SerializedSpineControl.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 SERIALIZED_SPINE_CONTROL
#define SERIALIZED_SPINE_CONTROL

// NTRTSim
#include "core/tgObserver.h"
#include "sensors/tgDataObserver.h"

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

// Forward Declarations
class tgImpedanceController;
class tgSpringCableActuator;
class BaseSpineModelLearning;

class SerializedSpineControl : public tgObserver<BaseSpineModelLearning>
{
public:

struct Config
{
                Config(std::string fileName);
                
                ~Config();
                
    tgImpedanceController* in_controller;
    tgImpedanceController* out_controller;
    tgImpedanceController* top_controller;
                
                double rod_edge;
                double rod_front;
                double rod_offset;
                
                
    std::vector<double> insideTopLength;
    std::vector<double> insideLeftLength;
    std::vector<double> insideRightLength;
    std::vector<double> outsideTopLength;
    std::vector<double> outsideLeftLength;
    std::vector<double> outsideRightLength;
    
    std::vector<double> insideTopTens;
    std::vector<double> insideLeftTens;
    std::vector<double> insideRightTens;
    std::vector<double> outsideTopTens;
    std::vector<double> outsideLeftTens;
    std::vector<double> outsideRightTens;
    
    double offsetSpeed;
    double cpgAmplitude;
    double cpgFrequency;
    double bodyWaves;
    
    double insideMod;
    
    std::vector<double> phaseOffsets;
    
     double updateFrequency;
                
};
                
public:
                
    SerializedSpineControl(std::string fileName);
    
    ~SerializedSpineControl();
    

    
    virtual void onSetup(BaseSpineModelLearning& subject);
    
    virtual void onStep(BaseSpineModelLearning& subject, double dt);
    
private:
   
    void applyImpedanceControlGeneric(tgImpedanceController* controller,        
                                                                                                                                                                const std::vector<tgSpringCableActuator*> stringList,
                                                                                                                                                                const std::vector<double> stringLengths,
                                                                                                                                                                const std::vector<double> tensions,
                                                                                                                                                                double dt,
                                                                                                                                                                std::size_t phase);
    
    Config m_config;
    
    std::size_t segments;
    
   tgDataObserver m_dataObserver;
    
    double simTime;
    double updateTime;
    double cycle;
    double target;
};

#endif // MY_MODEL_CONTROLLER_H