T6Model.h

/*
 * 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 T6_MODEL_H
#define T6_MODEL_H

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

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

class T6Model : public tgSubject<T6Model>, public tgModel
{
public: 
                
    T6Model();
                
    virtual ~T6Model();
    
    virtual void setup(tgWorld& world);
    
    void teardown();
    
    virtual void step(double dt);
                
    virtual void onVisit(tgModelVisitor& r);
    
                std::vector<double> getBallCOM();

    const std::vector<tgBasicActuator*>& getAllMuscles() const;
    
                const std::vector<tgBasicActuator*>& getPassiveMuscles() const;

                const std::vector<tgBasicActuator*>& getActiveMuscles() const;

                virtual const double muscleRatio();

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

                void addMarkers(tgStructure& s);
                
    static void addMuscles(tgStructure& s);

                void moveModel(btVector3 targetPositionVector, btVector3 rotationVector,
                                                                   btVector3 speedVector);

private:
                
    std::vector<tgBasicActuator*> allMuscles;

    std::vector<tgBasicActuator*> passiveMuscles;

                std::vector<tgBasicActuator*> activeMuscles;

                std::vector<btVector3> nodePositions;
};

#endif  // T6_MODEL_H