NTRT Simulator  Version: Master
 All Classes Namespaces Files Functions Variables Typedefs Friends Pages
JSONGoalTensionNNW.h
Go to the documentation of this file.
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 JSON_GOAL_TENSION_NNW_H
20 #define JSON_GOAL_TENSION_NNW_H
21 
32 
33 #include <json/value.h>
34 
35 
45 {
46 public:
47 
49  std::string args,
50  std::string resourcePath = "");
51 
52  virtual ~JSONGoalTensionNNW();
53 
54  virtual void onSetup(BaseSpineModelLearning& subject);
55 
56  virtual void onStep(BaseSpineModelLearning& subject, double dt);
57 
58  virtual void onTeardown(BaseSpineModelLearning& subject);
59 
60 protected:
61 
62  virtual std::vector<double> getGoalFeedback(const BaseSpineModelGoal* subject);
63 
64  double m_totalTime;
65 
66 };
67 
68 #endif // SPINE_FEEDBACK_CONTROL_H
A controller for the template class BaseSpineModelLearning.
virtual void onSetup(BaseSpineModelLearning &subject)
JSONGoalTensionNNW(JSONGoalControl::Config config, std::string args, std::string resourcePath="")
virtual std::vector< double > getGoalFeedback(const BaseSpineModelGoal *subject)
virtual void onStep(BaseSpineModelLearning &subject, double dt)
A controller for the template class BaseSpineModelLearning.
virtual void onTeardown(BaseSpineModelLearning &subject)