File world.h

class world

Public Functions

world(const shared_ptr<softRobots> &soft_robots, const shared_ptr<forceContainer> &forces, const simParams &sim_params)

~world()

void updateTimeStep()

double getCoordinate(int i, int limb_idx)

VectorXd getM1(int i, int limb_idx)

VectorXd getM2(int i, int limb_idx)

double getCurrentTime() const

bool simulationRunning() const

int getTimeStep() const

void printSimData()

Public Members

shared_ptr<softRobots> soft_robots

Private Functions

void updateCons()

Private Members

shared_ptr<forceContainer> forces

shared_ptr<baseTimeStepper> stepper

int time_step

double curr_time

double total_time