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tgBaseCPGNode Class Reference

#include <tgBaseCPGNode.h>

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Public Member Functions

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

Protected Member Functions

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

Protected Attributes

CPGEquations * m_pCPGSystem
 
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: