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tgCPGCableControl.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 TG_CPG_CABLE_CONTROL_H
20 #define TG_CPG_CABLE_CONTROL_H
21 
25 // The Boost library
26 #include "boost/multi_array.hpp"
27 
29 {
30 public:
31 
32  tgCPGCableControl(const tgPIDController::Config pid_config, const double controlStep = 1.0/10000.0);
33 
34  virtual ~tgCPGCableControl();
35 
36  virtual void onSetup(tgSpringCableActuator& subject);
37 
38  virtual void onStep(tgSpringCableActuator& subject, double dt);
39 
44  void assignNodeNumberFB (CPGEquationsFB& CPGSys, array_2D nodeParams);
45 
46 protected:
47  const tgPIDController::Config m_config;
48 
49  tgPIDController* m_PID;
50 
51 };
52 
53 
54 #endif
virtual void onStep(tgSpringCableActuator &subject, double dt)
virtual void onSetup(tgSpringCableActuator &subject)
Definition of the tgCPGStringControl observer class.
Contains the definition of abstract base class tgSpringCableActuator. Assumes that the string is line...
Definition of the tgPIDController class.
void assignNodeNumberFB(CPGEquationsFB &CPGSys, array_2D nodeParams)