T6TensionController.cpp

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.
*/

// This module
#include "T6TensionController.h"
// This application
#include "T6Model.h"
// This library
#include "core/tgBasicActuator.h"
// The C++ Standard Library
#include <cassert>
#include <stdexcept>

T6TensionController::T6TensionController(const double tension) :
    m_tension(tension)
{
    if (tension < 0.0)
    {
        throw std::invalid_argument("Negative tension");
    }
}

T6TensionController::~T6TensionController()
{
                std::size_t n = m_controllers.size();
    for(std::size_t i = 0; i < n; i++)
    {
        delete m_controllers[i];
    }
    m_controllers.clear();
}               

void T6TensionController::onSetup(T6Model& subject)
{
    const std::vector<tgBasicActuator*> actuators = subject.getAllActuators();
    for (size_t i = 0; i < actuators.size(); ++i)
    {
        tgBasicActuator * const pActuator = actuators[i];
        assert(pActuator != NULL);
        tgTensionController* m_tensController = new tgTensionController(pActuator, m_tension);
        m_controllers.push_back(m_tensController);
    }

}

void T6TensionController::onStep(T6Model& subject, double dt)
{
                if (dt <= 0.0)
    {
        throw std::invalid_argument("dt is not positive");
    }
    else
    {
        std::size_t n = m_controllers.size();
                                for(std::size_t i = 0; i < n; i++)
        {
            m_controllers[i]->control(dt, m_tension);
        }
                }
}