Inheritance diagram for tgKinematicActuator:

Collaboration diagram for tgKinematicActuator:

Classes
struct	Config

Public Member Functions
	tgKinematicActuator (tgBulletSpringCable *muscle, const tgTags &tags, tgKinematicActuator::Config &config)

virtual	~tgKinematicActuator ()

virtual void	setup (tgWorld &world)

virtual void	teardown ()

virtual void	step (double dt)

virtual void	onVisit (const tgModelVisitor &r) const

virtual const double	getVelocity () const

virtual const tgSpringCableActuator::SpringCableActuatorHistory &	getHistory () const

virtual double	getAppliedTorque (double desiredTorque) const

virtual void	setControlInput (double input)

virtual const double	getStartLength () const

virtual const double	getCurrentLength () const

virtual const double	getTension () const

virtual const double	getRestLength () 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

virtual void	setControlInput (double input, double dt)

void	attach (tgObserver< tgSpringCableActuator > *pObserver)

void	notifyStep (double dt)

void	notifySetup ()

void	notifyTeardown ()

Protected Member Functions
virtual void	integrateRestLength (double dt)

Protected Attributes
tgSpringCable *	m_springCable

SpringCableActuatorHistory *const	m_pHistory

double	m_restLength

double	m_startLength

double	m_prevVelocity

Detailed Description

Definition at line 40 of file tgKinematicActuator.h.

Constructor & Destructor Documentation

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

Constructor using tags. Typically called in tgKinematicActuatorInfo.cpp

Parameters

[in]	muscle	The muscle2P object that this controls and logs. Set up in tgKinematicActuatorInfo.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 101 of file tgKinematicActuator.cpp.

tgKinematicActuator::~tgKinematicActuator ( )

virtual

Destructor deletes the tgBulletSpringCable

Definition at line 116 of file tgKinematicActuator.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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double tgKinematicActuator::getAppliedTorque ( double desiredTorque ) const

virtual

Applies a linear torque-speed function to restrict the available speeds and torques

Definition at line 216 of file tgKinematicActuator.cpp.

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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 & tgKinematicActuator::getHistory ( ) const

virtual

Return a const reference to the history struct

Reimplemented from tgSpringCableActuator.

Definition at line 232 of file tgKinematicActuator.cpp.

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 tgKinematicActuator::getVelocity ( ) const

virtual

Functions for interfacing with muscle2P, and higher level controllers Return the appropreate values. Returns the linearized velocity of the motor, as opposed to tgBasicActuator which returns the velocity of the muscle material

Reimplemented from tgSpringCableActuator.

Definition at line 181 of file tgKinematicActuator.cpp.

void tgKinematicActuator::integrateRestLength ( double dt )

protectedvirtual

Todo:: check min actual length somewhere

Definition at line 186 of file tgKinematicActuator.cpp.

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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 tgKinematicActuator::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 159 of file tgKinematicActuator.cpp.

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virtual void tgControllable::setControlInput	(	double	input,
		double	dt
	)

inlinevirtualinherited

Secondary function for those classes which need to know how much time has elapsed since they last recieved input (such as tgBasicActuator's moveMotors(dt) function) This will silently fail if it is called erroneously

Parameters

[in]	input,the	desired control input
[in]	dt,the	time elapsed since the last call. Must be positive (typically enforced in child class)

Reimplemented in tgCompressionSpringActuator, and tgBasicActuator.

Definition at line 65 of file tgControllable.h.

void tgKinematicActuator::setControlInput ( double input )

virtual

Set the value of m_desiredTorque for this timestep. Value will be scaled by getAppliedTorque, so we don't have to check it here.

Implements tgControllable.

Definition at line 227 of file tgKinematicActuator.cpp.

void tgKinematicActuator::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 122 of file tgKinematicActuator.cpp.

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void tgKinematicActuator::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 135 of file tgKinematicActuator.cpp.

void tgKinematicActuator::teardown ( )

virtual

Notifies observers of teardown, teardown any children

Reimplemented from tgSpringCableActuator.

Definition at line 129 of file tgKinematicActuator.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

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.

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

core/tgKinematicActuator.h
core/tgKinematicActuator.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation