ScarrArmModel.h

Go to the documentation of this file.

/*
 * Copyright © 2015, 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 SCARRARM_MODEL_H
#define SCARRARM_MODEL_H

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

// Forward declarations
class tgBasicActuator;
class tgModelVisitor;
class tgStructure;
class tgWorld;

class ScarrArmModel : public tgSubject<ScarrArmModel>, public tgModel
{
public: 
                
    ScarrArmModel();
                
    virtual ~ScarrArmModel();
    
    virtual void setup(tgWorld& world);
    
    void teardown();
    
    virtual void step(double dt);
                
    virtual void onVisit(tgModelVisitor& r);
    
    const std::vector<tgBasicActuator*>& getAllMuscles() const;
    
private:
                
     void addNodes(tgStructure& s);
                
    static void addRods(tgStructure& s);
                
    void addMuscles(tgStructure& arm);

    //void addMarkers(tgStructure& s);

private:
                
    //const size_t nMuscles;
    std::vector<tgBasicActuator*> allMuscles;
                std::vector<btVector3> nodePositions;
};

#endif  // SCARRARM_MODEL_H