19 #ifndef SRC_UTIL_CPGS_CPGEQUATIONS
20 #define SRC_UTIL_CPGS_CPGEQUATIONS
51 int addNode(std::vector<double> newParams);
53 void connectNode(
int nodeIndex,
54 std::vector<CPGEdge*> connectivityList);
56 void defineConnections (
int nodeIndex,
57 std::vector<int> connections,
58 std::vector<double> newWeights,
59 std::vector<double> newPhaseOffsets);
61 double operator[](
const int i)
63 return nodeList[i]->nodeValue;
66 std::vector<double> getXVars();
68 std::vector<double> getDXVars();
70 void updateNodes(std::vector<double> descCom);
72 void updateNodeData(std::vector<double> newXVals);
77 void update(std::vector<double> descCom,
double dt);
79 std::string toString(
const std::string& prefix =
"")
const;
83 std::vector<CPGNode*> nodeList;
98 os << obj.toString() << std::endl;
102 #endif // SIMULATOR_SRC_LIB_MODELS_SNAKE_CPGS_CPGEQUATIONS
std::ostream & operator<<(std::ostream &os, const CPGEquations &obj)
void update(std::vector< double > descCom, double dt)
Definition of class CPGEdge.
Definition of class CPGNode.