CPGNodeFB.h

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/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/

#ifndef CPG_FEEDBACK_CPG_NODE_FB
#define CPG_FEEDBACK_CPG_NODE_FB

#include "util/CPGNode.h"

#include <vector>
#include <sstream>

//Forward Declaration
class CPGEdge; 

class CPGNodeFB : public CPGNode
{
                friend class CPGEquationsFB;
                
                public:
                
                CPGNodeFB(int nodeNum, const std::vector<double> & params);
                
                virtual ~CPGNodeFB();
                
                virtual void updateDTs(const std::vector<double>& feedback);
                                                
                void updateNodeValues (         double newR,
                                                                                                                double newPhi,
                                                                                                                double newO);

                protected:
                
                double omega;
                double omegaDot;
                
                const double kFreq;
                const double kAmp;
                const double kPhase;
                
};
#endif // SIMULATOR_SRC_LIB_MODELS_SNAKE_CPGS_CPGNODE