OpenSim::ConstantController Class Reference

#include <ConstantController.h>

Inheritance diagram for OpenSim::ConstantController:

List of all members.

Public Member Functions
	ConstantController ()
	Default constructor.
	ConstantController (const std::string &aFileName, bool aUpdateFromXMLNode=true)
	Constructor from an XML Document.
	ConstantController (const ConstantController &aController)
	Copy constructor.
virtual	~ConstantController ()
	Destructor.
virtual Object *	copy () const
	Copy this ConstantController and return a pointer to the copy.
ConstantController &	operator= (const ConstantController &aController)
	Assignment operator.
virtual void	computeControls (const SimTK::State &s, SimTK::Vector &controls) const
	Compute the control values for all actuators under the control of this Controller.
virtual void	setActuators (Set< Actuator > &actuators)
	replace the current set of actuators with the provided set
Protected Member Functions
virtual void	setupProperties ()
	Connect properties to local pointers.
void	copyData (const ConstantController &aController)
	Copy the member variables of the specified controller.
virtual void	setup (Model &model)
	Model component interface that permits the controller to be "wired" up to its actuators.
virtual void	createSystem (SimTK::MultibodySystem &system) const
	Model component interface that creates underlying computational components in the SimTK::MultibodySystem.
virtual void	initState (SimTK::State &s) const
	Model component interface to initialize states introduced by the controller.
Protected Attributes
OpenSim::PropertyDbl	_controlConstantProp
	control value .
double &	_controlConstant

---

Constructor & Destructor Documentation

ConstantController::ConstantController

(

)

Default constructor.

ConstantController::ConstantController	(	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.

ConstantController::ConstantController

(

const ConstantController &

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.

ConstantController::~ConstantController

(

)

[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

void ConstantController::computeControls	(	const SimTK::State &	s,
		SimTK::Vector &	controls
	)			const [virtual]

Compute the control values for all actuators under the control of this Controller.

Parameters:

	s	system state
	model	controls

Implements OpenSim::Controller.

Object * ConstantController::copy

(

)

const [virtual]

Copy this ConstantController 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 ConstantController.

Reimplemented from OpenSim::Object.

void ConstantController::copyData

(

const ConstantController &

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.

void ConstantController::createSystem

(

SimTK::MultibodySystem &

system

)

const [protected, virtual]

Model component interface that creates underlying computational components in the SimTK::MultibodySystem.

Create a Controller in the SimTK::System.

This includes adding states, creating measures, etc... required by the controller.

Reimplemented from OpenSim::Controller.

void ConstantController::initState

(

SimTK::State &

s

)

const [protected, virtual]

Model component interface to initialize states introduced by the controller.

Reimplemented from OpenSim::Controller.

ConstantController & ConstantController::operator=

(

const ConstantController &

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::Controller.

void ConstantController::setActuators

(

Set< Actuator > &

actuators

)

[virtual]

replace the current set of actuators with the provided set

Reimplemented from OpenSim::Controller.

void ConstantController::setup

(

Model &

model

)

[protected, virtual]

Model component interface that permits the controller to be "wired" up to its actuators.

Subclasses can override to perform additional setup.

Reimplemented from OpenSim::Controller.

void ConstantController::setupProperties

(

void

)

[protected, virtual]

Connect properties to local pointers.

Reimplemented from OpenSim::Controller.

---

Member Data Documentation

double& OpenSim::ConstantController::_controlConstant [protected]

OpenSim::PropertyDbl OpenSim::ConstantController::_controlConstantProp [protected]

control value .

---

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

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