Animatlab PID control system. This implements the CStdPid with extra AnimatBase functionality. More...

#include <PidControl.h>

Inheritance diagram for AnimatSim::PidControl:

Collaboration diagram for AnimatSim::PidControl:

Public Member Functions
	PidControl ()
	Default constructor. More...

	PidControl (float fltSetpoint, float fltGain, float fltIntegralAct, float fltDerivativeAct, bool bComplexError, bool bAntiResetWindup, bool bRampLimit, float fltRangeMax, float fltRangeMin, float fltARWBound, float fltRampGradient)

virtual	~PidControl ()
	Destructor. More...

virtual bool	Enabled ()
	Tells whether this node is enabled. More...

virtual void	Enabled (bool bValue)
	Enables the node. More...

virtual float *	GetDataPointer (const std::string &strDataType)
	Returns a float pointer to a data item of interest in this object. More...

virtual void	Load (CStdXml &oXml)

virtual void	QueryProperties (CStdPtrArray< TypeProperty > &aryProperties)
	Queries this object for a list of properties that can be changed using SetData. More...

virtual void	ResetSimulation ()
	Resets the simulation back to time 0. More...

virtual bool	SetData (const std::string &strDataType, const std::string &strValue, bool bThrowError=true)
	Set a variable based on a string data type name. More...

Public Member Functions inherited from AnimatSim::AnimatBase
	AnimatBase ()
	Constructs an AnimatBase object. More...

virtual	~AnimatBase ()
	Destroys the AnimatBase object.. More...

virtual bool	AddItem (const std::string &strItemType, const std::string &strXml, bool bThrowError=true, bool bDoNotInit=false)
	Adds a new object to this parent. More...

virtual void	AfterResetSimulation ()
	Called after a simulation reset for some objects. More...

virtual long	CalculateSnapshotByteSize ()
	Calculates the snapshot byte size. More...

virtual void	Copy (CStdSerialize *lpSource)

virtual NeuralModule *	GetNeuralModule ()
	Gets the neural module. More...

virtual Node *	GetNode ()
	Gets the node. More...

virtual Simulator *	GetSimulator ()
	Gets the simulator pointer. More...

virtual Structure *	GetStructure ()
	Gets the structure for this node. More...

virtual bool	HasProperty (const std::string &strName)
	Queries this object if it has a property with the given name. More...

virtual std::string	ID ()
	Gets the unique GUID ID of this object. More...

virtual void	ID (std::string strValue)
	Sets the unique GUID ID of the object. More...

virtual void	Initialize ()
	Initializes this object. More...

virtual void	Kill (bool bState=true)
	Kills. More...

virtual void	Load (StdUtils::CStdXml &oXml)
	Loads the item using an XML data packet. More...

virtual void	LoadKeyFrameSnapshot (byte *aryBytes, long &lIndex)
	Loads a key frame snapshot. More...

virtual std::string	Name ()
	Gets the name of this object. More...

virtual void	Name (std::string strValue)
	Sets the name of the object. Blank is acceptable. More...

virtual AnimatPropertyType	PropertyType (const std::string &strName)

virtual void	ReInitialize ()
	Re-initialize this object. More...

virtual bool	RemoveItem (const std::string &strItemType, const std::string &strID, bool bThrowError=true)
	Removes a child item from this parent. More...

virtual void	Reset ()
	Resets this object. More...

virtual void	RigidBodyAdded (std::string strID)

virtual void	RigidBodyRemoved (std::string strID)

virtual void	SaveKeyFrameSnapshot (byte *aryBytes, long &lIndex)
	Saves a key frame snapshot. More...

virtual bool	Selected ()
	Tells if this items is selected or not. More...

virtual void	Selected (bool bValue, bool bSelectMultiple)
	Selects this object. More...

virtual bool	SetData (const std::string &strDataType, const float fltValue, bool bThrowError=true)
	Set a variable based on a string data type name. More...

virtual bool	SetData (const std::string &strDataType, const long lValue, bool bThrowError=true)
	Set a variable based on a string data type name. More...

virtual void	SetSystemPointers (Simulator lpSim, Structure lpStructure, NeuralModule lpModule, Node lpNode, bool bVerify)
	Sets the system pointers. More...

virtual void	SimPausing ()
	Called just before the simulation pauses. More...

virtual void	SimStarting ()
	Called just before the simulation starts. More...

virtual void	SimStopping ()
	Called just before the simulation stops. More...

virtual void	StepSimulation ()
	Step the simulation for this object. More...

virtual void	TimeStepModified ()
	Notification method that the time step modified has been modified. Objects should recalculate any slice times as needed. More...

virtual std::string	Type ()
	returns the string type name of this object. More...

virtual void	Type (std::string strValue)
	Sets the class type for this object. More...

virtual void	VerifySystemPointers ()
	Verify that system pointers have been set correctly. More...

virtual void	VisualSelectionModeChanged (int iNewMode)
	Visual selection mode changed. More...

Static Public Member Functions
static PidControl *	CastToDerived (AnimatBase *lpBase)

Protected Attributes
bool	m_bInitEnabled
	Keeps track of the enabled state at sim startup.

float	m_fltEnabled

Protected Attributes inherited from AnimatSim::AnimatBase
bool	m_bEnabled
	Tells if this item is enabled or not. If it is not enabled then it is not run.

bool	m_bSelected
	Tells whether the object is selected or not.

AnimatSim::Behavior::NeuralModule *	m_lpModule
	The pointer to this items parentNeuralModule. If this is not relevant for this object then this is NULL.

Node *	m_lpNode
	The pointer to this items parent Node. If this is not relevant for this object then this is NULL.

