NTRT Simulator
v1.1
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#include <BaseSpineModelLearning.h>
Inherits tgSubject< BaseSpineModelLearning >, and tgModel.
Inherited by FlemonsSpineModelContact, FlemonsSpineModelLearning, FlemonsSpineModelLearningCL, RibModel, TetraSpineCollisions, TetraSpineLearningModel, TetraSpineStaticModel, and TetraSpineStaticModel_hf.
Public Types | |
typedef std::map< std::string, std::vector < tgSpringCableActuator * > > | MuscleMap |
Public Member Functions | |
virtual void | setup (tgWorld &world) |
virtual void | teardown () |
virtual void | step (double dt) |
virtual std::vector< double > | getSegmentCOM (const int n) const |
virtual const std::vector < tgSpringCableActuator * > & | getMuscles (const std::string &key) const |
virtual const std::vector < tgSpringCableActuator * > & | getAllMuscles () |
virtual const std::vector < tgBaseRigid * > | getAllRigids () |
virtual const int | getSegments () |
virtual std::size_t | getNumberofMuslces () const |
void | attach (tgObserver< BaseSpineModelLearning > *pObserver) |
void | notifyStep (double dt) |
void | notifySetup () |
void | notifyTeardown () |
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) |
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 | |
BaseSpineModelLearning (int segments) | |
Protected Attributes | |
std::vector < tgSpringCableActuator * > | m_allMuscles |
std::vector< tgModel * > | m_allSegments |
MuscleMap | m_muscleMap |
const std::size_t | m_segments |
Provides all of the interfaces for a learning spine model, which implements all of the functions except using setup
Definition at line 47 of file BaseSpineModelLearning.h.
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inherited |
Add a sub-model to this model. The model takes ownership of the child sub-model and is responsible for deallocating it.
[in,out] | pChild | a pointer to a sub-model |
std::invalid_argument | is pChild is NULL, this object, or already a descendant |
Definition at line 124 of file tgModel.cpp.
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inherited |
Attach an observer to the subject of the observer.
[in,out] | pObserver | a pointer to an observer for the subject; do nothing if the pointer is NULL |
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inlineinherited |
Get a vector of descendants sorted by type and a tagsearch. Useful for pulling out muscle groups, or similar.
[in] | tagSearch,a | tagSearch that contains the desired tags |
Definition at line 125 of file tgModel.h.
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inlineinherited |
Get a vector of descendants sorted by type and a tagsearch. Useful for pulling out muscle groups, or similar.
[in] | tagSearch,a | std::string& that contains the desired tags |
Definition at line 138 of file tgModel.h.
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inherited |
Return a std::vector of const pointers to all sub-models.
Definition at line 172 of file tgModel.cpp.
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inherited |
Call tgObserver<T>::onSetup() on all observers in the order in which they were attached.
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inherited |
Call tgObserver<T>::onStep() on all observers in the order in which they were attached.
[in] | dt | the number of seconds since the previous call; do nothing if not positive |
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inherited |
Call tgObserver<T>::onTeardown() on all observers in the order in which they were attached.
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virtualinherited |
Call tgModelVisitor::render() on self and all descendants.
[in,out] | r | a reference to a tgModelVisitor |
Reimplemented in ConnectorTestModel, BuildTestModel, tgKinematicActuator, tgSphere, tgBox, tgRod, MuscleNPCons, tgBasicActuator, hillyMuscleNP, simpleMuscleNP, tgBaseRigid, and tgGhostModel.
Definition at line 107 of file tgModel.cpp.
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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.
[in] | world | - the tgWorld the models will exist in. |
Reimplemented from tgModel.
Reimplemented in TetraSpineStaticModel_hf, TetraSpineCollisions, TetraSpineStaticModel, TetraSpineLearningModel, FlemonsSpineModelContact, FlemonsSpineModelLearningCL, FlemonsSpineModelLearning, and RibModel.
Definition at line 50 of file BaseSpineModelLearning.cpp.
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virtual |
Advance the simulation.
[in] | dt | the number of seconds since the previous call; std::invalid_argument is thrown if dt is not positive |
std::invalid_argument | if dt is not positive |
Reimplemented from tgModel.
Reimplemented in TetraSpineStaticModel_hf, TetraSpineCollisions, TetraSpineStaticModel, TetraSpineLearningModel, FlemonsSpineModelContact, FlemonsSpineModelLearningCL, FlemonsSpineModelLearning, and RibModel.
Definition at line 71 of file BaseSpineModelLearning.cpp.
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virtual |
Deletes the children (undoes setup)
Reimplemented from tgModel.
Reimplemented in TetraSpineStaticModel_hf, TetraSpineCollisions, TetraSpineStaticModel, TetraSpineLearningModel, FlemonsSpineModelContact, FlemonsSpineModelLearningCL, FlemonsSpineModelLearning, and RibModel.
Definition at line 59 of file BaseSpineModelLearning.cpp.
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virtualinherited |
Returns the tag names of this model and its children
[in] | prefix | a string to append to |
Definition at line 154 of file tgModel.cpp.