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pidTestRig.h
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1 /*
2  * Copyright © 2012, United States Government, as represented by the
3  * Administrator of the National Aeronautics and Space Administration.
4  * All rights reserved.
5  *
6  * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
7  * under the Apache License, Version 2.0 (the "License");
8  * you may not use this file except in compliance with the License.
9  * You may obtain a copy of the License at
10  * http://www.apache.org/licenses/LICENSE-2.0.
11  *
12  * Unless required by applicable law or agreed to in writing,
13  * software distributed under the License is distributed on an
14  * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
15  * either express or implied. See the License for the specific language
16  * governing permissions and limitations under the License.
17 */
18 
19 #ifndef PID_TEST_RIG_H
20 #define PID_TEST_RIG_H
21 
30 // This library
31 #include "core/tgModel.h"
32 #include "core/tgSubject.h"
33 // The C++ Standard Library
34 #include <vector>
35 
36 // Forward declarations
38 class tgModelVisitor;
39 class tgSCASineControl;
40 class tgStructure;
41 class tgWorld;
43 
48 class pidTestRig : public tgSubject<pidTestRig>, public tgModel
49 {
50 public:
51 
56  pidTestRig(bool kinematic = true);
57 
62  virtual ~pidTestRig();
63 
72  virtual void setup(tgWorld& world);
73 
78  virtual void teardown();
79 
84  virtual void step(double dt);
85 
93  virtual void onVisit(tgModelVisitor& r);
94 
99  const std::vector<tgSpringCableActuator*>& getAllMuscles() const;
100 
104  double getTotalTime() const
105  {
106  return totalTime;
107  }
108 
109 
110 private:
111 
118  static void addNodes(tgStructure& s);
119 
125  static void addRods(tgStructure& s);
126 
132  static void addMuscles(tgStructure& s);
133 
134  void setupControl();
135 
136 private:
141  std::vector<tgSCASineControl*> m_tgSCASineControllers;
142 
147  std::vector<tgSpringCableActuator*> allMuscles;
148 
149  tgImpedanceController* p_ipc;
150 
151  double totalTime;
152  bool reached;
153  bool useKinematic;
154 };
155 
156 #endif // Prism_MODEL_H
pidTestRig(bool kinematic=true)
Definition: pidTestRig.cpp:81
double getTotalTime() const
Definition: pidTestRig.h:104
virtual ~pidTestRig()
Definition: pidTestRig.cpp:88
const std::vector< tgSpringCableActuator * > & getAllMuscles() const
Definition: pidTestRig.cpp:258
Definition of tgSubject class.
virtual void onVisit(tgModelVisitor &r)
Definition: pidTestRig.cpp:252
Contains the definition of class tgModel.
virtual void teardown()
Definition: pidTestRig.cpp:263
virtual void setup(tgWorld &world)
Definition: pidTestRig.cpp:153
virtual void step(double dt)
Definition: pidTestRig.cpp:228