SuperBallModel.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 SUPERBALL_MODEL_H
#define SUPERBALL_MODEL_H

// This library
#include "core/tgModel.h"
#include "core/tgSubject.h"
#include "core/tgRod.h"
// The C++ Standard Library
#include <vector>
#include "heightSensor.h"

// Forward declarations
class tgBasicActuator;
class tgModelVisitor;
class tgStructure;
class tgWorld;

class SuperBallModel : public tgSubject<SuperBallModel>, public tgModel
{
public: 
                
    SuperBallModel(tgWorld& world);
                
    virtual ~SuperBallModel();
    
    virtual void setup(tgWorld& world);
    
    void teardown();
    
    virtual void step(double dt);
                
    virtual void onVisit(tgModelVisitor& r);
    
    const std::vector<tgBasicActuator*>& getAllMuscles() const;
    
    std::vector<double> getSensorInfo();


    std::vector< btVector3 > getSensorPositions();

    std::vector< btVector3 > getSensorOrientations();

    //Return the center of the sensor positions
    btVector3 getCenter();

    //Return the physical world
    btDynamicsWorld *getWorld();

    //Given the base 3 nodes, it fills the default node numbering schema
    void fillNodeNumberingSchema(int a,int b,int c);

    //Given the new base points fill the map from the new nodes what they would match in default node numbering
    void fillNodeMappingFromBasePoints(int a,int b,int c);

    //Fill the list of pointers to the muscles for each node.
                void fillMusclesPerNode();

                const std::vector<std::vector<tgBasicActuator*> >& getMusclesPerNodes() const {
                                return musclesPerNodes;
                }

                //Returns the node number that is at the same rod with the node i
                int getOtherEndOfTheRod(int i);

                //nodeMapping that maps the nodes in current orientation to the nodes in the default orientation
                int nodeMapping[13];
                //nodeMapping that maps the nodes in default orientation to the nodes in the current orientation
                int nodeMappingReverse[13];
                //muscle connections between the nodes.
                int muscleConnections[13][13];
                //contains pointer to the muscle for a given pair of nodes
                std::vector<std::vector <tgBasicActuator *> > musclesPerNodes;

private:
                
     void addNodes(tgStructure& s);
                
    static void addRods(tgStructure& s);
                
    void addMuscles(tgStructure& s);

    /*
     * Adds the 12 markers to the end of the rods so that we can visualize
     * them and track their position
     */
    void addMarkers();

    void addSensors();


    /*
                 * Moves all the rods (that are actually all the rigid bodies) according to the arguments.
                 * First rotates the structure around 3 axises given 3 angles.
                 * Moves the structure to the target point.
                 * Sets all the bars speed to the given speed vector.
                 * (muscles and markers are moved automatically since they are attached).
                 */
     void moveModel(btVector3 targetPositionVector,btVector3 rotationVector,btVector3 speedVector);
                
    std::vector<tgBasicActuator*> allMuscles;
                std::vector<std::vector<std::vector<int> > > nodeNumberingSchema;
                std::vector<btVector3> nodePositions;
                std::vector<heightSensor> heightSensors;

                tgWorld& m_world;
};

#endif  // SUPERBALL_MODEL_H