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suTrackObject Class Reference

An abstract base class for specifying an object that is to be tracked during a dynamic simulation. More...

#include <suTrackObject.h>

Inheritance diagram for suTrackObject:

List of all members.

Public Member Functions
	suTrackObject ()
	Construct a default track object for a specified model.
	suTrackObject (IDOM_Element *aElement)
	Construct a track object from an XML Element.
	suTrackObject (const suTrackObject &aTrackObject)
	Copy constructor.
virtual	~suTrackObject ()
	Destructor.
virtual suTrackObject *	copy () const=0
virtual suTrackObject *	copy (IDOM_Element *aElement) const=0
suTrackObject &	operator= (const suTrackObject &aTrackObject)
	Assignment operator.
void	setModel (rdModel *aModel)
	Set the model to which this track object applies.
rdModel *	getModel () const
	Get the model to which this track object applies.
void	setOn (bool aTrueFalse)
	Turn this track object on or off.
bool	getOn () const
	Get whether or not this track object is on.
void	setWRTBody (int aBody)
	Set the body with respect to (WRT) which the track goals are specified.
int	getWRTBody () const
	Get the body with respect to (WRT) which the track goals are specified.
void	setExpressBody (int aBody)
	Set the body in which the track goals are expressed.
int	getExpressBody () const
	Get the body in which the track goals are expressed.
void	setActive (bool a0, bool a1=false, bool a2=false)
	Set whether or not track goals are active.
bool	getActive (int aWhich) const
	Get whether a specified track goal is active.
void	setWeight (double aW0, double aW1=0.0, double aW2=0.0)
	Set the weight of each track goal.
double	getWeight (int aWhich) const
	Get the weight of each track goal.
void	setKP (double aK0, double aK1=0.0, double aK2=0.0)
	Set the position gains for each track goal.
double	getKP (int aWhich) const
	Get the position gain for a specified track goal.
void	setKV (double aK0, double aK1=0.0, double aK2=0.0)
	Set the velocity gains for each track goal.
double	getKV (int aWhich) const
	Get the velocity gain for a specified track goal.
void	setKA (double aK0, double aK1=0.0, double aK2=0.0)
	Set the acceleration gains for each track goal.
double	getKA (int aWhich) const
	Get the acceleration gain for a specified track goal.
void	setDirection_0 (const double aR[3])
	Set the direction of track goal 0.
void	getDirection_0 (double rR[3]) const
	Get the direction of track goal 0.
void	setDirection_1 (const double aR[3])
	Set the direction of track goal 1.
void	getDirection_1 (double rR[3]) const
	Get the direction of track goal 1.
void	setDirection_2 (const double aR[3])
	Set the direction of track goal 2.
void	getDirection_2 (double rR[3]) const
	Get the direction of track goal 2.
int	getNumTrackFunctions () const
	Get the number of position track functions.
void	setTrackFunctions (rdFunction *aF0, rdFunction *aF1=NULL, rdFunction *aF2=NULL)
	Set the track functions.
rdFunction *	getTrackFunction (int aWhich) const
	Get a specified track function.
void	setTrackFunctionsForVelocity (rdFunction *aF0, rdFunction *aF1=NULL, rdFunction *aF2=NULL)
	Set the velocity track functions.
rdFunction *	getTrackFunctionForVelocity (int aWhich) const
	Get a specified velocity track function.
void	setTrackFunctionsForAcceleration (rdFunction *aF0, rdFunction *aF1=NULL, rdFunction *aF2=NULL)
	Set the acceleration track functions.
rdFunction *	getTrackFunctionForAcceleration (int aWhich) const
	Get a specified acceleration track function.
void	setPositionErrorLast (double aE0, double aE1=0.0, double aE2=0.0)
	Set the last achieved position error.
double	getPositionErrorLast (int aWhich) const
	Get the last achieved position error.
void	setVelocityErrorLast (double aE0, double aE1=0.0, double aE2=0.0)
	Set the last achieved velocity error.
double	getVelocityErrorLast (int aWhich) const
	Get the last achieved velocity error.
double	getPositionError (int aWhich) const
	Get the position track error of a specified track goal.
double	getVelocityError (int aWhich) const
	Get the velocity track error of a specified track goal.
double	getDesiredAcceleration (int aWhich) const
	Get the desired acceleration of a specified track goal.
double	getAcceleration (int aWhich) const
	Get the acceleration of a specified track goal.
virtual void	computeErrors (double aT)=0
virtual void	computeDesiredAccelerations (double aT)=0
virtual void	computeAccelerations ()=0
virtual void	computeJacobian ()
	Compute the Jacobian.
virtual void	computeEffectiveMassMatrix ()
	Compute the effective mass matrix.
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.
Static Public Attributes
const char	DEFAULT_NAME [] = "default"
Protected Attributes
rdModel *	_model
	Model.
bool	_on
	Flag to indicate on or off state.
int	_wrtBody
	Body with respect to which the track goals are specified.
int	_expressBody
	Body frame in which the track goals are expressed.
bool	_active [3]
	Flag to specify the active track goals.
double	_w [3]
	Weights of the track goals.
double	_kp [3]
	Position error feedback gain.
double	_kv [3]
	Velocity error feedback gain.
double	_ka [3]
	Feedforward acceleration gain.
double	_r [3][3]
	Directions of the track goals.
int	_nTrk
	Number of track functions.
rdFunction *	_pTrk [3]
	Position track functions.
rdFunction *	_vTrk [3]
	Velocity track functions.
rdFunction *	_aTrk [3]
	Acceleration track functions.
double	_pErrLast [3]
	Last position error.
double	_pErr [3]
	Position error.
double	_vErrLast [3]
	Last velocity error.
double	_vErr [3]
	Velocity error.
double	_aDes [3]
	Desired accelerations.
double	_a [3]
	Accelerations.
double *	_j
	Jacobian.
double *	_m
	Effective mass matrix.
Private Member Functions
void	setNull ()
	Set NULL values for all member variables.
void	copyData (const suTrackObject &aTrackObject)
	Copy the member data for this class only.
Static Private Attributes
const char	PROP_WRT_BODY [] = "wrt_body"
const char	PROP_EXPRESS_BODY [] = "express_body"
const char	PROP_ON [] = "on"
const char	PROP_ACTIVE [] = "active"
const char	PROP_W [] = "weight"
const char	PROP_KP [] = "kp"
const char	PROP_KV [] = "kv"
const char	PROP_KA [] = "ka"
const char	PROP_R0 [] = "R0"
const char	PROP_R1 [] = "R1"
const char	PROP_R2 [] = "R2"