Simulator *	m_lpSim
	The pointer to a Simulation.

AnimatSim::Environment::Structure *	m_lpStructure
	The pointer to this items parent Structure. If this is not relevant for this object then this is NULL.

std::string	m_strID
	The unique Id for this object.

std::string	m_strName
	The name for this object.

std::string	m_strType
	The type for this object. Examples are Box, Plane, Neuron, etc..

Detailed Description

Animatlab PID control system. This implements the CStdPid with extra AnimatBase functionality.

Author: David Cofer

Date: 1/25/2014

Definition at line 11 of file PidControl.h.

Constructor & Destructor Documentation

AnimatSim::PidControl::PidControl ( )

Default constructor.

Author: dcofer

Date: 3/18/2011

Definition at line 51 of file PidControl.cpp.

References AnimatSim::AnimatBase::m_bEnabled, and m_bInitEnabled.

AnimatSim::PidControl::~PidControl ( )

virtual

Destructor.

Author: dcofer

Date: 3/18/2011

Definition at line 73 of file PidControl.cpp.

References StdUtils::Std_TraceMsg().

Here is the call graph for this function:

Member Function Documentation

bool AnimatSim::PidControl::Enabled ( )

virtual

Tells whether this node is enabled.

Some types of nodes can be enabled/disabled. For example, joints or muscles. This tells what enabled state the node is in. This will not apply to every node object type.

Author: dcofer

Date: 2/24/2011

Returns: true if it enabled, false if not.

Reimplemented from AnimatSim::AnimatBase.

Definition at line 94 of file PidControl.cpp.

References AnimatSim::AnimatBase::m_bEnabled.

Referenced by SetData().

Here is the caller graph for this function:

void AnimatSim::PidControl::Enabled ( bool bValue )

virtual

Enables the node.

Some types of nodes can be enabled/disabled. This sets the enabled state of the object.

Author: dcofer

Date: 2/24/2011

Parameters

bValue true to enable.

Reimplemented from AnimatSim::AnimatBase.

Definition at line 106 of file PidControl.cpp.

References AnimatSim::AnimatBase::m_bEnabled, m_bInitEnabled, AnimatSim::AnimatBase::m_lpSim, and AnimatSim::Simulator::SimRunning().

Here is the call graph for this function:

float * AnimatSim::PidControl::GetDataPointer ( const std::string & strDataType )

virtual

Returns a float pointer to a data item of interest in this object.

This is a generic method used to get a pointer to data variable of interest. It is used by a variety of systems in the simulation. The most prominent are the data charting and stimulus classes. Within this method we associate a variable with a string name. By passing in the name of the data type we are interested in we can recieve back a float pointer to that data type. We can use that to read or set the data item in other classes. For example, the data charting system gets the pointer and then each time it needs to log a data point it reads the value into an array.

Author: dcofer

Date: 2/22/2011

Parameters

strDataType name of the data item for which we are looking.

Returns: float pointer of the data item. If not found then it throws an exception.

Exceptions

If	DataType is not found.

Reimplemented from AnimatSim::AnimatBase.

Definition at line 116 of file PidControl.cpp.

References AnimatSim::AnimatBase::GetDataPointer(), and StdUtils::Std_CheckString().

Here is the call graph for this function:

void AnimatSim::PidControl::QueryProperties ( CStdPtrArray< TypeProperty > & aryProperties )

virtual

Queries this object for a list of properties that can be changed using SetData.

The method provides a list of the properties that can be set using the SetData method. It gives the property name and the type of data that should be passed to it. Valid date types are Boolean, Float, Integer, and Xml.

Author: dcofer

Date: 2/22/2011

Parameters

aryNames	Array list of the property names.
strTypes	Array list of the type that is associated with the cooresponding name in the list.

Returns: Nothing.

Reimplemented from AnimatSim::AnimatBase.

Definition at line 208 of file PidControl.cpp.

References AnimatSim::AnimatBase::QueryProperties().

Here is the call graph for this function:

void AnimatSim::PidControl::ResetSimulation ( )

virtual

Resets the simulation back to time 0.

This method calls the ResetSimulation method on all subitems in order to reset the simulation back to the beginning.

Author: dcofer

Date: 3/1/2011

Reimplemented from AnimatSim::AnimatBase.

Definition at line 227 of file PidControl.cpp.

bool AnimatSim::PidControl::SetData	(	const std::string &	strDataType,
		const std::string &	strValue,
		bool	bThrowError = `true`
	)

virtual

Set a variable based on a string data type name.

This is a generic method that can be used to set any variable in an AnimatBase object by specifying the name of the variable and a string representation of that data. The GUI uses this method to set data into variables in the simulation when the user changes them in the UI. The value string can be as simple as a float or int, or as complex as an xml packet. It is the developers responsibilty to know what type of data is needed and to process it accordingly.

Author: dcofer

Date: 2/22/2011

Parameters

strDataType	string name of the data type to set.
strValue	The string value of the data. It is up to the developer to determine what this should be. For example, in most cases it is simply a float and you just have to convert it to a float and make the appropriate mutator method call. However, it can be any type of string, including an entire xml packet. It is the developers responsibility to know how to set and process the data as required.
bThrowError	true to throw error if there is a problem. If false then it will not return an error, just return false.

Returns: true if it succeeds, false if it fails.

Reimplemented from AnimatSim::AnimatBase.

Definition at line 128 of file PidControl.cpp.

References Enabled(), AnimatSim::AnimatBase::SetData(), StdUtils::Std_CheckString(), and StdUtils::Std_ToBool().

Here is the call graph for this function:

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

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation