VerticalSpineRestLengthController Class Reference

#include <VerticalSpineRestLengthController.h>

Inheritance diagram for VerticalSpineRestLengthController:

Collaboration diagram for VerticalSpineRestLengthController:

Public Member Functions
	VerticalSpineRestLengthController ()
virtual	~VerticalSpineRestLengthController ()
virtual void	onSetup (VerticalSpineModel &subject)
virtual void	onStep (VerticalSpineModel &subject, double dt)
virtual void	onAttach (VerticalSpineModel &subject)
virtual void	onTeardown (VerticalSpineModel &subject)

Detailed Description

A controller to apply uniform rest length offset to all cables in a SpineModel. 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 VerticalSpineRestLengthController.h.

Constructor & Destructor Documentation

VerticalSpineRestLengthController::VerticalSpineRestLengthController

(

)

Construct a VerticalSpineRestLengthController.

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 39 of file VerticalSpineRestLengthController.cpp.

virtual VerticalSpineRestLengthController::~VerticalSpineRestLengthController ( )

inlinevirtual

Nothing to delete, destructor must be virtual

Definition at line 59 of file VerticalSpineRestLengthController.h.

Member Function Documentation

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

virtual

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

Parameters

[in]

subject

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

Reimplemented from tgObserver< VerticalSpineModel >.

Definition at line 48 of file VerticalSpineRestLengthController.cpp.

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void VerticalSpineRestLengthController::onStep ( VerticalSpineModel &  subject, double  dt  )

virtual

The onStep method is not used for this controller.

Parameters

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

Implements tgObserver< VerticalSpineModel >.

Definition at line 216 of file VerticalSpineRestLengthController.cpp.

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virtual void tgObserver< VerticalSpineModel >::onTeardown ( VerticalSpineModel &  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/SpineHardwareProject/VerticalSpine/backup_old_controllers/VerticalSpineRestLengthController.h
• dev/SpineHardwareProject/VerticalSpine/backup_old_controllers/VerticalSpineRestLengthController.cpp