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tsTestRig.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 TS_TEST_RIG_H
20 #define TS_TEST_RIG_H
21 
30 // This library
31 #include "core/tgModel.h"
32 #include "core/tgSubject.h"
33 // The C++ Standard Library
34 #include <vector>
35 
36 // Forward declarations
38 class tgModelVisitor;
39 class tgStructure;
40 class tgWorld;
41 
46 class tsTestRig : public tgSubject<tsTestRig>, public tgModel
47 {
48 public:
49 
54  tsTestRig(bool kinematic = true);
55 
60  virtual ~tsTestRig();
61 
70  virtual void setup(tgWorld& world);
71 
76  virtual void teardown();
77 
82  virtual void step(double dt);
83 
91  virtual void onVisit(tgModelVisitor& r);
92 
97  const std::vector<tgSpringCableActuator*>& getAllMuscles() const;
98 
102  double getTotalTime() const
103  {
104  return totalTime;
105  }
106 
107 
108 private:
109 
116  static void addNodes(tgStructure& s);
117 
123  static void addRods(tgStructure& s);
124 
130  static void addMuscles(tgStructure& s);
131 
132 private:
137  std::vector<tgSpringCableActuator*> allMuscles;
138 
139  double totalTime;
140  bool reached;
141  bool useKinematic;
142 };
143 
144 #endif // Prism_MODEL_H
virtual void teardown()
Definition: tsTestRig.cpp:212
virtual void step(double dt)
Definition: tsTestRig.cpp:168
const std::vector< tgSpringCableActuator * > & getAllMuscles() const
Definition: tsTestRig.cpp:207
virtual ~tsTestRig()
Definition: tsTestRig.cpp:82
Definition of tgSubject class.
virtual void setup(tgWorld &world)
Definition: tsTestRig.cpp:109
virtual void onVisit(tgModelVisitor &r)
Definition: tsTestRig.cpp:201
tsTestRig(bool kinematic=true)
Definition: tsTestRig.cpp:76
Contains the definition of class tgModel.
double getTotalTime() const
Definition: tsTestRig.h:102