MuscleNPCons.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 MUSCLE_NP_CONS
#define MUSCLE_NP_CONS

// This library
#include "core/tgModel.h"
#include "core/tgSubject.h"

// The Bullet Physics Library
#include "LinearMath/btVector3.h"

// The C++ Standard Library
#include <vector>

// Forward declarations
class tgSpringCableActuator;
class tgModelVisitor;
class tgWorld;
class tgBaseRigid;

class MuscleNPCons : public tgSubject<MuscleNPCons>, public tgModel
{
public:
                MuscleNPCons();
                virtual ~MuscleNPCons();
                virtual void setup(tgWorld& world);
                virtual void teardown();
                virtual void step(double dt);
                virtual void onVisit(const tgModelVisitor& r) const;
                
                virtual double getEnergy() const;
                
                virtual btVector3 getMomentum() const;
                
                virtual btVector3 getVelocityOfBody(int body_num) const;
                
private:
                double totalTime;
                std::vector<tgSpringCableActuator*> allMuscles;
                std::vector<tgBaseRigid*> allRods;
                
};
#endif // SIMPLE_CORDE_TENSEGRITY_H