SActuatorMuscle.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 SActuatorMuscle.hpp
 *
 *  Created on: Aug 18, 2013
 *
 *  Copyright (C) 2013
 *
 *  Author: Samir Menon <smenon@stanford.edu>
 */

#ifndef SACTUATORMUSCLE_HPP_
#define SACTUATORMUSCLE_HPP_

#include <scl/DataTypes.hpp>
#include <scl/data_structs/SObject.hpp>

#include <sutil/CMappedList.hpp>

#include <Eigen/Core>

namespace scl
{

  class SActuatorMuscle : public SObject
  {
  public:
    /* ******************************************************
     *                   Helper Class
     * ****************************************************** */
    class SViaPointSet
    {
    public:
      std::string parent_link_0_, parent_link_1_;

      Eigen::Vector3d pos_in_parent_0_, pos_in_parent_1_;

      Eigen::Vector3d x_glob_0_, x_glob_1_, x_glob_delta_;

      Eigen::MatrixXd J_0_, J_1_;

      const SRigidBodyDyn* rigid_body_dyn_0_, *rigid_body_dyn_1_;

      bool is_root_0_, is_root_1_;

      int child_link_id_;

      std::vector<sUInt> scl_gc_id_;

      SViaPointSet() :
        parent_link_0_(""), parent_link_1_(""),
        rigid_body_dyn_0_(NULL), rigid_body_dyn_1_(NULL),
        is_root_0_(false),is_root_1_(false),
        child_link_id_(-1) {}
    };

    /* ******************************************************
     *                           Data
     * ****************************************************** */
    sutil::CMappedList<sUInt,SViaPointSet> via_point_set_;

    /* ******************************************************
     *                   Initialization Functions
     * ****************************************************** */
    SActuatorMuscle() : SObject("SActuatorMuscle") {}

    virtual ~SActuatorMuscle() {}
  };

} /* namespace scl */
#endif /* SACTUATORMUSCLE_HPP_ */