OctahedralTensionControl.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 OCTAHEDRAL_TENSION_CONTROL_H
#define OCTAHEDRAL_TENSION_CONTROL_H

#include "dev/btietz/TC_Tension/JSONGoalTension.h"

#include <json/value.h>

// Forward Declarations
class tgSpringCableActuator;
class BaseSpineModelGoal;
class tgSCASineControl;
class OctahedralComplex;

class OctahedralTensionControl : public JSONGoalTension
{
public:

    OctahedralTensionControl(JSONGoalControl::Config config,    
                                                                                                                std::string args,
                                                                                                                std::string resourcePath = "");
    
    virtual ~OctahedralTensionControl();
    
    virtual void onSetup(BaseSpineModelLearning& subject);
    
    virtual void onStep(BaseSpineModelLearning& subject, double dt);
    
    virtual void onTeardown(BaseSpineModelLearning& subject);
                
protected:
 
    virtual void setupSaddleControllers(const OctahedralComplex* subject);
 
    virtual std::vector<double> getGoalFeedback(const BaseSpineModelGoal* subject);
    
    // A list of impedance controllers not associated with the CPG
    std::vector<tgSCASineControl*> m_saddleControllers;
    
};

#endif // OCTAHEDRAL_GOAL_CONTROL_H