NTRT Simulator  Version: Master
 All Classes Namespaces Files Functions Variables Typedefs Friends Pages
RibModelMixedContact.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 RIB_MODEL_MIXED_CONTACT_H
20 #define RIB_MODEL_MIXED_CONTACT_H
21 
33 
34 class tgWorld;
35 
41 {
42 public:
43 
44  RibModelMixedContact(int segments);
45 
46  virtual ~RibModelMixedContact();
47 
48  virtual void setup(tgWorld& world);
49 
50  virtual void teardown();
51 
52  virtual void step(double dt);
53 
54 };
55 
56 #endif // RIB_MODEL_MIXED_CONTACT_H
57 
A template base class for a tensegrity spine.
virtual void step(double dt)
virtual void setup(tgWorld &world)