19 #ifndef SRC_CORE_TG_KINEMATIC_ACTUATOR_H
20 #define SRC_CORE_TG_KINEMATIC_ACTUATOR_H
64 void scale (
double sf);
130 virtual void step(
double dt);
177 void constructorAux();
186 bool invariant()
const;
206 double m_desiredTorque;
208 double m_appliedTorque;
virtual void setup(tgWorld &world)
virtual double getAppliedTorque(double desiredTorque) const
virtual void setControlInput(double input)
Contains the definition of class tgModel.
Contains the definition of abstract base class tgSpringCableActuator. Assumes that the string is line...
virtual ~tgKinematicActuator()
tgKinematicActuator(tgBulletSpringCable *muscle, const tgTags &tags, tgKinematicActuator::Config &config)
virtual void integrateRestLength(double dt)
virtual const double getVelocity() const
virtual void step(double dt)
virtual const tgSpringCableActuator::SpringCableActuatorHistory & getHistory() const
virtual void onVisit(const tgModelVisitor &r) const