tgBasicActuator Class Reference

Inheritance diagram for tgBasicActuator:

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Public Member Functions
	tgBasicActuator (tgBulletSpringCable *muscle, const tgTags &tags, tgSpringCableActuator::Config &config)
virtual	~tgBasicActuator ()
virtual void	setup (tgWorld &world)
virtual void	teardown ()
virtual void	step (double dt)
virtual void	onVisit (const tgModelVisitor &r) const
virtual void	setControlInput (double input)
virtual void	setControlInput (double input, double dt)
virtual void	moveMotors (double dt)
virtual const double	getStartLength () const
virtual const double	getCurrentLength () const
virtual const double	getTension () const
virtual const double	getRestLength () const
virtual const double	getVelocity () const
virtual const tgSpringCableActuator::SpringCableActuatorHistory &	getHistory () const
const tgSpringCable *	getSpringCable () const
const Config &	getConfig () 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
void	attach (tgObserver< tgSpringCableActuator > *pObserver)
void	notifyStep (double dt)
void	notifySetup ()
void	notifyTeardown ()

Protected Attributes
tgSpringCable *	m_springCable
Config	m_config
SpringCableActuatorHistory *const	m_pHistory
double	m_restLength
double	m_startLength
double	m_prevVelocity

Detailed Description

Definition at line 40 of file tgBasicActuator.h.

Constructor & Destructor Documentation

tgBasicActuator::tgBasicActuator	(	tgBulletSpringCable *	muscle,
		const tgTags &	tags,
		tgSpringCableActuator::Config &	config
	)

Constructor using tags. Typically called in tgBasicActuatorInfo.cpp

Parameters

[in]	muscle	The muscle2P object that this controls and logs. Set up in tgBasicActuatorInfo.cpp
[in]	tags	as passed through tgStructure and tgStructureInfo
[in]	config	Holds member variables like elasticity, damping and motor parameters. See tgSpringCableActuator

Definition at line 64 of file tgBasicActuator.cpp.

tgBasicActuator::~tgBasicActuator ( )

virtual

Destructor deletes the tgBulletSpringCable

Definition at line 77 of file tgBasicActuator.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]

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< tgSpringCableActuator >::attach ( tgObserver< tgSpringCableActuator > *  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 Config& tgSpringCableActuator::getConfig ( ) const

inlineinherited

Return a const reference to m_config for scaling values in neural networks

Definition at line 263 of file tgSpringCableActuator.h.

const double tgSpringCableActuator::getCurrentLength ( ) const

virtualinherited

Returns the current length of the spring cable

Definition at line 167 of file tgSpringCableActuator.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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const tgSpringCableActuator::SpringCableActuatorHistory & tgSpringCableActuator::getHistory ( ) const

virtualinherited

Return a const reference to the history struct

Reimplemented in tgKinematicActuator.

Definition at line 187 of file tgSpringCableActuator.cpp.

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const double tgSpringCableActuator::getRestLength ( ) const

virtualinherited

Returns the rest length of the spring-cable

Definition at line 177 of file tgSpringCableActuator.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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const tgSpringCable* tgSpringCableActuator::getSpringCable ( ) const

inlineinherited

Returns a pointer the string's tgBulletSpringCable. Used for rendering in tgBulletRenderer

Definition at line 254 of file tgSpringCableActuator.h.

const double tgSpringCableActuator::getStartLength ( ) const

virtualinherited

Functions for interfacing with tgSpringCable Returns the length of the spring cable when the simulation started

Definition at line 162 of file tgSpringCableActuator.cpp.

const double tgSpringCableActuator::getTension ( ) const

virtualinherited

Returns the current tension in the spring. Equal to stiffness * (current length - rest length)

Definition at line 172 of file tgSpringCableActuator.cpp.

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const double tgSpringCableActuator::getVelocity ( ) const

virtualinherited

In the default implementation returns the change in actual length / time of the spring cable. Some child classes return the actuator velocity

Reimplemented in tgKinematicActuator.

