#include <tgBaseString.h>

Inherited by tgLinearString, and tgRBString.

Collaboration diagram for tgBaseString:

Classes
struct	BaseStringHistory

struct	Config

Public Member Functions
virtual	~tgBaseString ()

virtual void	setup (tgWorld &wdorld)

virtual void	teardown ()

virtual void	step (double dt)

virtual void	moveMotors (double dt)=0

virtual void	tensionMinLengthController (const double targetTension, float dt)=0

virtual void	setRestLength (double newLength, float dt)

virtual const double	getStartLength () const =0

virtual const double	getCurrentLength () const =0

virtual const double	getTension () const =0

virtual const double	getRestLength () const =0

virtual const double	getVelocity () const =0

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

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

Protected Member Functions
	tgBaseString (const tgTags &tags, tgBaseString::Config &config, double restLength, double actualLength)

	tgBaseString (std::string space_separated_tags, tgBaseString::Config &config, double restLength, double actualLength)

Protected Attributes
Config	m_config

BaseStringHistory *const	m_pHistory

double	m_restLength

double	m_preferredLength

double	m_startLength

double	m_prevVelocity

Detailed Description

Sets a basic API for string models, so controllers can interface with all of them the same way

Definition at line 42 of file tgBaseString.h.

Constructor & Destructor Documentation

tgBaseString::~tgBaseString ( )

virtual

Deletes history

Definition at line 150 of file tgBaseString.cpp.

tgBaseString::tgBaseString	(	const tgTags &	tags,
		tgBaseString::Config &	config,
		double	restLength,
		double	actualLength
	)

protected

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

Definition at line 112 of file tgBaseString.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 126 of file tgModel.cpp.

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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 129 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 142 of file tgModel.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 174 of file tgModel.cpp.

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virtual void tgBaseString::moveMotors ( double dt )

pure virtual

Functions for interfacing with muscle2P, and higher level controllers

Implemented in tgLinearString, and tgRBString.

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 ConnectorTestModel, BuildTestModel, tgLinearString, and tgRod.

Definition at line 109 of file tgModel.cpp.

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void tgBaseString::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 from tgModel.

Reimplemented in tgRBString, and tgLinearString.

Definition at line 155 of file tgBaseString.cpp.

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void tgBaseString::step ( double dt )

virtual

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

Reimplemented from tgModel.

Reimplemented in tgLinearString, and tgRBString.

Definition at line 165 of file tgBaseString.cpp.

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void tgBaseString::teardown ( )

virtual

Deletes the children (undoes setup)

Reimplemented from tgModel.

Reimplemented in tgRBString, and tgLinearString.

Definition at line 160 of file tgBaseString.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 156 of file tgModel.cpp.

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Member Data Documentation

Config tgBaseString::m_config

protected

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

Definition at line 223 of file tgBaseString.h.

BaseStringHistory* const tgBaseString::m_pHistory

protected

All history sequences.

Definition at line 226 of file tgBaseString.h.

double tgBaseString::m_prevVelocity

protected

Tracking the most recent velocity to avoid using deques.

Definition at line 245 of file tgBaseString.h.

double tgBaseString::m_restLength

protected

Motor Model Parameters

Definition at line 233 of file tgBaseString.h.

double tgBaseString::m_startLength

protected

Tracking the start length to avoid using deques.

Definition at line 240 of file tgBaseString.h.

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

core/tgBaseString.h
core/tgBaseString.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation