OpenSim::CorrectionController Class Reference

This is a simple feedback controller to be used in generating a forward dynamic simulation. More...

#include <CorrectionController.h>

Inheritance diagram for OpenSim::CorrectionController:

List of all members.

Public Member Functions
	CorrectionController ()
	Default constructor.
	CorrectionController (const std::string &aFileName, bool aUpdateFromXMLNode=true)
	CorrectionController (const CorrectionController &aController)
	Copy constructor.
virtual	~CorrectionController ()
	Destructor.
virtual Object *	copy () const
	Copy this CorrectionController and return a pointer to the copy.
CorrectionController &	operator= (const CorrectionController &aController)
	Assignment operator.
double	getKp () const
	Get the gain for position errors.
void	setKp (double aKp)
	Set the gain for position errors.
double	getKv () const
	Get the gain for velocity errors.
void	setKv (double aKv)
	Set the gain for velocity errors.
virtual void	setActuators (Set< Actuator > &actuators)
virtual double	computeControl (const SimTK::State &s, int index) const
	Compute the controls for a simulation.
virtual void	setup (Model &model)
virtual void	setupSystem (SimTK::MultibodySystem &system)
virtual void	initState (SimTK::State &s)
Protected Member Functions
void	setupProperties ()
	Connect properties to local pointers.
void	copyData (const CorrectionController &aController)
	Copy the member variables of the specified controller.
Protected Attributes
PropertyDbl	_kpProp
	Gain for position errors.
double &	_kp
PropertyDbl	_kvProp
	Gain for velocity errors.
double &	_kv
Storage *	_yDesStore
	States for the simulation.

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Detailed Description

This is a simple feedback controller to be used in generating a forward dynamic simulation.

Author:

Chand T. John, Samuel R. Hamner, Ajay Seth

Version:

1.0

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Constructor & Destructor Documentation

CorrectionController::CorrectionController

(

)

Default constructor.

OpenSim::CorrectionController::CorrectionController	(	const std::string &	aFileName,
		bool	aUpdateFromXMLNode = true
	)

CorrectionController::CorrectionController

(

const CorrectionController &

aController

)

Copy constructor.

Parameters:

aController

Controller to copy.

CorrectionController::~CorrectionController

(

)

[virtual]

Destructor.

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Member Function Documentation

double CorrectionController::computeControl	(	const SimTK::State &	s,
		int	index
	)			const [virtual]

Compute the controls for a simulation.

The caller should send in an initial guess.

Implements OpenSim::TrackingController.

Object * CorrectionController::copy

(

)

const [virtual]

Copy this CorrectionController and return a pointer to the copy.

The copy constructor for this class is used. This method is called when a description of this controller is read in from an XML file.

Returns:

Pointer to a copy of this CorrectionController.

Reimplemented from OpenSim::Object.

void CorrectionController::copyData

(

const CorrectionController &

aController

)

[protected]

Copy the member variables of the specified controller.

Reimplemented from OpenSim::TrackingController.

double CorrectionController::getKp

(

)

const

Get the gain for position errors.

Returns:

Current position error gain value.

double CorrectionController::getKv

(

)

const

Get the gain for velocity errors.

Returns:

Current velocity error gain value.

void CorrectionController::initState

(

SimTK::State &

s

)

[virtual]

Reimplemented from OpenSim::Controller.

CorrectionController & CorrectionController::operator=

(

const CorrectionController &

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.

Reference to this object.

Reimplemented from OpenSim::TrackingController.

void CorrectionController::setActuators

(

Set< Actuator > &

actuators

)

[virtual]

Reimplemented from OpenSim::Controller.

void CorrectionController::setKp

(

double

aKp

)

Set the gain for position errors.

Parameters:

aKp

Position error gain for controller will be set to aKp.

void CorrectionController::setKv

(

double

aKv

)

Set the gain for velocity errors.

Parameters:

aKv

Velocity error gain for controller will be set to aKv.

void CorrectionController::setup

(

Model &

model

)

[virtual]

Reimplemented from OpenSim::Controller.

void CorrectionController::setupProperties

(

void

)

[protected, virtual]

Connect properties to local pointers.

Reimplemented from OpenSim::TrackingController.

void CorrectionController::setupSystem

(

SimTK::MultibodySystem &

system

)

[virtual]

Reimplemented from OpenSim::Controller.

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Member Data Documentation

double& OpenSim::CorrectionController::_kp [protected]

PropertyDbl OpenSim::CorrectionController::_kpProp [protected]

Gain for position errors.

This property can be specified in a setup file.

double& OpenSim::CorrectionController::_kv [protected]

PropertyDbl OpenSim::CorrectionController::_kvProp [protected]

Gain for velocity errors.

This property can be specified in a setup file.

Storage* OpenSim::CorrectionController::_yDesStore [protected]

States for the simulation.

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

• OpenSim/Tools/CorrectionController.h
• OpenSim/Tools/CorrectionController.cpp