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T6Model.h
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_MODEL_H
20 #define T6_MODEL_H
21 
28 // This library
29 #include "core/tgModel.h"
30 #include "core/tgSubject.h"
31 // The C++ Standard Library
32 #include <vector>
33 
34 // Forward declarations
35 class tgBasicActuator;
36 class tgModelVisitor;
37 class tgStructure;
38 class tgWorld;
39 
43 class T6Model : public tgSubject<T6Model>, public tgModel
44 {
45 public:
46 
52  T6Model();
53 
58  virtual ~T6Model();
59 
68  virtual void setup(tgWorld& world);
69 
74  void teardown();
75 
80  virtual void step(double dt);
81 
89  virtual void onVisit(tgModelVisitor& r);
90 
95  const std::vector<tgBasicActuator*>& getAllMuscles() const;
96 
101  const std::vector<tgBasicActuator*>& getPassiveMuscles() const;
102 
107  const std::vector<tgBasicActuator*>& getActiveMuscles() const;
108 
114  virtual const double muscleRatio();
115 
116 private:
117 
124  static void addNodes(tgStructure& s);
125 
131  static void addRods(tgStructure& s);
132 
138  static void addMuscles(tgStructure& s);
139 
140 private:
141 
146  std::vector<tgBasicActuator*> allMuscles;
147 
152  std::vector<tgBasicActuator*> passiveMuscles;
153 
158  std::vector<tgBasicActuator*> activeMuscles;
159 };
160 
161 #endif // T6_MODEL_H
Definition of tgSubject class.
virtual void onVisit(tgModelVisitor &r)
Definition: T6Model.cpp:242
const std::vector< tgBasicActuator * > & getAllMuscles() const
Definition: T6Model.cpp:247
const std::vector< tgBasicActuator * > & getPassiveMuscles() const
Definition: T6Model.cpp:252
virtual void setup(tgWorld &world)
Definition: T6Model.cpp:174
Contains the definition of class tgModel.
void teardown()
Definition: T6Model.cpp:268
virtual void step(double dt)
Definition: T6Model.cpp:227
virtual ~T6Model()
Definition: T6Model.cpp:104
const std::vector< tgBasicActuator * > & getActiveMuscles() const
Definition: T6Model.cpp:257
T6Model()
Definition: T6Model.cpp:100
virtual const double muscleRatio()
Definition: T6Model.cpp:262