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simpleMuscleNP.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 SIMPLE_MUSCLE_NP_H
20 #define SIMPLE_MUSCLE_NP_H
21 
30 // This library
31 #include "core/tgModel.h"
32 #include "core/tgSubject.h"
33 // The C++ Standard Library
34 #include <vector>
35 
36 // Forward declarations
38 class tgModelVisitor;
39 class tgWorld;
40 class tgRod;
41 
46 class simpleMuscleNP : public tgSubject<simpleMuscleNP>, public tgModel
47 {
48 public:
58  virtual ~simpleMuscleNP();
67  virtual void setup(tgWorld& world);
72  virtual void teardown();
77  virtual void step(double dt);
85  virtual void onVisit(const tgModelVisitor& r) const;
86 
87 private:
88  double totalTime;
89  std::vector<tgSpringCableActuator*> allMuscles;
90  std::vector<tgRod*> allRods;
91 
92 };
93 #endif // SIMPLE_CORDE_TENSEGRITY_H
Definition of tgSubject class.
virtual void setup(tgWorld &world)
virtual void onVisit(const tgModelVisitor &r) const
Contains the definition of class tgModel.
virtual void teardown()
virtual ~simpleMuscleNP()
virtual void step(double dt)
Definition: tgRod.h:43