OpenSim::TrackingController Class Reference

#include <TrackingController.h>

Inheritance diagram for OpenSim::TrackingController:

List of all members.

Public Member Functions
	TrackingController ()
	Default constructor.
	TrackingController (Model &aModel)
	Another constructor.
	TrackingController (const std::string &aFileName, bool aUpdateFromXMLNode=true)
	Constructor from an XML Document.
	TrackingController (const TrackingController &TrackingController)
	Copy constructor.
virtual	~TrackingController ()
	Destructor.
TrackingController &	operator= (const TrackingController &TrackingController)
	Assignment operator.
virtual void	setDesiredStatesStorage (const Storage *aYDesStore)
	Set this class's pointer to the storage object containing desired model states to point to the storage object passed into this method.
virtual const Storage &	getDesiredStatesStorage () const
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.
Protected Member Functions
virtual void	setupProperties ()
	Connect properties to local pointers.
void	copyData (const TrackingController &aController)
	Copy the member variables of the specified controller.
Protected Attributes
const Storage *	_desiredStatesStorage
	storage object containing the desired trajectory
Array< double > *	_trackingTasks
Friends
class	ControllerSet

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Constructor & Destructor Documentation

TrackingController::TrackingController

(

)

Default constructor.

TrackingController::TrackingController

(

Model &

aModel

)

Another constructor.

Constructor.

Parameters:

aModel

The model that has actualtors being controlled by this Controller.

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

Constructor from an XML Document.

Parameters:

	aFileName,:	The XML file in which this Controller is defined
	aUpdateFromXMLNode,:	A flag indicating whether or not to call updateFromXMLNode() from this constructor.

TrackingController::TrackingController

(

const TrackingController &

TrackingController

)

Copy constructor.

Parameters:

aController

The controller to be copied.

TrackingController::~TrackingController

(

)

[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.

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Member Function Documentation

virtual double OpenSim::TrackingController::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.

Implements OpenSim::Controller.

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

void TrackingController::copyData

(

const TrackingController &

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 from OpenSim::Controller.

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

const Storage & TrackingController::getDesiredStatesStorage

(

)

const [virtual]

TrackingController & TrackingController::operator=

(

const TrackingController &

TrackingController

)

Assignment operator.

Parameters:

aController

The controller to be copied.

Returns:

Reference to the altered object.

Reimplemented from OpenSim::Controller.

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

void TrackingController::setDesiredStatesStorage

(

const Storage *

aYDesStore

)

[virtual]

Set this class's pointer to the storage object containing desired model states to point to the storage object passed into this method.

This method is currently implemented only by the CorrectionController class, which is a subclass of Controller.

Parameters:

aYDesStore

Pointer to a Storage object containing the desired states of the model for the controller to achieve during simulation.

void TrackingController::setupProperties

(

void

)

[protected, virtual]

Connect properties to local pointers.

Reimplemented from OpenSim::Controller.

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

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Friends And Related Function Documentation

friend class ControllerSet [friend]

Reimplemented from OpenSim::Controller.

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Member Data Documentation

const Storage* OpenSim::TrackingController::_desiredStatesStorage [protected]

storage object containing the desired trajectory

Array<double>* OpenSim::TrackingController::_trackingTasks [protected]

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

• OpenSim/Simulation/Control/TrackingController.h
• OpenSim/Simulation/Control/TrackingController.cpp