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TetraSpineGoal Class Reference

#include <TetraSpineGoal.h>

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Public Types

typedef std::map< std::string,
std::vector
< tgSpringCableActuator * > > 
MuscleMap
 

Public Member Functions

 TetraSpineGoal (size_t segments, double goalAngle, double scale)
 
virtual void setup (tgWorld &world)
 
virtual void teardown ()
 
virtual void step (const double dt)
 
btVector3 goalBoxPosition () const
 
virtual std::vector< double > getSegmentCOM (const int n) const
 
virtual btVector3 getSegmentCOMVector (const int n) const
 
virtual const std::vector
< tgSpringCableActuator * > & 
getMuscles (const std::string &key) const
 
virtual const std::vector
< tgSpringCableActuator * > & 
getAllMuscles () const
 
virtual const std::vector
< tgBaseRigid * > 
getAllRigids () const
 
virtual const int getSegments () const
 
virtual std::size_t getNumberofMuslces () const
 
double getSpineLength () const
 
void attach (tgObserver< BaseSpineModelLearning > *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
 

Public Attributes

const double scaleFactor
 

Protected Attributes

tgBoxm_goalBox
 
double m_goalAngle
 
std::vector
< tgSpringCableActuator * > 
m_allMuscles
 
std::vector< tgModel * > m_allSegments
 
MuscleMap m_muscleMap
 
const std::size_t m_segments
 

Detailed Description

Basically the same structure as NestedStructureTestModel just with different parameters and learning capabilities. This is an simplification of the model used in the 2015 ICRA paper

Definition at line 43 of file TetraSpineGoal.h.

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< BaseSpineModelLearning >::attach ( tgObserver< BaseSpineModelLearning > *  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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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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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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void tgSubject< BaseSpineModelLearning >::notifySetup ( )
inherited

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

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void tgSubject< BaseSpineModelLearning >::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< BaseSpineModelLearning >::notifyTeardown ( )
inherited

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

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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 TetraSpineGoal::setup ( tgWorld world)
virtual

Setup takes a tgWorld and passes it to any children for their own setup functions. All subclasses should call this at the appropriate time (usually end of setup) within their own setup function.

Parameters
[in]world- the tgWorld the models will exist in.

Reimplemented from BaseSpineModelGoal.

Definition at line 220 of file TetraSpineGoal.cpp.

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void TetraSpineGoal::step ( const double  dt)
virtual

Advance the simulation.

Parameters
[in]dtthe number of seconds since the previous call; std::invalid_argument is thrown if dt is not positive
Exceptions
std::invalid_argumentif dt is not positive
Note
This is not necessarily const for every child.

Reimplemented from BaseSpineModelGoal.

Definition at line 320 of file TetraSpineGoal.cpp.

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void TetraSpineGoal::teardown ( )
virtual

Deletes the children (undoes setup)

Reimplemented from BaseSpineModelGoal.

Definition at line 313 of file TetraSpineGoal.cpp.

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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: