SpineKinematicsTestController.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 SPINE_KINEMATICS_TEST_CONTROLLER_H
#define SPINE_KINEMATICS_TEST_CONTROLLER_H

// The NTRT core library
#include "core/tgObserver.h"
#include "core/tgSubject.h"
#include "core/tgTags.h"

// The C++ standard library
#include <string>
#include <vector>
#include <map>

// Forward declarations
class TensegrityModel;
class tgBasicActuator;

class SpineKinematicsTestController : public tgObserver<TensegrityModel>, public tgSubject<SpineKinematicsTestController>
{
public:
                
  SpineKinematicsTestController(double startTime, double minLength, double rate,
                                                    std::vector<std::string> tagsToControl);
    
  virtual ~SpineKinematicsTestController() { }

  virtual void onSetup(TensegrityModel& subject);
    
  virtual void onStep(TensegrityModel& subject, double dt);

protected:

  void initializeActuators(TensegrityModel& subject, std::string tag);
    
private:
                
  double m_startTime;
  double m_minLength;
  double m_rate;
  std::vector<std::string> m_tagsToControl;

  double m_timePassed;

  typedef std::map<tgTags, double> InitialRestLengths;
  InitialRestLengths initialRL;

  std::vector<tgBasicActuator*> cablesWithTags;

};

#endif // SPINE_KINEMATICS_TEST_CONTROLLER_H