tgCompressionSpringActuator.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 SRC_CORE_TG_COMPRESSION_SPRING_ACTUATOR_H
#define SRC_CORE_TG_COMPRESSION_SPRING_ACTUATOR_H

// This application
#include "tgModel.h"
#include "tgControllable.h"
#include "tgSubject.h"

// for history logging
#include <deque>

// Forward declarations
class tgBulletCompressionSpring;
class tgModelVisitor;
class tgWorld;

// This class needs to be a child model of a tgModel.
class tgCompressionSpringActuator : public tgModel, public tgControllable,
                                      public tgSubject<tgCompressionSpringActuator>
{
public: 

  struct Config
  {
  public:
    
    Config(
                   bool iFEA = false,
                   double s = 1000.0,
                   double d = 10.0,
                   double rL = 0.0,
                   bool moveCPA = true,
                   bool moveCPB = true);

    bool isFreeEndAttached;

    double stiffness;
    
    double damping;

    double restLength;

    bool moveCablePointAToEdge;
    bool moveCablePointBToEdge;

  };
  
  tgCompressionSpringActuator(tgBulletCompressionSpring* compressionSpring,
         const tgTags& tags,
         tgCompressionSpringActuator::Config& config);
    
  virtual ~tgCompressionSpringActuator();
    
  virtual void setup(tgWorld& world);
    
  virtual void teardown();
    
  virtual void step(double dt);
    
  virtual void onVisit(const tgModelVisitor& r) const;
    
  //virtual const double getStartDistance() const;

  //virtual const double getCurrentDistance() const;

  //virtual const double getRestLength() const;

  virtual double getActuatorSpringForce();

  virtual const tgBulletCompressionSpring* getCompressionSpring() const
  {
    return m_compressionSpring;
  }

  virtual void setControlInput(double input);
                
  virtual void setControlInput(double input, double dt);

protected:

    tgBulletCompressionSpring* m_compressionSpring;

    Config m_config;

private:

    void constructorAux();

    bool invariant() const;

    double m_prevVelocity;
    
};


#endif