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suTrackJoint Class Reference

A class for tracking the trajectory of a joint. More...

#include <suTrackJoint.h>

Inheritance diagram for suTrackJoint:

List of all members.

Public Member Functions
	suTrackJoint (int aQID=-1)
	Construct a track joint object for a specified model and generalized coordinate.
	suTrackJoint (IDOM_Element *aElement)
	Construct a track joint object for a specified model from an XML element.
	suTrackJoint (const suTrackJoint &aTrackJoint)
	Copy constructor.
virtual	~suTrackJoint ()
	Destructor.
virtual suTrackObject *	copy () const
	Copy this track object and return a pointer to the copy.
virtual suTrackObject *	copy (IDOM_Element *aElement) const
	Copy this track object and modify the copy so that it is consistent with a specified XML element node.
suTrackJoint &	operator= (const suTrackJoint &aTrackJoint)
	Assignment operator.
void	setQID (int aQID)
	Set the generalized coordinate that is to be tracked.
int	getQID () const
	Get the generalized coordinate that is to be tracked.
virtual void	computeErrors (double aT)
	Compute the position and velocity errors.
virtual void	computeDesiredAccelerations (double aT)
	Compute the desired accelerations.
virtual void	computeAccelerations ()
	Compute the acceleration of the appropriate generalized coordinate.
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
int	_qid
	Generalized coordinate to be tracked.
Private Member Functions
void	setNull ()
	Set NULL values for all member variables.
void	copyData (const suTrackJoint &aTrackJoint)
	Copy the member data for this class only.
Static Private Attributes
const char	PROP_QID [] = "qid"

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Detailed Description

A class for tracking the trajectory of a joint.

Author:

Frank C. Anderson, Darryl G. Thelen

Version:

1.0

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Constructor & Destructor Documentation

suTrackJoint::suTrackJoint (  int  aQID = -1  )

Construct a track joint object for a specified model and generalized coordinate. Parameters: aModel  Model for which the tracking is conducted. aQID  ID of the generalized coordinate to be tracked.

suTrackJoint::suTrackJoint (  IDOM_Element *  aElement  )

Construct a track joint object for a specified model from an XML element. Parameters: aModel  Model for which the tracking is conducted. aQID  ID of the generalized coordinate to be tracked.

suTrackJoint::suTrackJoint (  const suTrackJoint &  aTrackJoint  )

Copy constructor. Parameters: aModel  Model for which the tracking is conducted. aQID  ID of the generalized coordinate to be tracked.

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Member Function Documentation

void suTrackJoint::computeAccelerations (   )  [virtual]

Compute the acceleration of the appropriate generalized coordinate. For the computed accelerations to be correct, rdModel::computeAccelerations() must have already been called. For joints (i.e., generalized coordinates), the acceleration is not computed. It has already been computed and is simply retrieved from the model. See also: rdModel::computeAccelerations() suTrackObject::getAcceleration() Implements suTrackObject.

void suTrackJoint::computeDesiredAccelerations (  double  aT  )  [virtual]

Compute the desired accelerations. This method assumes that the states have been set for the model. Parameters: aT  Time at which the desired accelerations are to be computed in real time units. See also: rdModel::set() rdModel::setStates() Implements suTrackObject.

void suTrackJoint::computeErrors (  double  aT  )  [virtual]

Compute the position and velocity errors. This method assumes the states have been set for the model. Parameters: aT  Current time in real time units. See also: rdModel::set() rdModel::setStates() Implements suTrackObject.

suTrackObject * suTrackJoint::copy (  IDOM_Element *  aElement  )  const [virtual]

Copy this track object 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. Implements suTrackObject.

suTrackObject * suTrackJoint::copy (   )  const [virtual]

Copy this track object and return a pointer to the copy. The copy constructor for this class is used. Returns: Pointer to a copy of this track object. Implements suTrackObject.

void suTrackJoint::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 suTrackObject.

int suTrackJoint::getQID (   )  const

Get the generalized coordinate that is to be tracked. Returns: ID of the tracked generalized coordinate.

suTrackJoint & suTrackJoint::operator= (  const suTrackJoint &  aTrackJoint  )

Assignment operator. Parameters: aObject  Object to be copied. Returns: Reference to the altered object.

void suTrackJoint::setQID (  int  aQID  )

Set the generalized coordinate that is to be tracked. Parameters: aQID  ID of the tracked generalized coordinate.

void suTrackJoint::updateData (   )

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

void suTrackJoint::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 suTrackObject.

void suTrackJoint::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 suTrackObject.

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

• suTrackJoint.h
• suTrackJoint.cpp

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