ScarrArmController.h

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/*
 * Copyright © 2015, 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 SCARRARM_CONTROLLER_H
#define SCARRARM_CONTROLLER_H

// This library
#include "core/tgObserver.h"
#include "learning/Adapters/AnnealAdapter.h"
#include <vector>

// Forward declarations
class ScarrArmModel;

//namespace std for vectors
using namespace std;

class ScarrArmController : public tgObserver<ScarrArmModel>
{
public:
                
  // Note that currently this is calibrated for decimeters.
                ScarrArmController(const double prefLength, double timestep);
    
  virtual ~ScarrArmController() { }

  virtual void onSetup(ScarrArmModel& subject);
    
  virtual void onStep(ScarrArmModel& subject, double dt);

protected:

  virtual vector< vector <double> > transformActions(vector< vector <double> > act);

  virtual void applyActions (ScarrArmModel& subject, vector< vector <double> > act);

private:
  double m_initialLengths;
  double m_totalTime;
  double dt;
  AnnealAdapter evolutionAdapter;
    
  void setBrachioradialisTargetLength(ScarrArmModel& subject, double dt);
  void setAnconeusTargetLength(ScarrArmModel& subject, double dt);
  void moveAllMotors(ScarrArmModel& subject, double dt);
  void updateActions(ScarrArmModel& subject, double dt);
};

#endif // SCARRARM_CONTROLLER_H