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tgBaseCPGNode.h
Go to the documentation of this file.
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/*
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* Copyright © 2012, United States Government, as represented by the
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* Administrator of the National Aeronautics and Space Administration.
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* All rights reserved.
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*
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* The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
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* under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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* http://www.apache.org/licenses/LICENSE-2.0.
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*
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* Unless required by applicable law or agreed to in writing,
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* software distributed under the License is distributed on an
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* "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
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* either express or implied. See the License for the specific language
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* governing permissions and limitations under the License.
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*/
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#ifndef TG_BASE_STRING_CPG_H
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#define TG_BASE_STRING_CPG_H
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// Forward declarations
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class
CPGEquations
;
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class
ImpedanceControl
;
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class
tgBaseCPGNode
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{
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public
:
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virtual
~
tgBaseCPGNode
();
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// Top level model is responsible for stepping the CPG
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virtual
double
getCPGValue()
const
;
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protected
:
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tgBaseCPGNode
();
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ImpedanceControl
& motorControl()
const
;
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virtual
void
setupControl(
ImpedanceControl
& ipc);
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double
controlLength()
const
{
return
m_controlLength; }
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// We don't own this
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CPGEquations
* m_pCPGSystem;
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int
m_nodeNumber;
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double
m_controlLength;
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private
:
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// We own this
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ImpedanceControl
* m_pMotorControl;
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};
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#endif
CPGEquations
Definition:
CPGEquations.h:41
ImpedanceControl
Definition:
ImpedanceControl.h:33
tgBaseCPGNode
Definition:
tgBaseCPGNode.h:42
util
tgBaseCPGNode.h
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