NTRT Simulator
v1.1
Main Page
Related Pages
Namespaces
Classes
Files
File List
File Members
All
Classes
Namespaces
Files
Functions
Variables
Typedefs
Friends
Pages
tgBaseCPGNode.h
Go to the documentation of this file.
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_BASE_STRING_CPG_H
20
#define TG_BASE_STRING_CPG_H
21
30
// Forward declarations
31
class
CPGEquations
;
32
class
tgImpedanceController
;
33
42
class
tgBaseCPGNode
43
{
44
public
:
45
46
virtual
~
tgBaseCPGNode
();
47
48
// Top level model is responsible for stepping the CPG
49
virtual
double
getCPGValue()
const
;
50
51
protected
:
52
53
tgBaseCPGNode
();
54
55
tgImpedanceController
& motorControl()
const
;
56
57
virtual
void
setupControl(
tgImpedanceController
& ipc);
58
59
double
controlLength()
const
{
return
m_controlLength; }
60
61
// We don't own this
62
CPGEquations
* m_pCPGSystem;
63
64
int
m_nodeNumber;
65
66
double
m_controlLength;
67
private
:
68
// We own this
69
tgImpedanceController
* m_pMotorControl;
70
71
};
72
73
74
#endif
tgImpedanceController
Definition:
tgImpedanceController.h:34
CPGEquations
Definition:
CPGEquations.h:39
tgBaseCPGNode
Definition:
tgBaseCPGNode.h:42
util
tgBaseCPGNode.h
Generated on Fri Jan 9 2015 15:38:48 for NTRT Simulator by
1.8.7