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T6Model Class Reference

#include <T6Model.h>

Inherits tgSubject< T6Model >, tgModel, tgSubject< T6Model >, tgModel, tgSubject< T6Model >, tgModel, tgSubject< T6Model >, tgModel, tgSubject< T6Model >, and tgModel.

Collaboration diagram for T6Model:

Public Member Functions

 T6Model ()
 
virtual ~T6Model ()
 
virtual void setup (tgWorld &world)
 
void teardown ()
 
virtual void step (double dt)
 
virtual void onVisit (tgModelVisitor &r)
 
const std::vector
< tgBasicActuator * > & 
getAllMuscles () const
 
const std::vector
< tgBasicActuator * > & 
getPassiveMuscles () const
 
const std::vector
< tgBasicActuator * > & 
getActiveMuscles () const
 
virtual const double muscleRatio ()
 
 T6Model ()
 
virtual ~T6Model ()
 
virtual void setup (tgWorld &world)
 
void teardown ()
 
virtual void step (double dt)
 
virtual void onVisit (tgModelVisitor &r)
 
std::vector< double > getBallCOM ()
 
const std::vector
< tgBasicActuator * > & 
getAllMuscles () const
 
const std::vector
< tgBasicActuator * > & 
getPassiveMuscles () const
 
const std::vector
< tgBasicActuator * > & 
getActiveMuscles () const
 
virtual const double muscleRatio ()
 
 T6Model ()
 
virtual ~T6Model ()
 
virtual void setup (tgWorld &world)
 
void teardown ()
 
virtual void step (double dt)
 
virtual void onVisit (tgModelVisitor &r)
 
const std::vector
< tgBasicActuator * > & 
getAllMuscles () const
 
const std::vector
< tgBasicActuator * > & 
getPassiveMuscles () const
 
const std::vector
< tgBasicActuator * > & 
getActiveMuscles () const
 
virtual const double muscleRatio ()
 
 T6Model ()
 
virtual ~T6Model ()
 
virtual void setup (tgWorld &world)
 
void teardown ()
 
virtual void step (double dt)
 
virtual void onVisit (tgModelVisitor &r)
 
const std::vector
< tgSpringCableActuator * > & 
getAllMuscles () const
 
 T6Model ()
 
virtual ~T6Model ()
 
virtual void setup (tgWorld &world)
 
void teardown ()
 
virtual void step (double dt)
 
virtual void onVisit (tgModelVisitor &r)
 
const std::vector
< tgBasicActuator * > & 
getAllActuators () const
 
void attach (tgObserver< T6Model > *pObserver)
 
void notifyStep (double dt)
 
void notifySetup ()
 
void notifyTeardown ()
 
virtual void onVisit (const tgModelVisitor &r) const
 
void addChild (tgModel *pChild)
 
virtual std::string toString (std::string prefix="") const
 
template<typename T >
std::vector< T * > find (const tgTagSearch &tagSearch)
 
template<typename T >
std::vector< T * > find (const std::string &tagSearch)
 
std::vector< tgModel * > getDescendants () const
 
const std::vector
< abstractMarker > & 
getMarkers () const
 
void addMarker (abstractMarker a)
 
virtual std::vector
< tgSenseable * > 
getSenseableDescendants () const
 
void addTags (const std::string &space_separated_tags)
 
void addTags (const tgTags &tags)
 
bool hasTag (const std::string tag) const
 
bool hasAllTags (std::string tags)
 
bool hasAnyTags (const std::string tags)
 
bool hasNoTags ()
 
tgTagsgetTags ()
 
const tgTagsgetTags () const
 
void setTags (tgTags tags)
 
std::string getTagStr (std::string delim=" ") const
 

Detailed Description

Class that creates the six strut "superball" model using tgcreator

Definition at line 43 of file T6Model.h.

Constructor & Destructor Documentation

T6Model::T6Model ( )

The only constructor. Utilizes default constructor of tgModel Configuration parameters are within the .cpp file in this case, not passed in.

Definition at line 100 of file T6Model.cpp.

T6Model::~T6Model ( )
virtual

Destructor. Deletes controllers, if any were added during setup. Teardown handles everything else.

Definition at line 104 of file T6Model.cpp.

