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ScarrArmController Class Reference

#include <ScarrArmController.h>

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Public Member Functions

 ScarrArmController (const double prefLength, double timestep)
 
virtual ~ScarrArmController ()
 
virtual void onSetup (ScarrArmModel &subject)
 
virtual void onStep (ScarrArmModel &subject, double dt)
 
virtual void onAttach (ScarrArmModel &subject)
 
virtual void onTeardown (ScarrArmModel &subject)
 

Protected Member Functions

virtual vector< vector< double > > transformActions (vector< vector< double > > act)
 
virtual void applyActions (ScarrArmModel &subject, vector< vector< double > > act)
 

Detailed Description

Preferred Length Controller for ScarrArmModel. This controllers sets a preferred rest length for the muscles. Constant speed motors are used in muscles to move the rest length to the preffered length over time. The assumption here is that motors are constant speed independent of the tension of the muscles. motorspeed and movemotors are defined at the tgBasicActuator class.

Definition at line 47 of file ScarrArmController.h.

Constructor & Destructor Documentation

ScarrArmController::ScarrArmController ( const double  prefLength,
double  timestep 
)

Construct a ScarrArmController with the initial preferred length.

Definition at line 43 of file ScarrArmController.cpp.

virtual ScarrArmController::~ScarrArmController ( )
inlinevirtual

Nothing to delete, destructor must be virtual

Definition at line 62 of file ScarrArmController.h.

Member Function Documentation

virtual void tgObserver< ScarrArmModel >::onAttach ( ScarrArmModel &  subject)
inlinevirtualinherited

Notify the observers when an attach action has occurred. Will only occur once, typically before setup

Parameters
[in,out]subjectthe subject being observed

Definition at line 55 of file tgObserver.h.

void ScarrArmController::onSetup ( ScarrArmModel &  subject)
virtual

Notify the observers when a setup action has occurred.

Parameters
[in,out]subjectthe subject being observed

Reimplemented from tgObserver< ScarrArmModel >.

Definition at line 49 of file ScarrArmController.cpp.

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void ScarrArmController::onStep ( ScarrArmModel &  subject,
double  dt 
)
virtual

Notify the observers when a step action has occurred.

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

Implements tgObserver< ScarrArmModel >.

Definition at line 89 of file ScarrArmController.cpp.

virtual void tgObserver< ScarrArmModel >::onTeardown ( ScarrArmModel &  subject)
inlinevirtualinherited

Notify the observers when a teardown action has occurred.

Parameters
[in,out]subjectthe subject being observed

Definition at line 67 of file tgObserver.h.

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