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BaseQuadModelLearning Class Reference

#include <BaseQuadModelLearning.h>

Inherits tgSubject< BaseQuadModelLearning >, and tgModel.

Inherited by BigPuppySpineOnlyStats, BigPuppySymmetricArching, BigPuppySymmetricSpiralMetrics, BigPuppySymmetricSpiralSegments, MountainGoat, MountainGoatAchilles, MountainGoatFM0, and MountainGoatNL2.

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Public Types

typedef std::map< std::string,
std::vector
< tgSpringCableActuator * > > 
MuscleMap
 

Public Member Functions

virtual void setup (tgWorld &world)
 
virtual void teardown ()
 
virtual void step (double dt)
 
virtual std::vector< double > getCOM (const int n)
 
virtual std::vector< double > getSegmentCOM (const int n)
 
virtual btVector3 getSegmentCOMVector (const int n)
 
virtual const std::vector
< tgSpringCableActuator * > & 
getMuscles (const std::string &key) const
 
virtual const std::vector
< tgSpringCableActuator * > & 
getAllMuscles () const
 
virtual const std::vector
< tgBaseRigid * > 
getAllRigids () const
 
virtual const int getSegments () const
 
virtual std::size_t getNumberofMuslces () const
 
double getSpineLength ()
 
void attach (tgObserver< BaseQuadModelLearning > *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)
 
virtual std::vector
< tgSenseable * > 
getSenseableDescendants () const
 
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 ()
 
tgTagsgetTags ()
 
const tgTagsgetTags () const
 
void setTags (tgTags tags)
 
std::string getTagStr (std::string delim=" ") const
 

Protected Member Functions

 BaseQuadModelLearning (int segments, int hips)
 

Protected Attributes

std::vector
< tgSpringCableActuator * > 
m_allMuscles
 
std::vector< tgModel * > m_allSegments
 
MuscleMap m_muscleMap
 
std::size_t m_subStructures
 
const std::size_t m_segments
 
const std::size_t m_hips
 
std::vector< double > segmentMasses
 

Detailed Description

Provides all of the interfaces for a learning spine model, which implements all of the functions except using setup

Definition at line 49 of file BaseQuadModelLearning.h.

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]pChilda pointer to a sub-model
Exceptions
std::invalid_argumentis 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 122 of file tgModel.cpp.

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void tgSubject< BaseQuadModelLearning >::attach ( tgObserver< BaseQuadModelLearning > *  pObserver)
inherited

Attach an observer to the subject of the observer.

Parameters
[in,out]pObservera 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,atagSearch that contains the desired tags
Returns
a std::vector of pointers to members that match the tag search and typename T

Definition at line 128 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,astd::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 141 of file tgModel.h.

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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 170 of file tgModel.cpp.

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std::vector< tgSenseable * > tgModel::getSenseableDescendants ( ) const
virtualinherited

From tgSenseable: need to return all the children of this class. Since tgModels are tgSenseables, just return getDescendants().

Returns
a vector of tgModels, with pointers changed into pointers for tgSenseables.

For tgSenseable: just return the results of getDescendants here. This should be OK, since a vector of tgModel* is also a vector of tgSenseable*.

Reimplemented from tgSenseable.

Definition at line 191 of file tgModel.cpp.

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void tgSubject< BaseQuadModelLearning >::notifySetup ( )
inherited

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

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void tgSubject< BaseQuadModelLearning >::notifyStep ( double  dt)
inherited

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

Parameters
[in]dtthe number of seconds since the previous call; do nothing if not positive

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void tgSubject< BaseQuadModelLearning >::notifyTeardown ( )
inherited

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

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void tgModel::onVisit ( const tgModelVisitor r) const
virtualinherited

Call tgModelVisitor::render() on self and all descendants.

Parameters
[in,out]ra reference to a tgModelVisitor

Reimplemented in tgCompressionSpringActuator, tgUnidirComprSprActuator, ConnectorTestModel, BuildTestModel, tgKinematicActuator, tgSphere, tgBox, tgRod, ContactCableDemo, tgBasicActuator, hillyMuscleNP, simpleMuscleNP, tgBoxMoreAnchors, tgBaseRigid, and tgGhostModel.

Definition at line 107 of file tgModel.cpp.

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void BaseQuadModelLearning::setup ( tgWorld world)
virtual

Setup takes a tgWorld and passes it to any children for their own setup functions. All subclasses should call this at the appropriate time (usually end of setup) within their own setup function.

Parameters
[in]world- the tgWorld the models will exist in.

Reimplemented from tgModel.

Reimplemented in MountainGoat, MountainGoatAchilles, MountainGoatFM0, BigPuppySpineOnlyStats, BigPuppySymmetricArching, BigPuppySymmetricSpiralMetrics, BigPuppySymmetricSpiralSegments, and MountainGoatNL2.

Definition at line 53 of file BaseQuadModelLearning.cpp.

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void BaseQuadModelLearning::step ( double  dt)
virtual

Advance the simulation.

Parameters
[in]dtthe number of seconds since the previous call; std::invalid_argument is thrown if dt is not positive
Exceptions
std::invalid_argumentif dt is not positive
Note
This is not necessarily const for every child.

Reimplemented from tgModel.

Reimplemented in MountainGoat, MountainGoatAchilles, MountainGoatFM0, BigPuppySpineOnlyStats, BigPuppySymmetricArching, BigPuppySymmetricSpiralMetrics, BigPuppySymmetricSpiralSegments, and MountainGoatNL2.

Definition at line 74 of file BaseQuadModelLearning.cpp.

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void BaseQuadModelLearning::teardown ( )
virtual

Deletes the children (undoes setup)

Reimplemented from tgModel.

Reimplemented in MountainGoat, MountainGoatAchilles, MountainGoatFM0, BigPuppySpineOnlyStats, BigPuppySymmetricArching, BigPuppySymmetricSpiralMetrics, BigPuppySymmetricSpiralSegments, and MountainGoatNL2.

Definition at line 62 of file BaseQuadModelLearning.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]prefixa string to append to
Returns
the original string with this model and its children's tags appended

Definition at line 152 of file tgModel.cpp.

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