19 #ifndef BASE_SPINE_MODEL_LEARNING_H
20 #define BASE_SPINE_MODEL_LEARNING_H
52 typedef std::map<std::string, std::vector<tgSpringCableActuator*> > MuscleMap;
60 virtual void step(
double dt);
62 virtual std::vector<double> getSegmentCOM(
const int n)
const;
64 virtual const std::vector<tgSpringCableActuator*>& getMuscles(
const std::string& key)
const;
66 virtual const std::vector<tgSpringCableActuator*>& getAllMuscles();
68 virtual const std::vector<tgBaseRigid*> getAllRigids();
70 virtual const int getSegments();
72 virtual std::size_t getNumberofMuslces()
const
74 return m_allMuscles.size();
81 std::vector<tgSpringCableActuator*> m_allMuscles;
83 std::vector<tgModel*> m_allSegments;
85 MuscleMap m_muscleMap;
87 const std::size_t m_segments;
90 #endif // BASE_SPINE_MODEL_H
Definition of tgSubject class.
virtual void setup(tgWorld &world)
Contains the definition of class tgModel.
virtual void step(double dt)