SerializedSineWaves Class Reference

#include <SerializedSineWaves.h>

Inheritance diagram for SerializedSineWaves:

Collaboration diagram for SerializedSineWaves:

Classes
struct	Config

Public Member Functions
	SerializedSineWaves (std::string fileName)
	~SerializedSineWaves ()
void	applyImpedanceControlInside (const std::vector< tgSpringCableActuator * > stringList, double dt, std::size_t phase)
void	applyImpedanceControlOutside (const std::vector< tgSpringCableActuator * > stringList, double dt, std::size_t phase)
virtual void	onStep (BaseSpineModelLearning &subject, double dt)
virtual void	onAttach (BaseSpineModelLearning &subject)
virtual void	onSetup (BaseSpineModelLearning &subject)
virtual void	onTeardown (BaseSpineModelLearning &subject)

Detailed Description

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

Definition at line 46 of file SerializedSineWaves.h.

Constructor & Destructor Documentation

SerializedSineWaves::SerializedSineWaves

(

std::string

fileName

)

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 104 of file SerializedSineWaves.cpp.

SerializedSineWaves::~SerializedSineWaves

(

)

Destructor. Frees the tgImpedanceController pointers

Definition at line 115 of file SerializedSineWaves.cpp.

Member Function Documentation

void SerializedSineWaves::applyImpedanceControlInside	(	const std::vector< tgSpringCableActuator * >	stringList,
		double	dt,
		std::size_t	phase
	)

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.
[in]	phase	- reads the index out of the phaseOffsets vector

Definition at line 119 of file SerializedSineWaves.cpp.

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void SerializedSineWaves::applyImpedanceControlOutside	(	const std::vector< tgSpringCableActuator * >	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 145 of file SerializedSineWaves.cpp.

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virtual void tgObserver< BaseSpineModelLearning >::onAttach ( BaseSpineModelLearning &  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< BaseSpineModelLearning >::onSetup ( BaseSpineModelLearning &  subject )

inlinevirtualinherited

Notify the observers when a setup action has occurred.

Parameters

[in,out]

subject

the subject being observed

Reimplemented in SerializedSpineControl, BaseSpineCPGControl, SpineFeedbackControl, OctaCLSine, LearningSpineSine, colSpineSine, and htSpineSine.

Definition at line 61 of file tgObserver.h.

void SerializedSineWaves::onStep ( BaseSpineModelLearning &  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 TetraSpineLearningModel that is being Subject must have a MuscleMap populated
[in]	dt,current	timestep must be positive

Implements tgObserver< BaseSpineModelLearning >.

Definition at line 170 of file SerializedSineWaves.cpp.

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

inlinevirtualinherited

Notify the observers when a teardown action has occurred.

Parameters

[in,out]

subject

the subject being observed

Reimplemented in BaseSpineCPGControl, SpineFeedbackControl, OctaCLSine, LearningSpineSine, colSpineSine, and htSpineSine.

Definition at line 67 of file tgObserver.h.

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

• examples/learningSpines/TetraSpine/SerializedSineWaves.h
• examples/learningSpines/TetraSpine/SerializedSineWaves.cpp