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tgSimulation.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_SIMULATION_H
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#define TG_SIMULATION_H
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// The C++ Standard Library
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#include <iostream>
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#include <vector>
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// Forward declarations
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class
tgModel
;
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class
tgModelVisitor
;
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class
tgSimView
;
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class
tgWorld
;
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class
tgSimulation
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{
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public
:
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tgSimulation
(
tgSimView
& view);
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~
tgSimulation
();
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void
step
(
double
dt)
const
;
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void
run
()
const
;
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void
run
(
int
steps)
const
;
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void
addModel
(
tgModel
* pModel);
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void
onVisit(
const
tgModelVisitor
& r)
const
;
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void
reset();
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tgWorld
&
getWorld
()
const
;
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private
:
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void
teardown()
const
;
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bool
invariant()
const
;
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private
:
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tgSimView
& m_view;
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std::vector<tgModel*> m_models;
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};
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#endif // TG_SIMULATION_H
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tgSimulation
Definition:
tgSimulation.h:42
tgSimulation::getWorld
tgWorld & getWorld() const
Definition:
tgSimulation.cpp:100
tgModel
Definition:
tgModel.h:44
tgSimulation::addModel
void addModel(tgModel *pModel)
Definition:
tgSimulation.cpp:56
tgSimView
Definition:
tgSimView.h:33
tgModelVisitor
Definition:
tgModelVisitor.h:37
tgSimulation::tgSimulation
tgSimulation(tgSimView &view)
Definition:
tgSimulation.cpp:35
tgSimulation::run
void run() const
Definition:
tgSimulation.cpp:142
tgWorld
Definition:
tgWorld.h:37
tgSimulation::step
void step(double dt) const
Definition:
tgSimulation.cpp:105
core
tgSimulation.h
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