestedStructureTestModel > *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 NestedStructureTestModel implements a tensegrity with rigid tetrahedrons and six strings between segments, also known as Tetraspine.

Definition at line 46 of file NestedStructureTestModel_rb.h.

Member Typedef Documentation

typedef std::map<std::string, std::vector<tgBasicActuator*> > NestedStructureTestModel::ActuatorMap

Used within this function to map segments to string keys

Definition at line 53 of file NestedStructureTestModel.h.

Constructor & Destructor Documentation

NestedStructureTestModel::NestedStructureTestModel ( 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 45 of file NestedStructureTestModel.cpp.

virtual NestedStructureTestModel::~NestedStructureTestModel ( )

inlinevirtual

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

Definition at line 66 of file NestedStructureTestModel.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< NestedStructureTestModel >::attach ( tgObserver< NestedStructureTestModel > * 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 * > & NestedStructureTestModel::getActuators ( const std::string & key ) const

Get a group of actuators 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 actuators

Returns: a std::vector of pointers to the actuators found by the key

Definition at line 198 of file NestedStructureTestModel.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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size_t NestedStructureTestModel::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 99 of file NestedStructureTestModel.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< NestedStructureTestModel >::notifySetup ( )

inherited

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

void tgSubject< NestedStructureTestModel >::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< NestedStructureTestModel >::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 NestedStructureTestModel::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 135 of file NestedStructureTestModel.cpp.

virtual void NestedStructureTestModel::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.

void NestedStructureTestModel::step ( double dt )

inlinevirtual

Advance the simulation.

Parameters

[in] dt the number of seconds since the previous call; std::invalid_argument is thrown if dt is not positive

Exceptions

std::invalid_argument if dt is not positive

Note: This is not necessarily const for every child.

Reimplemented from tgModel.

Definition at line 178 of file NestedStructureTestModel_rb.h.

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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/btietz/NestedStructureTestModel_rb.h
examples/NestedTetrahedrons/NestedStructureTestModel.h
examples/NestedTetrahedrons/NestedStructureTestModel.cpp

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation