tgImpedanceController.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_IMPEDANCECONTROLLER_H_
#define SRC_CORE_TG_IMPEDANCECONTROLLER_H_

// Forward references
class tgBasicController;
class tgBasicActuator;
class tgImpedanceController
{
 public:
     

        tgImpedanceController();

    tgImpedanceController(double offsetTension,
             double lengthStiffness,
             double velStiffness);
    

    double control(tgBasicController& mLocalController,
                    double deltaTimeSeconds,
                    double newPosition,
                    double offsetVel = 0);
    
                    
    double controlTension(tgBasicController& mLocalController,
                    double deltaTimeSeconds,
                    double newPosition,
                    double offsetTension,
                    double offsetVel = 0);
    double control(tgBasicActuator& mLocalController,
                    double deltaTimeSeconds,
                    double newPosition,
                    double offsetVel = 0);
    
                    
    double controlTension(tgBasicActuator& mLocalController,
                    double deltaTimeSeconds,
                    double newPosition,
                    double offsetTension,
                    double offsetVel = 0);
    void setOffsetTension(double offsetTension);

    void setLengthStiffness(double lengthStiffness);

    void setVelStiffness(double velStiffness);

    double getOffsetTension() const
    {
            return m_offsetTension;
    }

    double getLengthStiffness() const
    {
            return m_lengthStiffness;
    }

    double getVelStiffness() const
    {
            return m_velStiffness;
    }
        
 protected:

    double m_offsetTension;

    double m_lengthStiffness;

    double m_velStiffness;

 private:
        
    bool invariant() const;
};

#endif  // SRC_CORE_IMPEDANCECONTROL_H_