19 #ifndef TG_RB_STRING_H
20 #define TG_RB_STRING_H
54 Config( std::size_t segments,
57 double minTotalLength = 0.1);
59 std::size_t m_segments;
62 double m_minTotalLength;
81 virtual void step(
double dt);
83 void changeMuscles (
double lengthPercent,
double dt);
89 virtual void tensionMinLengthController(
const double targetTension,
92 virtual const double getStartLength()
const;
99 virtual const double getCurrentLength()
const;
101 virtual const double getTension()
const;
103 virtual const double getRestLength()
const;
105 virtual const double getVelocity()
const;
107 const int getSegments()
const
109 return m_config.m_segments;
114 const double computeVelocity(
const double dt)
const;
116 void logHistory(
const double dt);
119 std::vector<tgLinearString*> allMuscles;
120 std::vector<tgRod*> allSegments;
126 double m_effectiveStiffness;
131 #endif // TG_RB_STRING_TEST_H
Contains the definition of abstract base class tgBaseString. Assumes that the string is linear (F = -...
virtual void moveMotors(double dt)
Definition of tgSubject class.
Contains the definition of class tgModel. $Id$.
virtual void setup(tgWorld &world)
virtual void step(double dt)
Contains the definition of class tgRod $Id$.