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CaterpillarModel.h
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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 Caterpillar_MODEL_H
20 #define Caterpillar_MODEL_H
21 
28 // This library
29 #include "core/tgModel.h"
30 #include "core/tgSubject.h"
31 // The C++ Standard Library
32 #include <vector>
33 
34 // Forward declarations
36 class tgModelVisitor;
37 class tgStructure;
38 class tgWorld;
39 
43 class CaterpillarModel : public tgSubject<CaterpillarModel>, public tgModel
44 {
45 public:
46 
53 
58  virtual ~CaterpillarModel();
59 
68  virtual void setup(tgWorld& world);
69 
74  void teardown();
75 
80  virtual void step(double dt);
81 
89  virtual void onVisit(tgModelVisitor& r);
90 
95  const std::vector<tgSpringCableActuator*>& getAllMuscles() const;
96 
97 private:
98 
105  static void addNodes(tgStructure& s);
106 
112  static void addRods(tgStructure& s);
113 
119  static void addMuscles(tgStructure& s);
120 
121 private:
122 
127  std::vector<tgSpringCableActuator*> allMuscles;
128 };
129 
130 #endif // Caterpillar_MODEL_H
const std::vector< tgSpringCableActuator * > & getAllMuscles() const
Definition of tgSubject class.
Contains the definition of class tgModel.
virtual void setup(tgWorld &world)
virtual void step(double dt)
virtual void onVisit(tgModelVisitor &r)