RPLengthController.h

/*
 * 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 RP_LENGTH_CONTROLLER_H
#define RP_LENGTH_CONTROLLER_H

// This library
#include "core/tgObserver.h"
#include "controllers/tgBasicController.h"
 #include "core/tgBasicActuator.h"

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

// Forward declarations
class TensegrityModel;

#include "core/abstractMarker.h" //needed in order to fetch node positions

class RPLengthController : public tgObserver<TensegrityModel>
{
public:
                
    RPLengthController(const double length = 400);
    
    virtual ~RPLengthController();
    
    virtual void onSetup(TensegrityModel& subject);
    
    virtual void onStep(TensegrityModel& subject, double dt);

    std::vector<tgBasicController*> m_controllers;
    std::vector<double> rand_lengths;
    std::vector<tgSpringCableActuator*> actuators;
    
private:
                
    const double m_length;
    double globalTime;
    int toggle;

};

#endif // RP_LENGTH_CONTROLLER_H