Edited to working version on steve's desktopo
Edited to working version on steve's desktop
Add tgControllable base class, apply it to tgKinematicString, fix values for resources folder back to those of passing integration test
Basic and PID controllers
Comments and cleanup
Add includes so it compiles
Update of impedanceController to work with new low level controllers
Redo a sine wave controller using the new low level controls
Fully fleshed out example of new actuator and low level control architecture
Tuned PID controller, full example with sine
API updates for tgBaseString
Moving tgControllable to core
Preliminary anchor API definition, class renamed
Full rename of muscleAnchor class
Define tgSpringCable API
Rename Muscle2P to tgBulletSpringCable, remove a number of unneccesary includes
Replace tabs with spaces
Move MuscleNP to core, rename to tgBulletContactSpringCable, make associated changes
Move the tgSpringCable to tgBaseString
Rename tgBaseString to tgSpringCableActuator. Remove ImpedanceControl - replace with controllers/tgImpedanceController, move other controllers to controllers folder. Full upgrade of ImpedanceController will require adding PID control to a number of classes, those are commented out in CMake as of this commit