Definition at line 40 of file tgBasicActuator.h.
tgBasicActuator::~tgBasicActuator |
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void tgModel::addChild |
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tgModel * |
pChild | ) |
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inherited |
Add a sub-model to this model. The model takes ownership of the child sub-model and is responsible for deallocating it.
- Parameters
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[in,out] | pChild | a pointer to a sub-model |
- Exceptions
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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.
Attach an observer to the subject of the observer.
- Parameters
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[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 |
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const tgTagSearch & |
tagSearch | ) |
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inlineinherited |
Get a vector of descendants sorted by type and a tagsearch. Useful for pulling out muscle groups, or similar.
- Parameters
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[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.
template<typename T >
std::vector<T*> tgModel::find |
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const std::string & |
tagSearch | ) |
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inlineinherited |
Get a vector of descendants sorted by type and a tagsearch. Useful for pulling out muscle groups, or similar.
- Parameters
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[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.
const Config& tgSpringCableActuator::getConfig |
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const |
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inlineinherited |
Return a const reference to m_config for scaling values in neural networks
Definition at line 236 of file tgSpringCableActuator.h.
const double tgSpringCableActuator::getCurrentLength |
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const |
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virtualinherited |
std::vector< tgModel * > tgModel::getDescendants |
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const |
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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.
const double tgSpringCableActuator::getRestLength |
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const |
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virtualinherited |
const tgSpringCable* tgSpringCableActuator::getSpringCable |
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const |
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inlineinherited |
const double tgSpringCableActuator::getStartLength |
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const |
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virtualinherited |
const double tgSpringCableActuator::getTension |
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const |
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virtualinherited |
Returns the current tension in the spring. Equal to stiffness * (current length - rest length)
Definition at line 168 of file tgSpringCableActuator.cpp.
const double tgSpringCableActuator::getVelocity |
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const |
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virtualinherited |
In the default implementation returns the change in actual length / time of the spring cable. Some child classes return the actuator velocity
Reimplemented in tgKinematicActuator.
Definition at line 178 of file tgSpringCableActuator.cpp.
void tgBasicActuator::moveMotors |
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double |
dt | ) |
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virtual |
Called from public functions, it makes the restLength get closer to preferredlength, according to config constraints.
- Parameters
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[in] | dt,time | elapsed since last call. |
Definition at line 170 of file tgBasicActuator.cpp.
Call tgObserver<T>::onStep() on all observers in the order in which they were attached.
- Parameters
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[in] | dt | the number of seconds since the previous call; do nothing if not positive |
Double dispatch function for a tgModelVisitor. This object will pass itself back to the visitor. Used for rendering and data logging as of May 2014.
- Parameters
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Reimplemented from tgModel.
Definition at line 115 of file tgBasicActuator.cpp.
void tgBasicActuator::setControlInput |
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double |
input | ) |
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virtual |
Functions for interfacing with higher level controllers Directly set m_preferredLength (see base class tgSpringCableActuator) Does not call moveMotors.
- Parameters
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[in] | input,the | control input for the current step |
Implements tgControllable.
Definition at line 137 of file tgBasicActuator.cpp.
void tgBasicActuator::setControlInput |
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double |
input, |
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double |
dt |
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) |
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virtual |
void tgBasicActuator::setup |
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tgWorld & |
world | ) |
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virtual |
void tgBasicActuator::step |
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double |
dt | ) |
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virtual |
void tgBasicActuator::teardown |
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virtual |
std::string tgModel::toString |
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std::string |
prefix = "" | ) |
const |
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virtualinherited |
Returns the tag names of this model and its children
- Parameters
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[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.
Config tgSpringCableActuator::m_config |
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protectedinherited |
A copy of the configuration POD supplied at constuction. This is not const.
Definition at line 259 of file tgSpringCableActuator.h.
double tgSpringCableActuator::m_prevVelocity |
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protectedinherited |
Tracking the most recent velocity to avoid using deques when history is off.
Definition at line 287 of file tgSpringCableActuator.h.
double tgSpringCableActuator::m_restLength |
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protectedinherited |
Motor Model Parameters The current rest length of the spring cable. Directly sets the m_restLength parameter of m_springCable in the appropreate child class functions
Definition at line 274 of file tgSpringCableActuator.h.
double tgSpringCableActuator::m_startLength |
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protectedinherited |
The documentation for this class was generated from the following files: