T6RestLengthController.h

/*
 * 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 T6_RESTLENGTH_CONTROLLER_H
#define T6_RESTLENGTH_CONTROLLER_H

// This library
#include "core/tgObserver.h"

// Forward declarations
class T6Model;

class T6RestLengthController : public tgObserver<T6Model>
{
public:
                
  // Note that currently this is calibrated for decimeters.
  T6RestLengthController(T6Model* subject, const double restLengthDiff = 4);
    
  virtual ~T6RestLengthController() { }

  virtual void onSetup(T6Model& subject);
    
  virtual void onStep(T6Model& subject, double dt);
    
private:
                
  const double m_restLengthDiff;

  const double m_controllerMuscleRatio;

  // For data logging. TO-DO: implement this fully.
  // tgDataObserver m_dataObserver;
  // double m_updateTime;
};

#endif // T6_RESTLENGTH_CONTROLLER_H