CActuatorSetMuscle.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 CActuatorSetMuscle.hpp
 *
 *  Created on: Jul 21, 2013
 *
 *  Copyright (C) 2013
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */

#ifndef CACTUATORSETMUSCLE_HPP_
#define CACTUATORSETMUSCLE_HPP_

#include <scl/data_structs/SRobotParsed.hpp>
#include <scl/dynamics/CDynamicsBase.hpp>
#include <scl/actuation/CActuatorSetBase.hpp>
#include <scl/actuation/muscles/CActuatorMuscle.hpp>
#include <scl/actuation/muscles/data_structs/SActuatorSetMuscle.hpp>

#include <Eigen/Eigen>

#include <string>

namespace scl
{
  class CActuatorSetMuscle : public CActuatorSetBase
  {
  public:
    /* *****************************************************************
     *                        Actuator Kinematics
     * ***************************************************************** */
    virtual sBool computeJacobian(
        const Eigen::VectorXd arg_q,
        Eigen::MatrixXd &ret_J);

    /* *****************************************************************
     *                        Actuator Dynamics
     * ***************************************************************** */
    virtual sBool computeDynamics(const Eigen::VectorXd& arg_input,
        const Eigen::MatrixXd& arg_state,
        Eigen::VectorXd& ret_output_force)
    {  return false; }

    /* *****************************************************************
     *                           Accessors
     * ***************************************************************** */
    int getNumberOfMuscles()
    { return muscles_.size(); }

    SActuatorSetMuscle* getData()
    { return data_; }

    const SActuatorSetMuscle* getData() const
    { return static_cast<const SActuatorSetMuscle*>(data_); }

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

    virtual sBool hasBeenInit();

    /* *****************************************************************
     *                        Constructors
     * ***************************************************************** */

    CActuatorSetMuscle();

    virtual ~CActuatorSetMuscle(){}

  protected:
    SActuatorSetMuscle *data_;

    sutil::CMappedList<std::string,CActuatorMuscle> muscles_;

    CDynamicsBase *dynamics_;

    Eigen::VectorXd row_J_;
  };

} /* namespace scl */
#endif /* CACTUATORSETMUSCLE_HPP_ */