NTRT Simulator  Version: Master
 All Classes Namespaces Files Functions Variables Typedefs Friends Pages
BaseSpineModelGoal.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 BASE_SPINE_MODEL_GOAL_H
20 #define BASE_SPINE_MODEL_GOAL_H
21 
32 
33 #include "LinearMath/btVector3.h"
34 
35 class tgWorld;
36 class tgStructureInfo;
37 class tgBox;
39 
45 {
46 public:
47 
48  BaseSpineModelGoal(int segments, double goalAngle);
49 
50  virtual ~BaseSpineModelGoal();
51 
52  virtual void setup(tgWorld& world);
53 
54  virtual void teardown();
55 
56  virtual void step(double dt);
57 
58  btVector3 goalBoxPosition() const;
59 
60 
61 protected:
62 
63  tgBox* m_goalBox;
64 
65  double m_goalAngle;
66 
67 };
68 
69 #endif // BASE_SPINE_MODEL_GOAL_H
virtual void setup(tgWorld &world)
Definition: tgBox.h:43
virtual void step(double dt)
A template base class for a tensegrity spine.