NTRT Simulator  Version: Master
 All Classes Namespaces Files Functions Variables Typedefs Friends Pages
AppNestedTetrahedrons.cpp
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 
28 // This application
31 // This library
32 #include "core/tgModel.h"
33 #include "core/tgSimViewGraphics.h"
34 #include "core/tgSimulation.h"
35 #include "core/tgWorld.h"
36 // The C++ Standard Library
37 #include <iostream>
38 
45 int main(int argc, char** argv)
46 {
47  std::cout << "AppNestedStructureTest" << std::endl;
48 
49  // First create the world
50  const tgWorld::Config config(981); // gravity, cm/sec^2
51  tgWorld world(config);
52 
53  // Second create the view
54  const double stepSize = 1.0/1000.0; //Seconds
55  tgSimViewGraphics view(world, stepSize);
56 
57  // Third create the simulation
58  tgSimulation simulation(view);
59 
60  // Fourth create the models with their controllers and add the models to the
61  // simulation
62  const int segments = 12;
63  NestedStructureTestModel* myModel = new NestedStructureTestModel(segments);
64  NestedStructureSineWaves* const pMuscleControl =
66  myModel->attach(pMuscleControl);
67  simulation.addModel(myModel);
68 
69  // Run until the user stops
70  simulation.run();
71 
72  //Teardown is handled by delete, so that should be automatic
73  return 0;
74 }
Contains the definition of class NestedStructureTestModel.
void addModel(tgModel *pModel)
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 NestedStructureSineWaves.
void run() const
void attach(tgObserver< T > *pObserver)
Definition: tgSubject.h:91
int main(int argc, char **argv)