ControlledBody.h

/****************************************************************************
 * Copyright 2005 Evan Drumwright
 * This library is distributed under the terms of the Apache V2.0 
 * License (obtainable from http://www.apache.org/licenses/LICENSE-2.0).
 ****************************************************************************/

#ifndef _CONTROLLED_BODY_H
#define _CONTROLLED_BODY_H

#include <boost/shared_ptr.hpp>
#include <boost/foreach.hpp>
#include <Moby/Base.h>
#include <Moby/Constants.h>
#include <Moby/Log.h>
#include <Moby/Visualizable.h>
#include <Moby/RecurrentForce.h>

namespace Moby {

class ControlledBody : public virtual Visualizable
{
  friend class Simulator;

  public:

    ControlledBody() 
    { 
      controller = NULL; 
    }

    virtual ~ControlledBody() {}
    virtual void load_from_xml(boost::shared_ptr<const XMLTree> node, std::map<std::string, BasePtr>& id_map);
    virtual void save_to_xml(XMLTreePtr node, std::list<boost::shared_ptr<const Base> >& shared_objects) const;

    Ravelin::VectorNd& (*controller)(boost::shared_ptr<ControlledBody> body, Ravelin::VectorNd&, double, void*);

    void* controller_arg;

    const std::list<RecurrentForcePtr>& get_recurrent_forces() const { return _rfs; }

    std::list<RecurrentForcePtr>& get_recurrent_forces() { return _rfs; }

    virtual void prepare_to_calc_ode_sustained_constraints(Ravelin::SharedConstVectorNd& x, double t, double dt, void* data) = 0;

    virtual void prepare_to_calc_ode(Ravelin::SharedConstVectorNd& x, double t, double dt, void* data) = 0;

    virtual void ode(double t, double dt, void* data, Ravelin::SharedVectorNd& dx) = 0;

  private:

    std::list<RecurrentForcePtr> _rfs;

  protected:

    boost::weak_ptr<Simulator> simulator;
}; // end class

} // end namespace

#endif