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BigPuppy.h
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 BIGPUPPY_H
20 #define BIGPUPPY_H
21 
31 // This library
32 #include "core/tgModel.h"
33 #include "core/tgSubject.h"
34 // The C++ Standard Library
35 #include <map>
36 #include <set>
37 #include <string>
38 #include <vector>
39 
41 class tgWorld;
42 class tgStructure; //Do I need this, or tgStructureInfo?
43 class tgStructureInfo; //Do I need this, or just tgStructure, or both?
44 class tgBasicActuator;
45 
46 class BigPuppy: public tgSubject<BigPuppy>, public tgModel
47 {
48 public:
49 
50  BigPuppy();
51 
52  virtual ~BigPuppy();
53 
62  virtual void setup(tgWorld& world);
63 
68  virtual void teardown();
69 
74  virtual void step(double dt);
75 
80  const std::vector<tgSpringCableActuator*>& getAllActuators() const;
81 
82 private:
83 
92  void addNodesFoot(tgStructure& s, double r1, double r2);
93 
99  static void addRodsFoot(tgStructure& s);
100 
108  void addNodesLeg(tgStructure& s, double r);
109 
115  static void addRodsLeg(tgStructure& s);
116 
124  void addNodesHip(tgStructure& s, double r);
125 
131  static void addRodsHip(tgStructure& s);
132 
141  void addNodesVertebra(tgStructure& s, double r);
142 
149  static void addRodsVertebra(tgStructure& s);
150 
161  void addSegments(tgStructure& puppy, tgStructure& vertebra, tgStructure& hip, tgStructure& leg, tgStructure& foot,
162  double r, std::size_t segments, std::size_t hips, std::size_t legs, std::size_t feet);
163 
169  void addMuscles(tgStructure& puppy, std::size_t segments, std::size_t hips, std::size_t legs, std::size_t feet);
170 
175  std::vector<tgSpringCableActuator*> allActuators;
176 };
177 
178 #endif
virtual void step(double dt)
Definition: BigPuppy.cpp:677
Definition of tgSubject class.
const std::vector< tgSpringCableActuator * > & getAllActuators() const
Definition: BigPuppy.cpp:692
virtual void teardown()
Definition: BigPuppy.cpp:697
Contains the definition of class tgModel.
virtual void setup(tgWorld &world)
Definition: BigPuppy.cpp:62