TetraSpineStaticModel_hf.h

/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

#ifndef TETRA_SPINE_STATIC_MODEL_HF_H
#define TETRA_SPINE_STATIC_MODEL_HF_H

// This library
#include "examples/learningSpines/BaseSpineModelLearning.h"

// The C++ Standard Library
#include <vector>

// Forward Declarations
class tgWorld;


class TetraSpineStaticModel_hf: public BaseSpineModelLearning
{
public: 

    
    TetraSpineStaticModel_hf(size_t segments);

    virtual ~TetraSpineStaticModel_hf();
    
    virtual void setup(tgWorld& world);
    
    virtual void teardown();
    
    virtual void step(const double dt);
    
    std::vector<double> getStringMaxTensions() const;

};

#endif