NestedStructureSineWaves Class Reference

#include <NestedStructureSineWaves.h>

Inheritance diagram for NestedStructureSineWaves:

Collaboration diagram for NestedStructureSineWaves:

Public Member Functions
	NestedStructureSineWaves ()
	~NestedStructureSineWaves ()
void	applyImpedanceControlInside (const std::vector< tgBasicActuator * > stringList, double dt)
void	applyImpedanceControlOutside (const std::vector< tgBasicActuator * > stringList, double dt, std::size_t phase)
virtual void	onStep (NestedStructureTestModel &subject, double dt)
virtual void	onAttach (NestedStructureTestModel &subject)
virtual void	onSetup (NestedStructureTestModel &subject)
virtual void	onTeardown (NestedStructureTestModel &subject)

Detailed Description

Control the NestedStructureTestModel with a series of sine waves and local impedance controllers

Definition at line 45 of file NestedStructureSineWaves.h.

Constructor & Destructor Documentation

NestedStructureSineWaves::NestedStructureSineWaves

(

)

Construct the controller. Typically occurs in the main function. The controller will need to be attached to a subject (model) Parameters are currently set in the initalizer lists.

Definition at line 38 of file NestedStructureSineWaves.cpp.

NestedStructureSineWaves::~NestedStructureSineWaves

(

)

Destructor. Frees the tgImpedanceController pointers

Definition at line 58 of file NestedStructureSineWaves.cpp.

Member Function Documentation

void NestedStructureSineWaves::applyImpedanceControlInside	(	const std::vector< tgBasicActuator * >	stringList,
		double	dt
	)

Applies the impedance controllers using a velocity setpoint of 0. Called during this classes onStep function.

Parameters

[in]	stringList	a std::vector of strings taken from the subject's MuscleMap
[in]	dt	- a timestep. Must be positive.

Definition at line 64 of file NestedStructureSineWaves.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

void NestedStructureSineWaves::applyImpedanceControlOutside	(	const std::vector< tgBasicActuator * >	stringList,
		double	dt,
		std::size_t	phase
	)

Applies the impedance controllers using a velocity setpoint determined. by the phase parameter and Called during this classes onStep function.

Parameters

[in]	stringList	a std::vector of strings taken from the subject's MuscleMap
[in]	dt	- a timestep. Must be positive.
[in]	phase	- reads the index out of the phaseOffsets vector

Definition at line 80 of file NestedStructureSineWaves.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

virtual void tgObserver< NestedStructureTestModel >::onAttach ( NestedStructureTestModel &  subject )

inlinevirtualinherited

Notify the observers when an attach action has occurred. Will only occur once, typically before setup

Parameters

[in,out]

subject

the subject being observed

Definition at line 55 of file tgObserver.h.

virtual void tgObserver< NestedStructureTestModel >::onSetup ( NestedStructureTestModel &  subject )

inlinevirtualinherited

Notify the observers when a setup action has occurred.

Parameters

[in,out]

subject

the subject being observed

Definition at line 61 of file tgObserver.h.

void NestedStructureSineWaves::onStep ( NestedStructureTestModel &  subject, double  dt  )

virtual

Apply the sineWave controller. Called my notifyStep(dt) of its subject. Calls the applyImpedanceControl functions of this class

Parameters

[in]	subject	- the NestedStructureTestModel that is being Subject must have a MuscleMap populated
[in]	dt,current	timestep must be positive

Implements tgObserver< NestedStructureTestModel >.

Definition at line 102 of file NestedStructureSineWaves.cpp.

virtual void tgObserver< NestedStructureTestModel >::onTeardown ( NestedStructureTestModel &  subject )

inlinevirtualinherited

Notify the observers when a teardown action has occurred.

Parameters

[in,out]

subject

the subject being observed

Definition at line 67 of file tgObserver.h.

---

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

• examples/NestedTetrahedrons/NestedStructureSineWaves.h
• examples/NestedTetrahedrons/NestedStructureSineWaves.cpp