OpenSim::ControlSetController Class Reference

#include <ControlSetController.h>

Inheritance diagram for OpenSim::ControlSetController:

List of all members.

Public Member Functions
	ControlSetController ()
	Default constructor.
	ControlSetController (const std::string &aFileName, bool aUpdateFromXMLNode=true)
	Constructor from an XML Document.
	ControlSetController (const ControlSetController &aController)
	Copy constructor.
virtual	~ControlSetController ()
	Destructor.
virtual Object *	copy () const
	Copy this ControlSetController and return a pointer to the copy.
const ControlSet *	getControlSet ()
ControlSet *	updControlSet ()
void	setControlSet (ControlSet *aControlSet)
ControlSetController &	operator= (const ControlSetController &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	setControlSetFileName (const std::string &controlSetFileName)
	Set name of ControlSet file.
const std::string &	getControlSetFileName () const
virtual double	getFirstTime () const
	return the min an max times that a controller knows how to supply controlls for
virtual double	getLastTime () const
Protected Member Functions
virtual void	setupProperties ()
	Connect properties to local pointers.
void	copyData (const ControlSetController &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
ControlSet *	_controlSet
PropertyStr	_controlsFileNameProp
	Name of the controls file.
std::string &	_controlsFileName

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Constructor & Destructor Documentation

ControlSetController::ControlSetController

(

)

Default constructor.

ControlSetController::ControlSetController	(	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.

ControlSetController::ControlSetController

(

const ControlSetController &

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.

ControlSetController::~ControlSetController

(

)

[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

void ControlSetController::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 * ControlSetController::copy

(

)

const [virtual]

Copy this ControlSetController 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 ControlSetController.

Reimplemented from OpenSim::Object.

void ControlSetController::copyData

(

const ControlSetController &

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 ControlSetController::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.

const ControlSet* OpenSim::ControlSetController::getControlSet

(

)

[inline]

const std::string& OpenSim::ControlSetController::getControlSetFileName

(

)

const [inline]

double ControlSetController::getFirstTime

(

)

const [virtual]

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

Reimplemented from OpenSim::Controller.

double ControlSetController::getLastTime

(

)

const [virtual]

Reimplemented from OpenSim::Controller.

void ControlSetController::initState

(

SimTK::State &

s

)

const [protected, virtual]

Model component interface to initialize states introduced by the controller.

Reimplemented from OpenSim::Controller.

ControlSetController & ControlSetController::operator=

(

const ControlSetController &

aController

)

Assignment operator.

Reimplemented from OpenSim::Controller.

void OpenSim::ControlSetController::setControlSet

(

ControlSet *

aControlSet

)

[inline]

void ControlSetController::setControlSetFileName

(

const std::string &

controlSetFileName

)

[virtual]

Set name of ControlSet file.

Connect properties to local pointers.

void ControlSetController::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 ControlSetController::setupProperties

(

void

)

[protected, virtual]

Connect properties to local pointers.

Reimplemented from OpenSim::Controller.

ControlSet* OpenSim::ControlSetController::updControlSet

(

)

[inline]

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Member Data Documentation

ControlSet* OpenSim::ControlSetController::_controlSet [protected]

std::string& OpenSim::ControlSetController::_controlsFileName [protected]

PropertyStr OpenSim::ControlSetController::_controlsFileNameProp [protected]

Name of the controls file.

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

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