OpenSim::Controller Class Reference

#include <Controller.h>

Inheritance diagram for OpenSim::Controller:

Public Member Functions
	Controller ()
	Default constructor.
	Controller (Model &aModel)
	Another constructor.
	Controller (const std::string &aFileName, bool aUpdateFromXMLNode=true)
	Constructor from an XML Document.
	Controller (const Controller &aController)
	Copy constructor.
virtual	~Controller ()
	Destructor.
Controller &	operator= (const Controller &aController)
	Assignment operator.
bool	getIsEnabled () const
	Get whether or not this controller is on.
void	setIsEnabled (bool aTrueFalse)
	Turn this controller on or off.
virtual double	computeControl (const SimTK::State &s, int index) const =0
	Note that this method is "pure virtual", which means that the Controller class does not implement it, and that subclasses must implement it.
virtual void	setActuators (Set< Actuator > &actuators)
virtual void	setupSystem (SimTK::MultibodySystem &system)
virtual void	setup (Model &model)
virtual void	createSystem (SimTK::MultibodySystem &system)
virtual void	initState (SimTK::State &s)
virtual double	getFirstTime () const
	return the min an max times that a controller knows how to supply controlls for
virtual double	getLastTime () const
virtual Set< Actuator > &	updActuators ()
virtual const Set< Actuator > &	getActuatorSet () const
virtual const Array < std::string > &	getActuatorList () const
Protected Member Functions
virtual void	setupProperties ()
	Connect properties to local pointers.
void	copyData (const Controller &aController)
	Copy the member variables of the specified controller.
Protected Attributes
OpenSim::PropertyBool	_isControllerEnabledProp
bool	_isControllerEnabled
int	_numControls
	number of controls this controller has
PropertyStrArray	_actuatorNameListProp
	list of actuator names
Array< std::string > &	_actuatorNameList
Set< Actuator >	_actuatorSet
	set of actuators that the controller controls
Friends
class	ControlSet
class	ControllerSet

Constructor & Destructor Documentation

Controller::Controller ( )

Default constructor.

Controller::Controller ( Model & aModel )

Another constructor.

Constructor.

Parameters:

aModel

The model that is to be controlled by this Controller.

Controller::Controller	(	const std::string &	aFileName,
		bool	aUpdateFromXMLNode = `true`
	)

Constructor from an XML Document.

Parameters:

	aFileName	The name of the XML file in which this Controller is defined.
	aUpdateFromXMLNode	A flag indicating whether or not to call updateFromXMLNode() from this constructor. If true, the method will be called from this class. Typically, the flag should be true for this class, but in the member initializer list for this constructor, this class's parent class's constructor with the same parameters will be called, but with aUpdateFromXMLNode set to false.

Controller::Controller ( const Controller & aController )

Copy constructor.

This constructor is called by any code that contains a command of the form "Controller newController(oldController);".

Parameters:

aController

The controller to be copied.

Controller::~Controller ( ) [virtual]

Destructor.

This method should be a member of any subclass of the Controller class. It will be called automatically whenever an instance of the subclass is deleted from memory.

Member Function Documentation

virtual double OpenSim::Controller::computeControl	(	const SimTK::State &	s,
		int	index
	)			const `[pure virtual]`

Note that this method is "pure virtual", which means that the Controller class does not implement it, and that subclasses must implement it.

Parameters:

	s	system state
	rControlSet	Control set used for the simulation. This method alters the control set in order to control the simulation.

Implemented in OpenSim::ConstantController, OpenSim::ControlSetController, OpenSim::PrescribedController, OpenSim::TrackingController, OpenSim::CMC, and OpenSim::CorrectionController.

void Controller::copyData ( const Controller & aController ) [protected]

Copy the member variables of the specified controller.

This method is called by the copy constructor of the Controller class.

Parameters:

aController

The controller whose data is to be copied.

Reimplemented in OpenSim::ConstantController, OpenSim::ControlSetController, OpenSim::PrescribedController, OpenSim::TrackingController, OpenSim::CMC, and OpenSim::CorrectionController.

void Controller::createSystem ( SimTK::MultibodySystem & system ) [virtual]

Reimplemented in OpenSim::ConstantController, and OpenSim::ControlSetController.

virtual const Array<std::string>& OpenSim::Controller::getActuatorList ( ) const [inline, virtual]

const Set< Actuator > & Controller::getActuatorSet ( ) const [virtual]

double Controller::getFirstTime ( ) const [virtual]

return the min an max times that a controller knows how to supply controlls for

Reimplemented in OpenSim::ControlSetController.

bool Controller::getIsEnabled ( ) const

Get whether or not this controller is on.

Returns:: true if on, false if off.

double Controller::getLastTime ( ) const [virtual]

Reimplemented in OpenSim::ControlSetController.

void Controller::initState ( SimTK::State & s ) [virtual]

Reimplemented in OpenSim::ConstantController, OpenSim::ControlSetController, OpenSim::CMC, and OpenSim::CorrectionController.

Controller & Controller::operator= ( const Controller & aController )

Assignment operator.

This method is called automatically whenever a command of the form "controller1 = controller2;" is made, where both controller1 and controller2 are both of type Controller. Although Controller cannot be instantiated directly, a subclass of Controller could implement its own operator= method that calls Controller's operator= method. If the subclass does not implement its own operator= method, then when a command of the form "controller1 = controller2" is made, where both controller1 and controller2 are instants of the subclass, the Controller class's operator= method will be called automatically.

Parameters:

aController

The controller to be copied.

Returns:: Reference to the altered object.

Reimplemented from OpenSim::Object.

Reimplemented in OpenSim::ConstantController, OpenSim::ControlSetController, OpenSim::PrescribedController, OpenSim::TrackingController, OpenSim::CMC, and OpenSim::CorrectionController.

void Controller::setActuators ( Set< Actuator > & actuators ) [virtual]

Reimplemented in OpenSim::ConstantController, OpenSim::ControlSetController, OpenSim::CMC, and OpenSim::CorrectionController.

void Controller::setIsEnabled ( bool aTrueFalse )

Turn this controller on or off.

Parameters:

aTrueFalse

Turns controller on if "true" and off if "false".

void Controller::setup ( Model & model ) [virtual]

Reimplemented in OpenSim::ConstantController, OpenSim::ControlSetController, OpenSim::CMC, and OpenSim::CorrectionController.

void Controller::setupProperties ( void ) [protected, virtual]

Connect properties to local pointers.

Currently, the Controller class has no properties, so this method does nothing. However, a subclass of Controller (e.g., ControlSetController) can contain member variables that are properties, which should be defined in the setupProperties() method of the subclass.

Reimplemented from OpenSim::Object.

Reimplemented in OpenSim::ConstantController, OpenSim::ControlSetController, OpenSim::PrescribedController, OpenSim::TrackingController, OpenSim::CMC, and OpenSim::CorrectionController.

void Controller::setupSystem ( SimTK::MultibodySystem & system ) [virtual]

Reimplemented in OpenSim::CMC, and OpenSim::CorrectionController.

Set< Actuator > & Controller::updActuators ( ) [virtual]