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Detailed Description

An abstract base class for specifying an object that is to be tracked during a dynamic simulation.

Author:

Frank C. Anderson, Darryl G. Thelen

Version:

1.0

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Constructor & Destructor Documentation

suTrackObject::suTrackObject (   )

Construct a default track object for a specified model. Parameters: aModel  Model for which tracking is being conducted.

suTrackObject::suTrackObject (  IDOM_Element *  aElement  )

Construct a track object from an XML Element. Parameters: aModel  Model for which tracking is being conducted. aElement  XML element.

suTrackObject::suTrackObject (  const suTrackObject &  aTrackObject  )

Copy constructor. Parameters: aTrackObject  Track object to be copied.

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Member Function Documentation

void suTrackObject::copyData (  const suTrackObject &  aTrackObject  )  [private]

Copy the member data for this class only. Parameters: aTrackObject  Object whose data is to be copied.

void suTrackObject::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 suTrackJoint.

double suTrackObject::getAcceleration (  int  aWhich  )  const

Get the acceleration of a specified track goal. The acceleration returned is the dot product of the appropriate track-goal direction and the acceleration of the point or orientation in question. In the case of generalized coordinates, the acceleration of the generalized coordinate is returned (i.e., a direction is not appropriate). For the value returned by this method to be valid, the method computeAccelerations() must be called first. Parameters: aWhich  Specifies which track goal (0, 1, or 2). Returns: Acceleration. rdMath::NAN is returned on an error.

bool suTrackObject::getActive (  int  aWhich  )  const

Get whether a specified track goal is active. Parameters: aWhich  Number of the track goal in question. Returns: True if the specified track goal is active, false otherwise.

double suTrackObject::getDesiredAcceleration (  int  aWhich  )  const

Get the desired acceleration of a specified track goal. The method computeDesiredAccelerations() must be called first for the values returned by this method to be valid. Parameters: aWhich  Specifies which track goal (0, 1, or 2). Returns: Desired acceleration. rdMath::NAN is returned on an error.

