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CPGEquationsFB.h
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1 /*
2  * Copyright © 2012, United States Government, as represented by the
3  * Administrator of the National Aeronautics and Space Administration.
4  * All rights reserved.
5  *
6  * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
7  * under the Apache License, Version 2.0 (the "License");
8  * you may not use this file except in compliance with the License.
9  * You may obtain a copy of the License at
10  * http://www.apache.org/licenses/LICENSE-2.0.
11  *
12  * Unless required by applicable law or agreed to in writing,
13  * software distributed under the License is distributed on an
14  * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
15  * either express or implied. See the License for the specific language
16  * governing permissions and limitations under the License.
17 */
18 
19 #ifndef CPG_FEEDBACK_CPGEQUATIONS_FB
20 #define CPG_FEEDBACK_CPGEQUATIONS_FB
21 
30 #include "util/CPGEquations.h"
31 
32 #include "CPGNodeFB.h"
33 
34 
35 #include <vector>
36 #include <assert.h>
37 #include <sstream>
38 
39 
45 {
46  public:
47 
48  CPGEquationsFB(int maxSteps = 200);
49 
50  CPGEquationsFB(std::vector<CPGNode*>& newNodeList, int maxSteps = 200);
51 
52  ~CPGEquationsFB();
53 
54  int addNode(std::vector<double>& newParams);
55 
56  std::vector<double>& getXVars();
57 
58  std::vector<double>& getDXVars();
59 
60  void updateNodes(std::vector<double>& descCom);
61 
62  void updateNodeData(std::vector<double> newXVals);
63 
64 };
65 
66 #endif // SIMULATOR_SRC_LIB_MODELS_SNAKE_CPGS_CPGEQUATIONS
Definition of class CPGNodeFB.
Definition of class CPGEquations.