Public Member Functions
	CPGEquations (std::vector< CPGNode * > newNodeList)

int	addNode (std::vector< double > newParams)

void	connectNode (int nodeIndex, std::vector< CPGEdge * > connectivityList)

void	defineConnections (int nodeIndex, std::vector< int > connections, std::vector< double > newWeights, std::vector< double > newPhaseOffsets)

double	operator[] (const int i)

std::vector< double >	getXVars ()

std::vector< double >	getDXVars ()

void	updateNodes (std::vector< double > descCom)

void	updateNodeData (std::vector< double > newXVals)

void	update (std::vector< double > descCom, double dt)

std::string	toString (const std::string &prefix="") const

Detailed Description

The top level class for interfacing with CPGs. Contains the definition of the CPG (list of nodes) as well as functions to interface with ODEInt

Definition at line 41 of file CPGEquations.h.

Member Function Documentation

Call the integrator a the specified timestep

Read information from nodes into variables that work for ODEInt

Run ODEInt. This will change the data in xVars

Definition at line 192 of file CPGEquations.cpp.

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