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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 
40 //#define SMALL_HILLS
41 //#define LARGE_HILLS
42 #define BLOCKY_GROUND
43 //#define STAIRS
44 #define FLAT_GROUND
45 
47 class tgWorld;
48 class tgStructure; //Do I need this, or tgStructureInfo?
49 class tgStructureInfo; //Do I need this, or just tgStructure, or both?
50 class tgBasicActuator;
51 
52 class BigPuppy: public tgSubject<BigPuppy>, public tgModel
53 {
54 public:
55 
56  BigPuppy();
57 
58  virtual ~BigPuppy();
59 
68  virtual void setup(tgWorld& world);
69 
74  virtual void teardown();
75 
80  virtual void step(double dt);
81 
86  const std::vector<tgSpringCableActuator*>& getAllActuators() const;
87 
88 private:
93  std::vector<tgSpringCableActuator*> allActuators;
94 };
95 
96 #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