NTRT Simulator  v1.1
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testTgStructureInfo.cpp
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 
20 #include "tgcreator/tgStructure.h"
21 #include "tgcreator/tgBuildSpec.h"
22 
23 int main(int argc, char** argv)
24 {
25 
26  tgStructure structure;
27 
28  structure.addNode(0,0,0, "origin");
29  structure.addNode(1,2,3);
30  structure.addNode(5,4,3);
31 
32  structure.addPair(0, 1, "rod 0-1");
33  structure.addPair(1, 2, "rod 1-2");
34  structure.addPair(2, 0, "rod 2-0");
35 
36 
37 
38  tgBuildSpec buildSpec;
39  buildSpec.addBuilder("rod", new tgRodBuilder())
40 
41 }
void addPair(int fromNodeIdx, int toNodeIdx, std::string tags="")
Definition: tgStructure.cpp:66
Definition of class tgStructure.
Definition of class tgStructureInfo.
int main(int argc, char **argv)
Definition of class tgBuildSpec.
void addNode(double x, double y, double z, std::string tags="")
Definition: tgStructure.cpp:56