ARGoS  3
A parallel, multi-engine simulator for swarm robotics
dynamics2d_differentialsteering_control.h
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1 
7 #ifndef DYNAMICS2D_DIFFERENTIALSTEERING_CONTROL_H
8 #define DYNAMICS2D_DIFFERENTIALSTEERING_CONTROL_H
9 
10 namespace argos {
11  class CDynamics2DEngine;
12 }
13 
14 #include <argos3/plugins/simulator/physics_engines/dynamics2d/dynamics2d_velocity_control.h>
15 #include <argos3/core/utility/math/vector2.h>
16 
17 namespace argos {
18 
20 
21  public:
22 
24  Real f_max_force,
25  Real f_max_torque,
26  Real f_interwheel_distance);
27 
29 
30  void SetWheelVelocity(Real f_left_wheel,
31  Real f_right_wheel);
32 
33  inline Real GetInterwheelDistance() const {
34  return m_fInterwheelDistance;
35  }
36 
37  private:
38 
39  Real m_fInterwheelDistance;
40 
41  };
42 
43 }
44 
45 #endif
argos::CDynamics2DDifferentialSteeringControl::CDynamics2DDifferentialSteeringControl
CDynamics2DDifferentialSteeringControl(CDynamics2DEngine &c_engine, Real f_max_force, Real f_max_torque, Real f_interwheel_distance)
Definition: dynamics2d_differentialsteering_control.cpp:14
argos
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
argos::CDynamics2DEngine
Definition: dynamics2d_engine.h:42
argos::CDynamics2DDifferentialSteeringControl::GetInterwheelDistance
Real GetInterwheelDistance() const
Definition: dynamics2d_differentialsteering_control.h:33
argos::CDynamics2DVelocityControl
Definition: dynamics2d_velocity_control.h:19
argos::CDynamics2DDifferentialSteeringControl::~CDynamics2DDifferentialSteeringControl
virtual ~CDynamics2DDifferentialSteeringControl()
Definition: dynamics2d_differentialsteering_control.h:28
argos::CDynamics2DDifferentialSteeringControl
Definition: dynamics2d_differentialsteering_control.h:19
Real
float Real
Collects all ARGoS code.
Definition: datatypes.h:39
argos::CDynamics2DDifferentialSteeringControl::SetWheelVelocity
void SetWheelVelocity(Real f_left_wheel, Real f_right_wheel)
Definition: dynamics2d_differentialsteering_control.cpp:24