void suTrackObject::getDirection_0 (  double  rR[3]  )  const

Get the direction of track goal 0. Parameters: aR  Direction.

void suTrackObject::getDirection_1 (  double  rR[3]  )  const

Get the direction of track goal 1. Parameters: aR  Direction.

void suTrackObject::getDirection_2 (  double  rR[3]  )  const

Get the direction of track goal 2. Parameters: aR  Direction.

int suTrackObject::getExpressBody (   )  const

Get the body in which the track goals are expressed. Returns: Body ID.

double suTrackObject::getKA (  int  aWhich  )  const

Get the acceleration gain for a specified track goal. Parameters: aWhich  Number of the track goal in question. Returns: Acceleration gain.

double suTrackObject::getKP (  int  aWhich  )  const

Get the position gain for a specified track goal. Parameters: aWhich  Number of the track goal in question. Returns: Position gain.

double suTrackObject::getKV (  int  aWhich  )  const

Get the velocity gain for a specified track goal. Parameters: aWhich  Number of the track goal in question. Returns: Velocity gain.

rdModel * suTrackObject::getModel (   )  const

Get the model to which this track object applies. Returns: Pointer to the model.

int suTrackObject::getNumTrackFunctions (   )  const

Get the number of position track functions. Returns: Number of position track functions.

bool suTrackObject::getOn (   )  const

Get whether or not this track object is on. Returns: True if on, false if off.

double suTrackObject::getPositionError (  int  aWhich  )  const

Get the position track error of a specified track goal. Parameters: aWhich  Specifies which track goal (0, 1, or 2). Returns: Error

double suTrackObject::getPositionErrorLast (  int  aWhich  )  const

Get the last achieved position error. This information is useful for checking that error dynamics are being followed. Parameters: aWhich  Specifies which track goal (0, 1, or 2). Returns: Last position error.

rdFunction * suTrackObject::getTrackFunction (  int  aWhich  )  const

Get a specified track function. Parameters: aWhich  Specifies which track function (0, 1, or 2). Returns: Function.

rdFunction * suTrackObject::getTrackFunctionForAcceleration (  int  aWhich  )  const

Get a specified acceleration track function. Parameters: aWhich  Specifies which track function (0, 1, or 2). Returns: Function.

rdFunction * suTrackObject::getTrackFunctionForVelocity (  int  aWhich  )  const

Get a specified velocity track function. Parameters: aWhich  Specifies which track function (0, 1, or 2). Returns: Function.

double suTrackObject::getVelocityError (  int  aWhich  )  const

Get the velocity track error of a specified track goal. Parameters: aWhich  Specifies which track goal (0, 1, or 2). Returns: Error

double suTrackObject::getVelocityErrorLast (  int  aWhich  )  const

Get the last achieved velocity error. This information is useful for checking that error dynamics are being followed. Parameters: aWhich  Specifies which track goal (0, 1, or 2). Returns: Last velocity error.

double suTrackObject::getWeight (  int  aWhich  )  const

Get the weight of each track goal. Parameters: aWhich  Number of the track goal in question. Returns: Weight.

int suTrackObject::getWRTBody (   )  const

Get the body with respect to (WRT) which the track goals are specified. Returns: Body ID.

suTrackObject & suTrackObject::operator= (  const suTrackObject &  aTrackObject  )

Assignment operator. Returns: Reference to the altered object.

void suTrackObject::setActive (  bool  a0, bool  a1 = false, bool  a2 = false )

Set whether or not track goals are active. Parameters: a0  Active flag for track goal 0-- true means active. a1  Active flag for track goal 1-- true means active. a2  Active flag for track goal 2-- true means active.

void suTrackObject::setDirection_0 (  const double  aR[3]  )

Set the direction of track goal 0. Parameters: aR  Direction. This vector is normalized.

void suTrackObject::setDirection_1 (  const double  aR[3]  )

Set the direction of track goal 1. Parameters: aR  Direction. This vector is normalized.

void suTrackObject::setDirection_2 (  const double  aR[3]  )

Set the direction of track goal 2. Parameters: aR  Direction. This vector is normalized.

