CPGEdge.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 SIMULATOR_SRC_LIB_MODELS_SNAKE_CPGS_CPGEDGE
#define SIMULATOR_SRC_LIB_MODELS_SNAKE_CPGS_CPGEDGE

#include <math.h> 
#include <sstream>
#include <vector>

#include "CPGNode.h"

class CPGNode; //Forward declaration

class CPGEdge
{
                public:
                CPGEdge(CPGNode* newTarget,
                                                double newWeight,
                                                double newPhase);
                ~CPGEdge();
                
                virtual void couple(CPGNode & currentNode);
                
                CPGNode* getTargetNode(){
                                return targetNode;
                }
                
                std::string toString(const std::string& prefix = "") const;
                
                protected:
                
                CPGNode* targetNode;
                
                double weight;
                
                double phaseOffset;
                
};

inline std::ostream&
operator<<(std::ostream& os, const CPGEdge& obj)
{
    os << obj.toString() << std::endl;
                return os;
}

#endif // SIMULATOR_SRC_LIB_MODELS_SNAKE_CPGS_CPGEDGE