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htSpineSine Class Reference

#include <htSpineSine.h>

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Public Member Functions

 htSpineSine ()
 
virtual void onSetup (BaseSpineModelLearning &subject)
 
virtual void onStep (BaseSpineModelLearning &subject, double dt)
 
virtual void onTeardown (BaseSpineModelLearning &subject)
 
virtual void onAttach (BaseSpineModelLearning &subject)
 

Protected Member Functions

virtual void setupWaves (BaseSpineModelLearning &subject)
 

Protected Attributes

std::vector
< tgSineStringControl * > 		m_sineControllers
 
tgDataObserver m_dataObserver
 
double m_updateTime
 
double m_controlTime
 

Detailed Description

Inherits from BaseSpineCPGControl, and overrides setupCPGs so different muscle groups can have different ImpedanceControl parameters

Definition at line 42 of file htSpineSine.h.

Constructor & Destructor Documentation

htSpineSine::htSpineSine ( )

Defining the adapters here assumes the controller is around and attached for the lifecycle of the learning runs. I.E. that the setup and teardown functions are used for tgModel

Definition at line 58 of file htSpineSine.cpp.

Member Function Documentation

virtual void tgObserver< BaseSpineModelLearning >::onAttach ( BaseSpineModelLearning &  subject)
inlinevirtualinherited

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

Parameters
[in,out]subjectthe subject being observed

Definition at line 55 of file tgObserver.h.

void htSpineSine::onSetup ( BaseSpineModelLearning &  subject)
virtual

Notify the observers when a setup action has occurred.

Parameters
[in,out]subjectthe subject being observed

Reimplemented from tgObserver< BaseSpineModelLearning >.

Definition at line 63 of file htSpineSine.cpp.

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void htSpineSine::onStep ( BaseSpineModelLearning &  subject,
double  dt 
)
virtual

Notify the observers when a step action has occurred.

Parameters
[in,out]subjectthe subject being observed
[in]thenumber of seconds since the previous call; must be positive

Basically nothing to do. Sine controllers will take care of themselves

Implements tgObserver< BaseSpineModelLearning >.

Definition at line 76 of file htSpineSine.cpp.

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void htSpineSine::onTeardown ( BaseSpineModelLearning &  subject)
virtual

Notify the observers when a teardown action has occurred.

Parameters
[in,out]subjectthe subject being observed

Reimplemented from tgObserver< BaseSpineModelLearning >.

Definition at line 90 of file htSpineSine.cpp.

void htSpineSine::setupWaves ( BaseSpineModelLearning &  subject)
protectedvirtual
Todo:
should this throw an exception instead??

Definition at line 100 of file htSpineSine.cpp.

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