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tgRBStringInfo.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_RB_STRING_INFO_H
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#define TG_RB_STRING_INFO_H
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#include "
tgcreator/tgConnectorInfo.h
"
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// This library
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#include "
tgRBString.h
"
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class
tgWorld
;
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class
CPGEquations
;
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class
tgNode
;
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class
tgRBStringInfo
:
public
tgConnectorInfo
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{
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public
:
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tgRBStringInfo
(
const
tgRBString::Config
& config);
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tgRBStringInfo
(
const
tgRBString::Config
& config,
tgTags
tags);
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tgRBStringInfo
(
const
tgRBString::Config
& config,
const
tgPair
& pair);
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virtual
~
tgRBStringInfo
()
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{}
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virtual
tgConnectorInfo
*
createConnectorInfo
(
const
tgPair
& pair)
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{
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return
new
tgRBStringInfo
(m_config, pair);
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}
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// Anything to do here?
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void
initConnector(
tgWorld
& world) {}
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virtual
tgModel
* createModel(
tgWorld
& world);
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const
int
getSegments()
const
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{
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return
m_config.m_segments;
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}
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// This isn't called by anything. Will we really need it for connectors?
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double
getMass()
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{
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// @todo: add up the rigid bodies
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return
0;
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}
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protected
:
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void
buildModel(
tgWorld
& world,
tgModel
* thisString);
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tgRBString::Config
m_config;
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};
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#endif // TG_RB_STRING_INFO_H
CPGEquations
Definition:
CPGEquations.h:41
tgModel
Definition:
tgModel.h:44
tgConnectorInfo.h
Definition of class tgConnectorInfo.
tgPair
Definition:
tgPair.h:47
tgRBStringInfo
Definition:
tgRBStringInfo.h:39
tgNode
Definition:
tgNode.h:43
tgRBString.h
Contains the definition of class tgRBString. A string with small rigid bodies to create contact dynam...
tgRBString::Config
Definition:
tgRBString.h:48
tgRBStringInfo::createConnectorInfo
virtual tgConnectorInfo * createConnectorInfo(const tgPair &pair)
Definition:
tgRBStringInfo.h:55
tgWorld
Definition:
tgWorld.h:37
tgTags
Definition:
tgTags.h:43
tgConnectorInfo
Definition:
tgConnectorInfo.h:44
dev
btietz
tgRBStringInfo.h
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