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suUTWalkGenFrc Class Reference

The U.T. More...

#include <suUTWalkGenFrc.h>

Inheritance diagram for suUTWalkGenFrc:

List of all members.

Public Member Functions
	suUTWalkGenFrc ()
	Default constructor.
virtual	~suUTWalkGenFrc ()
	Destructor.
virtual void	computeActuation ()
	Bring all quantities associate with actuting the model to a valid internal state.
virtual void	applyActuatorForce (int aI)
	Apply a particular actuator force to the model.
virtual void	applyActuatorForces ()
	Apply all actuator forces to the model.
virtual void	setActuatorForce (int aID, double aForce)
	Set the magnitude of force experted by a particular actuator.
virtual double	getActuatorForce (int aID) const
	Get the magnitude of force experted by a particular actuator.
virtual double	getActuatorSpeed (int aID) const
	Get the speed at which a particular actuator force is applied.
virtual double	getActuatorPower (int aID) const
	Get the power delivered or absorbed by a particular actuator.
virtual int	deriv (double t, double *xt, double *y, double *dy)
	Compute the derivatives of the states.
virtual int	deriv (double t, double *xt, double *y, double *dqdt, double *dudt)
	Compute the derivatives of the states.
virtual void	integBeginCallback (int i, double dt, double t, double *x, double *y, void *cd=NULL)
	Take care of any initializations needed before an integration.
virtual 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	NX = suUTWalkGenFrc_NX
const int	NA = suUTWalkGenFrc_NA
const int	NY = suUTWalkGenFrc_NY
const int	NS = suUTWalkGenFrc_NS
Protected Member Functions
void	setNull ()
	Set NULL values for all member variables.
void	constructNames ()
	Construct the names of the various components of the model.
Private Attributes
double *	_f

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Detailed Description

The U.T.

walking model altered so that it is driven by generalized forces: 3 forces and 3 torques on the pelvis and moments at all the joints. The foot-ground contact model is the same.

Author:

Frank C. Anderson

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Member Function Documentation

void suUTWalkGenFrc::applyActuatorForce (  int  aI  )  [virtual]

Apply a particular actuator force to the model. Parameters: aI  Index of the actuator force to apply. Reimplemented from rdUTWalking8.

void suUTWalkGenFrc::applyActuatorForces (   )  [virtual]

Apply all actuator forces to the model. Actuator forces include muscle forces and ligament torques. Reimplemented from rdUTWalking8.

void suUTWalkGenFrc::computeActuation (   )  [virtual]

Bring all quantities associate with actuting the model to a valid internal state. This method simply sets the actuator forces to the values of the controls. Reimplemented from rdUTWalking8.

int suUTWalkGenFrc::deriv (  double  t, double *  xt, double *  y, double *  dqdt, double *  dudt )  [virtual]

Compute the derivatives of the states. Note that the derivatives are returned with respect to real time not normalized time. Reimplemented from rdUTWalking8.

double suUTWalkGenFrc::getActuatorForce (  int  aID  )  const [virtual]

Get the magnitude of force experted by a particular actuator. For the returned information to be valid, computeActuation() must be called prior to calling this method. Parameters: aID  Index of the actuator- should be greater than or equal to zero and less than the value returned by getNA(). Returns: Magnitude of actuator force. Reimplemented from rdUTWalking8.

double suUTWalkGenFrc::getActuatorPower (  int  aID  )  const [virtual]

Get the power delivered or absorbed by a particular actuator. A positive power means the actuator is doing work on the model; negative power means that the actuator is absorbing energy from the model. For the returned information to be valid, computeActuation() must be called prior to calling this method. Parameters: aID  Index of the desired contact force- should be greater than or equal to zero and less than the value returned by getNP(). Returns: Power delivered (positive) or absorbed (negative). Reimplemented from rdUTWalking8.

double suUTWalkGenFrc::getActuatorSpeed (  int  aID  )  const [virtual]

Get the speed at which a particular actuator force is applied. For the returned information to be valid, computeActuation() must be called prior to calling this method. Parameters: aID  Index of the desired contact force- should be greater than or equal to zero and less than the value returned by getNP(). Returns: Speed at which actuator force is applied. Reimplemented from rdUTWalking8.

void suUTWalkGenFrc::setActuatorForce (  int  aID, double  aForce )  [virtual]

Set the magnitude of force experted by a particular actuator. Parameters: aID  Index of the actuator- should be greater than or equal to zero and less than the value returned by getNA(). aForce  Magnitude of actuator force. Reimplemented from rdUTWalking8.

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

• suUTWalkGenFrc.h
• suUTWalkGenFrc.cpp

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