#include <SuperBallModel.h>

Inheritance diagram for SuperBallModel:

Collaboration diagram for SuperBallModel:

Public Member Functions
	SuperBallModel (tgWorld &world)

virtual	~SuperBallModel ()

virtual void	setup (tgWorld &world)

void	teardown ()

virtual void	step (double dt)

virtual void	onVisit (tgModelVisitor &r)

const std::vector < tgBasicActuator * > &	getAllMuscles () const

std::vector< double >	getSensorInfo ()

std::vector< btVector3 >	getSensorPositions ()

std::vector< btVector3 >	getSensorOrientations ()

btVector3	getCenter ()

btDynamicsWorld *	getWorld ()

void	fillNodeNumberingSchema (int a, int b, int c)

void	fillNodeMappingFromBasePoints (int a, int b, int c)

void	fillMusclesPerNode ()

const std::vector< std::vector < tgBasicActuator * > > &	getMusclesPerNodes () const

int	getOtherEndOfTheRod (int i)

void	attach (tgObserver< SuperBallModel > *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

Public Attributes
int	nodeMapping [13]

int	nodeMappingReverse [13]

int	muscleConnections [13][13]

std::vector< std::vector < tgBasicActuator * > >	musclesPerNodes

Detailed Description

Class that creates the six strut "superball" model using tgcreator

Definition at line 45 of file SuperBallModel.h.

Constructor & Destructor Documentation

SuperBallModel::SuperBallModel ( tgWorld & world )

The only constructor. Utilizes default constructor of tgModel Configuration parameters are within the .cpp file in this case, not passed in.

Definition at line 114 of file SuperBallModel.cpp.

SuperBallModel::~SuperBallModel ( )

virtual

Destructor. Deletes controllers, if any were added during setup. Teardown handles everything else.

Definition at line 119 of file SuperBallModel.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 124 of file tgModel.cpp.

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void tgSubject< SuperBallModel >::attach ( tgObserver< SuperBallModel > * 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 125 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 138 of file tgModel.h.

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const std::vector< tgBasicActuator * > & SuperBallModel::getAllMuscles ( ) const

Return a vector of all muscles for the controllers to work with.

Returns: A vector of all of the muscles

Definition at line 349 of file SuperBallModel.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 172 of file tgModel.cpp.

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std::vector< double > SuperBallModel::getSensorInfo ( )

Returns the values from all the 12 height sensors.

Definition at line 203 of file SuperBallModel.cpp.

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std::vector< btVector3 > SuperBallModel::getSensorOrientations ( )

Returns the vector from the center of the robot to the sensor.

Definition at line 393 of file SuperBallModel.cpp.

std::vector< btVector3 > SuperBallModel::getSensorPositions ( )

Returns the positions of the sensors

Definition at line 383 of file SuperBallModel.cpp.

void tgSubject< SuperBallModel >::notifySetup ( )

inherited

Call tgObserver<T>::onSetup() on all observers in the order in which they were attached.

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void tgSubject< SuperBallModel >::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< SuperBallModel >::notifyTeardown ( )

inherited

Call tgObserver<T>::onTeardown() on all observers in the order in which they were attached.

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void SuperBallModel::onVisit ( tgModelVisitor & r )

virtual

Receives a tgModelVisitor and dispatches itself into the visitor's "render" function. This model will go to the default tgModel function, which does nothing.

Parameters

[in] r - a tgModelVisitor which will pass this model back to itself

Definition at line 344 of file SuperBallModel.cpp.

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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, tgKinematicActuator, tgSphere, tgBox, tgRod, MuscleNPCons, tgBasicActuator, hillyMuscleNP, simpleMuscleNP, tgBaseRigid, and tgGhostModel.

Definition at line 107 of file tgModel.cpp.

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void SuperBallModel::setup ( tgWorld & world )

virtual

Create the model. Place the rods and strings into the world that is passed into the simulation. This is triggered automatically when the model is added to the simulation, when tgModel::setup(world) is called (if this model is a child), and when reset is called. Also notifies controllers of setup.

Parameters

[in] world - the world we're building into

Todo:: acceleration constraint was removed on 12/10/14 Replace with tgKinematicActuator as appropreate

Reimplemented from tgModel.

Definition at line 267 of file SuperBallModel.cpp.

void SuperBallModel::step ( double dt )

virtual

Step the model, its children. Notifies controllers of step.

Parameters

[in] dt,the timestep. Must be positive.

Reimplemented from tgModel.

Definition at line 329 of file SuperBallModel.cpp.

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void SuperBallModel::teardown ( )

virtual

Undoes setup. Deletes child models. Called automatically on reset and end of simulation. Notifies controllers of teardown

Reimplemented from tgModel.

Definition at line 354 of file SuperBallModel.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 154 of file tgModel.cpp.

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

dev/atil/SuperBallModel.h
dev/atil/SuperBallModel.cpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation