VerticalSpineBendingController.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 VERTICAL_SPINE_BENDING_CONTROLLER_H
#define VERTICAL_SPINE_BENDING_CONTROLLER_H

// This library
#include "core/tgObserver.h"
#include "core/tgSubject.h"

// the data collection class
#include "sensors/tgDataObserver.h"
#include <string>

// Forward declarations
class VerticalSpineModel;

class VerticalSpineBendingController : public tgObserver<VerticalSpineModel>, public tgSubject <VerticalSpineBendingController>
{
public:
                
  // Note that currently this is calibrated for decimeters.
  VerticalSpineBendingController();
    
  virtual ~VerticalSpineBendingController() { }

  virtual void onSetup(VerticalSpineModel& subject);
    
  virtual void onStep(VerticalSpineModel& subject, double dt);
    
private:
                
   double verticalRLA1;
   double verticalRLA2;
   double verticalRLA3;
   double verticalRLA4;
   double verticalRLB1;
   double verticalRLB2;
   double verticalRLB3;
   double verticalRLB4;
   double dL;
   double state;
   double updateTime;

  // For data logging. TO-DO: implement this fully.
  tgDataObserver m_dataObserver;
  double m_updateTime;

};

#endif // Spine_BENDING_CONTROLLER_H