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rdControl Class Reference

A class that represents a control in a dynamic simulation. More...

#include <rdControl.h>

Inheritance diagram for rdControl:

List of all members.

Public Member Functions
	rdControl (const char *aName="UNKOWN")
	Default constructor.
	rdControl (IDOM_Element *aElement)
	Construct a control from an XML Element.
	rdControl (const rdControl &aControl)
	Copy constructor.
virtual	~rdControl ()
	Destructor.
virtual rdControl *	copy () const=0
virtual rdControl *	copy (IDOM_Element *aElement) const=0
rdControl &	operator= (const rdControl &aControl)
	Assignment operator.
void	setIsModelControl (bool aTrueFalse)
	Set whether or not this control is a model control.
bool	getIsModelControl () const
	Get whether or not this control is a model control.
virtual int	getNumParameters () const=0
void	setDefaultParameterMin (double aMin)
	Set the default minimum value of a control parameter.
double	getDefaultParameterMin () const
	Get the default minimum value of a control parameter.
void	setDefaultParameterMax (double aMin)
	Set the default maximum value of a control parameter.
double	getDefaultParameterMax () const
	Get the default maximum value of a control parameter.
virtual void	setParameterMin (int aI, double aMin)=0
virtual double	getParameterMin (int aI) const=0
virtual void	setParameterMax (int aI, double aMax)=0
virtual double	getParameterMax (int aI) const=0
virtual double	getParameterTime (int aI) const=0
virtual void	getParameterNeighborhood (int aI, double &rTLower, double &rTUpper) const=0
virtual int	getParameterList (double aT, rdArray< int > &rList) const=0
virtual int	getParameterList (double aTLower, double aTUpper, rdArray< int > &rList) const=0
virtual double	getParameterValue (int aI) const=0
virtual void	setParameterValue (int aI, double aP)=0
virtual double	getControlValue (double aT=0.0) const=0
virtual void	setControlValue (double aT, double aX)=0
virtual void	updateObject (bool aDeep=true)
	Update this object based on its XML node.
void	updateData ()
	Update the member data of this object based on its XML node.
virtual void	updateNode (bool aDeep=true)
	Update the XML node representing this object.
virtual void	generateNode (IDOM_Element *aParent)
	Generate an XML node representing this object.
Static Public Attributes
const char	DEFAULT_NAME [] = "default"
const char	PROP_IS_MODEL_CONTROL [] = "is_model_control"
const char	PROP_DEFAULT_MIN [] = "default_minimum"
const char	PROP_DEFAULT_MAX [] = "default_maximum"
Protected Attributes
bool	_isModelControl
	Flag that specifies whether or not this control is a model control.
double	_defaultMin
	Default parameter minimum.
double	_defaultMax
	Default parameter maximum.
Private Member Functions
void	setNull ()
	Set the member variables to their NULL values.
void	copyData (const rdControl &aControl)
	Copy the member variables of the specified control.

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Detailed Description

A class that represents a control in a dynamic simulation.

This class is intended to be the base class for different types of controls, so many of its methods are virtual.

In general, a control consists of a set of parameters. These parameters are used to reconstruct a control curve. For example, a control may be represented by a consant, a series of step functions, a set of linearly interpolated values, a set of spline control points, coefficients in a Fourier series, etc.

Because there is not necessarily a 1-to-1 correspondence between the parameters used to represent a control curve and the value of the control curve, there are two basic ways to access the content of a control: getParameter() gets the value of a parameter, and getValue() gets the value at a particular time.

A distinction is also made between controls that control a model and controls that control some other aspect of a simulation. For example, a control for the excitation level of a muscle is a "model" control. The value of this type of control is querried during the course of a simualtion. On the other hand, a control for the final time of a simulation is not usually a "model" control. Nor is a control for the initial value of a state variable, even if that state variable is the initial value of a muscle activation. These "non-model" controls are used to set things before a simulation ever begins and are not querried during the cours of a simulation. The number of model controls can be querried by a call to rdModel::getNX().

Author:

Frank C. Anderson

Version:

1.0

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Constructor & Destructor Documentation

rdControl::rdControl (  IDOM_Element *  aElement  )

Construct a control from an XML Element. Parameters: aElement  XML element.

rdControl::rdControl (  const rdControl &  aControl  )

Copy constructor. Parameters: aControl  Control to copy.

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Member Function Documentation

void rdControl::generateNode (  IDOM_Element *  aParent  )  [virtual]

Generate an XML node representing this object. Parameters: aParent  Intended parent of the node to be generated. If aParent is NULL, the intent is for this object to serve as the root element of a new document. See also: rdObject::generateNode() Reimplemented from rdObject. Reimplemented in rdControlConstant, and rdControlLinear.

double rdControl::getDefaultParameterMax (   )  const

Get the default maximum value of a control parameter. The default maximum is used when no maximum value is specified. Returns: Maximum value.

double rdControl::getDefaultParameterMin (   )  const

Get the default minimum value of a control parameter. The default minimum is used when no minimum value is specified. Returns: Minimum value.

bool rdControl::getIsModelControl (   )  const

Get whether or not this control is a model control. A model control is a control that is expected by a model. The number of model controls is returned by a call to rdModel::getNX(). Controls that are not model controls may be, for example, controls that are used to set up a simulation. Such examples might include an initial state of a model (e.g., joint angle, joint angular velocity, ...) or the final time of a siimulation. Returns: True if this control is a model control, false otherwise.

rdControl & rdControl::operator= (  const rdControl &  aControl  )

Assignment operator. Returns: Reference to the altered object.

void rdControl::setDefaultParameterMax (  double  aMin  )

Set the default maximum value of a control parameter. The default maximum is used when no maximum value is specified. Parameters: aMax  Maximum value.

void rdControl::setDefaultParameterMin (  double  aMin  )

Set the default minimum value of a control parameter. The default minimum is used when no minimum value is specified. Parameters: aMin  Minimum value.

void rdControl::setIsModelControl (  bool  aTrueFalse  )

Set whether or not this control is a model control. A model control is a control that is expected by a model. The number of model controls is returned by a call to rdModel::getNX(). Controls that are not model controls may be, for example, controls that are used to set up a simulation. Such examples might include an initial state of a model (e.g., joint angle, joint angular velocity, ...) or the final time of a siimulation. Parameters: aTrueFalse  If true, the control is treated as a model control. If false, the control is not treated as a model control. See also: rdModel::getNX()

void rdControl::updateData (   )

Update the member data of this object based on its XML node. Member objects (children) are not updated. Reimplemented in rdControlConstant, and rdControlLinear.

void rdControl::updateNode (  bool  aDeep = true  )  [virtual]

Update the XML node representing this object. Parameters: aDeep  If true, update the XML node of this object AND the XML nodes of all class members that are rdObjects (child nodes); if false, update only the XML node of this object without updating the XML nodes of its children. Reimplemented from rdObject. Reimplemented in rdControlConstant, and rdControlLinear.

void rdControl::updateObject (  bool  aDeep = true  )  [virtual]

Update this object based on its XML node. Parameters: aDeep  If true, update this object and all its child objects (that is, member variables that are rdObject's); if false, update only the member variables that are not rdObject's. Reimplemented from rdObject. Reimplemented in rdControlConstant, and rdControlLinear.

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

• rdControl.h
• rdControl.cpp

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