#include <TetraSpineGoal.h>

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

Public Member Functions
	TetraSpineGoal (size_t segments, double goalAngle, double scale)

virtual void	setup (tgWorld &world)

virtual void	teardown ()

virtual void	step (const double dt)

btVector3	goalBoxPosition () const

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

virtual btVector3	getSegmentCOMVector (const int n) const

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 () const

void	attach (tgObserver< BaseSpineModelLearning > *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
const double	scaleFactor

Protected Attributes
tgBox *	m_goalBox

double	m_goalAngle

std::vector < tgSpringCableActuator * >	m_allMuscles

std::vector< tgModel * >	m_allSegments

MuscleMap	m_muscleMap

const std::size_t	m_segments

Detailed Description

Basically the same structure as NestedStructureTestModel just with different parameters and learning capabilities. This is an simplification of the model used in the 2015 ICRA paper

Definition at line 43 of file TetraSpineGoal.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< BaseSpineModelLearning >::attach ( tgObserver< BaseSpineModelLearning > * 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< BaseSpineModelLearning >::notifySetup ( )

inherited

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

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void tgSubject< BaseSpineModelLearning >::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< BaseSpineModelLearning >::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 TetraSpineGoal::setup ( tgWorld & world )

virtual

Setup takes a tgWorld and passes it to any children for their own setup functions. All subclasses should call this at the appropriate time (usually end of setup) within their own setup function.

Parameters

[in] world - the tgWorld the models will exist in.

Reimplemented from BaseSpineModelGoal.

Definition at line 220 of file TetraSpineGoal.cpp.

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void TetraSpineGoal::step ( const double dt )

virtual

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 BaseSpineModelGoal.

Definition at line 320 of file TetraSpineGoal.cpp.

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void TetraSpineGoal::teardown ( )

virtual

Deletes the children (undoes setup)

Reimplemented from BaseSpineModelGoal.

Definition at line 313 of file TetraSpineGoal.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/btietz/TS_goal/TetraSpineGoal.h
dev/btietz/TS_goal/TetraSpineGoal.cpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Function Documentation