---

suUTWalk8IATaylor Class Reference

A class that extends rdUTWalking8 to compute induced accelerations by Taylor expansion. More...

#include <suUTWalk8IATaylor.h>

Inheritance diagram for suUTWalk8IATaylor:

List of all members.

Public Member Functions
	suUTWalk8IATaylor ()
	Default constructor.
virtual	~suUTWalk8IATaylor ()
	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.
void	setPerformDecomposition (bool aTrueFalse, int aCapcity=100)
	Initialize new decomposition storage objects.
rdStorage **	getForceStorage ()
	Get the force decomposition storage.
void	setApplyDecompression (bool aTrueFalse)
	Set whether or not to apply a decompression algorithm.
bool	getApplyDecompression ()
	Get whether or not to apply a decompression algorithm.
void	getStiffness (double aVel[3], double aPos[3], double aDFDP[3], double aDFDV[3])
	Create a new decomposition storage object.
void	setStorageInterval (int aInterval)
	Set the storage interval.
int	getStorageInterval ()
	Get the storage interval.
void	setCorrectionInterval (int aInterval)
	Set the interval at which corrections are made to satisfy superposition.
int	getCorrectionInterval ()
	Get the interval at which corrections are made to satisfy superposition.
void	initializeForceElements (double aT, double aSFrc[][3])
	Initialize the force values for the component elements.
void	initializeVelocityElements (double aT, double aSVel[][3])
	Initialize the velocities values for the component elements.
void	applyActiveForces (int aC, double *aY)
	Apply appropriate component forces.
void	decompStep (double aDT, double aDFDP[3], double aDFDV[3], double aAcc[3], double aV[3], double aF[3])
	Take a step forward in a decomposition component.
void	compress (double aDT, double aDFDP, double aDFDV, double aAcc, double *aVe, double *aFe)
	Compress an element in a decomposition.
void	decompress (double aFrcLast, double aFrc, double aVelLast, double aVel, double *aVe, double *aFe)
	Decompress an element in a decomposition.
void	correctForSliding (double aAlpha[3], double aF[3])
	Correct spring components for sliding.
void	correctForSliding (double aAlpha, double *aF)
	Correct spring components for sliding.
void	computeHigherOrderDerivatives (int c, double t, double *dudt, double *ddudt, double *dddudt)
	Compute higher order derivatives of the accelerations.
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	sumSpringVelocities ()
	Sum the components of the spring velocities to get the total velocities induced by the muscles and by all components.
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 Member Functions
double	CorrectForSuperposition (int aNEA, double *aActual, int aNC, int aNIC, int aNED, double *aDecomp, double *aCorrection, bool aComputeMeanCorrection=false)
	Correct force and velocity components to satisfy superposition.
Static Public Attributes
const int	NC = NNC
const int	NIC = NC - 2
const int	NE = NNS
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
const int	CALLMUS = NX+3
const int	CALL = NX+4
Protected Attributes
char **	_cNames
int	_storageInterval
int	_correctionInterval
int	_drawInterval
bool *	_contactEstablished
bool	_applyDecompression
double	_tolContact
double *	_sfrcLast
double *	_svelLast
double *	_feContig
double ***	_fe
double *	_veContig
double ***	_ve
double *	_fbContig
double ***	_fb
double	_at [NNC][3]
double	_ah [NNC][NNU][3]
rdStorage **	_feStore
rdStorage **	_veStore
rdStorage **	_aeStore
rdStorage **	_fbStore
Private Member Functions
void	constructComponentNames ()
	Construct component names.
void	allocateElementVectors ()
	Allocate element vectors.
void	deleteStorage ()
	Delete storage objects.

---

Detailed Description

A class that extends rdUTWalking8 to compute induced accelerations by Taylor expansion.

---

Member Function Documentation

double suUTWalk8IATaylor::CorrectForSuperposition (  int  aNEA, double *  aActual, int  aNC, int  aNIC, int  aNED, double *  aDecomp, double *  aCorrection, bool  aComputeMeanCorrection = false )  [static]

Correct force and velocity components to satisfy superposition. The actual simulated values are input in aActual, and the decomposition values are input in aDecomp. Based on the difference between the superposition of the decomposition values and the actual values, all decomposition values are shifted. It is assumed that aDecomp holds the superposition of its components at aDecomp[NC-1][0][0], expressed here as if aDecomp were a three dimensional array. The caller must also supply an aCorrection array that is used within this method and that returns the superpostion corrections that were used to make the corrections. aCorrection should be the same size as aActual. If an error is encoutnered -1.0 is returned. Otherwise, if the flag aComputeMeanCorrection is set to true, the mean correction is returned, or, if aComputeError is set to false, 0.0 is returned.

int suUTWalk8IATaylor::getCorrectionInterval (   )

Get the interval at which corrections are made to satisfy superposition. If the correction interval is 0 or negative, no correction is performed.

void suUTWalk8IATaylor::setCorrectionInterval (  int  aInterval  )

Set the interval at which corrections are made to satisfy superposition. If the correction interval is 0 or negative, no correction is performed.

---

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

• suUTWalk8IATaylor.h
• suUTWalk8IATaylor.cpp

---