OctaCLSine.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 OCTACL_SINE_H
#define OCTACL_SINE_H

#include "examples/learningSpines/BaseSpineCPGControl.h"

class tgSineStringControl;

class OctaCLSine : public BaseSpineCPGControl
{
public:

    OctaCLSine(BaseSpineCPGControl::Config config,              
                                                                                                                std::string args,
                                                                                                                std::string resourcePath = "",
                            std::string ec = "edgeConfig.ini",
                            std::string nc = "nodeConfig.ini");
    
    ~OctaCLSine() {}
                
                virtual void onSetup(BaseSpineModelLearning& subject);
                
                virtual void onStep(BaseSpineModelLearning& subject, double dt);
    
    virtual void onTeardown(BaseSpineModelLearning& subject);

protected:
                
                virtual void setupWaves(BaseSpineModelLearning& subject, array_2D nodeActions, array_2D edgeActions);

    virtual array_2D scalePhaseActions (std::vector< std::vector <double> > actions);
    virtual array_2D scaleNodeActions (std::vector< std::vector <double> > actions);
                
                std::vector<tgSineStringControl*> m_sineControllers;
};

#endif // FLEMONS_SPINE_CPG_CONTROL_H