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FlemonsSpineModelContact.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 FLEMONS_SPINE_MODEL_CONTACT_H
20 #define FLEMONS_SPINE_MODEL_CONTACT_H
21 
32 
33 class tgWorld;
34 class tgStructureInfo;
35 
42 {
43 public:
44 
45  FlemonsSpineModelContact(int segments);
46 
47  virtual ~FlemonsSpineModelContact();
48 
49  virtual void setup(tgWorld& world);
50 
51  virtual void teardown();
52 
53  virtual void step(double dt);
54 
55 };
56 
57 #endif // FLEMONS_SPINE_MODEL_H
virtual void setup(tgWorld &world)
A template base class for a tensegrity spine.