cpg-network Reference Manual

I. CPG Network

CPG Network basics — How to construct and use a network
Monitoring Variables — How to monitor variables using CpgMonitor
Using Templates — How to use template definitions in networks
Use with Webots — How to use a CPG network to control a robot in Webots

II. API reference

CpgNetwork — The main CPG network object
CpgObject — Basis for all cpg objects
CpgProperty — Property container
CpgState — Basic simulation state object
CpgRelay — An immediate transfer object
CpgLink — Information transfer link
CpgMonitor — Property value monitor
CpgExpression — Mathematical expression evaluation
CpgRefCounted — A lightweight reference counted object
CpgCompileError — Compile error message container
CpgCompileContext — The expression compile context
CpgFunction — Custom user defined function
CpgFunctionPolynomial — Custom user defined piecewise polynomial
CpgIntegrator — Simulation integrator
CpgIntegrators — Integrator registry
CpgIntegratorEuler
CpgIntegratorRungeKutta
CpgIntegratorPredictCorrect

III. XML format

XML specification — Specification of the XML format used to describe a cpg network