NTRT Simulator
v1.1
Main Page
Related Pages
Namespaces
Classes
Files
File List
File Members
All
Classes
Namespaces
Files
Functions
Variables
Typedefs
Friends
Pages
tgWorld.h
Go to the documentation of this file.
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
19
20
#ifndef TG_WORLD_H
21
#define TG_WORLD_H
22
29
// Forward declarations
30
class
tgWorldImpl
;
31
class
tgGround
;
32
37
class
tgWorld
38
{
39
public
:
40
45
struct
Config
46
{
47
Config
(
double
g = 9.81,
double
ws = 1000);
53
double
gravity
;
58
double
worldSize
;
59
};
60
62
tgWorld
();
63
68
tgWorld
(
const
Config
& config);
69
76
tgWorld
(
const
Config
& config,
tgGround
* ground);
77
79
~tgWorld
();
80
82
void
reset
();
83
88
void
reset
(
const
Config
& config);
89
95
void
step
(
double
dt)
const
;
96
102
tgWorldImpl
&
implementation
()
const
103
{
104
return
*m_pImpl;
105
}
106
107
private
:
108
110
bool
invariant()
const
;
111
112
private
:
113
117
Config m_config;
118
120
tgGround
* m_pGround;
121
123
tgWorldImpl
* m_pImpl;
124
};
125
126
#endif //TG_BULLET_WORLD_H
tgWorldImpl
Definition:
tgWorldImpl.h:39
tgWorld::~tgWorld
~tgWorld()
Definition:
tgWorld.cpp:84
tgGround
Definition:
tgGround.h:32
tgWorld::Config
Definition:
tgWorld.h:45
tgWorld::Config::gravity
double gravity
Definition:
tgWorld.h:53
tgWorld::step
void step(double dt) const
Definition:
tgWorld.cpp:109
tgWorld::implementation
tgWorldImpl & implementation() const
Definition:
tgWorld.h:102
tgWorld::tgWorld
tgWorld()
Definition:
tgWorld.cpp:49
tgWorld::Config::worldSize
double worldSize
Definition:
tgWorld.h:58
tgWorld
Definition:
tgWorld.h:37
tgWorld::reset
void reset()
Definition:
tgWorld.cpp:90
core
tgWorld.h
Generated on Fri Jan 9 2015 15:38:47 for NTRT Simulator by
1.8.7