NTRT Simulator  Version: Master
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AppBuilderTest.cpp
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 #include <iostream>
20 
21 #include "core/tgModel.h"
22 #include "core/tgSimView.h"
23 #include "core/tgSimViewGraphics.h"
24 #include "core/tgSimulation.h"
25 #include "core/tgWorld.h"
26 #include "tgcreator/tgRodInfo.h"
27 
28 #include "BuildTestModel.h"
29 #include "BuildTestController.h"
30 
31 
32 int main(int argc, char** argv)
33 {
34  std::cout << "AppBuilderTest" << std::endl;
35 
36  // First create the world
37  tgWorld world;
38  // Second create the view
39  tgSimView view(world);
40  // Third create the simulation
41  tgSimulation simulation(view);
42  // Fourth create the models with their controllers and add the models to the
43  // simulation
44  BuildTestModel* const myModel = new BuildTestModel("BuildTestModel");
45  BuildTestController* const pMuscleControl = new BuildTestController();
46  myModel->attach(pMuscleControl);
47  simulation.addModel(myModel);
48 
49  simulation.run(1000);
50  //Teardown is handled by delete, so that should be automatic
51  return 0;
52 }
int main(int argc, char **argv)
Definition of class tgRodInfo.
Contains the definition of class tgSimulation.
Contains the definition of class tgModel.
Contains the definition of class tgSimViewGraphics.
Contains the definition of class tgWorld $Id$.
Contains the definition of class tgSimView.
void attach(tgObserver< T > *pObserver)
Definition: tgSubject.h:91