tgCompoundRigidSensor.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_COMPOUND_RIGID_SENSOR_H
#define TG_COMPOUND_RIGID_SENSOR_H

// Includes from the sensors directory:
#include "tgSensor.h"
// Includes from the NTRT core directory:
#include "core/tgModel.h"
#include "core/tgBaseRigid.h"
// Includes from the C++ standard library:
#include <vector>
// Includes from Bullet Physics:
#include "LinearMath/btVector3.h" //for the functions calculating com and orient
#include "LinearMath/btQuaternion.h" // for the initial orientation variable

class tgCompoundRigidSensor : public tgSensor
{
public:

  tgCompoundRigidSensor(tgModel* pModel);

  tgCompoundRigidSensor(tgModel* pModel, std::string tag);

  // Classes with virtual member functions must also have virtual destructors.
  virtual ~tgCompoundRigidSensor();

  virtual std::vector<std::string> getSensorDataHeadings();
  virtual std::vector<std::string> getSensorData();

 private:

  btVector3 getCenterOfMass();
  btVector3 getOrientation();
  double getMass();

  std::string m_tag;
  
  std::vector<tgBaseRigid*> m_rigids;

  btQuaternion origOrientQuat;
  btQuaternion origOrientQuatInv;

};

#endif //TG_COMPOUND_RIGID_SENSOR_H