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T6TensionController.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 T6_TENSION_CONTROLLER_H
20 #define T6_TENSION_CONTROLLER_H
21 
30 // This library
31 #include "core/tgObserver.h"
33 
34 // The C++ Standard Library
35 #include <vector>
36 
37 // Forward declarations
38 class T6Model;
39 
44 class T6TensionController : public tgObserver<T6Model>
45 {
46 public:
47 
53  T6TensionController(const double tension = .01);
54 
58  virtual ~T6TensionController();
59 
60  virtual void onSetup(T6Model& subject);
61 
70  virtual void onStep(T6Model& subject, double dt);
71 
72 private:
73 
78  const double m_tension;
79 
80  std::vector<tgTensionController*> m_controllers;
81 };
82 
83 #endif // T6_TENSION_CONTROLLER_H
Definition of tgObserver class.
Definition of the tgTensionController base class.
virtual void onStep(T6Model &subject, double dt)
virtual void onSetup(T6Model &subject)
T6TensionController(const double tension=.01)