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rdActuatorSet.h

// rdActuatorSet.h
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Copyright 2002, 2003 Realistic Dynamics, Inc.
// All rights reserved.
//
// Please do not read, copy, distribute, or use without permission.
// Contact: Frank C. Anderson, fca@RealisticDynamics.com
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef __rdActuatorSet_h__
#define __rdActuatorSet_h__


// INCLUDES
#include <rdPtrArray.h>
#include "rdModel.h"
#include "rdActuator.h"


//=============================================================================
//=============================================================================
class RDSIMULATION_API rdActuatorSet : public rdPtrArray 
{

//=============================================================================
// DATA
//=============================================================================
private:
   static rdPtrArray _ActuatorTypes;
protected:
   rdPtrArray _defaultActuators;
   rdModel *_model;
   int _nx;
   int *_controlsIndex;
   int _ny;
   int *_statesIndex;
   int _nyp;
   int *_pseudoIndex;

//=============================================================================
// METHODS
//=============================================================================
   //--------------------------------------------------------------------------
   // CONSTRUCTION
   //--------------------------------------------------------------------------
public:
   rdActuatorSet();
   rdActuatorSet(const char *aFileName);
   virtual ~rdActuatorSet();
private:
   void setNull();
   void constructControlsIndex();
   void constructStatesIndex();
   void constructPseudoStatesIndex();
   void constructDefaultActuators();

   //--------------------------------------------------------------------------
   // GET AND SET
   //--------------------------------------------------------------------------
public:
   // MODEL
   void setModel(rdModel *aModel);
   rdModel* getModel();
   // ACTUATOR
   rdActuator* setActuator(rdActuator *aActuator);
   rdActuator* setActuator(int aIndex,rdActuator *aActuator);
   rdActuator* getActuator(int aIndex) const;
   // CONTROLS
   int getNX();
   int getControlsIndex(int aWhich);
   void setControls(const double aX[]);
   void getControls(double rX[]);
   // STATES
   int getNY();
   int getStatesIndex(int aWhich);
   void setStates(const double aY[]);
   void getStates(double rY[]);
   // PSEUDOSTATES
   int getNYP();
   int getPseudoStatesIndex(int aWhich);
   void setPseudoStates(const double aY[]);
   void getPseudoStates(double rY[]);

   //--------------------------------------------------------------------------
   // COMPUTATIONS
   //--------------------------------------------------------------------------
   void promoteControlsToStates(const double aX[],double aDT);
   void computeActuation();
   void computeStateDerivatives(double rDY[]);
   void updatePseudoStates();

   //--------------------------------------------------------------------------
   // APPLICATION
   //--------------------------------------------------------------------------
   void apply();

   //--------------------------------------------------------------------------
   // CHECK
   //--------------------------------------------------------------------------
   bool check() const;

   //--------------------------------------------------------------------------
   // REGISTER SUPPORTED ACTUATOR TYPES
   //--------------------------------------------------------------------------
   static void RegisterType(const rdActuator &aActuator);

   //--------------------------------------------------------------------------
   // XML
   //--------------------------------------------------------------------------
   void updateObject(bool aDeep=true);
   void updateNode(bool aDeep=true);
   void generateNode(IDOM_Element *aParent);

//=============================================================================
}; // END of class rdActuatorSet
//=============================================================================
//=============================================================================


#endif // __rdActuatorSet_h__

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