pidTestRig.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 PID_TEST_RIG_H
#define PID_TEST_RIG_H

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

// Forward declarations
class tgSpringCableActuator;
class tgModelVisitor;
class tgSCASineControl;
class tgStructure;
class tgWorld;
class tgImpedanceController;

class pidTestRig : public tgSubject<pidTestRig>, public tgModel
{
public: 
    
    pidTestRig(bool kinematic = true);
    
    virtual ~pidTestRig();
    
    virtual void setup(tgWorld& world);
    
    virtual void teardown();
    
    virtual void step(double dt);
    
    virtual void onVisit(tgModelVisitor& r);
    
    const std::vector<tgSpringCableActuator*>& getAllMuscles() const;
    
    double getTotalTime() const
    {
                                return totalTime;
                }
    
      
private:
    
    static void addNodes(tgStructure& s);
    
    static void addRods(tgStructure& s);
    
    static void addMuscles(tgStructure& s);
    
    void setupControl();

private:
    std::vector<tgSCASineControl*> m_tgSCASineControllers;
    
    std::vector<tgSpringCableActuator*> allMuscles;
    
    tgImpedanceController* p_ipc;
    
    double totalTime;
    bool reached;
    bool useKinematic;
};

#endif  // Prism_MODEL_H