tgCPGActuatorControl.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 TG_CPG_STRING_CONTRL_H
#define TG_CPG_STRING_CONTRL_H

#include "util/tgBaseCPGNode.h"
#include "core/tgSpringCableActuator.h"
// The Boost library
#include "boost/multi_array.hpp"

typedef boost::multi_array<double, 2> array_2D;
typedef boost::multi_array<double, 4> array_4D;

// Forward declarations
class btRigidBody;
class CPGEquations;
class CPGEquationsFB;
class tgImpedanceController;

class tgCPGActuatorControl : public tgObserver<tgSpringCableActuator>,
                                                                                                                public tgBaseCPGNode
{
public:
 
    tgCPGActuatorControl(const double controlStep = 1.0/10000.0);
    
    virtual ~tgCPGActuatorControl();
    
    virtual void onAttach(tgSpringCableActuator& subject);
    
    virtual void onStep(tgSpringCableActuator& subject, double dt);
                
    void assignNodeNumber (CPGEquations& CPGSys, array_2D nodeParams);
 
    void setConnectivity(const std::vector<tgCPGActuatorControl*>& allStrings,
             array_4D edgeParams);
    
    const int getNodeNumber() const
    {
        return m_nodeNumber;
    }   
    
    const CPGEquations* getCPGSys() const
    {
        return m_pCPGSystem;
    }
    
    const double getCommandedTension() const
    {
        return m_commandedTension;
    }
    
    virtual void setupControl(tgImpedanceController& ipc);
    
    void setupControl(tgImpedanceController& ipc,
                                                                                                double controlLength);

                const btRigidBody* getFromBody() const
                {
                                return m_pFromBody;
                }
                
                const btRigidBody* getToBody() const
                {
                                return m_pToBody;
                }
                
protected:
    double m_controlTime;
    const double m_controlStep;
    
    double m_totalTime;
    
    double m_commandedTension;
 
    btRigidBody* m_pFromBody;
    
    btRigidBody* m_pToBody;
};


#endif