NTRT Simulator  v1.1
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tgKinematicContactCableInfo.cpp
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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 
28 
30 
32 m_config(config),
34 {}
35 
37 m_config(config),
38 tgBasicContactCableInfo(config, tags)
39 {}
40 
42 m_config(config),
43 tgBasicContactCableInfo(config, pair)
44 {}
45 
46 
48 {
49  return new tgKinematicContactCableInfo(m_config, pair);
50 }
51 
52 tgModel* tgKinematicContactCableInfo::createModel(tgWorld& world)
53 {
54  // Don't have to do anything in the world for a Muscle2P...
55  // @todo: set the name based on joined tags, or remove name from the model...
56  //std::cout << "tgKinematicContactCableInfo::createModel" << std::endl;
57 
58  // ensure connector has been initialized
59  assert(m_bulletContactSpringCable);
60  return new tgKinematicActuator(m_bulletContactSpringCable, getTags(), m_config);
61 }
62 
virtual tgConnectorInfo * createConnectorInfo(const tgPair &pair)
tgKinematicContactCableInfo(const tgKinematicActuator::Config &config)
Definition: tgPair.h:48
Definition of a massless cable with contact dynamics.
Definition of class tgKinematicContactCableInfo.
Definition: tgTags.h:44