SerializedSineWaves Class Reference

#include <SerializedSineWaves.h>

Inheritance diagram for SerializedSineWaves:

Collaboration diagram for SerializedSineWaves:

Classes
struct	Config

Public Member Functions
	SerializedSineWaves (std::string fileName)
	~SerializedSineWaves ()
void	applyImpedanceControlInside (const std::vector< tgSpringCableActuator * > stringList, double dt, std::size_t phase)
void	applyImpedanceControlOutside (const std::vector< tgSpringCableActuator * > stringList, double dt, std::size_t phase)
virtual void	onStep (BaseSpineModelLearning &subject, double dt)
virtual void	onAttach (BaseSpineModelLearning &subject)
virtual void	onSetup (BaseSpineModelLearning &subject)
virtual void	onTeardown (BaseSpineModelLearning &subject)

Detailed Description

Control the TetraSpineLearningModel with a series of sine waves and local impedance controllers

Definition at line 46 of file SerializedSineWaves.h.

Constructor & Destructor Documentation

SerializedSineWaves::SerializedSineWaves

(

std::string

fileName

)

Construct the controller. Typically occurs in the main function. The controller will need to be attached to a subject (model) Parameters are currently set in the initalizer lists.

Definition at line 104 of file SerializedSineWaves.cpp.

SerializedSineWaves::~SerializedSineWaves

(

)

Destructor. Frees the tgImpedanceController pointers

Definition at line 115 of file SerializedSineWaves.cpp.

Member Function Documentation

void SerializedSineWaves::applyImpedanceControlInside	(	const std::vector< tgSpringCableActuator * >	stringList,
		double	dt,
		std::size_t	phase
	)

Applies the impedance controllers using a velocity setpoint of 0. Called during this classes onStep function.

Parameters

[in]	stringList	a std::vector of strings taken from the subject's MuscleMap
[in]	dt	- a timestep. Must be positive.
[in]	phase	- reads the index out of the phaseOffsets vector

Definition at line 119 of file SerializedSineWaves.cpp.

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void SerializedSineWaves::applyImpedanceControlOutside	(	const std::vector< tgSpringCableActuator * >	stringList,
		double	dt,
		std::size_t	phase
	)

Applies the impedance controllers using a velocity setpoint determined. by the phase parameter and Called during this classes onStep function.

Parameters

[in]	stringList	a std::vector of strings taken from the subject's MuscleMap
[in]	dt	- a timestep. Must be positive.
[in]	phase	- reads the index out of the phaseOffsets vector

Definition at line 145 of file SerializedSineWaves.cpp.

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virtual void tgObserver< BaseSpineModelLearning >::onAttach ( BaseSpineModelLearning &  subject )

inlinevirtualinherited

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 55 of file tgObserver.h.

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

inlinevirtualinherited

Notify the observers when a setup action has occurred.

Parameters

[in,out]

subject

the subject being observed

Reimplemented in SerializedSpineControl, BaseSpineCPGControl, JSONCPGControl, JSONGoalControl, JSONQuadFeedbackControl, SpineGoalControl, JSONMixedLearningControl, JSONQuadFeedbackControl, JSONQuadFeedbackControl, SpineOnlineControl, JSONFeedbackControl, SpineFeedbackControl, OctahedralGoalControl, OctahedralTensionControl, JSONGoalTensionNNW, JSONGoalTension, OctaCLSine, LearningSpineSine, htSpineSine, and colSpineSine.

Definition at line 61 of file tgObserver.h.

void SerializedSineWaves::onStep ( BaseSpineModelLearning &  subject, double  dt  )

virtual

Apply the sineWave controller. Called my notifyStep(dt) of its subject. Calls the applyImpedanceControl functions of this class

Parameters

[in]	subject	- the TetraSpineLearningModel that is being Subject must have a MuscleMap populated
[in]	dt,current	timestep must be positive

Implements tgObserver< BaseSpineModelLearning >.

Definition at line 170 of file SerializedSineWaves.cpp.

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virtual void tgObserver< BaseSpineModelLearning >::onTeardown ( BaseSpineModelLearning &  subject )

inlinevirtualinherited

Notify the observers when a teardown action has occurred.

Parameters

[in,out]

subject

the subject being observed

Reimplemented in BaseSpineCPGControl, JSONCPGControl, JSONGoalControl, JSONQuadFeedbackControl, SpineGoalControl, JSONMixedLearningControl, JSONQuadFeedbackControl, JSONQuadFeedbackControl, SpineOnlineControl, JSONFeedbackControl, SpineFeedbackControl, OctahedralGoalControl, OctahedralTensionControl, JSONGoalTensionNNW, JSONGoalTension, OctaCLSine, LearningSpineSine, htSpineSine, and colSpineSine.

Definition at line 67 of file tgObserver.h.

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

• examples/learningSpines/TetraSpine/SerializedSineWaves.h
• examples/learningSpines/TetraSpine/SerializedSineWaves.cpp