#include <ControlSetController.h>

Inheritance diagram for OpenSim::ControlSetController:

Public Member Functions
	ControlSetController ()
	ControlSetController (const ControlSetController &aController)
	Copy constructor.
virtual	~ControlSetController ()
	Destructor.
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)
const std::string &	getControlSetFileName () const
double	getFirstTime () const
	return the min an max times that a controller knows how to supply controlls for
double	getLastTime () const
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
int	getNumControls () 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.
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.
void	initStateFromProperties (SimTK::State &s) const override
	Transfer property values or other state-independent initial values into this component's state variables in the passed-in state argument.
Protected Member Functions inherited from OpenSim::Controller
void	setNumControls (int numControls)
	Only a Controller can set its number of controls based on its actuators.

Protected Attributes
ControlSet *	_controlSet
PropertyStr	_controlsFileNameProp
	Name of the controls file.
std::string &	_controlsFileName

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().
Static Public Attributes inherited from OpenSim::Object
static const std::string	DEFAULT_NAME
	Name used for default objects when they are serialized.
Friends inherited from OpenSim::Controller
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::ControlSetController::ControlSetController ( )

OpenSim::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.

virtual OpenSim::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.

Member Function Documentation

void OpenSim::ControlSetController::addToSystem ( SimTK::MultibodySystem & system ) const

overrideprotectedvirtual

Model component interface that creates underlying computational components in the SimTK::MultibodySystem.

This includes adding states, creating measures, etc... required by the controller.

Reimplemented from OpenSim::Controller.

virtual void OpenSim::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
controls	return control values

Implements OpenSim::Controller.

void OpenSim::ControlSetController::connectToModel ( Model & model )

overrideprotectedvirtual

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 OpenSim::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.

const ControlSet* OpenSim::ControlSetController::getControlSet ( )

inline

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

inline

double OpenSim::ControlSetController::getFirstTime ( ) const

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

double OpenSim::ControlSetController::getLastTime ( ) const

void OpenSim::ControlSetController::initStateFromProperties ( SimTK::State & state ) const

overrideprotectedvirtual

Transfer property values or other state-independent initial values into this component's state variables in the passed-in state argument.

This is called after a SimTK::System and State have been created for the Model (that is, after addToSystem() has been called on all components). You should override this method if your component has properties (serializable values) that can affect initial values for your state variables. You can also perform any other state-independent calculations here that result in state initial conditions.

If you override this method, be sure to invoke the base class method first, using code like this:

void MyComponent::initStateFromProperties(SimTK::State& state) const {
    Super::initStateFromProperties(state); // invoke parent class method
    // ... your code goes here
}

Parameters

state The state that will receive the new initial conditions.

See Also: setPropertiesFromState()

Reimplemented from OpenSim::ModelComponent.

ControlSetController& OpenSim::ControlSetController::operator= ( const ControlSetController & aController )

Assignment operator.

void OpenSim::ControlSetController::setControlSet ( ControlSet * aControlSet )

inline

virtual void OpenSim::ControlSetController::setControlSetFileName ( const std::string & controlSetFileName )

virtual

virtual void OpenSim::ControlSetController::setupProperties ( )

protectedvirtual

Connect properties to local pointers.

Reimplemented from OpenSim::Object.

ControlSet* OpenSim::ControlSetController::updControlSet ( )

inline

Member Data Documentation

ControlSet* OpenSim::ControlSetController::_controlSet

protected

std::string& OpenSim::ControlSetController::_controlsFileName

protected

PropertyStr OpenSim::ControlSetController::_controlsFileNameProp

protected

Name of the controls file.

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

E:/Projects/OpenSimTrunk/OpenSim/Simulation/Control/ControlSetController.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation