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tgCPGStringControl_mod.h
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 TG_CPG_STRING_CONTROL_MOD_H
20 #define TG_CPG_STRING_CONTROL_MOD_H
21 
23 
25 {
26 public:
27 
28  tgCPGStringControl_mod(const double controlStep = 1.0/10000.0);
29 
30  virtual ~tgCPGStringControl_mod();
31 
32  virtual void onStep(tgSpringCableActuator& subject, double dt);
33 
34 };
35 
36 
37 #endif //TG_CPG_STRING_CONTROL_MOD_H
Definition of the tgCPGStringControl observer class.
virtual void onStep(tgSpringCableActuator &subject, double dt)