RPLengthController Class Reference

#include <RPLengthController.h>

Inherits tgObserver< TensegrityModel >, tgObserver< TensegrityModel >, and tgObserver< TensegrityModel >.

Collaboration diagram for RPLengthController:

Public Member Functions
	RPLengthController (const double length=400)
virtual	~RPLengthController ()
virtual void	onSetup (TensegrityModel &subject)
virtual void	onStep (TensegrityModel &subject, double dt)
	RPLengthController (const double length=400)
virtual	~RPLengthController ()
virtual void	onSetup (TensegrityModel &subject)
virtual void	onStep (TensegrityModel &subject, double dt)
	RPLengthController (const double length=400)
virtual	~RPLengthController ()
virtual void	onSetup (TensegrityModel &subject)
virtual void	onStep (TensegrityModel &subject, double dt)
virtual void	onAttach (TensegrityModel &subject)
virtual void	onTeardown (TensegrityModel &subject)

Public Attributes
std::vector< tgBasicController * >	m_controllers
std::vector< double >	rand_lengths
std::vector < tgSpringCableActuator * >	actuators

Detailed Description

A controller to apply uniform tension to a RPModel. Iterates through all tgLinearString members and calls tensionMinLengthController

Definition at line 47 of file RPLengthController.h.

Constructor & Destructor Documentation

RPLengthController::RPLengthController

(

const double

length = 400

)

Construct a RPTensionController.

Parameters

[in]

tension,a

double specifying the desired tension throughougt structure. Must be non-negitive

Definition at line 44 of file RPLengthController_rand.cpp.

RPLengthController::~RPLengthController ( )

virtual

Nothing to delete, destructor must be virtual

Definition at line 53 of file RPLengthController_rand.cpp.

RPLengthController::RPLengthController

(

const double

length = 400

)

Construct a RPTensionController.

Parameters

[in]

tension,a

double specifying the desired tension throughougt structure. Must be non-negitive

virtual RPLengthController::~RPLengthController ( )

virtual

Nothing to delete, destructor must be virtual

RPLengthController::RPLengthController

(

const double

length = 400

)

Construct a RPTensionController.

Parameters

[in]

tension,a

double specifying the desired tension throughougt structure. Must be non-negitive

virtual RPLengthController::~RPLengthController ( )

virtual

Nothing to delete, destructor must be virtual

Member Function Documentation

virtual void tgObserver< TensegrityModel >::onAttach ( TensegrityModel &  subject )

inlinevirtualinherited

Notify the observers when an attach action has occurred. Will only occur once, typically before setup

Parameters

[in,out]

subject

the subject being observed

Definition at line 55 of file tgObserver.h.

virtual void RPLengthController::onSetup ( TensegrityModel &  subject )

virtual

Notify the observers when a setup action has occurred.

Parameters

[in,out]

subject

the subject being observed

Reimplemented from tgObserver< TensegrityModel >.

virtual void RPLengthController::onSetup ( TensegrityModel &  subject )

virtual

Notify the observers when a setup action has occurred.

Parameters

[in,out]

subject

the subject being observed

Reimplemented from tgObserver< TensegrityModel >.

void RPLengthController::onSetup ( TensegrityModel &  subject )

virtual

Notify the observers when a setup action has occurred.

Parameters

[in,out]

subject

the subject being observed

Reimplemented from tgObserver< TensegrityModel >.

Definition at line 57 of file RPLengthController_rand.cpp.

Here is the call graph for this function:

void RPLengthController::onStep ( TensegrityModel &  subject, double  dt  )

virtual

Apply the tension controller. Called my notifyStep(dt) of its subject. The tgLinearStrings will update using their tensionMinLengthController each step

Parameters

[in]	subject	- the RPModel that is being controlled. Must have a list of allMuscles populated
[in]	dt,current	timestep must be positive

Implements tgObserver< TensegrityModel >.

Definition at line 64 of file RPLengthController_rand.cpp.

virtual void RPLengthController::onStep ( TensegrityModel &  subject, double  dt  )

virtual

Apply the tension controller. Called my notifyStep(dt) of its subject. The tgLinearStrings will update using their tensionMinLengthController each step

Parameters

[in]	subject	- the RPModel that is being controlled. Must have a list of allMuscles populated
[in]	dt,current	timestep must be positive

Implements tgObserver< TensegrityModel >.

virtual void RPLengthController::onStep ( TensegrityModel &  subject, double  dt  )

virtual

Apply the tension controller. Called my notifyStep(dt) of its subject. The tgLinearStrings will update using their tensionMinLengthController each step

Parameters

[in]	subject	- the RPModel that is being controlled. Must have a list of allMuscles populated
[in]	dt,current	timestep must be positive

Implements tgObserver< TensegrityModel >.

virtual void tgObserver< TensegrityModel >::onTeardown ( TensegrityModel &  subject )

inlinevirtualinherited

Notify the observers when a teardown action has occurred.

Parameters

[in,out]

subject

the subject being observed

Definition at line 67 of file tgObserver.h.

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

• dev/ezhu/6BarTensegrity/RPLengthController.h
• dev/ezhu/6BarTensegrity/RPLengthController_rand.cpp