BigPuppyRigidFeet.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 BIGPUPPY_RIGID_FEET_H
#define BIGPUPPY_RIGID_FEET_H

#include "examples/learningSpines/BaseSpineModelLearning.h"

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

class tgSpringCableActuator;
class tgWorld;
class tgStructure;    //Do I need this, or tgStructureInfo?
class tgStructureInfo;  //Do I need this, or just tgStructure, or both?
class tgBasicActuator;  

class BigPuppyRigidFeet: public BaseSpineModelLearning //public tgSubject<BigPuppy>, public tgModel
{
public: 

    BigPuppyRigidFeet(int segments, int hips, int legs, int feet);

    virtual ~BigPuppyRigidFeet();

    virtual void setup(tgWorld& world);
    
    virtual void teardown();
    
    virtual void step(double dt);

protected: 

    const std::size_t m_hips;
    const std::size_t m_legs;
    const std::size_t m_feet;

private:

    void addNodesFoot(tgStructure& s, double r1, double r2);

    static void addRodsFoot(tgStructure& s);

    void addNodesLeg(tgStructure& s, double r); 

    static void addRodsLeg(tgStructure& s); 

    void addNodesHip(tgStructure& s, double r); 

    static void addRodsHip(tgStructure& s); 

    void addNodesVertebra(tgStructure& s, double r);

    static void addRodsVertebra(tgStructure& s); 

    void addSegments(tgStructure& puppy, tgStructure& vertebra, tgStructure& hip, tgStructure& leg, 
                                                double r); //, std::size_t segments, std::size_t hips, std::size_t legs, std::size_t feet

    void addMuscles(tgStructure& puppy); //, std::size_t segments, std::size_t hips, std::size_t legs, std::size_t feet

};

#endif