tgKinematicActuatorInfo.cpp

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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.
*/

#include "tgKinematicActuatorInfo.h"

tgKinematicActuatorInfo::tgKinematicActuatorInfo(const tgKinematicActuator::Config& config) : 
m_config(config),
tgBasicActuatorInfo(config)
{}

tgKinematicActuatorInfo::tgKinematicActuatorInfo(const tgKinematicActuator::Config& config, tgTags tags) : 
m_config(config),
tgBasicActuatorInfo(config, tags)
{}

tgKinematicActuatorInfo::tgKinematicActuatorInfo(const tgKinematicActuator::Config& config, const tgPair& pair) :
m_config(config),
tgBasicActuatorInfo(config, pair)
{}
    

tgConnectorInfo* tgKinematicActuatorInfo::createConnectorInfo(const tgPair& pair)
{
    return new tgKinematicActuatorInfo(m_config, pair);
}

tgModel* tgKinematicActuatorInfo::createModel(tgWorld& world)
{
    // Don't have to do anything in the world for a Muscle2P...
    // @todo: set the name based on joined tags, or remove name from the model...
    //std::cout << "tgKinematicActuatorInfo::createModel" << std::endl;
    
    // ensure connector has been initialized
    assert(m_bulletSpringCable);
    return new tgKinematicActuator(m_bulletSpringCable, getTags(), m_config);
}