T6RestLengthController Class Reference

#include <T6RestLengthController.h>

Inheritance diagram for T6RestLengthController:

Collaboration diagram for T6RestLengthController:

Public Member Functions
	T6RestLengthController (T6Model *subject, const double restLengthDiff=4)
virtual	~T6RestLengthController ()
virtual void	onSetup (T6Model &subject)
virtual void	onStep (T6Model &subject, double dt)
	T6RestLengthController (T6Model *subject, const double restLengthDiff=4)
virtual	~T6RestLengthController ()
virtual void	onSetup (T6Model &subject)
virtual void	onStep (T6Model &subject, double dt)
virtual void	onAttach (T6Model &subject)
virtual void	onTeardown (T6Model &subject)

Detailed Description

A controller to apply uniform rest length offset to all cables in a T6Model. Does a one-time adjust of all cable rest lengths, thereby tightening up the structure and keeping it held together without further control input.

Definition at line 42 of file T6RestLengthController.h.

Constructor & Destructor Documentation

T6RestLengthController::T6RestLengthController	(	T6Model *	subject,
		const double	restLengthDiff = 4
	)

Construct a T6RestLengthController.

Parameters

[in]

restLengthDiff,the

amount of cable retraction to enact. This length will be subtracted from the geometric length of each cable in the structure.

Definition at line 41 of file T6RestLengthController.cpp.

virtual T6RestLengthController::~T6RestLengthController ( )

inlinevirtual

Nothing to delete, destructor must be virtual

Definition at line 59 of file T6RestLengthController.h.

T6RestLengthController::T6RestLengthController	(	T6Model *	subject,
		const double	restLengthDiff = 4
	)

Construct a T6RestLengthController.

Parameters

[in]

restLengthDiff,the

amount of cable retraction to enact. This length will be subtracted from the geometric length of each cable in the structure.

virtual T6RestLengthController::~T6RestLengthController ( )

inlinevirtual

Nothing to delete, destructor must be virtual

Definition at line 59 of file T6RestLengthController.h.

Member Function Documentation

virtual void tgObserver< T6Model >::onAttach ( T6Model &  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.

void T6RestLengthController::onSetup ( T6Model &  subject )

virtual

Apply the RestLength controller. On setup, adjust the cable lengths one time.

Parameters

[in]

subject

- the T6Model that is being controlled. Must have a list of allMuscles populated

Reimplemented from tgObserver< T6Model >.

Definition at line 51 of file T6RestLengthController.cpp.

virtual void T6RestLengthController::onSetup ( T6Model &  subject )

virtual

Apply the RestLength controller. On setup, adjust the cable lengths one time.

Parameters

[in]

subject

- the T6Model that is being controlled. Must have a list of allMuscles populated

Reimplemented from tgObserver< T6Model >.

virtual void T6RestLengthController::onStep ( T6Model &  subject, double  dt  )

virtual

The onStep method is not used for this controller.

Parameters

[in]	subject	- the T6Model that is being controlled. Must have a list of allMuscles populated
[in]	dt,current	timestep must be positive

Implements tgObserver< T6Model >.

void T6RestLengthController::onStep ( T6Model &  subject, double  dt  )

virtual

The onStep method is not used for this controller.

Parameters

[in]	subject	- the T6Model that is being controlled. Must have a list of allMuscles populated
[in]	dt,current	timestep must be positive

Todo:

consider whether this is really necessary, or of tgBasicActuator has all of the functions you need _BTM

Implements tgObserver< T6Model >.

Definition at line 80 of file T6RestLengthController.cpp.

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virtual void tgObserver< T6Model >::onTeardown ( T6Model &  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.

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

• dev/jbruce/internalFriction/backup_old_controllers/T6RestLengthController.h
• dev/jbruce/internalFriction/backup_old_controllers/T6RestLengthController.cpp