OpenSim::ControllerSet Class Reference

A class for holding and managing a set of controllers for a model. More...

#include <ControllerSet.h>

Inheritance diagram for OpenSim::ControllerSet:

List of all members.

Public Member Functions
	ControllerSet ()
	Default constructor.
	ControllerSet (Model &model)
	ControllerSet (const ControllerSet &aControllerSet)
	Copy constructor.
	ControllerSet (Model &model, const std::string &aFileName, bool aUpdateFromXMLNode=true)
	Construct a controller set from file.
virtual	~ControllerSet ()
	Destructor.
virtual Object *	copy () const
	Copy this ControllerSet and return a pointer to the copy.
void	copyData (const ControllerSet &aAbsControllerSet)
	Copy the member variables of the ControllerSet.
ControllerSet &	operator= (const ControllerSet &aSet)
	Assignment operator.
bool	set (int aIndex, Controller *aController)
	Set the controller at an index.
bool	addController (Controller *aController)
	Add a Controller to the set.
virtual void	constructStorage ()
virtual void	storeControls (const SimTK::State &s, int step)
virtual void	printControlStorage (const std::string &fileName) const
virtual void	setActuators (Set< Actuator > &)
virtual bool	check () const
	Check that all actuators have a valid controller.
virtual double	getFirstTime () const
virtual double	getLastTime () const
virtual void	setDesiredStates (Storage *yStore)
virtual void	setup (Model &aModel)
	Set the Model this object is part of.
virtual void	createSystem (SimTK::MultibodySystem &system)
virtual void	computeControls (const SimTK::State &s, SimTK::Vector &controls) const
virtual void	printInfo () const

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Detailed Description

A class for holding and managing a set of controllers for a model.

Authors:

Jack Middleton, Ajay Seth

Version:

2.0

---

Constructor & Destructor Documentation

ControllerSet::ControllerSet

(

)

Default constructor.

ControllerSet::ControllerSet

(

Model &

model

)

ControllerSet::ControllerSet

(

const ControllerSet &

aControllerSet

)

Copy constructor.

Parameters:

aControllerSet

ControllerSet to be copied.

ControllerSet::ControllerSet	(	Model &	model,
		const std::string &	aFileName,
		bool	aUpdateFromXMLNode = true
	)

Construct a controller set from file.

Parameters:

aFileName

Name of the file.

ControllerSet::~ControllerSet

(

)

[virtual]

Destructor.

---

Member Function Documentation

bool ControllerSet::addController

(

Controller *

aController

)

Add a Controller to the set.

A copy of the specified controller is not made.

This method overrides the method in Set<Controller> so that several internal variables of the controller set can be updated.

Parameters:

aController

Pointer to the controller to be appended.

Returns:

True if successful; false otherwise.

bool ControllerSet::check

(

)

const [virtual]

Check that all actuators have a valid controller.

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

void ControllerSet::constructStorage

(

)

[virtual]

Object * ControllerSet::copy

(

)

const [virtual]

Copy this ControllerSet and return a pointer to the copy.

The copy constructor for this class is used.

Returns:

Pointer to a copy of this ControllerSet.

Reimplemented from OpenSim::ModelComponentSet< Controller >.

void ControllerSet::copyData

(

const ControllerSet &

aControllerSet

)

Copy the member variables of the ControllerSet.

Parameters:

aControllerSet

controller set to be copied

void ControllerSet::createSystem

(

SimTK::MultibodySystem &

system

)

[virtual]

double ControllerSet::getFirstTime

(

)

const [virtual]

double ControllerSet::getLastTime

(

)

const [virtual]

ControllerSet & ControllerSet::operator=

(

const ControllerSet &

aControllerSet

)

Assignment operator.

Returns:

Reference to this object.

Reimplemented from OpenSim::Object.

virtual void OpenSim::ControllerSet::printControlStorage

(

const std::string &

fileName

)

const [virtual]

void ControllerSet::printInfo

(

)

const [virtual]

bool ControllerSet::set	(	int	aIndex,
		Controller *	aController
	)

Set the controller at an index.

A copy of the specified controller is NOT made. The controller previously set a the index is removed (and deleted).

This method overrides the method in Set<Controller> so that several internal variables of the controller set can be updated.

Parameters:

	aIndex	Array index where the controller is to be stored. aIndex should be in the range 0 <= aIndex <= getSize();
	acontroller	Pointer to the controller to be set.

Returns:

True if successful; false otherwise.

void ControllerSet::setActuators

(

Set< Actuator > &

as

)

[virtual]

void ControllerSet::setDesiredStates

(

Storage *

yStore

)

[virtual]

void ControllerSet::setup

(

Model &

model

)

[virtual]

Set the Model this object is part of.

Reimplemented from OpenSim::ModelComponentSet< Controller >.

void ControllerSet::storeControls	(	const SimTK::State &	s,
		int	step
	)			[virtual]

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

• OpenSim/Simulation/Model/ControllerSet.h
• OpenSim/Simulation/Model/ControllerSet.cpp