#include <tgSpringCableActuator.h>

Inherits tgModel, tgControllable, and tgSubject< tgSpringCableActuator >.

Inherited by tgBasicActuator, and tgKinematicActuator.

Collaboration diagram for tgSpringCableActuator:

Classes
struct	Config

struct	SpringCableActuatorHistory

Public Member Functions
virtual	~tgSpringCableActuator ()

virtual void	setup (tgWorld &world)

virtual void	teardown ()

virtual void	step (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

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

virtual void	setControlInput (double input)=0

virtual void	setControlInput (double input, double dt)

void	attach (tgObserver< tgSpringCableActuator > *pObserver)

void	notifyStep (double dt)

void	notifySetup ()

void	notifyTeardown ()

Protected Member Functions
	tgSpringCableActuator (tgSpringCable *springCable, const tgTags &tags, tgSpringCableActuator::Config &config)

Protected Attributes
tgSpringCable *	m_springCable

Config	m_config

SpringCableActuatorHistory *const	m_pHistory

double	m_restLength

double	m_startLength

double	m_prevVelocity

Detailed Description

Sets a basic API for spring cable actuator models, so controllers can interface with all of them the same way. Abstract since it doesn not define tgControllable's setControlInput.

Definition at line 46 of file tgSpringCableActuator.h.

Constructor & Destructor Documentation

tgSpringCableActuator::~tgSpringCableActuator ( )

virtual

Deletes history and spring cable instantiation

Definition at line 134 of file tgSpringCableActuator.cpp.

tgSpringCableActuator::tgSpringCableActuator	(	tgSpringCable *	springCable,
		const tgTags &	tags,
		tgSpringCableActuator::Config &	config
	)

protected

Need to pass tags down to tgModel, but these should only be called by sub classes

Definition at line 116 of file tgSpringCableActuator.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

inline

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

virtual

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

virtual

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

virtual

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

inline

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

virtual

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

virtual

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

virtual

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 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 tgModel::onVisit ( const tgModelVisitor & r ) const

virtualinherited

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.

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virtual void tgControllable::setControlInput ( double input )

pure virtualinherited

Set the relevant control variable for this class, such as commanded position or torque

Parameters

[in] input,the control input, units are application dependent

Implemented in tgCompressionSpringActuator, tgKinematicActuator, and tgBasicActuator.

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 tgSpringCableActuator::setup ( tgWorld & world )

virtual

Just calls tgModel::setup(world) - sets up any children

Reimplemented from tgModel.

Reimplemented in tgKinematicActuator, and tgBasicActuator.

Definition at line 140 of file tgSpringCableActuator.cpp.

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void tgSpringCableActuator::step ( double dt )

virtual

Just calls tgModel::step(dt) - steps any children

Reimplemented from tgModel.

Reimplemented in tgKinematicActuator, and tgBasicActuator.

Definition at line 150 of file tgSpringCableActuator.cpp.

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void tgSpringCableActuator::teardown ( )

virtual

Just calls tgModel::teardown(world) - sets up any children

Reimplemented from tgModel.

Reimplemented in tgKinematicActuator, and tgBasicActuator.

Definition at line 145 of file tgSpringCableActuator.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

protected

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

protected

All history sequences.

Definition at line 289 of file tgSpringCableActuator.h.

double tgSpringCableActuator::m_prevVelocity

protected

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

protected

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

protected

The tgSpringCable system this actuator acts upon

Definition at line 280 of file tgSpringCableActuator.h.

double tgSpringCableActuator::m_startLength

protected

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/tgSpringCableActuator.h
core/tgSpringCableActuator.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation