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suUTWalk8IAHard Class Reference

A class that extends rdModelUTWalking8 to compute induced accelerations by Hard expansion. More...

#include <suUTWalk8IAHard.h>

Inheritance diagram for suUTWalk8IAHard:

List of all members.

Public Member Functions
	suUTWalk8IAHard ()
	Default constructor.
virtual	~suUTWalk8IAHard ()
	Destructor.
int	getNC ()
	Get the number of components.
int	getNIC ()
	Get the number of independent components.
int	getNE ()
	Get the number of compliant elements.
char *	getComponentName (int aC)
	GET THE NAME OF A COMPONENT.
rdStorage **	getForceStorage ()
	Get the force decomposition storage.
void	setStorageInterval (int aInterval)
	Set the storage interval.
int	getStorageInterval ()
	Get the storage interval.
void	setPerformDecomposition (bool aTrueFalse, int aCapcity=100)
	Initialize new decomposition storage objects.
int	getNumberConstraints ()
	Set spring force array based on decomposition controls.
void	clearBodyConstraints ()
	Clear all body constraints.
void	clearBodyConstraintValues ()
	Clear all constraint values--- set them to 0.0.
void	setBodyConstraintValues (int aN, int aID[], double aAcc[][3])
	Set the relavent constraint values.
void	decompose (int step, double dt, double t, double *xt, double *y, void *cd)
	Decompose the ground reaction force by assuming hard constraints.
void	determineControls (double sfrc[][3])
	Determine the controls for the decomposition.
void	determineConstraints ()
	Determine the constraints for the decomposition.
void	setSpringForces (double *aXS, double aFS[][3])
	Set spring force array based on decomposition controls.
void	applyComponentForce (int aC, double *aY)
	Apply appropriate component forces.
int	suComputePerformance (double *x, double *p)
	Compute performance given x.
int	suComputePerformanceGradient (double *x, double *dpdx)
	Compute performance given x.
int	suComputeConstraint (double *x, int ic, double *c)
	Compute a constraint given x.
virtual void	store (double t, double *x, double *y)
	Store various model quantities.
void	printStorage (const char *aPath=NULL, double dt=-1.0)
	Print storage.
void	sumSpringForces ()
	Sum the separate spring forces to get the totals on each foot and on both feet.
void	integBeginCallback (int i, double dt, double t, double *x, double *y, void *cd=NULL)
	At the beginning of an integration, initialize the decomposition.
void	integStepCallback (double *xPrev, double *yPrev, int i, double dt, double t, double *x, double *y, void *cd=NULL)
	After each integration step, update the horizontal spring zeros and draw the model.
Static Public Attributes
const int	NC = NX + 6
const int	NIC = NC - 2
const int	NE = NS
const int	NEFOOT = 5
const int	NEFRC = NE+3
const int	CMUS = NX-1
const int	CLIG = NX
const int	CGRAV = NX+1
const int	CCEN
const int	CVEL = NX+2
const int	CINER = NX+3
const int	CALLMUS = NX+4
const int	CALL = NX+5
Protected Attributes
char **	_cNames
int	_storageInterval
int	_drawInterval
bool *	_contactEstablished
double	_tolContact
double *	_feContig
double ***	_fe
rdStorage **	_feStore
int	_c
int	_nxs
int	_ncs
int *	_xsSprMap
int *	_xsXYZMap
rdBodyConstraint	_bc [4]
double	_wXS
double	_wAcc
Private Member Functions
void	constructComponentNames ()
	Construct component names.
void	allocateElementVectors ()
	Allocate element vectors.
void	deleteStorage ()
	Delete storage objects.

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Detailed Description

A class that extends rdModelUTWalking8 to compute induced accelerations by Hard expansion.

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

• suUTWalk8IAHard.h
• suUTWalk8IAHard.cpp

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