DuCTTTestModel.h

Go to the documentation of this file.

/*
 * 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 NESTED_STRUCTURE_TEST_MODEL_H
#define NESTED_STRUCTURE_TEST_MODEL_H

// This library
#include "tgPrismaticInfo.h"

#include "core/tgModel.h"
#include "core/tgSubject.h"
#include "core/tgCast.h"
#include "core/tgString.h"
#include "core/tgSpringCableActuator.h"
#include "tgcreator/tgBuildSpec.h"
#include "tgcreator/tgBasicActuatorInfo.h"
#include "tgcreator/tgRigidAutoCompound.h"
#include "tgcreator/tgRodInfo.h"
#include "tgcreator/tgStructure.h"
#include "tgcreator/tgStructureInfo.h"
#include "tgcreator/tgUtil.h"
// The Bullet Physics library
#include "btBulletDynamicsCommon.h"
// The C++ Standard Library
#include <iostream>
#include <stdexcept>
// The C++ Standard Library
#include <map>
#include <set>
#include <string>
#include <vector>

// Forward declarations
class tgSpringCableActuator;

class DuCTTTestModel: public tgSubject<DuCTTTestModel>, public tgModel
{
public: 
                
    typedef std::map<std::string, std::vector<tgSpringCableActuator*> > MuscleMap;
                
    DuCTTTestModel(size_t segments);
                
    virtual ~DuCTTTestModel()
    {}
    
    virtual void setup(tgWorld& world);
                
    virtual void step(const double dt);
                
    const std::vector<tgSpringCableActuator*>& getMuscles (const std::string& key) const;
    
    size_t getSegments() const
    {
        return m_segments;
    }
    
private:

    void addNodes(tgStructure& tetra, double edge, double height);
    void addPairs(tgStructure& tetra);
    void addTopPairs(tgStructure& tetra);
    void addBottomPairs(tgStructure& tetra);
    void addSegments(tgStructure& snake, const tgStructure& tetra, double edge,
             size_t segmentCount);
    // Add muscles that connect the segments;
    void addMuscles(tgStructure& snake);
    void mapMuscles(MuscleMap& muscleMap, tgModel& model);
    void trace(const tgStructureInfo& structureInfo, tgModel& model);

    std::vector<tgSpringCableActuator*> allMuscles;
                
    MuscleMap muscleMap;
    
    const size_t m_segments;
};

#endif