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tgKinematicContactCableInfo.cpp
Go to the documentation of this file.
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/*
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* Copyright © 2012, United States Government, as represented by the
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* Administrator of the National Aeronautics and Space Administration.
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* All rights reserved.
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*
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* The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
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* under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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* http://www.apache.org/licenses/LICENSE-2.0.
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*
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* Unless required by applicable law or agreed to in writing,
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* software distributed under the License is distributed on an
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* "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
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* either express or implied. See the License for the specific language
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* governing permissions and limitations under the License.
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*/
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#include "
tgKinematicContactCableInfo.h
"
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#include "
core/tgBulletContactSpringCable.h
"
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tgKinematicContactCableInfo::tgKinematicContactCableInfo
(
const
tgKinematicActuator::Config
& config) :
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m_config(config),
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tgBasicContactCableInfo
(config)
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{}
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tgKinematicContactCableInfo::tgKinematicContactCableInfo
(
const
tgKinematicActuator::Config
& config,
tgTags
tags) :
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m_config(config),
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tgBasicContactCableInfo
(config, tags)
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{}
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tgKinematicContactCableInfo::tgKinematicContactCableInfo
(
const
tgKinematicActuator::Config
& config,
const
tgPair
& pair) :
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m_config(config),
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tgBasicContactCableInfo
(config, pair)
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{}
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tgConnectorInfo
*
tgKinematicContactCableInfo::createConnectorInfo
(
const
tgPair
& pair)
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{
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return
new
tgKinematicContactCableInfo
(m_config, pair);
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}
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tgModel
* tgKinematicContactCableInfo::createModel(
tgWorld
& world)
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{
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// Don't have to do anything in the world for a Muscle2P...
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// @todo: set the name based on joined tags, or remove name from the model...
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//std::cout << "tgKinematicContactCableInfo::createModel" << std::endl;
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// ensure connector has been initialized
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assert(m_bulletContactSpringCable);
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return
new
tgKinematicActuator
(m_bulletContactSpringCable, getTags(), m_config);
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}
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tgKinematicActuator::Config
Definition:
tgKinematicActuator.h:43
tgKinematicContactCableInfo::createConnectorInfo
virtual tgConnectorInfo * createConnectorInfo(const tgPair &pair)
Definition:
tgKinematicContactCableInfo.cpp:47
tgKinematicContactCableInfo::tgKinematicContactCableInfo
tgKinematicContactCableInfo(const tgKinematicActuator::Config &config)
Definition:
tgKinematicContactCableInfo.cpp:31
tgKinematicActuator
Definition:
tgKinematicActuator.h:40
tgModel
Definition:
tgModel.h:46
tgBasicContactCableInfo
Definition:
tgBasicContactCableInfo.h:41
tgPair
Definition:
tgPair.h:48
tgWorld
Definition:
tgWorld.h:37
tgBulletContactSpringCable.h
Definition of a massless cable with contact dynamics.
tgKinematicContactCableInfo.h
Definition of class tgKinematicContactCableInfo.
tgTags
Definition:
tgTags.h:44
tgConnectorInfo
Definition:
tgConnectorInfo.h:45
tgcreator
tgKinematicContactCableInfo.cpp
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