T6Model::T6Model ( )

The only constructor. Utilizes default constructor of tgModel Configuration parameters are within the .cpp file in this case, not passed in.

virtual T6Model::~T6Model ( )
virtual

Destructor. Deletes controllers, if any were added during setup. Teardown handles everything else.

T6Model::T6Model ( )

The only constructor. Utilizes default constructor of tgModel Configuration parameters are within the .cpp file in this case, not passed in.

virtual T6Model::~T6Model ( )
virtual

Destructor. Deletes controllers, if any were added during setup. Teardown handles everything else.

T6Model::T6Model ( )

The only constructor. Utilizes default constructor of tgModel Configuration parameters are within the .cpp file in this case, not passed in.

virtual T6Model::~T6Model ( )
virtual

Destructor. Deletes controllers, if any were added during setup. Teardown handles everything else.

T6Model::T6Model ( )

The only constructor. Utilizes default constructor of tgModel Configuration parameters are within the .cpp file in this case, not passed in.

virtual T6Model::~T6Model ( )
virtual

Destructor. Deletes controllers, if any were added during setup. Teardown handles everything else.

Member Function Documentation

void tgModel::addChild ( tgModel pChild)
inherited

Add a sub-model to this model. The model takes ownership of the child sub-model and is responsible for deallocating it.

Parameters
[in,out]pChilda pointer to a sub-model
Exceptions
std::invalid_argumentis pChild is NULL, this object, or already a descendant
Todo:
Make sure that every child appears no more than once in the tree.

Definition at line 122 of file tgModel.cpp.

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void tgSubject< T6Model >::attach ( tgObserver< T6Model > *  pObserver)
inherited

Attach an observer to the subject of the observer.

Parameters
[in,out]pObservera pointer to an observer for the subject; do nothing if the pointer is NULL
template<typename T >
std::vector<T*> tgModel::find ( const tgTagSearch tagSearch)
inlineinherited

Get a vector of descendants sorted by type and a tagsearch. Useful for pulling out muscle groups, or similar.

Parameters
[in]tagSearch,atagSearch that contains the desired tags
Returns
a std::vector of pointers to members that match the tag search and typename T

Definition at line 128 of file tgModel.h.

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template<typename T >
std::vector<T*> tgModel::find ( const std::string &  tagSearch)
inlineinherited

Get a vector of descendants sorted by type and a tagsearch. Useful for pulling out muscle groups, or similar.

Parameters
[in]tagSearch,astd::string& that contains the desired tags
Returns
a std::vector of pointers to members that match the tag search and typename T

Definition at line 141 of file tgModel.h.

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const std::vector< tgBasicActuator * > & T6Model::getActiveMuscles ( ) const

Return a vector of active muscles for the controllers to work with.

Returns
A vector of all of the muscles

Definition at line 257 of file T6Model.cpp.

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const std::vector<tgBasicActuator*>& T6Model::getActiveMuscles ( ) const

Return a vector of active muscles for the controllers to work with.

Returns
A vector of all of the muscles
const std::vector<tgBasicActuator*>& T6Model::getActiveMuscles ( ) const

Return a vector of active muscles for the controllers to work with.

Returns
A vector of all of the muscles
const std::vector< tgBasicActuator * > & T6Model::getAllActuators ( ) const

Return a vector of all muscles for the controllers to work with.

Returns
A vector of all of the muscles

Definition at line 234 of file T6Model.cpp.

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const std::vector<tgBasicActuator*>& T6Model::getAllMuscles ( ) const

Return a vector of all muscles for the controllers to work with.

Returns
A vector of all of the muscles
const std::vector< tgSpringCableActuator * > & T6Model::getAllMuscles ( ) const

Return a vector of all muscles for the controllers to work with.

Returns
A vector of all of the muscles

Definition at line 247 of file T6Model.cpp.

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const std::vector<tgSpringCableActuator*>& T6Model::getAllMuscles ( ) const

Return a vector of all muscles for the controllers to work with.

Returns
A vector of all of the muscles
const std::vector<tgBasicActuator*>& T6Model::getAllMuscles ( ) const

Return a vector of all muscles for the controllers to work with.

Returns
A vector of all of the muscles
std::vector< double > T6Model::getBallCOM ( )

Returns the center of mass of this model as an <x,y,z>

Definition at line 284 of file T6Model.cpp.

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std::vector< tgModel * > tgModel::getDescendants ( ) const
inherited

Return a std::vector of const pointers to all sub-models.

