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tgBasicContactCableInfo.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 
27 #ifndef SRC_TGCREATOR_TG_BASIC_CONTACT_CABLE_INFO_H
28 #define SRC_TGCREATOR_TG_BASIC_CONTACT_CABLE_INFO_H
29 
31 
32 #include "tgcreator/tgRigidInfo.h"
33 
34 #include <string>
35 
36 #include "core/tgBasicActuator.h"
37 #include "core/tgTags.h"
38 
40 
42 {
43 public:
44 
51 
58 
66  tgBasicContactCableInfo(const tgBasicActuator::Config& config, const tgPair& pair);
67 
68 
69  virtual ~tgBasicContactCableInfo() {}
70 
74  virtual tgConnectorInfo* createConnectorInfo(const tgPair& pair);
75 
76  void initConnector(tgWorld& world);
77 
78  virtual tgModel* createModel(tgWorld& world);
79 
80  double getMass();
81 
82 protected:
83  tgBulletContactSpringCable* m_bulletContactSpringCable;
84 
85 private:
86 
87  tgBulletContactSpringCable* createTgBulletContactSpringCable(tgWorld& world);
88 
89 private:
90 
91  tgBasicActuator::Config m_config;
92 
93 };
94 
95 
96 #endif // SRC_TGCREATOR_TG_BASIC_CONTACT_CABLE_INFO_H
Definition of abstract class tgRigidInfo.
virtual tgConnectorInfo * createConnectorInfo(const tgPair &pair)
tgBasicContactCableInfo(const tgBasicActuator::Config &config)
Contains the definition of class tgTags.
Definition of class tgConnectorInfo.
Contains the definition of class tgBasicActuator.
Definition: tgPair.h:48
Definition: tgTags.h:44