Inheritance diagram for CPGEquations:

Public Member Functions
	CPGEquations (int maxSteps=200)

	CPGEquations (std::vector< CPGNode * > &newNodeList, int maxSteps=200)

int	addNode (std::vector< double > &newParams)

void	defineConnections (int nodeIndex, std::vector< int > connections, std::vector< double > newWeights, std::vector< double > newPhaseOffsets)

const double	operator[] (const std::size_t i) const

virtual std::vector< double > &	getXVars ()

virtual std::vector< double > &	getDXVars ()

virtual void	updateNodes (std::vector< double > &descCom)

virtual void	updateNodeData (std::vector< double > newXVals)

void	update (std::vector< double > &descCom, double dt)

std::string	toString (const std::string &prefix="") const

void	countStep ()

Detailed Description

The top level class for interfacing with CPGs. Contains the definition of the CPG (list of nodes) as well as functions to interface with ODEInt

Definition at line 39 of file CPGEquations.h.

Member Function Documentation

Call the integrator a the specified timestep

Read information from nodes into variables that work for ODEInt

Run ODEInt. This will change the data in xVars

Definition at line 231 of file CPGEquations.cpp.

The documentation for this class was generated from the following files: