Inheritance diagram for tgSCASineControl:

Collaboration diagram for tgSCASineControl:

Public Member Functions
	tgSCASineControl (const double controlStep, tgImpedanceController *p_ipc, tgPIDController::Config pidConfig, const double amplitude, const double frequency, const double phase, const double offset, const double length)

virtual void	onAttach (tgSpringCableActuator &subject)

virtual void	onStep (tgSpringCableActuator &subject, double dt)

const double	getCommandedTension () const

virtual void	onSetup (tgSpringCableActuator &subject)

virtual void	onTeardown (tgSpringCableActuator &subject)

Detailed Description

Definition at line 29 of file tgSCASineControl.h.

Constructor & Destructor Documentation

tgSCASineControl::tgSCASineControl	(	const double	controlStep,
		tgImpedanceController *	p_ipc,
		tgPIDController::Config	pidConfig,
		const double	amplitude,
		const double	frequency,
		const double	phase,
		const double	offset,
		const double	length
	)

Definition at line 27 of file tgSCASineControl.cpp.

void tgSCASineControl::onAttach ( tgSpringCableActuator & subject )

virtual

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 65 of file tgSCASineControl.cpp.

virtual void tgObserver< tgSpringCableActuator >::onSetup ( tgSpringCableActuator & subject )

inlinevirtualinherited

Notify the observers when a setup action has occurred.

Parameters

[in,out] subject the subject being observed

Reimplemented in tgCPGCableControl.

Definition at line 61 of file tgObserver.h.

void tgSCASineControl::onStep	(	tgSpringCableActuator &	subject,
		double	dt
	)

virtual

Notify the observers when a step action has occurred.

Parameters

[in,out]	subject	the subject being observed
[in]	the	number of seconds since the previous call; must be positive

Definition at line 70 of file tgSCASineControl.cpp.

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

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