SerializedSpineControl Class Reference

#include <SerializedSpineControl.h>

Inheritance diagram for SerializedSpineControl:

Collaboration diagram for SerializedSpineControl:

Classes
struct	Config

Public Member Functions
	SerializedSpineControl (std::string fileName)
	~SerializedSpineControl ()
virtual void	onSetup (BaseSpineModelLearning &subject)
virtual void	onStep (BaseSpineModelLearning &subject, double dt)
virtual void	onAttach (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 47 of file SerializedSpineControl.h.

Constructor & Destructor Documentation

SerializedSpineControl::SerializedSpineControl

(

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 167 of file SerializedSpineControl.cpp.

SerializedSpineControl::~SerializedSpineControl

(

)

Destructor. Frees the tgImpedanceController pointers

Definition at line 181 of file SerializedSpineControl.cpp.

Member Function Documentation

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.

void SerializedSpineControl::onSetup ( BaseSpineModelLearning &  subject )

virtual

Notify the observers when a setup action has occurred.

Parameters

[in,out]

subject

the subject being observed

Reimplemented from tgObserver< BaseSpineModelLearning >.

Definition at line 218 of file SerializedSpineControl.cpp.

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void SerializedSpineControl::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 274 of file SerializedSpineControl.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/IROS_2015/TetraSpineStatic/SerializedSpineControl.h
• examples/IROS_2015/TetraSpineStatic/SerializedSpineControl.cpp