VerticalSpineModel.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 VERTICAL_SPINE_MODEL_H
#define VERTICAL_SPINE_MODEL_H

// This library
#include "core/tgModel.h" 
#include "core/tgSubject.h"
// The C++ Standard Library
#include <map>
#include <set>
#include <string>
#include <vector>

// Forward declarations
class tgBasicActuator;
class tgStructure;
class tgStructureInfo;

class VerticalSpineModel: public tgSubject<VerticalSpineModel>, public tgModel
{
public: 
                
    typedef std::map<std::string, std::vector<tgBasicActuator*> > MuscleMap;
                
    VerticalSpineModel(size_t segments);
                
    virtual ~VerticalSpineModel()
    {}
    
    virtual void setup(tgWorld& world);
                
    virtual void step(const double dt);
                
    const std::vector<tgBasicActuator*>& getMuscles (const std::string& key) const;
     
    const std::vector<tgBasicActuator*>& getAllMuscles() const;
    
    size_t getSegments() const
    {
        return m_segments;
    }
    
private:
                
    static void addNodes(tgStructure& tetra, double edge, double height);

    static void trace(const tgStructureInfo& structureInfo, tgModel& model);

    static void addPairs(tgStructure& tetra);

    static void addPairsB(tgStructure& tetra);

    static void addSegments(tgStructure& spine, const tgStructure& tetra, double
                                                    edge, size_t segmentCount);

    static void addMuscles(tgStructure& spine);

    static void mapMuscles(VerticalSpineModel::MuscleMap& muscleMap, tgModel&
                                                   model, size_t segmentCount);

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

#endif