Actuators.h

#ifndef BIORBD_ACTUATORS_ACTUATORS_H
#define BIORBD_ACTUATORS_ACTUATORS_H
 
#include <vector>
#include <memory>
#include "biorbdConfig.h"
#include "Utils/Scalar.h"
 
namespace biorbd {
namespace utils {
class Vector;
}
 
namespace rigidbody {
class GeneralizedCoordinates;
class GeneralizedVelocity;
class GeneralizedTorque;
}
 
namespace actuator {
class Actuator;
class BIORBD_API Actuators
{
public:
    Actuators();
 
    Actuators(
            const biorbd::actuator::Actuators& other);
 
    virtual ~Actuators();
 
    void DeepCopy(
            const biorbd::actuator::Actuators& other);
 
    void addActuator(
            const biorbd::actuator::Actuator &a);
 
    void closeActuator();
 
    std::pair<biorbd::rigidbody::GeneralizedTorque, biorbd::rigidbody::GeneralizedTorque> torqueMax(
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            const biorbd::rigidbody::GeneralizedVelocity& Qdot);
 
    biorbd::rigidbody::GeneralizedTorque torqueMax(
            const biorbd::utils::Vector &activation,
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            const biorbd::rigidbody::GeneralizedVelocity &Qdot);
 
    biorbd::rigidbody::GeneralizedTorque torque(
            const biorbd::utils::Vector &activation,
            const biorbd::rigidbody::GeneralizedCoordinates& Q,
            const biorbd::rigidbody::GeneralizedVelocity &Qdot);
 
    // Get and set
    const std::pair<std::shared_ptr<biorbd::actuator::Actuator>, std::shared_ptr<biorbd::actuator::Actuator>>&
    actuator(unsigned int dof);
    
    const biorbd::actuator::Actuator& actuator(unsigned int dof, bool concentric);
 
    unsigned int nbActuators() const;
 
protected:
    std::shared_ptr<std::vector<std::pair<std::shared_ptr<biorbd::actuator::Actuator>, std::shared_ptr<biorbd::actuator::Actuator>>>> m_all; 
    std::shared_ptr<std::vector<bool>> m_isDofSet;
    std::shared_ptr<bool> m_isClose; 
 
    biorbd::utils::Scalar getTorqueMaxDirection(
            const std::shared_ptr<Actuator> actuator,
            const rigidbody::GeneralizedCoordinates &Q,
            const rigidbody::GeneralizedVelocity &Qdot) const;
 
};
 
}}
 
#endif // BIORBD_ACTUATORS_ACTUATORS_H