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SuperBallModel Class Reference

#include <SuperBallModel.h>

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Public Member Functions

 SuperBallModel (tgWorld &world)
 
virtual ~SuperBallModel ()
 
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 > getSensorInfo ()
 
std::vector< btVector3 > getSensorPositions ()
 
std::vector< btVector3 > getSensorOrientations ()
 
btVector3 getCenter ()
 
btDynamicsWorld * getWorld ()
 
void fillNodeNumberingSchema (int a, int b, int c)
 
void fillNodeMappingFromBasePoints (int a, int b, int c)
 
void fillMusclesPerNode ()
 
const std::vector< std::vector
< tgBasicActuator * > > & 		getMusclesPerNodes () const
 
int getOtherEndOfTheRod (int i)
 
void attach (tgObserver< SuperBallModel > *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
 

Public Attributes

int nodeMapping [13]
 
int nodeMappingReverse [13]
 
int muscleConnections [13][13]
 
std::vector< std::vector
< tgBasicActuator * > > 		musclesPerNodes
 

Detailed Description

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

Definition at line 45 of file SuperBallModel.h.

Constructor & Destructor Documentation

SuperBallModel::SuperBallModel ( tgWorld &  world)

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

Definition at line 114 of file SuperBallModel.cpp.

SuperBallModel::~SuperBallModel ( )
virtual

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

Definition at line 119 of file SuperBallModel.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]pChilda pointer to a sub-model
Exceptions
std::invalid_argumentis 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< SuperBallModel >::attach ( tgObserver< SuperBallModel > *  pObserver)
inherited

Attach an observer to the subject of the observer.

Parameters
[in,out]pObservera 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,atagSearch 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,astd::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 * > & SuperBallModel::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 349 of file SuperBallModel.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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std::vector< double > SuperBallModel::getSensorInfo ( )

Returns the values from all the 12 height sensors.

Definition at line 203 of file SuperBallModel.cpp.

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std::vector< btVector3 > SuperBallModel::getSensorOrientations ( )

Returns the vector from the center of the robot to the sensor.

Definition at line 393 of file SuperBallModel.cpp.

std::vector< btVector3 > SuperBallModel::getSensorPositions ( )

Returns the positions of the sensors

Definition at line 383 of file SuperBallModel.cpp.

void tgSubject< SuperBallModel >::notifySetup ( )
inherited

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

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void tgSubject< SuperBallModel >::notifyStep ( double  dt)
inherited

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

Parameters
[in]dtthe number of seconds since the previous call; do nothing if not positive

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void tgSubject< SuperBallModel >::notifyTeardown ( )
inherited

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

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void SuperBallModel::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 344 of file SuperBallModel.cpp.

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void tgModel::onVisit ( const tgModelVisitor &  r) const
virtualinherited

Call tgModelVisitor::render() on self and all descendants.

Parameters
[in,out]ra 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 SuperBallModel::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 267 of file SuperBallModel.cpp.

void SuperBallModel::step ( double  dt)
virtual

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

Parameters
[in]dt,thetimestep. Must be positive.

Reimplemented from tgModel.

Definition at line 329 of file SuperBallModel.cpp.

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void SuperBallModel::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 354 of file SuperBallModel.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]prefixa 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: