CPGEdge.cpp

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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.
*/

#include "CPGEdge.h"
#include "CPGNode.h"

CPGEdge::CPGEdge(               CPGNode* newTarget,
                                                                                double newWeight,
                                                                                double newPhase):
targetNode(newTarget),
weight(newWeight),
phaseOffset(newPhase)
{
                                
}

CPGEdge::~CPGEdge(){
                // will be deleted by CPGEquations
                targetNode = NULL;
}

void CPGEdge::couple(CPGNode & currentNode){
                currentNode.phiDotValue += weight * targetNode->rValue * sin (targetNode->phiValue - currentNode.phiValue - phaseOffset);
}

std::string CPGEdge::toString(const std::string& prefix) const
{
                std::string p = "  ";
                std::ostringstream os;
                os << prefix << "CPGEdge(";

                // TODO: add something about parameters of this edge?
                
                os << prefix << p << "Conected to:";
                os << prefix << p << p << targetNode->getNodeIndex();

                os << prefix << ")";
                return os.str();
}