experiments/include/musclepair.h

/********************************************************************************
 *  FARSA Experimentes Library                                                  *
 *  Copyright (C) 2007-2012                                                     *
 *  Gianluca Massera <emmegian@yahoo.it>                                        *
 *  Stefano Nolfi <stefano.nolfi@istc.cnr.it>                                   *
 *  Tomassino Ferrauto <tomassino.ferrauto@istc.cnr.it>                         *
 *  Onofrio Gigliotta <onofrio.gigliotta@istc.cnr.it>                           *
 *                                                                              *
 *  This program is free software; 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.                                         *
 *                                                                              *
 *  This program 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 General Public License           *
 *  along with this program; if not, write to the Free Software                 *
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA  *
 ********************************************************************************/

#ifndef MUSCLEPAIR_H
#define MUSCLEPAIR_H

#include "experimentsconfig.h"

namespace farsa {

class PhyDOF;

class FARSA_EXPERIMENTS_API MusclePair {
public:
    MusclePair( PhyDOF* dof, float ksh, float tmax, float rl, float lmax );
    virtual ~MusclePair() { /*Nothing to do*/ };
    void setRestLength( float rl );
    float getRestLength();
    void setMaxTension( float tmax );
    float getMaxTension( );
    void setMaxLength( float lmax );
    float getMaxLength();
    float getMinLength();
    float getAsh( );
    void setAsh( float newash );
    void setKsh( float ksh, float reduceFactor = 1.0 );
    float getKsh( );
    void setViscosity( float b );
    float getViscosity( );
    void setActivation( float act1, float act2 );
    void getActivation( float& act1, float& act2 );
    void getExtension( float& l1, float& l2 );
    void getActiveForces( float& ta1, float& ta2 ) {
        ta1 = tal1;
        ta2 = tal2;
    };
    float apply();
private:
    PhyDOF* dof;
    float ash;
    float ksh;
    float reduceKsh;
    float b;
    float tmax;
    float rl;
    float lmax;
    float lmin;
    float act1;
    float act2;
    float last_x1;
    float last_x2;
    float dx1;
    float dx2;
    float tal1, tal2;
};

} //end namespace farsa

#endif