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FlemonsArm.h
1 /*
2  * Copyright © 2012, United States Government, as represented by the
3  * Administrator of the National Aeronautics and Space Administration.
4  * All rights reserved.
5  *
6  * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
7  * under the Apache License, Version 2.0 (the "License");
8  * you may not use this file except in compliance with the License.
9  * You may obtain a copy of the License at
10  * http://www.apache.org/licenses/LICENSE-2.0.
11  *
12  * Unless required by applicable law or agreed to in writing,
13  * software distributed under the License is distributed on an
14  * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
15  * either express or implied. See the License for the specific language
16  * governing permissions and limitations under the License.
17 */
18 
19 #ifndef FLEMONSARM_MODEL_H
20 #define FLEMONSARM_MODEL_H
21 
30 // This library
31 #include "core/tgModel.h"
32 #include "core/tgSubject.h"
33 #include "core/tgRod.h"
34 // The C++ Standard Library
35 #include <vector>
36 
37 // Forward declarations
38 class tgBasicActuator;
39 class tgModelVisitor;
40 class tgStructure;
41 class tgWorld;
42 
49 class FlemonsArmModel : public tgSubject<FlemonsArmModel>, public tgModel
50 {
51 public:
52 
58 
63  virtual ~FlemonsArmModel();
64 
73  virtual void setup(tgWorld& world);
74 
79  void teardown();
80 
85  virtual void step(double dt);
86 
94  virtual void onVisit(tgModelVisitor& r);
95 
101  const std::vector<tgBasicActuator*>& getAllMuscles() const;
102 
103 private:
104  static void populateMasslessSupport(tgStructure& masslessbase);
117  void addNodes(tgStructure& s);
118 
124  static void addRods(tgStructure& s);
125 
131  void addMuscles(tgStructure& s);
132 
133 private:
139  //const size_t nMuscles;
140  std::vector<tgBasicActuator*> allMuscles;
141  std::vector<std::vector <tgBasicActuator *> > musclesPerNodes;
142  std::vector<std::vector<std::vector<int> > > nodeNumberingSchema;
143  std::vector<btVector3> nodePositions;
144 };
145 
146 #endif // FLEMONSARM_MODEL_H
virtual void step(double dt)
Definition: FlemonsArm.cpp:355
virtual void setup(tgWorld &world)
Definition: FlemonsArm.cpp:296
Definition of tgSubject class.
virtual ~FlemonsArmModel()
Definition: FlemonsArm.cpp:100
virtual void onVisit(tgModelVisitor &r)
Definition: FlemonsArm.cpp:370
Contains the definition of class tgModel.
const std::vector< tgBasicActuator * > & getAllMuscles() const
Definition: FlemonsArm.cpp:376
Contains the definition of class tgRod.