tgKinematicActuator.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_KINEMATIC_ACTUATOR_H
#define SRC_CORE_TG_KINEMATIC_ACTUATOR_H

// This application
#include "core/tgModel.h"
#include "core/tgSpringCableActuator.h"

// Forward declarations
class tgBulletSpringCable;
class tgModelVisitor;
class tgWorld;

// Should always be a child Model of a tgModel
class tgKinematicActuator : public tgSpringCableActuator
{
public: 
                struct Config : public tgSpringCableActuator::Config
                {
                                Config(double s = 1000.0,
                                                                double d = 10.0,
                                                                double p = 0.0,
                                                                double rad = 1.0,
                                                                double moFric = 0.0,
                                                                double moInert = 1.0,
                                                                bool back = false,
                                                                bool h = false,
                                                                double mf = 1000.0,
                                                                double tVel = 100.0,
                                                                double mnAL = 0.1,
                                                                double mnRL = 0.1,
                                                                double rot = 0);
                                
        void scale (double sf);
                                
                                double radius;
                                
                                double motorFriction;
                                
                                double motorInertia;
                                
                                bool backdrivable;
                                double maxOmega;
                                double maxTorque;
                };
                
    tgKinematicActuator(tgBulletSpringCable* muscle,
           const tgTags& tags,
           tgKinematicActuator::Config& config);
    
    virtual ~tgKinematicActuator();
    
    virtual void setup(tgWorld& world);
    
    virtual void teardown();
    
    virtual void step(double dt);
    
    virtual void onVisit(const tgModelVisitor& r) const;
    
    virtual const double getVelocity() const;
    
    virtual const tgSpringCableActuator::SpringCableActuatorHistory& getHistory() const;
    
    virtual double getAppliedTorque(double desiredTorque) const;
                
                
                virtual void setControlInput(double input);
                
protected:
                
                virtual void integrateRestLength(double dt);
private:

    void constructorAux();

    void logHistory();

    bool invariant() const;
    
    double prevVel;
    
    double m_motorVel;
    
    double m_motorAcc;
                
                double m_desiredTorque;
    
    double m_appliedTorque;
    
    tgKinematicActuator::Config m_config;
    
};


#endif