#include <tgModel.h>

Inherits tgTaggable, and tgSenseable.

Inherited by BaseQuadModelLearning, BaseSpineModelLearning, BigFoot, BigPuppy, BigPuppy, BigPuppy, BigPuppy, BigPuppy, BuildTestModel, CaterpillarModel, ConnectorTestModel, ContactCableDemo, ContactTestModel, Crater, CraterDeep, DuCTTTestModel, Escape_T6Model, EscapeModel, FlemonsArmModel, Hilbert2DModel, hillyMuscleNP, NestedBoxTestModel, NestedStructureTestModel, NestedStructureTestModel, pidTestRig, PrismModel, PrismModel, RBStringTest, ScarrArmModel, simpleMuscleNP, SingleRibModel, SingleRibModel, StructureTestModel, SuperBallModel, T12SuperBallPayload, T6Model, T6Model, T6Model, T6Model, T6Model, T6SphereModel, TensegrityModel, tgBaseRigid, tgBlockField, tgBoxAnchorDebugModel, tgCompressionSpringActuator, tgCraterDeep, tgCraterShallow, tgGhostModel, tgPrismatic, tgSpringCableActuator, tgStairs, tsTestRig, VerticalSpineModel, and Wall.

Collaboration diagram for tgModel:

[legend]

Public Member Functions
	tgModel ()

	tgModel (const tgTags &tags)

virtual	~tgModel ()

virtual void	setup (tgWorld &world)

virtual void	teardown ()

virtual void	step (double dt)

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

Detailed Description

A root-level model is a Tensegrity. It can contain sub-models. The Composite design pattern is used for the sub-models. Note that this is a sense-able object, meaning that pointers to tgModels can be passed around in the sensing infrastructure.

Definition at line 49 of file tgModel.h.

Constructor & Destructor Documentation

tgModel::tgModel ( )

The default constructor. Primarily used within the tgCreator for compounded objects and subclasses of tgModel

Definition at line 33 of file tgModel.cpp.

tgModel::tgModel ( const tgTags & tags )

Constructor for a model with tags, used within tgCreator for things that are already tagged

Parameters

[in] tgTags,tags for the tgTaggable parent class

Definition at line 39 of file tgModel.cpp.

tgModel::~tgModel ( )

virtual

Destructor. Deletes the children, if they weren't already deleted by teardown()

Definition at line 45 of file tgModel.cpp.

Member Function Documentation

void tgModel::addChild ( tgModel * pChild )

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.

Here is the call graph for this function:

Here is the caller graph for this function:

template<typename T >

std::vector<T*> tgModel::find ( const tgTagSearch & tagSearch )

inline

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.

Here is the call graph for this function:

template<typename T >

std::vector<T*> tgModel::find ( const std::string & tagSearch )

inline

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.

Here is the call graph for this function:

std::vector< tgModel * > tgModel::getDescendants ( ) const

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.

Here is the call graph for this function:

std::vector< tgSenseable * > tgModel::getSenseableDescendants ( ) const

virtual

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.

Here is the call graph for this function:

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

virtual

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.

Here is the call graph for this function:

void tgModel::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 in TensegrityModel, tgSpringCableActuator, tgCompressionSpringActuator, tgUnidirComprSprActuator, tgKinematicActuator, tgBlockField, tgStairs, DuCTTTestModel, VerticalSpineModel, NestedBoxTestModel, NestedStructureTestModel, tgPrismatic, FlemonsArmModel, T6Model, tgBoxAnchorDebugModel, pidTestRig, CraterDeep, PrismModel, tgCraterDeep, ContactCableDemo, SuperBallModel, Crater, ScarrArmModel, PrismModel, tsTestRig, tgCraterShallow, Wall, T6Model, T12SuperBallPayload, CaterpillarModel, T6SphereModel, BigPuppy, T6Model, T6Model, Escape_T6Model, EscapeModel, SingleRibModel, SingleRibModel, T6Model, hillyMuscleNP, simpleMuscleNP, Hilbert2DModel, tgBasicActuator, BigDoxie, BigDoxieNoFeet, BigDoxieSpirals, MountainGoat, MountainGoatAchilles, MountainGoatFM0, BigPuppySymmetricSpiral2, BigPuppySymmetricSpiral2, BigPuppyNoFeet, BigPuppyRigidFeet, BigPuppySpineOnly, BigPuppySpineOnlyStats, BigPuppySymmetric, BigPuppySymmetricArching, BigPuppySymmetricSpiral1, BigPuppySymmetricSpiral2, BigPuppySymmetricSpiralMetrics, BigPuppySymmetricSpiralSegments, MountainGoatNL2, BigPuppy, BigFoot, BigPuppy, BigPuppy, BigPuppy, ContactTestModel, RBStringTest, BaseQuadModelLearning, BaseSpineModelLearning, VerticalSpineModelCableCollision, TetraSpineStaticModel_hf, StructureTestModel, FlemonsSpineModelGoal, OctahedralComplex, BaseSpineModelGoal, TetraSpineKinematic, TetraSpineGoal, TetraSpineCollisions, ConnectorTestModel, TetraSpineStaticModel, TetraSpineLearningModel, BuildTestModel, FlemonsSpineModelContact, FlemonsSpineModelMixed, RibModelMixedContact, FlemonsSpineModelLearningCL, FlemonsSpineModelLearning, and RibModel.