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Public Member Functions | Protected Attributes | List of all members
CPGEquationsFB Class Reference

#include <CPGEquationsFB.h>

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Public Member Functions

 CPGEquationsFB (int maxSteps=200)
 
 CPGEquationsFB (std::vector< CPGNode * > &newNodeList, int maxSteps=200)
 
int addNode (std::vector< double > &newParams)
 
std::vector< double > & getXVars ()
 
std::vector< double > & getDXVars ()
 
void updateNodes (std::vector< double > &descCom)
 
void updateNodeData (std::vector< double > newXVals)
 
void defineConnections (int nodeIndex, std::vector< int > connections, std::vector< double > newWeights, std::vector< double > newPhaseOffsets)
 
const double operator[] (const std::size_t i) const
 
void update (std::vector< double > &descCom, double dt)
 
std::string toString (const std::string &prefix="") const
 
void countStep ()
 

Protected Attributes

std::vector< CPGNode * > nodeList
 
std::vector< double > XVars
 
std::vector< double > DXVars
 
double stepSize
 
int m_maxSteps
 
int numSteps
 

Detailed Description

The top level class for interfacing with CPGs. Contains the definition of the CPG (list of nodes) as well as functions to interface with ODEInt

Definition at line 44 of file CPGEquationsFB.h.

Member Function Documentation

void CPGEquations::update ( std::vector< double > &  descCom,
double  dt 
)
inherited

Call the integrator a the specified timestep

Read information from nodes into variables that work for ODEInt

Run ODEInt. This will change the data in xVars

Definition at line 231 of file CPGEquations.cpp.

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