class dynoTimer

an object that gets called periodically during simulation.

Inheritance:

Public Fields

dynoTimerCallback cb

a user-specified callback

void* userData

user-specified callback data

int alwaysUpdate

indicates that the timer should always be called after a simulation time step.

double dt

the desired time between steps.

double nextTime

the next time the timer's doAction method will be called

Public Methods

typedef int (*dynoTimerCallback)(void* userData, dynoTimer* tm, double t, timerAction &action)

a type for the optional user callback supplied to the constructor

dynoTimer(dynoTimerCallback CB, double Dt, void* UserData)

constructor

virtual int doAction(double currentTime, timerAction &action)

this method is called by the dynamicSystem at the time specified by nextTime, to within the dynamicSystem's timer resolution (determined by dynamicSystem::ticksPerSecond).

virtual int reschedule(double newDt = -1)

reschedules the timer to go at ds->currentTime()+dt.

Public Members

enum timerAction

actions to be taken after the current timer update

• CONTINUE - schedule the next update in 'dt' seconds
• PAUSE - deactive the timer, but don't remove it from the system
• DELETE - remove the timer from the system and delete it

Inherited from dynoObject:

Public Fields

dynamicSystem* ds

int active

int stateSize

Public Methods

inline virtual int getState(double* state)

inline virtual int setState(const double* state)

inline virtual int reset(void)

Inherited from synObject:

Public Fields

static int staticClassID

int objectID

int verboseLevel

Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const

Documentation

an object that gets called periodically during simulation. The dynoTimer allows periodic events to be triggered, such as updating a controller's torque commands. A dynamicSystem must be supplied to the constructor, and the dynoTimer will be automatically deleted by the dynamicSystem when the dynamicSystem is deleted. To enforce this, the destructor is a protected method, so dynoTimers cannot be created except by the new operator.

enum timerAction

actions to be taken after the current timer update

• CONTINUE - schedule the next update in 'dt' seconds
• PAUSE - deactive the timer, but don't remove it from the system
• DELETE - remove the timer from the system and delete it

typedef int (*dynoTimerCallback)(void* userData, dynoTimer* tm, double t, timerAction &action)

a type for the optional user callback supplied to the constructor

dynoTimerCallback cb

a user-specified callback

void* userData

user-specified callback data

int alwaysUpdate

indicates that the timer should always be called after a simulation time step. nextTime is used as an upper limit on the amount of time between calls

double dt

the desired time between steps. subclasses or callbacks can change the value of dt, and doAction will compute the next time at which the timer will be called.

double nextTime

the next time the timer's doAction method will be called

dynoTimer(dynoTimerCallback CB, double Dt, void* UserData)

constructor

virtual int doAction(double currentTime, timerAction &action)

this method is called by the dynamicSystem at the time specified by nextTime, to within the dynamicSystem's timer resolution (determined by dynamicSystem::ticksPerSecond). The current simulation time is passed in currentTime. If the timer wishes to be paused or deleted, it can set 'action' to dynoTimer::PAUSE or dynoTimer::DETELE. Otherwise, doAction will compute nextTime as currentTime+dt. When 'action' is set to dynoTimer::DELETE, the timer will be deleted by the dynamicSystem

virtual int reschedule(double newDt = -1)

reschedules the timer to go at ds->currentTime()+dt. If newDt is greater than zero, than dt is first set to newDt.

This class has no child classes.

Friends:

dynamicSystem

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