tgUnidirComprSprActuator.h

Go to the documentation of this file.

/*
 * 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_UNIDIR_COMPR_SPR_ACTUATOR_H
#define SRC_CORE_TG_UNIDIR_COMPR_SPR_ACTUATOR_H

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

// The Bullet Physics library
#include "LinearMath/btVector3.h"

// This class inherits from tgCompressionSpringActuator
#include "tgCompressionSpringActuator.h"

// for history logging
#include <deque>

// Forward declarations
class tgBulletUnidirComprSpr;
class tgModelVisitor;
class tgWorld;

// This class needs to be a child model of a tgModel, but that's
// taken care of by inheriting from tgCompressionSpringActuator
class tgUnidirComprSprActuator : public tgCompressionSpringActuator
{
public: 

  struct Config : public tgCompressionSpringActuator::Config
  {
  public:
    
    Config(
                 bool iFEA = false,
                 double s = 1000.0,
                 double d = 10.0,
                 double rL = 0.0,
                 bool moveCPA = true,
                 bool moveCPB = true,
                 btVector3 * dir = (new btVector3(0, 1, 0)) );

    btVector3 * direction;
  };
  
  tgUnidirComprSprActuator(
                 tgBulletUnidirComprSpr* compressionSpring,
         const tgTags& tags,
         tgUnidirComprSprActuator::Config& config);
    
  virtual ~tgUnidirComprSprActuator();
    
  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 const double getSpringForce() const;


protected:

    tgUnidirComprSprActuator::Config m_config;

private:

    void constructorAux();

    bool invariant() const;

};


#endif