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tgPrismaticInfo.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 TG_PRISMATIC_INFO_H
20 #define TG_PRISMATIC_INFO_H
21 
30 #include "tgPrismatic.h"
32 
33 class btSliderConstraint;
34 
36 {
37 public:
38 
39  tgPrismaticInfo(const tgPrismatic::Config& config);
40 
41  tgPrismaticInfo(const tgPrismatic::Config& config, tgTags tags);
42 
43  tgPrismaticInfo(const tgPrismatic::Config& config, const tgPair& pair);
44 
45  ~tgPrismaticInfo();
46 
50  virtual tgConnectorInfo* createConnectorInfo(const tgPair& pair);
51 
52  void initConnector(tgWorld& world);
53 
54  virtual tgModel* createModel(tgWorld& world);
55 
56  double getMass();
57 
58  btSliderConstraint* createSlider();
59 
60 protected:
61  tgPrismatic::Config m_config;
62 };
63 
64 #endif
Contains the definition of class tgPrismatic. A prismatic actuator.
Definition of class tgConnectorInfo.
Definition: tgPair.h:48
virtual tgConnectorInfo * createConnectorInfo(const tgPair &pair)
Definition: tgTags.h:44