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CPGNode Class Reference
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Public Member Functions

 CPGNode (int nodeNum, const std::vector< double > &params)
 
void addCoupling (CPGNode *cNode, const double cWeight, const double cPhase)
 
virtual void updateDTs (double descCom)
 
double nodeEquation (double d, double c0, double c1)
 
virtual void updateNodeValues (double newR, double newRD, double newPhi)
 
const int getNodeIndex () const
 
std::string toString (const std::string &prefix="") const
 

Protected Attributes

double nodeValue
 
double phiValue
 
double phiDotValue
 
double rValue
 
double rDotValue
 
double rDoubleDotValue
 
std::vector< CPGNode * > couplingList
 
std::vector< double > phaseList
 
std::vector< double > weightList
 
const int m_nodeNumber
 
const double rConst
 
const double frequencyOffset
 
const double frequencyScale
 
const double radiusOffset
 
const double radiusScale
 
const double dMin
 
const double dMax
 

Friends

class CPGEquations
 
class CPGNodeFB
 

Detailed Description

Definition at line 37 of file CPGNode.h.

Constructor & Destructor Documentation

CPGNode::CPGNode ( int  nodeNum,
const std::vector< double > &  params 
)
Todo:
consider adding vector of initial conditions for stability

Definition at line 35 of file CPGNode.cpp.

Member Function Documentation

double CPGNode::nodeEquation ( double  d,
double  c0,
double  c1 
)

Compute the base node equation for R and Phi

Definition at line 90 of file CPGNode.cpp.

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void CPGNode::updateDTs ( double  descCom)
virtual

Update phiDotValue and rDoubleDotValue based on Node equations and coupling equations

Todo:
better name?

Iterate through every edge and affect the phase of this node accordingly.

Todo:
ask about refactoring to use for_each

Definition at line 71 of file CPGNode.cpp.

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Member Data Documentation

const int CPGNode::m_nodeNumber
protected

Index of this node for printing and debugging

Definition at line 106 of file CPGNode.h.

double CPGNode::nodeValue
protected

Values for numerical integration

Definition at line 92 of file CPGNode.h.

const double CPGNode::rConst
protected

Parameters for node equations:

Definition at line 111 of file CPGNode.h.

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