NTRT Simulator  v1.1
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AppContactModelTest.cpp
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 
29 // This application
30 #include "ContactTestModel.h"
31 #include "ContactTestController.h"
32 // This library
33 #include "core/tgModel.h"
34 #include "core/tgSimViewGraphics.h"
35 #include "core/tgSimulation.h"
36 #include "core/tgWorld.h"
37 // The C++ Standard Library
38 #include <iostream>
39 
46 int main(int argc, char** argv)
47 {
48  std::cout << "AppContactTestModel" << std::endl;
49 
50  // First create the world
51  const tgWorld::Config config(981); // gravity, cm/sec^2
52  tgWorld world(config);
53 
54  // Second create the view
55  const double timestep_physics = 1.0/2000.0;
56  const double timestep_graphics = 1.f/60.f;
57  tgSimViewGraphics view(world, timestep_physics, timestep_graphics);
58 
59  // Third create the simulation
60  tgSimulation simulation(view);
61 
62  // Fourth create the models with their controllers and add the models to the
63  // simulation
64  ContactTestModel* const myModel = new ContactTestModel();
65  ContactTestController* const myController = new ContactTestController();
66  myModel->attach(myController);
67 
68  simulation.addModel(myModel);
69 
70  simulation.run(1000);
71 
72  //Teardown is handled by delete, so that should be automatic
73  return 0;
74 }
Contains the definition of class tgSimulation.
Contains the definition of class tgModel.
Contains the definition of class tgSimViewGraphics.
Contains the definition of class tgWorld $Id$.
int main(int argc, char **argv)
void attach(tgObserver< T > *pObserver)
Definition: tgSubject.h:91