CActuatorMuscle.hpp

/* This file is part of scl, a control and simulation library
for robots and biomechanical models.

scl is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 3 of the License, or (at your option) any later version.

Alternatively, you can redistribute it and/or
modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of
the License, or (at your option) any later version.

scl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License and a copy of the GNU General Public License along with
scl. If not, see <http://www.gnu.org/licenses/>.
 */
/*
 * \file CActuatorMuscle.hpp
 *
 *  Created on: Jul 21, 2013
 *
 *  Copyright (C) 2013
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */

#ifndef CACTUATORMUSCLE_HPP_
#define CACTUATORMUSCLE_HPP_

#include <scl/data_structs/SObject.hpp>

//Needs to access parent robot kinematics
#include <scl/data_structs/SRobotIO.hpp>
#include <scl/data_structs/SRobotParsed.hpp>
#include <scl/data_structs/SActuatorSetMuscleParsed.hpp>
#include <scl/dynamics/CDynamicsBase.hpp>

#include <scl/actuation/muscles/data_structs/SActuatorMuscle.hpp>

#include <Eigen/Eigen>

namespace scl
{
  class CActuatorMuscle
  {
  public:
    /* *****************************************************************
     *                        Actuation Model
     * ***************************************************************** */
    virtual sBool computeJacobian(
        const Eigen::VectorXd &arg_q,
        Eigen::VectorXd& ret_J);

    /* *****************************************************************
     *                           Accessors
     * ***************************************************************** */
    std::string getName() const
    { return data_.name_; }

    /* *****************************************************************
     *                        Initialization
     * ***************************************************************** */
    virtual sBool init(const std::string& arg_name,
        const SRobotParsed *arg_robot,
        const SActuatorSetMuscleParsed *arg_msys,
        const sutil::CMappedList<std::string,SRigidBodyDyn> &arg_rbdtree,
        CDynamicsBase *arg_dynamics);

    virtual inline sBool hasBeenInit();

    /* *****************************************************************
     *                        Constructors
     * ***************************************************************** */
    CActuatorMuscle();

    virtual ~CActuatorMuscle(){}

  protected:
    SActuatorMuscle data_;

    const SRobotParsed *robot_;

    const SActuatorSetMuscleParsed *msys_;

    const SMuscleParsed *muscle_;

    CDynamicsBase *dynamics_;
  };

} /* namespace scl */
#endif /* CACTUATORMUSCLE_HPP_ */