19 #ifndef TG_CPG_STRING_CONTRL_H
20 #define TG_CPG_STRING_CONTRL_H
25 #include "boost/multi_array.hpp"
27 typedef boost::multi_array<double, 2> array_2D;
28 typedef boost::multi_array<double, 4> array_4D;
59 void setConnectivity(
const std::vector<tgCPGStringControl*>& allStrings,
62 const int getNodeNumber()
const
75 const double getCommandedTension()
const
77 return m_commandedTension;
83 double controlLength);
85 const btRigidBody* getFromBody()
const
90 const btRigidBody* getToBody()
const
100 double m_controlTime;
105 const double m_controlStep;
107 double m_commandedTension;
109 btRigidBody* m_pFromBody;
111 btRigidBody* m_pToBody;
virtual void onAttach(tgLinearString &subject)
virtual void onStep(tgLinearString &subject, double dt)
const CPGEquations * getCPGSys() const
void setConnectivity(const std::vector< tgCPGStringControl * > &allStrings, array_4D edgeParams)
Contains the definition of class tgLinearString.
void assignNodeNumber(CPGEquations &CPGSys, array_2D nodeParams)
Definition of class tgBaseCPGNode.