Definition at line 182 of file tgSpringCableActuator.cpp.

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void tgBasicActuator::moveMotors ( double  dt )

virtual

Called from public functions, it makes the restLength get closer to preferredlength, according to config constraints.

Parameters

[in]

dt,time

elapsed since last call.

Definition at line 170 of file tgBasicActuator.cpp.

void tgSubject< tgSpringCableActuator >::notifySetup ( )

inherited

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

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void tgSubject< tgSpringCableActuator >::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< tgSpringCableActuator >::notifyTeardown ( )

inherited

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

void tgBasicActuator::onVisit ( const tgModelVisitor &  r ) const

virtual

Double dispatch function for a tgModelVisitor. This object will pass itself back to the visitor. Used for rendering and data logging as of May 2014.

Parameters

[in]

r,the

visiting tgModelVisitor

Reimplemented from tgModel.

Definition at line 115 of file tgBasicActuator.cpp.

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void tgBasicActuator::setControlInput ( double  input )

virtual

Functions for interfacing with higher level controllers Directly set m_preferredLength (see base class tgSpringCableActuator) Does not call moveMotors.

Parameters

[in]

input,the

control input for the current step

Implements tgControllable.

Definition at line 137 of file tgBasicActuator.cpp.

void tgBasicActuator::setControlInput ( double  input, double  dt  )

virtual

Directly set m_preferredLength (see base class tgSpringCableActuator) Calls moveMotors(dt) to adjust the rest length of tgBulletSpringCable

Parameters

[in]	input,the	control input for the current step
[in]	dt,time	elapsed since last call.

Reimplemented from tgControllable.

Definition at line 149 of file tgBasicActuator.cpp.

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void tgBasicActuator::setup ( tgWorld &  world )

virtual

Notifies observers of setup, calls setup on children

Parameters

[in]

world,the

tgWorld the models are being built into

Reimplemented from tgSpringCableActuator.

Definition at line 83 of file tgBasicActuator.cpp.

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void tgBasicActuator::step ( double  dt )

virtual

Step dt forward with the simulation. Notifies observers of step, applies forces to rigid bodies via tgBulletSpringCable, logs history if desired, steps children.

Parameters

[in]

dt,must

be >= 0.0

Reimplemented from tgSpringCableActuator.

Definition at line 96 of file tgBasicActuator.cpp.

void tgBasicActuator::teardown ( )

virtual

Notifies observers of teardown, teardown any children

Reimplemented from tgSpringCableActuator.

Definition at line 90 of file tgBasicActuator.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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Member Data Documentation

Config tgSpringCableActuator::m_config

protectedinherited

A copy of the configuration POD supplied at constuction. This is not const.

Definition at line 286 of file tgSpringCableActuator.h.

SpringCableActuatorHistory* const tgSpringCableActuator::m_pHistory

protectedinherited

All history sequences.

Definition at line 289 of file tgSpringCableActuator.h.

double tgSpringCableActuator::m_prevVelocity

protectedinherited

Tracking the most recent velocity to avoid using deques when history is off.

Definition at line 314 of file tgSpringCableActuator.h.

double tgSpringCableActuator::m_restLength

protectedinherited

Motor Model Parameters The current rest length of the spring cable. Directly sets the m_restLength parameter of m_springCable in the appropreate child class functions

Definition at line 301 of file tgSpringCableActuator.h.

tgSpringCable* tgSpringCableActuator::m_springCable

protectedinherited

The tgSpringCable system this actuator acts upon

Definition at line 280 of file tgSpringCableActuator.h.

double tgSpringCableActuator::m_startLength

protectedinherited

Tracking the start length to avoid using deques when history is off.

Definition at line 308 of file tgSpringCableActuator.h.

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

• core/tgBasicActuator.h
• core/tgBasicActuator.cpp