tgBaseCPGNode.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 TG_BASE_STRING_CPG_H
#define TG_BASE_STRING_CPG_H

// Forward declarations
class CPGEquations;
class tgImpedanceController;

class tgBaseCPGNode
{
public:
    
    virtual ~tgBaseCPGNode();                   
    
   // Top level model is responsible for stepping the CPG
   virtual double getCPGValue() const;
    
    void updateTensionSetpoint(double newTension);
   
    void updateControlLength(double newControlLength);
   
protected:

    tgBaseCPGNode();

    tgImpedanceController& motorControl() const;
                
                virtual void setupControl(tgImpedanceController& ipc); 
                
    double controlLength() const { return m_controlLength; }
    
    // We don't own this
    CPGEquations* m_pCPGSystem;
                
                int m_nodeNumber;
                
                double m_controlLength;
private:        
                // We own this
    tgImpedanceController* m_pMotorControl;

};


#endif