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 ()
	CorrectionController (const std::string &aFileName, bool aUpdateFromXMLNode=true)
	CorrectionController (const CorrectionController &aController)
virtual	~CorrectionController ()
CorrectionController &	operator= (const CorrectionController &aController)
	Assignment operator.
double	getKp () const
void	setKp (double aKp)
double	getKv () const
void	setKv (double aKv)
virtual void	computeControls (const SimTK::State &s, SimTK::Vector &controls) const
	Controller interface.
Public Member Functions inherited from OpenSim::TrackingController
	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
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
void	setupProperties ()
	Connect properties to local pointers.
void	copyData (const CorrectionController &aController)
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::TrackingController
void	copyData (const TrackingController &aController)
	Copy the member variables of the specified controller.
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
PropertyDbl	_kpProp
	Gain for position errors.
double &	_kp
PropertyDbl	_kvProp
	Gain for velocity errors.
double &	_kv
Storage *	_yDesStore
	States for the simulation.
Protected Attributes inherited from OpenSim::TrackingController
const Storage *	_desiredStatesStorage
	storage object containing the desired trajectory
Array< double > *	_trackingTasks

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.

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

OpenSim::CorrectionController::CorrectionController ( )

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

OpenSim::CorrectionController::CorrectionController ( const CorrectionController & aController )

virtual OpenSim::CorrectionController::~CorrectionController ( )

virtual

Member Function Documentation

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

virtual

Controller interface.

Implements OpenSim::TrackingController.

void OpenSim::CorrectionController::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::CorrectionController::copyData ( const CorrectionController & aController )

protected

double OpenSim::CorrectionController::getKp ( ) const

double OpenSim::CorrectionController::getKv ( ) const

void OpenSim::CorrectionController::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.

CorrectionController& OpenSim::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.

Returns: Reference to the altered object.

void OpenSim::CorrectionController::setKp ( double aKp )

void OpenSim::CorrectionController::setKv ( double aKv )

void OpenSim::CorrectionController::setupProperties ( )

protectedvirtual

Connect properties to local pointers.

Reimplemented from OpenSim::TrackingController.

Member Data Documentation

double& OpenSim::CorrectionController::_kp

protected

PropertyDbl OpenSim::CorrectionController::_kpProp

protected

Gain for position errors.

This property can be specified in a setup file.

double& OpenSim::CorrectionController::_kv

protected

PropertyDbl OpenSim::CorrectionController::_kvProp

protected

Gain for velocity errors.

This property can be specified in a setup file.

Storage* OpenSim::CorrectionController::_yDesStore

protected

States for the simulation.

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

E:/Projects/OpenSimTrunk/OpenSim/Tools/CorrectionController.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation