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CPGNodeFB.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_CPG_NODE_FB
20 #define CPG_FEEDBACK_CPG_NODE_FB
21 
30 #include "util/CPGNode.h"
31 
32 #include <vector>
33 #include <sstream>
34 
35 //Forward Declaration
36 class CPGEdge;
37 
38 class CPGNodeFB : public CPGNode
39 {
40  friend class CPGEquationsFB;
41 
42  public:
43 
48  CPGNodeFB(int nodeNum, const std::vector<double> & params);
49 
50  virtual ~CPGNodeFB();
51 
57  virtual void updateDTs(const std::vector<double>& feedback);
58 
59  void updateNodeValues ( double newR,
60  double newPhi,
61  double newO);
62 
63  protected:
64 
68  double omega;
69  double omegaDot;
70 
71  const double kFreq;
72  const double kAmp;
73  const double kPhase;
74 
75 };
76 #endif // SIMULATOR_SRC_LIB_MODELS_SNAKE_CPGS_CPGNODE
double omega
Definition: CPGNodeFB.h:68
CPGNodeFB(int nodeNum, const std::vector< double > &params)
Definition: CPGNodeFB.cpp:37
virtual void updateDTs(const std::vector< double > &feedback)
Definition: CPGNodeFB.cpp:55
Definition of class CPGNode.