19 #ifndef TG_BASE_STRING_H
20 #define TG_BASE_STRING_H
60 double mxAcc = 10000.0,
69 void scale (
double sf);
176 virtual void step(
double dt);
187 virtual void tensionMinLengthController(
const double targetTension,
190 virtual void setRestLength(
double newLength,
float dt);
192 virtual const double getStartLength()
const = 0;
194 virtual const double getCurrentLength()
const = 0;
196 virtual const double getTension()
const = 0;
198 virtual const double getRestLength()
const = 0;
200 virtual const double getVelocity()
const = 0;
211 double actualLength);
216 double actualLength);
235 double m_preferredLength;
251 void constructorAux();
254 bool invariant()
const;
virtual void step(double dt)
std::deque< double > lastLengths
virtual void setup(tgWorld &wdorld)
std::deque< double > dampingHistory
std::deque< double > tensionHistory
Contains the definition of class tgModel. $Id$.
virtual void moveMotors(double dt)=0
Config(double s=1000.0, double d=10.0, bool h=false, double rot=0, double mf=1000.0, double tVel=100.0, double mxAcc=10000.0, double mnAL=0.1, double mnRL=0.1)
BaseStringHistory *const m_pHistory
std::deque< double > lastVelocities
tgBaseString(const tgTags &tags, tgBaseString::Config &config, double restLength, double actualLength)
std::deque< double > restLengths