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FlemonsSpineModelGoal.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,
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14  * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
15  * either express or implied. See the License for the specific language
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18 
19 #ifndef FLEMONS_SPINE_MODEL_GOAL_H
20 #define FLEMONS_SPINE_MODEL_GOAL_H
21 
33 
34 #include "LinearMath/btVector3.h"
35 
36 class tgWorld;
37 class tgStructureInfo;
38 class tgBox;
40 
47 {
48 public:
49 
50  FlemonsSpineModelGoal(int segments, double goalAngle, double startAngle);
51 
52  virtual ~FlemonsSpineModelGoal();
53 
54  virtual void setup(tgWorld& world);
55 
56  virtual void teardown();
57 
58  virtual void step(double dt);
59 
60 protected:
61  const double m_startAngle;
62 
63 };
64 
65 #endif // FLEMONS_SPINE_MODEL_H
virtual void setup(tgWorld &world)
Implementing the tetrahedral complex spine inspired by Tom Flemons.
Definition: tgBox.h:43
A template base class for a tensegrity spine.
virtual void step(double dt)