motors.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 MOTORS_H
#define MOTORS_H

#include "experimentsconfig.h"
#include "neuroninterfaces.h"
#include "musclepair.h"
#include "robots.h"
#include "helperresources.h"

namespace farsa {

class FARSA_EXPERIMENTS_API FakeMotor : public Motor
{
public:
    FakeMotor(ConfigurationParameters& params, QString prefix);

    ~FakeMotor();

    virtual void save(ConfigurationParameters& params, QString prefix);

    static void describe(QString type);

    virtual void update();

    virtual int size();

    virtual void shareResourcesWith(ResourcesUser* other);

protected:
    void resourceChanged(QString resourceName, ResourceChangeType changeType);

    ResourceVector<real> m_additionalOutputs;

    const QString m_neuronsIteratorResource;

    const QString m_additionalOutputsResource;

    NeuronsIterator* m_neuronsIterator;
};

class FARSA_EXPERIMENTS_API ProportionalController
{
public:
    ProportionalController();

    ProportionalController(double k, double maxVelocity);

    ProportionalController(const ProportionalController& other);

    ProportionalController& operator=(const ProportionalController& other);

    ~ProportionalController();

    real getK() const
    {
        return m_k;
    }

    void setK(double k)
    {
        m_k = k;
    }

    real getMaxVelocity() const
    {
        return m_maxVelocity;
    }

    void setMaxVelocity(double maxVelocity)
    {
        m_maxVelocity = maxVelocity;
    }

    real velocityForJoint(real desired, real current) const;

protected:
    real m_k;

    real m_maxVelocity;
};

} // end namespace farsa

#endif