#include <CActuatorSetMuscle.hpp>

Inheritance diagram for scl::CActuatorSetMuscle:

Collaboration diagram for scl::CActuatorSetMuscle:

Public Member Functions
virtual sBool	computeJacobian (const Eigen::VectorXd arg_q, Eigen::MatrixXd &ret_J)

virtual sBool	computeDynamics (const Eigen::VectorXd &arg_input, const Eigen::MatrixXd &arg_state, Eigen::VectorXd &ret_output_force)

int	getNumberOfMuscles ()

SActuatorSetMuscle *	getData ()

const SActuatorSetMuscle *	getData () const

virtual sBool	init (const std::string &arg_name, const SRobotParsed arg_robot, const sutil::CMappedList< std::string, SRigidBodyDyn > &arg_rbdtree, SActuatorSetMuscle arg_mset, CDynamicsBase *arg_dynamics)

virtual sBool	hasBeenInit ()

	CActuatorSetMuscle ()

virtual	~CActuatorSetMuscle ()

virtual const std::string &	getType () const

virtual const std::string &	getName () const

virtual bool	hasBeenInit () const

Public Attributes
std::string	name_

sBool	has_been_init_

Protected Attributes
SActuatorSetMuscle *	data_

sutil::CMappedList < std::string, CActuatorMuscle >	muscles_

CDynamicsBase *	dynamics_

Eigen::VectorXd	row_J_

std::string	type_

Detailed Description

Models a muscle as a linear actuator with zero force generation delay and a stiff tendon, which eliminates slack.

This class combines a set of muscles into

Constructor & Destructor Documentation

scl::CActuatorSetMuscle::CActuatorSetMuscle ( )

Default constructor. Sets stuff to NULL.

virtual scl::CActuatorSetMuscle::~CActuatorSetMuscle ( )

inlinevirtual

Default destructor. Does nothing

Member Function Documentation

virtual sBool scl::CActuatorSetMuscle::computeDynamics	(	const Eigen::VectorXd &	arg_input,
		const Eigen::MatrixXd &	arg_state,
		Eigen::VectorXd &	ret_output_force
	)

inlinevirtual

Set the actuator commands. These will be translated into individual actuator commands. Gets the output of the actuator. Returned in the passed variable.

arg_input : The actuator input (possibly arbitrary coordinates) arg_state : Possibly actuator coordinates, velocities etc. Rows in matrix. ret_output_force : The actuator forces such that: Fgc = J' * ret_output_force;

TODO : Implement hill-type muscles

Implements scl::CActuatorSetBase.

sBool scl::CActuatorSetMuscle::computeJacobian	(	const Eigen::VectorXd	arg_q,
		Eigen::MatrixXd &	ret_J
	)

virtual

Some actuator sets don't directly actuate the generalized coordinates and require a Jacobian to compute their contribution to the generalized forces.

Each actuator instance implements a row in the Jacobian. The actuator set merely collates them.

Some actuator sets don't directly actuate the generalized coordinates and require a Jacobian to compute their contribution to the generalized forces.

Each actuator instance must implement this.

Implements scl::CActuatorSetBase.

SActuatorSetMuscle* scl::CActuatorSetMuscle::getData ( )

inline

Access the data structure

const SActuatorSetMuscle* scl::CActuatorSetMuscle::getData ( ) const

inline

Access the data structure for reads only

virtual const std::string& scl::SObject::getName ( ) const

inlinevirtualinherited

Get the object's type

int scl::CActuatorSetMuscle::getNumberOfMuscles ( )

inline

To simplify the confusion between name idx and numeric idx

virtual const std::string& scl::SObject::getType ( ) const

inlinevirtualinherited

Get the object's type

virtual bool scl::SObject::hasBeenInit ( ) const

inlinevirtualinherited

Get the object's type

sBool scl::CActuatorSetMuscle::hasBeenInit ( )

virtual

Has this actuator been initialized

sBool scl::CActuatorSetMuscle::init	(	const std::string &	arg_name,
		const SRobotParsed *	arg_robot,
		const sutil::CMappedList< std::string, SRigidBodyDyn > &	arg_rbdtree,
		SActuatorSetMuscle *	arg_mset,
		CDynamicsBase *	arg_dynamics
	)

virtual

Initializes the actuators. This involves determining whether the muscle matches the robot etc. It also sets up the Jacobians to be computed etc.

Initializes the actuator. This involves determining whether the muscle matches the robot etc. It also sets up the Jacobians to be computed etc.

Member Data Documentation

SActuatorSetMuscle* scl::CActuatorSetMuscle::data_

protected

The muscle set data

CDynamicsBase* scl::CActuatorSetMuscle::dynamics_

protected

Dynamics specification (to compute robot Jacobians)

sBool scl::SObject::has_been_init_

inherited

Whether the object is ready for use

sutil::CMappedList<std::string,CActuatorMuscle> scl::CActuatorSetMuscle::muscles_

protected

The muscles in this set

std::string scl::SObject::name_

inherited

The object's name

Eigen::VectorXd scl::CActuatorSetMuscle::row_J_

protected

Temporary object used while computing the Jacobian

std::string scl::SObject::type_

protectedinherited

The object's type. Should only be set by the constructor

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

/home/samir/Code/control/scl.git/src/scl/actuation/muscles/CActuatorSetMuscle.hpp
/home/samir/Code/control/scl.git/src/scl/actuation/muscles/CActuatorSetMuscle.cpp

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation