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tgBaseCPGNode Class Reference

#include <tgBaseCPGNode.h>

Inheritance diagram for tgBaseCPGNode:
Collaboration diagram for tgBaseCPGNode:

Public Member Functions

virtual double getCPGValue () const
void updateTensionSetpoint (double newTension)
void updateControlLength (double newControlLength)

Protected Member Functions

tgImpedanceControllermotorControl () const
virtual void setupControl (tgImpedanceController &ipc)
double controlLength () const

Protected Attributes

int m_nodeNumber
double m_controlLength

Detailed Description

Control class for a tgBaseString (or other mechanism. using a CPG. Parent class of tgCPGStringControl and several classes in dev This shouldn't have children, and its child class will have tags. Its child class needs to be a tgSubject

Definition at line 42 of file tgBaseCPGNode.h.

Member Function Documentation

void tgBaseCPGNode::updateControlLength ( double  newControlLength)

Change the control length at runtime, sets m_controlLength to newControlLength newControlLength must be greater than or equal to zero.

Definition at line 102 of file tgBaseCPGNode.cpp.

void tgBaseCPGNode::updateTensionSetpoint ( double  newTension)

Give a new tension setpoint to the impedance controller m_pMotorControl

Definition at line 90 of file tgBaseCPGNode.cpp.

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