tgBasicActuatorInfo.h

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/*
 * 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 SRC_TGCREATOR_TG_BASIC_ACTUATOR_INFO_H
#define SRC_TGCREATOR_TG_BASIC_ACTUATOR_INFO_H

#include "tgConnectorInfo.h"

#include "tgRigidInfo.h"

#include <string>

#include "core/tgBasicActuator.h"
#include "core/tgTags.h"

class tgBulletSpringCable;

class tgBasicActuatorInfo : public tgConnectorInfo
{
public:

    tgBasicActuatorInfo(const tgBasicActuator::Config& config);

    tgBasicActuatorInfo(const tgBasicActuator::Config& config, tgTags tags);

    tgBasicActuatorInfo(const tgBasicActuator::Config& config, const tgPair& pair);
    

    virtual ~tgBasicActuatorInfo() {}
    
    virtual tgConnectorInfo* createConnectorInfo(const tgPair& pair);

    virtual void initConnector(tgWorld& world);

    virtual tgModel* createModel(tgWorld& world);

    double getMass();

protected:    
    
    tgBulletSpringCable* createTgBulletSpringCable();
    tgBulletSpringCable* m_bulletSpringCable;
private:
    
    tgBasicActuator::Config m_config;
    
};


#endif