OpenSim::Controller Class Reference

#include <Controller.h>

Inheritance diagram for OpenSim::Controller:

Public Member Functions
	Controller ()
	Default constructor.
	Controller (Model &aModel)
	A convenience constructor.
	Controller (const std::string &aFileName, bool aUpdateFromXMLNode=true)
	Constructor from an XML Document.
	Controller (const Controller &aController)
	Copy constructor.
virtual	~Controller ()
	Default destructor.
virtual int	getNumStateVariables () const
	Public model component interface to obtain the number of state variables introduced by the controller.
Controller &	operator= (const Controller &aController)
	Assignment operator.
virtual bool	isDisabled () const
	Get whether or not this controller is disabled.
virtual void	setDisabled (bool aTrueFalse)
	Disable this controller.
virtual void	computeControls (const SimTK::State &s, SimTK::Vector &controls) const =0
	Compute the control for actuator This method defines the behavior for any concrete controller and therefore must be implemented by concrete subclasses.
virtual void	setActuators (Set< Actuator > &actuators)
	replace the current set of actuators with the provided set
void	addActuator (Actuator *actuator)
	add to the current set of actuators
virtual const Set< Actuator > &	getActuatorSet () const
	get a const reference to the current set of actuators
virtual Set< Actuator > &	updActuators ()
	get a writable reference to the set of actuators for this controller
virtual const Array < std::string > &	getActuatorNames () const
	get the names of the actuators being controlled
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
void	copyData (const Controller &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.
virtual void	setDefaultsFromState (const SimTK::State &state)
	Model component interface to initialize defualt values of the controller from/based on the given state.
Protected Attributes
PropertyBool	_isDisabledProp
	Flag indicating whether the Controller is disabled or not.
int	_numControls
	number of controls this controller computes
PropertyStrArray	_actuatorNameListProp
	list of actuator names to be controlled
Array< std::string > &	_actuatorNameList
Set< Actuator >	_actuatorSet
	set of actuators that the controller controls
Friends
class	ControllerSet

Constructor & Destructor Documentation

Controller::Controller ( )

Default constructor.

Controller::Controller ( Model & aModel )

A convenience constructor.

Constructor.

Parameters:

aModel

The model that is to be controlled by this Controller.

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

Constructor from an XML Document.

Parameters:

	aFileName	The XML file in which this a controller is defined.
	aUpdateFromXMLNode	A flag indicating whether or not to call updateFromXMLNode() from this constructor. This method is only necessary if changes to the XML format (i.e. tag names) are made and future versions must convert old syntax to the latest.

Controller::Controller ( const Controller & aController )

Copy constructor.

Parameters:

aController

The controller to be copied.

Controller::~Controller ( ) [virtual]

Default destructor.

Destructor.

Member Function Documentation

void Controller::addActuator ( Actuator * actuator )

add to the current set of actuators

virtual void OpenSim::Controller::computeControls	(	const SimTK::State &	s,
		SimTK::Vector &	controls
	)			const `[pure virtual]`

Compute the control for actuator This method defines the behavior for any concrete controller and therefore must be implemented by concrete subclasses.

Parameters:

	s	system state
	controls	writable model controls

Implemented in OpenSim::ConstantController, OpenSim::ControlSetController, OpenSim::PrescribedController, OpenSim::TrackingController, OpenSim::CMC, and OpenSim::CorrectionController.

void Controller::copyData ( const Controller & 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 in OpenSim::ConstantController, OpenSim::ControlSetController, OpenSim::PrescribedController, OpenSim::TrackingController, OpenSim::CMC, and OpenSim::CorrectionController.

void Controller::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::ModelComponent.

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

virtual const Array<std::string>& OpenSim::Controller::getActuatorNames ( ) const [inline, virtual]

get the names of the actuators being controlled

const Set< Actuator > & Controller::getActuatorSet ( ) const [virtual]

get a const reference to the current set of actuators

double Controller::getFirstTime ( ) const [virtual]

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

Reimplemented in OpenSim::ControlSetController.

double Controller::getLastTime ( ) const [virtual]

Reimplemented in OpenSim::ControlSetController.

virtual int OpenSim::Controller::getNumStateVariables ( ) const [inline, virtual]

Public model component interface to obtain the number of state variables introduced by the controller.

Implements OpenSim::ModelComponent.

virtual void OpenSim::Controller::initState ( SimTK::State & s ) const [inline, protected, virtual]

Model component interface to initialize states introduced by the controller.

Reimplemented from OpenSim::ModelComponent.

Reimplemented in OpenSim::ConstantController, OpenSim::ControlSetController, and OpenSim::CorrectionController.

bool Controller::isDisabled ( ) const [virtual]

Get whether or not this controller is disabled.

Returns:: true if on, false if off.

Controller & Controller::operator= ( const Controller & 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.