NTRT Simulator  Version: Master
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AppNestedBoxTetrahedrons.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 
28 // This application
29 #include "NestedBoxTestModel.h"
30 // This library
31 #include "core/tgModel.h"
32 #include "core/tgSimViewGraphics.h"
33 #include "core/tgSimulation.h"
34 #include "core/tgWorld.h"
37 // The C++ Standard Library
38 #include <iostream>
39 
46 int main(int argc, char** argv)
47 {
48  std::cout << "AppNestedBoxTest" << std::endl;
49 
50  tgBoxGround* ground = new tgBoxGround();
51 
52  // First create the world
53  const tgWorld::Config config(981); // gravity, cm/sec^2
54  tgWorld world(config, ground);
55 
56  // Second create the view
57  const double stepSize = 1.0/1000.0; //Seconds
58  tgSimViewGraphics view(world, stepSize);
59 
60  // Third create the simulation
61  tgSimulation simulation(view);
62 
63  // Fourth create the models with their controllers and add the models to the
64  // simulation
65  const int segments = 3;
66  NestedBoxTestModel* myModel = new NestedBoxTestModel(segments);
67 
68  simulation.addModel(myModel);
69 
70  // Run until the user stops
71  simulation.run();
72 
73  //Teardown is handled by delete, so that should be automatic
74  return 0;
75 }
int main(int argc, char **argv)
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 NestedBoxTestModel.
Contains the definition of class tgBoxGround.
Contains the definition of class tgEmptyGround.