OpenSim::TrackingController Class Reference

#include <TrackingController.h>

Inheritance diagram for OpenSim::TrackingController:
OpenSim::Controller OpenSim::ModelComponent OpenSim::Object OpenSim::CMC OpenSim::CorrectionController

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.
TrackingControlleroperator= (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 StoragegetDesiredStatesStorage () 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

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.


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.


Friends And Related Function Documentation

friend class ControllerSet [friend]

Reimplemented from OpenSim::Controller.


Member Data Documentation

storage object containing the desired trajectory


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

Generated on Wed Dec 16 15:03:44 2009 for OpenSim by  doxygen 1.6.1