tgLinearString.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 TG_LINEAR_STRING_H
#define TG_LINEAR_STRING_H

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

// Forward declarations
class Muscle2P;
class tgModelVisitor;
class tgWorld;

// Should always be a child Model of a tgModel
class tgLinearString : public tgSubject<tgLinearString>,
                        public tgBaseString
{
public: 

    tgLinearString(Muscle2P* muscle,
           const tgTags& tags,
           tgBaseString::Config& config);
    tgLinearString(Muscle2P* muscle,
           std::string space_separated_tags,
           tgBaseString::Config& config);
    
    virtual ~tgLinearString();
    
    virtual void setup(tgWorld& world);
    
    virtual void teardown();
    
    virtual void step(double dt);
    
    virtual void onVisit(const tgModelVisitor& r) const;
    
    virtual void tensionMinLengthController(const double targetTension,
                                            float dt);
    
    void setRestLength(double newLength, float dt);
    
    const Muscle2P* getMuscle() const
    {
      return m_muscle;
    }
    
    virtual const double getStartLength() const;
    
    virtual const double getCurrentLength() const;
    
    virtual const double getTension() const;
    
    virtual const double getRestLength() const;
    
    virtual const double getVelocity() const;
    
    virtual const tgBaseString::BaseStringHistory& getHistory() const;
    
protected: 
    
    virtual void moveMotors(double dt);
    
    Muscle2P* m_muscle;

private:

    void constructorAux();

    void logHistory();

    bool invariant() const;
    
    double prevVel;
    
};


#endif