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rdGeneralizedForceAtv Class Reference

An actuator that exerts a generalized force and that incorporates activation dynamics. More...

#include <rdGeneralizedForceAtv.h>

Inheritance diagram for rdGeneralizedForceAtv:

List of all members.

Public Member Functions
	rdGeneralizedForceAtv (int aQID=-1, int aNX=1, int aNY=1, int aNYP=0)
	Default constructor.
	rdGeneralizedForceAtv (IDOM_Element *aElement, int aNX=1, int aNY=1, int aNYP=0)
	Construct the actuator from an XML Element.
	rdGeneralizedForceAtv (const rdGeneralizedForceAtv &aActuator)
	Copy constructor.
virtual	~rdGeneralizedForceAtv ()
	Destructor.
virtual rdActuator *	copy () const
	Copy this actuator and return a pointer to the copy.
virtual rdActuator *	copy (IDOM_Element *aElement) const
	Copy this actuator and modify the copy so that it is consistent with a specified XML element node.
rdGeneralizedForceAtv &	operator= (const rdGeneralizedForceAtv &aActuator)
	Assignment operator.
virtual void	setControls (const double aX[])
	Set the controls.
virtual void	getControls (double rX[]) const
	Get the controls.
virtual void	setStates (const double aY[])
	Set the states.
virtual void	getStates (double rY[]) const
	Get the states.
void	setOptimalForce (double aOptimalForce)
	Set the optimal force of the actuator.
double	getOptimalForce () const
	Get the optimal force of the actuator.
void	setRiseTime (double aRiseTime)
	Set the rise time of the actuator.
double	getRiseTime () const
	Get the rise time of the actuator.
void	setFallTime (double aFallTime)
	Set the fall time of the actuator.
double	getFallTime () const
	Get the fall time of the actuator.
virtual void	promoteControlsToStates (const double aX[], double aDT)
	Set the activation level of this actuator equal to the neural excitation.
virtual void	computeActuation ()
	Compute all quantities necessary for applying the actuator force to the model.
virtual void	computeStateDerivatives (double rDYDT[])
	Compute the time derivatives of the states for this actuator.
virtual void	updateObject (bool aDeep=true)
	Update 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.
void	updateData ()
	Update the member data of this object based on its XML node.
Protected Attributes
double	_x
	Excitation (control 0).
double	_a
	Activation level (state 0).
double	_optimalForce
	Optimal force.
double	_riseTime
	Rise time of activation.
double	_fallTime
	Fall time of activation.
Private Member Functions
void	setNull ()
	Set the data members of this actuator to their null values.
void	copyData (const rdGeneralizedForceAtv &aActuator)
	Copy the member data of the specified actuator.
Static Private Attributes
const char	PROP_OPTIMAL_FORCE [] = "optimal_force"
const char	PROP_RISE_TIME [] = "rise_time"
const char	PROP_FALL_TIME [] = "fall_time"

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Detailed Description

An actuator that exerts a generalized force and that incorporates activation dynamics.

It has 1 control (excitation) and 1 state (activation level).

Controls: 1) excitation

States: 1) activation level

Author:

Frank C. Anderson

Version:

1.0

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Constructor & Destructor Documentation

rdGeneralizedForceAtv::rdGeneralizedForceAtv (  IDOM_Element *  aElement, int  aNX = 1, int  aNY = 1, int  aNYP = 0 )

Construct the actuator from an XML Element. Parameters: aElement  XML element. aNX  Number of controls. aNY  Number of states. aNYP  Number of pseudo-states.

rdGeneralizedForceAtv::rdGeneralizedForceAtv (  const rdGeneralizedForceAtv &  aActuator  )

Copy constructor. Parameters: aActuator  Actuator to be copied.

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Member Function Documentation

void rdGeneralizedForceAtv::computeStateDerivatives (  double  rDYDT[]  )  [virtual]

Compute the time derivatives of the states for this actuator. Parameters: rDYDT  Time derivatives of the states-- should have a length of at least the value returned by getNY(). See also: getNY() Reimplemented from rdActuator.

rdActuator * rdGeneralizedForceAtv::copy (  IDOM_Element *  aElement  )  const [virtual]

Copy this actuator and modify the copy so that it is consistent with a specified XML element node. The copy is constructed by first using the contructor for the IDOM_Element in order to establish the relationship of the rdForce object with the XML node. Then, the assignment operator is used to set all data members of the copy to the values of this object. Finally, the data members of the copy are updated from the IDOM_Elment using updateObject(). Parameters: aElement  XML element. Returns: Pointer to a copy of this actuator. Reimplemented from rdGeneralizedForce.

rdActuator * rdGeneralizedForceAtv::copy (   )  const [virtual]

Copy this actuator and return a pointer to the copy. The copy constructor for this class is used. Returns: Pointer to a copy of this actuator. Reimplemented from rdGeneralizedForce.

void rdGeneralizedForceAtv::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 rdGeneralizedForce.

void rdGeneralizedForceAtv::getControls (  double  rX[]  )  const [virtual]

Get the controls. This actuator has 1 control: excitation. Parameters: rX  Control array- should have a length of at least 1. Reimplemented from rdGeneralizedForce.

double rdGeneralizedForceAtv::getFallTime (   )  const

Get the fall time of the actuator. Returns: Fall time of activation dynamics.

double rdGeneralizedForceAtv::getOptimalForce (   )  const

Get the optimal force of the actuator. Returns: Optimal force.

double rdGeneralizedForceAtv::getRiseTime (   )  const

Get the rise time of the actuator. Returns: Rise time of activation dynamics.

void rdGeneralizedForceAtv::getStates (  double  rY[]  )  const [virtual]

Get the states. This actuator has 1 state: activation. Parameters: rY  States array- should have a length of at least 1. Reimplemented from rdActuator.

rdGeneralizedForceAtv & rdGeneralizedForceAtv::operator= (  const rdGeneralizedForceAtv &  aActuator  )

Assignment operator. Returns: Reference to the altered object.

void rdGeneralizedForceAtv::setControls (  const double  aX[]  )  [virtual]

Set the controls. This actuator has 1 control: excitation. Parameters: aX  Control array- should have a length of at least 1. Reimplemented from rdGeneralizedForce.

void rdGeneralizedForceAtv::setFallTime (  double  aFallTime  )

Set the fall time of the actuator. Parameters: aFallTime  Fall time of activation dynamics.

void rdGeneralizedForceAtv::setOptimalForce (  double  aOptimalForce  )

Set the optimal force of the actuator. Parameters: aOptimalForce  Optimal force.

void rdGeneralizedForceAtv::setRiseTime (  double  aRiseTime  )

Set the rise time of the actuator. Parameters: aRiseTime  Rise time of activation dynamics.

void rdGeneralizedForceAtv::setStates (  const double  aY[]  )  [virtual]

Set the states. This actuator has 1 state: activation. Parameters: aY  States array- should have a length of at least 1. Reimplemented from rdActuator.

void rdGeneralizedForceAtv::updateData (   )

Update the member data of this object based on its XML node. Member objects (children) are not updated. Reimplemented from rdGeneralizedForce.

void rdGeneralizedForceAtv::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 rdGeneralizedForce.

void rdGeneralizedForceAtv::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 rdGeneralizedForce.

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

• rdGeneralizedForceAtv.h
• rdGeneralizedForceAtv.cpp

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