KinematicSpineCPGControl.h

/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

#ifndef KINEMATIC_SPINE_CPG_CONTROL_H
#define KINEMATIC_SPINE_CPG_CONTROL_H

#include "examples/learningSpines/BaseSpineCPGControl.h"

class KinematicSpineCPGControl : public BaseSpineCPGControl
{
public:

    KinematicSpineCPGControl(BaseSpineCPGControl::Config config,                
                                                                                                                std::string args,
                                                                                                                std::string resourcePath = "",
                            std::string ec = "edgeConfig.ini",
                            std::string nc = "nodeConfig.ini");
    
    ~KinematicSpineCPGControl() {}
                
protected:

    virtual void setupCPGs(BaseSpineModelLearning& subject, array_2D nodeActions, array_4D edgeActions);
    
};

#endif // BASE_SPINE_CPG_CONTROL_H