OpenSim::CorrectionController Class Reference

This is a simple feedback controller to be used in generating a forward dynamic simulation. More...

#include <CorrectionController.h>

Inheritance diagram for OpenSim::CorrectionController:

Public Member Functions
	CorrectionController ()
	Default constructor.
	CorrectionController (const std::string &aFileName, bool aUpdateFromXMLNode=true)
	CorrectionController (const CorrectionController &aController)
	Copy constructor.
virtual	~CorrectionController ()
	Destructor.
virtual Object *	copy () const
	Copy this CorrectionController and return a pointer to the copy.
CorrectionController &	operator= (const CorrectionController &aController)
	Assignment operator.
double	getKp () const
	Get the gain for position errors.
void	setKp (double aKp)
	Set the gain for position errors.
double	getKv () const
	Get the gain for velocity errors.
void	setKv (double aKv)
	Set the gain for velocity errors.
virtual void	computeControls (const SimTK::State &s, SimTK::Vector &controls) const
	Compute the controls for Actuator's that this Controller is charge of.
Protected Member Functions
void	setupProperties ()
	Connect properties to local pointers.
void	copyData (const CorrectionController &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
PropertyDbl	_kpProp
	Gain for position errors.
double &	_kp
PropertyDbl	_kvProp
	Gain for velocity errors.
double &	_kv
Storage *	_yDesStore
	States for the simulation.

Detailed Description

This is a simple feedback controller to be used in generating a forward dynamic simulation.

Author:: Chand T. John, Samuel R. Hamner, Ajay Seth

Version:: 1.0

Constructor & Destructor Documentation

CorrectionController::CorrectionController ( )

Default constructor.

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

CorrectionController::CorrectionController ( const CorrectionController & aController )

Copy constructor.

Parameters:

aController

Controller to copy.

CorrectionController::~CorrectionController ( ) [virtual]

Destructor.

Member Function Documentation

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

Compute the controls for Actuator's that this Controller is charge of.

Implements OpenSim::TrackingController.

Object * CorrectionController::copy ( ) const [virtual]

Copy this CorrectionController 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 CorrectionController.

Reimplemented from OpenSim::Object.

void CorrectionController::copyData ( const CorrectionController & aController ) [protected]

Copy the member variables of the specified controller.

Reimplemented from OpenSim::TrackingController.

void CorrectionController::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.

double CorrectionController::getKp ( ) const

Get the gain for position errors.

Returns:: Current position error gain value.

double CorrectionController::getKv ( ) const

Get the gain for velocity errors.

Returns:: Current velocity error gain value.

void CorrectionController::initState ( SimTK::State & s ) const [protected, virtual]

Model component interface to initialize states introduced by the controller.

Reimplemented from OpenSim::Controller.

CorrectionController & CorrectionController::operator= ( const CorrectionController & 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.