tgSpringCable.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 SRC_CORE_TG_SPRING_CABLE_H_
#define SRC_CORE_TG_SPRING_CABLE_H_

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

// Forward references
class tgSpringCableAnchor;

class tgSpringCable
{
public: 
    
    tgSpringCable( const std::vector<tgSpringCableAnchor*>& anchors,
                double coefK,
                double dampingCoefficient,
                double pretension = 0.0);
    
    virtual ~tgSpringCable();
    
    virtual void step(double dt) = 0;
    
    virtual const double getRestLength() const;
    
    virtual void setRestLength( const double newRestLength); 
    
    virtual const double getActualLength() const = 0;
    
    virtual const double getTension() const = 0;
    
    virtual const double getCoefK() const
    {
        return m_coefK;
    }
    
    virtual const double getCoefD() const
    {
        return m_dampingCoefficient;
    }
    
    virtual const double getVelocity() const
    {
        return m_velocity;
    }
    
    virtual const double getDamping() const
    {
        return m_damping;
    }
    
    virtual const std::vector<const tgSpringCableAnchor*> getAnchors() const = 0;

protected:
 
    double m_damping;
    
    double m_velocity;

    const double m_coefK;

    const double m_dampingCoefficient;
    
    
    double m_restLength;
 
    double m_prevLength;

};

#endif  // SRC_CORE_TG_SPRING_CABLE_H_