OpenSim::TrackingController Class Reference

#include <TrackingController.h>

Inheritance diagram for OpenSim::TrackingController:

Public Member Functions
	TrackingController ()
	Default constructor.
	TrackingController (const TrackingController &TrackingController)
	Copy constructor.
virtual	~TrackingController ()
	Destructor.
TrackingController &	operator= (const TrackingController &TrackingController)
	Assignment operator.
virtual void	setDesiredStatesStorage (const Storage *aYDesStore)
	Set this class's pointer to the storage object containing desired model states to point to the storage object passed into this method.
virtual const Storage &	getDesiredStatesStorage () const
virtual void	computeControls (const SimTK::State &s, SimTK::Vector &controls) const =0
	Controller interface.
Public Member Functions inherited from OpenSim::Controller
	OpenSim_DECLARE_PROPERTY (isDisabled, bool,"Flag (true or false) indicating whether or not the controller is disabled.")
	OpenSim_DECLARE_LIST_PROPERTY (actuator_list, std::string,"The list of model actuators that this controller will control.""The keyword ALL indicates the controller will controll all the acuators in the model")
	Controller ()
	Default constructor.
bool	isDisabled () const
	Get whether or not this controller is disabled.
void	setDisabled (bool disableFlag)
	Disable this controller.
void	setActuators (const Set< Actuator > &actuators)
	replace the current set of actuators with the provided set
void	addActuator (const Actuator &actuator)
	add to the current set of actuators
const Set< Actuator > &	getActuatorSet () const
	get a const reference to the current set of actuators
Set< Actuator > &	updActuators ()
	get a writable reference to the set of actuators for this controller

Protected Member Functions
virtual void	setupProperties ()
	Connect properties to local pointers.
void	copyData (const TrackingController &aController)
	Copy the member variables of the specified controller.
Protected Member Functions inherited from OpenSim::Controller
void	connectToModel (Model &model) override
	Model component interface that permits the controller to be "wired" up to its actuators.
void	addToSystem (SimTK::MultibodySystem &system) const override
	Model component interface that creates underlying computational components in the SimTK::MultibodySystem.

Protected Attributes
const Storage *	_desiredStatesStorage
	storage object containing the desired trajectory
Array< double > *	_trackingTasks

Friends
class	ControllerSet

Additional Inherited Members
Static Public Member Functions inherited from OpenSim::Object
static void	registerType (const Object &defaultObject)
	Register an instance of a class; if the class is already registered it will be replaced.
static void	renameType (const std::string &oldTypeName, const std::string &newTypeName)
	Support versioning by associating the current %Object type with an old name.
static const Object *	getDefaultInstanceOfType (const std::string &concreteClassName)
	Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered.
template<class T >
static bool	isObjectTypeDerivedFrom (const std::string &concreteClassName)
	Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*.
static Object *	newInstanceOfType (const std::string &concreteClassName)
	Create a new instance of the concrete %Object type whose class name is given as concreteClassName.
static void	getRegisteredTypenames (Array< std::string > &typeNames)
	Retrieve all the typenames registered so far.
template<class T >
static void	getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray)
	Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete.
static void	PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName)
	Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects.
static void	PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName)
	Same as the other signature but the class name and property name are provided as two separate strings.
static Object *	makeObjectFromFile (const std::string &fileName)
	Create an %OpenSim object whose type is based on the tag at the root node of the XML file passed in.
static const std::string &	getClassName ()
	Return the name of this class as a string; i.e., "Object".
static void	setSerializeAllDefaults (bool shouldSerializeDefaults)
	Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically.
static bool	getSerializeAllDefaults ()
	Report the value of the "serialize all defaults" flag.
static bool	isKindOf (const char *type)
	Returns true if the passed-in string is "Object"; each %Object-derived class defines a method of this name for its own class name.
static void	setDebugLevel (int newLevel)
	Set the debug level to get verbose output.
static int	getDebugLevel ()
	Get current setting of debug level.
static Object *	SafeCopy (const Object *aObject)
	Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned.
static void	RegisterType (const Object &defaultObject)
	OBSOLETE alternate name for registerType().
static void	RenameType (const std::string &oldName, const std::string &newName)
	OBSOLETE alternate name for renameType().
Public Attributes inherited from OpenSim::Controller
int	_numControls
	number of controls this controller computes
Static Public Attributes inherited from OpenSim::Object
static const std::string	DEFAULT_NAME
	Name used for default objects when they are serialized.
Related Functions inherited from OpenSim::Object
#define	OpenSim_DECLARE_CONCRETE_OBJECT(ConcreteClass, SuperClass)
	Macro to be included as the first line of the class declaration for any non-templatized, concrete class that derives from OpenSim::Object.
#define	OpenSim_DECLARE_ABSTRACT_OBJECT(ConcreteClass, SuperClass)
	Macro to be included as the first line of the class declaration for any still-abstract class that derives from OpenSim::Object.
#define	OpenSim_DECLARE_CONCRETE_OBJECT_T(ConcreteClass, TArg, SuperClass)
	Macro to be included as the first line of the class declaration for any templatized, concrete class that derives from OpenSim::Object, like Set<T>.
#define	OpenSim_DECLARE_ABSTRACT_OBJECT_T(ConcreteClass, TArg, SuperClass)
	Macro to be included as the first line of the class declaration for any templatized, still-abstract class that derives from OpenSim::Object.

Constructor & Destructor Documentation

OpenSim::TrackingController::TrackingController

(

)

Default constructor.

OpenSim::TrackingController::TrackingController

(

const TrackingController &

TrackingController

)

Copy constructor.

Parameters

aController

The controller to be copied.

virtual OpenSim::TrackingController::~TrackingController ( )

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

virtual void OpenSim::TrackingController::computeControls ( const SimTK::State &  s, SimTK::Vector &  controls  ) const

pure virtual

Controller interface.

Implements OpenSim::Controller.

Implemented in OpenSim::CMC, and OpenSim::CorrectionController.

void OpenSim::TrackingController::copyData ( const TrackingController &  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.

virtual const Storage& OpenSim::TrackingController::getDesiredStatesStorage ( ) const

virtual

TrackingController& OpenSim::TrackingController::operator=

(

const TrackingController &

TrackingController

)

Assignment operator.

Parameters

aController

The controller to be copied.

Returns

Reference to the altered object.

virtual void OpenSim::TrackingController::setDesiredStatesStorage ( const Storage *  aYDesStore )

virtual

Set this class's pointer to the storage object containing desired model states to point to the storage object passed into this method.

This method is currently implemented only by the CorrectionController class, which is a subclass of Controller.

Parameters

aYDesStore

Pointer to a Storage object containing the desired states of the model for the controller to achieve during simulation.

virtual void OpenSim::TrackingController::setupProperties ( )

protectedvirtual

Connect properties to local pointers.

Reimplemented from OpenSim::Object.

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

Friends And Related Function Documentation

friend class ControllerSet

friend

Member Data Documentation

const Storage* OpenSim::TrackingController::_desiredStatesStorage

protected

storage object containing the desired trajectory

Array<double>* OpenSim::TrackingController::_trackingTasks

protected

---

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

• E:/Projects/OpenSim30Br/OpenSim30/OpenSim/Simulation/Control/TrackingController.h