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TetraSpineGoal.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 TETRA_SPINE_GOAL
20 #define TETRA_SPINE_GOAL
21 
31 // This library
33 
34 // Forward Declarations
35 class tgWorld;
36 
37 
44 {
45 public:
46 
47 
48  TetraSpineGoal(size_t segments, double goalAngle, double scale);
49 
50  virtual ~TetraSpineGoal();
51 
52  virtual void setup(tgWorld& world);
53 
54  virtual void teardown();
55 
56  virtual void step(const double dt);
57 
58  const double scaleFactor;
59 
60 };
61 
62 #endif
virtual void teardown()
Implementing the tetrahedral complex spine inspired by Tom Flemons.
virtual void setup(tgWorld &world)
virtual void step(const double dt)