NTRT Simulator  v1.1
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tgTensionController.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 SRC_CONTROLLERS_TG_TENSION_CONTROLLER_H
20 #define SRC_CONTROLLERS_TG_TENSION_CONTROLLER_H
21 
30 #include "tgBasicController.h"
31 
32 // Forward declarations
33 class tgControllable;
34 class tgBasicActuator;
35 
41 {
42 public:
43 
49  tgTensionController(tgBasicActuator* controllable, double setPoint = 0.0);
50 
54  virtual ~tgTensionController();
55 
61  virtual void control(double dt);
62 
71  virtual void control(double dt, double setPoint, double sensorData = 0);
72 
83  static void control(tgBasicActuator& sca, double dt, double setPoint);
84 private:
89  tgBasicActuator* m_sca;
90 
91 };
92 
93 #endif // SRC_CONTROLLERS_TG_TENSION_CONTROLLER_H
94 
virtual void control(double dt)
tgTensionController(tgBasicActuator *controllable, double setPoint=0.0)
Definition of the tgBasicController base class.