#include <tgCompressionSpringActuator.h>

Inherits tgModel, tgControllable, and tgSubject< tgCompressionSpringActuator >.

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Classes
struct	Config

Public Member Functions
	tgCompressionSpringActuator (tgBulletCompressionSpring *compressionSpring, const tgTags &tags, tgCompressionSpringActuator::Config &config)

virtual	~tgCompressionSpringActuator ()

virtual void	setup (tgWorld &world)

virtual void	teardown ()

virtual void	step (double dt)

virtual void	onVisit (const tgModelVisitor &r) const

virtual double	getActuatorSpringForce ()

virtual const tgBulletCompressionSpring *	getCompressionSpring () const

virtual void	setControlInput (double input)

virtual void	setControlInput (double input, double dt)

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< tgCompressionSpringActuator > *pObserver)

void	notifyStep (double dt)

void	notifySetup ()

void	notifyTeardown ()

Protected Attributes
tgBulletCompressionSpring *	m_compressionSpring

Config	m_config

Detailed Description

This class is what should be used to create a compression spring in NTRT. As of 2016-08-02, it does not actuate, though, but is named 'actuator' in the hopes that this functionality will be added eventually.

Definition at line 53 of file tgCompressionSpringActuator.h.

Constructor & Destructor Documentation

tgCompressionSpringActuator::tgCompressionSpringActuator	(	tgBulletCompressionSpring *	compressionSpring,
		const tgTags &	tags,
		tgCompressionSpringActuator::Config &	config
	)

THE MAIN CONSTRUCTOR FOR THIS CLASS. Constructor using tags. Typically called in tgCompressionSpringActuatorInfo.cpp

Parameters

[in]	compressionSpring,the	tgBulletCompressionSpring object that this controls and logs. Set up in tgCompressionSpringActuatorInfo.cpp
[in]	tags	as passed through tgStructure and tgStructureInfo
[in]	config	Holds member variables defined here.

The main constructor for this class.

Definition at line 98 of file tgCompressionSpringActuator.cpp.

tgCompressionSpringActuator::~tgCompressionSpringActuator ( )

virtual

Destructor deletes the tgBulletCompressionSpring

Definition at line 116 of file tgCompressionSpringActuator.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< tgCompressionSpringActuator >::attach ( tgObserver< tgCompressionSpringActuator > * 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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double tgCompressionSpringActuator::getActuatorSpringForce ( )

virtual

Functions for interfacing with tgBulletCompressionSpring. NOTE that some of these are not implemented at the moment. If this class was to really become an actuator, these helper functions would probably be needed. Returns the starting distance between the two anchors. Note that this has little physical meaning, since the spring may not be applying a force at that distance. Returns the current distance between the two anchors. This isn't "length", really, since the spring length really is either: restLength (if getCurrentDistance is greater than restLength) getCurrentDistance (if getCurrentDistance is less than restLength). Returns the rest length of the spring, e.g., the Config restLength parameter. Returns the current force in the spring. This is equivalent to "tension" in a sense, but since this is a compression spring, it's better termed "spring force."

Definition at line 181 of file tgCompressionSpringActuator.cpp.

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virtual const tgBulletCompressionSpring* tgCompressionSpringActuator::getCompressionSpring ( ) const

inlinevirtual

Returns a pointer to this spring's tgBulletCompressionSpring. Used by tgBulletRenderer.

Definition at line 223 of file tgCompressionSpringActuator.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< tgCompressionSpringActuator >::notifySetup ( )

inherited

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

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

inherited

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

void tgCompressionSpringActuator::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.

Reimplemented in tgUnidirComprSprActuator.

Definition at line 170 of file tgCompressionSpringActuator.cpp.

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void tgCompressionSpringActuator::setControlInput ( double input )

virtual

Functions required by tgControllable. As of 2016-08-02, all of these do nothing. Does nothing as of 2016-08-02. See tgBasicActuator for an implementation that could be re-used here.

The two required methods for this class to be a tgControllable.

Implements tgControllable.

Definition at line 189 of file tgCompressionSpringActuator.cpp.

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

virtual

Does nothing as of 2016-08-02. See tgBasicActuator for an implementation that could be re-used here.

Reimplemented from tgControllable.

Definition at line 193 of file tgCompressionSpringActuator.cpp.

void tgCompressionSpringActuator::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 tgModel.

Reimplemented in tgUnidirComprSprActuator.

Definition at line 133 of file tgCompressionSpringActuator.cpp.

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void tgCompressionSpringActuator::step ( double dt )

virtual

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

Parameters

[in] dt,must be >= 0.0

The step function calls on the tgBulletCompressionSpring to apply forces. Since this class does not currently do any actuation, this function is the only place that things get updated at each timestep.

Reimplemented from tgModel.

Reimplemented in tgUnidirComprSprActuator.

Definition at line 151 of file tgCompressionSpringActuator.cpp.

void tgCompressionSpringActuator::teardown ( )

virtual

Notifies observers of teardown, teardown any children

Reimplemented from tgModel.

Reimplemented in tgUnidirComprSprActuator.

Definition at line 140 of file tgCompressionSpringActuator.cpp.

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