NestedStructureSineWaves.h

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.
*/

#ifndef NESTED_STRUCTURE_SINE_WAVES_H
#define NESTED_STRUCTURE_SINE_WAVES_H

// NTRTSim
#include "core/tgObserver.h"

// The C++ Standard Library
#include <vector>

// Forward Declarations
class tgImpedanceController;
class tgBasicActuator;
class NestedStructureTestModel;

class NestedStructureSineWaves : public tgObserver<NestedStructureTestModel>
{
public:
                
    NestedStructureSineWaves();
    
    ~NestedStructureSineWaves();
    
    void applyImpedanceControlInside(const std::vector<tgBasicActuator*> stringList,
                                                                                                                                                double dt);
    void applyImpedanceControlOutside(const std::vector<tgBasicActuator*> stringList,
                                    double dt,
                                    std::size_t phase);
    
    virtual void onStep(NestedStructureTestModel& subject, double dt);
    
private:
    tgImpedanceController* in_controller;
    tgImpedanceController* out_controller;
    
    std::size_t segments;
    
    const double insideLength;
    const double outsideLength;
    
    const double offsetSpeed;
    const double cpgAmplitude;
    const double cpgFrequency;
    const double bodyWaves;
    
    std::vector<double> phaseOffsets;
    
    double simTime;
    double cycle;
    double target;
};

#endif // MY_MODEL_CONTROLLER_H