Todo:
examine whether this should be public, and perhaps create a read only version
Returns
a std::vector of const pointers all sub-models.
Todo:
Unnecessary copying can be avoided by pasing the result collection in the recursive step.

Definition at line 170 of file tgModel.cpp.

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const std::vector<tgBasicActuator*>& T6Model::getPassiveMuscles ( ) const

Return a vector of passive muscles for the controllers to work with.

Returns
A vector of all of the muscles
const std::vector< tgBasicActuator * > & T6Model::getPassiveMuscles ( ) const

Return a vector of passive muscles for the controllers to work with.

Returns
A vector of all of the muscles

Definition at line 252 of file T6Model.cpp.

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const std::vector<tgBasicActuator*>& T6Model::getPassiveMuscles ( ) const

Return a vector of passive muscles for the controllers to work with.

Returns
A vector of all of the muscles
std::vector< tgSenseable * > tgModel::getSenseableDescendants ( ) const
virtualinherited

From tgSenseable: need to return all the children of this class. Since tgModels are tgSenseables, just return getDescendants().

Returns
a vector of tgModels, with pointers changed into pointers for tgSenseables.

For tgSenseable: just return the results of getDescendants here. This should be OK, since a vector of tgModel* is also a vector of tgSenseable*.

Reimplemented from tgSenseable.

Definition at line 191 of file tgModel.cpp.

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virtual const double T6Model::muscleRatio ( )
virtual

Return a const of the ratio of spring constants for active and passive muscles for the controllers to work with.

Returns
A vector of all of the muscles
const double T6Model::muscleRatio ( )
virtual

Return a const of the ratio of spring constants for active and passive muscles for the controllers to work with.

Returns
A vector of all of the muscles

Definition at line 262 of file T6Model.cpp.

virtual const double T6Model::muscleRatio ( )
virtual

Return a const of the ratio of spring constants for active and passive muscles for the controllers to work with.

Returns
A vector of all of the muscles
void tgSubject< T6Model >::notifySetup ( )
inherited

Call tgObserver<T>::onSetup() on all observers in the order in which they were attached.

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void tgSubject< T6Model >::notifyStep ( double  dt)
inherited

Call tgObserver<T>::onStep() on all observers in the order in which they were attached.

Parameters
[in]dtthe number of seconds since the previous call; do nothing if not positive

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void tgSubject< T6Model >::notifyTeardown ( )
inherited

Call tgObserver<T>::onTeardown() on all observers in the order in which they were attached.

virtual void T6Model::onVisit ( tgModelVisitor r)
virtual

Receives a tgModelVisitor and dispatches itself into the visitor's "render" function. This model will go to the default tgModel function, which does nothing.

Parameters
[in]r- a tgModelVisitor which will pass this model back to itself
virtual void T6Model::onVisit ( tgModelVisitor r)
virtual

Receives a tgModelVisitor and dispatches itself into the visitor's "render" function. This model will go to the default tgModel function, which does nothing.

Parameters
[in]r- a tgModelVisitor which will pass this model back to itself
void T6Model::onVisit ( tgModelVisitor r)
virtual

Receives a tgModelVisitor and dispatches itself into the visitor's "render" function. This model will go to the default tgModel function, which does nothing.

Parameters
[in]r- a tgModelVisitor which will pass this model back to itself

Definition at line 242 of file T6Model.cpp.

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virtual void T6Model::onVisit ( tgModelVisitor r)
virtual

Receives a tgModelVisitor and dispatches itself into the visitor's "render" function. This model will go to the default tgModel function, which does nothing.

Parameters
[in]r- a tgModelVisitor which will pass this model back to itself
virtual void T6Model::onVisit ( tgModelVisitor r)
virtual

Receives a tgModelVisitor and dispatches itself into the visitor's "render" function. This model will go to the default tgModel function, which does nothing.

Parameters
[in]r- a tgModelVisitor which will pass this model back to itself
void tgModel::onVisit ( const tgModelVisitor r) const
virtualinherited

Call tgModelVisitor::render() on self and all descendants.

Parameters
[in,out]ra reference to a tgModelVisitor

Reimplemented in tgCompressionSpringActuator, tgUnidirComprSprActuator, ConnectorTestModel, BuildTestModel, tgKinematicActuator, tgSphere, tgBox, tgRod, ContactCableDemo, tgBasicActuator, hillyMuscleNP, simpleMuscleNP, tgBoxMoreAnchors, tgBaseRigid, and tgGhostModel.