void suTrackObject::setExpressBody (  int  aBody  )

Set the body in which the track goals are expressed. Parameters: aBody  Body ID.

void suTrackObject::setKA (  double  aK0, double  aK1 = 0.0, double  aK2 = 0.0 )

Set the acceleration gains for each track goal. Parameters: aK0  Gain for track goal 0. aK1  Gain for track goal 1. aK2  Gain for track goal 2.

void suTrackObject::setKP (  double  aK0, double  aK1 = 0.0, double  aK2 = 0.0 )

Set the position gains for each track goal. Parameters: aK0  Gain for track goal 0. aK1  Gain for track goal 1. aK2  Gain for track goal 2.

void suTrackObject::setKV (  double  aK0, double  aK1 = 0.0, double  aK2 = 0.0 )

Set the velocity gains for each track goal. Parameters: aK0  Gain for track goal 0. aK1  Gain for track goal 1. aK2  Gain for track goal 2.

void suTrackObject::setModel (  rdModel *  aModel  )

Set the model to which this track object applies. Parameters: aModel  Model.

void suTrackObject::setOn (  bool  aTrueFalse  )

Turn this track object on or off. Parameters: aTureFalse  Turns analysis on if "true" and off if "false".

void suTrackObject::setPositionErrorLast (  double  aE0, double  aE1 = 0.0, double  aE2 = 0.0 )

Set the last achieved position error. This information is useful for checking that error dynamics are being followed. Parameters: aE0  Last position error for track goal 0. aE1  Last position error for track goal 1. aE2  Last position error for track goal 2.

void suTrackObject::setTrackFunctions (  rdFunction *  aF0, rdFunction *  aF1 = NULL, rdFunction *  aF2 = NULL )

Set the track functions. Note that this method makes copies of the specified track functions, so the caller may use the specified functions for whatever purposes. Parameters: aF0  Function for track goal 0. aF1  Function for track goal 1. aF2  Function for track goal 2.

void suTrackObject::setTrackFunctionsForAcceleration (  rdFunction *  aF0, rdFunction *  aF1 = NULL, rdFunction *  aF2 = NULL )

Set the acceleration track functions. Note that this method makes copies of the specified track functions, so the caller may use the specified functions for whatever purposes. Parameters: aF0  Function for track goal 0. aF1  Function for track goal 1. aF2  Function for track goal 2.

void suTrackObject::setTrackFunctionsForVelocity (  rdFunction *  aF0, rdFunction *  aF1 = NULL, rdFunction *  aF2 = NULL )

Set the velocity track functions. Note that this method makes copies of the specified functions, so the caller may use the specified functions for whatever purposes. Parameters: aF0  Function for track goal 0. aF1  Function for track goal 1. aF2  Function for track goal 2.

void suTrackObject::setVelocityErrorLast (  double  aE0, double  aE1 = 0.0, double  aE2 = 0.0 )

Set the last achieved velocity error. This information is useful for checking that error dynamics are being followed. Parameters: aE0  Last velocity error for track goal 0. aE1  Last velocity error for track goal 1. aE2  Last velocity error for track goal 2.

void suTrackObject::setWeight (  double  aW0, double  aW1 = 0.0, double  aW2 = 0.0 )

Set the weight of each track goal. Parameters: aW0  Weight for track goal 0. aW1  Weight for track goal 1. aW2  Weight for track goal 2.

void suTrackObject::setWRTBody (  int  aBody  )

Set the body with respect to (WRT) which the track goals are specified. Parameters: aBody  Body ID.

void suTrackObject::updateData (   )

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

void suTrackObject::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 suTrackJoint.

void suTrackObject::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 suTrackJoint.

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Member Data Documentation

rdFunction* suTrackObject::_aTrk[3] [protected]

Acceleration track functions. If acceleration track functions are not specified, derivatives of the position track function are used.

rdFunction* suTrackObject::_pTrk[3] [protected]

Position track functions. Different types of track objects can require different numbers of track functions. For example, to track a joint angle, only one track function is needed. However, to track a position, up to three track functions may be needed.

rdFunction* suTrackObject::_vTrk[3] [protected]

Velocity track functions. If velocity track functions are not specified, derivatives of the position track function are used.

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

• suTrackObject.h
• suTrackObject.cpp

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