Definition at line 107 of file tgModel.cpp.

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void T6Model::setup ( tgWorld world)
virtual

Create the model. Place the rods and strings into the world that is passed into the simulation. This is triggered automatically when the model is added to the simulation, when tgModel::setup(world) is called (if this model is a child), and when reset is called. Also notifies controllers of setup.

Parameters
[in]world- the world we're building into
Todo:
acceleration constraint was removed on 12/10/14 Replace with tgKinematicActuator as appropreate

Reimplemented from tgModel.

Definition at line 174 of file T6Model.cpp.

virtual void T6Model::setup ( tgWorld world)
virtual

Create the model. Place the rods and strings into the world that is passed into the simulation. This is triggered automatically when the model is added to the simulation, when tgModel::setup(world) is called (if this model is a child), and when reset is called. Also notifies controllers of setup.

Parameters
[in]world- the world we're building into

Reimplemented from tgModel.

virtual void T6Model::setup ( tgWorld world)
virtual

Create the model. Place the rods and strings into the world that is passed into the simulation. This is triggered automatically when the model is added to the simulation, when tgModel::setup(world) is called (if this model is a child), and when reset is called. Also notifies controllers of setup.

Parameters
[in]world- the world we're building into

Reimplemented from tgModel.

virtual void T6Model::setup ( tgWorld world)
virtual

Create the model. Place the rods and strings into the world that is passed into the simulation. This is triggered automatically when the model is added to the simulation, when tgModel::setup(world) is called (if this model is a child), and when reset is called. Also notifies controllers of setup.

Parameters
[in]world- the world we're building into

Reimplemented from tgModel.

virtual void T6Model::setup ( tgWorld world)
virtual

Create the model. Place the rods and strings into the world that is passed into the simulation. This is triggered automatically when the model is added to the simulation, when tgModel::setup(world) is called (if this model is a child), and when reset is called. Also notifies controllers of setup.

Parameters
[in]world- the world we're building into

Reimplemented from tgModel.

virtual void T6Model::step ( double  dt)
virtual

Step the model, its children. Notifies controllers of step.

Parameters
[in]dt,thetimestep. Must be positive.

Reimplemented from tgModel.

void T6Model::step ( double  dt)
virtual

Step the model, its children. Notifies controllers of step.

Parameters
[in]dt,thetimestep. Must be positive.

Reimplemented from tgModel.

Definition at line 227 of file T6Model.cpp.

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virtual void T6Model::step ( double  dt)
virtual

Step the model, its children. Notifies controllers of step.

Parameters
[in]dt,thetimestep. Must be positive.

Reimplemented from tgModel.

virtual void T6Model::step ( double  dt)
virtual

Step the model, its children. Notifies controllers of step.

Parameters
[in]dt,thetimestep. Must be positive.

Reimplemented from tgModel.

virtual void T6Model::step ( double  dt)
virtual

Step the model, its children. Notifies controllers of step.

Parameters
[in]dt,thetimestep. Must be positive.

Reimplemented from tgModel.

void T6Model::teardown ( )
virtual

Undoes setup. Deletes child models. Called automatically on reset and end of simulation. Notifies controllers of teardown

Reimplemented from tgModel.

void T6Model::teardown ( )
virtual

Undoes setup. Deletes child models. Called automatically on reset and end of simulation. Notifies controllers of teardown

Reimplemented from tgModel.

void T6Model::teardown ( )
virtual

Undoes setup. Deletes child models. Called automatically on reset and end of simulation. Notifies controllers of teardown

Reimplemented from tgModel.

Definition at line 268 of file T6Model.cpp.

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void T6Model::teardown ( )
virtual

Undoes setup. Deletes child models. Called automatically on reset and end of simulation. Notifies controllers of teardown

Reimplemented from tgModel.

void T6Model::teardown ( )
virtual

Undoes setup. Deletes child models. Called automatically on reset and end of simulation. Notifies controllers of teardown

Reimplemented from tgModel.

std::string tgModel::toString ( std::string  prefix = "") const
virtualinherited

Returns the tag names of this model and its children

Parameters
[in]prefixa string to append to
Returns
the original string with this model and its children's tags appended

Definition at line 152 of file tgModel.cpp.

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