ARGoS  3
A parallel, multi-engine simulator for swarm robotics
differential_steering_default_actuator.h
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1 
7 #ifndef DIFFERENTIAL_STEERING_ACTUATOR_DEFAULT_H
8 #define DIFFERENTIAL_STEERING_ACTUATOR_DEFAULT_H
9 
10 #include <string>
11 #include <map>
12 
13 namespace argos {
14  class CDifferentialSteeringDefaultActuator;
15 }
16 
17 #include <argos3/plugins/robots/generic/control_interface/ci_differential_steering_actuator.h>
18 #include <argos3/core/simulator/actuator.h>
19 #include <argos3/plugins/simulator/entities/wheeled_entity.h>
20 #include <argos3/core/simulator/entity/composable_entity.h>
21 #include <argos3/core/utility/math/rng.h>
22 
23 namespace argos {
24 
27 
28  public:
29 
33  };
34 
35  public:
36 
41 
46 
47  virtual void SetRobot(CComposableEntity& c_entity);
48 
49  virtual void Init(TConfigurationNode& t_tree);
50 
58  virtual void SetLinearVelocity(Real f_left_velocity,
59  Real f_right_velocity);
60 
61  virtual void Update();
62 
63  virtual void Reset();
64 
65  protected:
66 
68  virtual void AddGaussianNoise();
69 
70  protected:
71 
73 
76 
79 
80  };
81 
82 }
83 
84 #endif
argos::CDifferentialSteeringDefaultActuator::Reset
virtual void Reset()
Resets the actuator to the state it had just after Init().
Definition: differential_steering_default_actuator.cpp:80
argos::CDifferentialSteeringDefaultActuator::Init
virtual void Init(TConfigurationNode &t_tree)
Initializes the actuator from the XML configuration tree.
Definition: differential_steering_default_actuator.cpp:43
argos
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
argos::CComposableEntity
Basic class for an entity that contains other entities.
Definition: composable_entity.h:32
argos::CSimulatedActuator
The basic interface for a simulated actuator.
Definition: actuator.h:22
argos::CDifferentialSteeringDefaultActuator::m_fNoiseStdDeviation
Real m_fNoiseStdDeviation
Noise parameters, at the moment noise is Gaussian.
Definition: differential_steering_default_actuator.h:78
argos::CWheeledEntity
Definition: wheeled_entity.h:15
argos::CDifferentialSteeringDefaultActuator::LEFT_WHEEL
@ LEFT_WHEEL
Definition: differential_steering_default_actuator.h:31
argos::TConfigurationNode
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
Definition: argos_configuration.h:27
argos::CDifferentialSteeringDefaultActuator::m_pcRNG
CRandom::CRNG * m_pcRNG
Random number generator.
Definition: differential_steering_default_actuator.h:75
argos::CRandom::CRNG
The RNG.
Definition: rng.h:90
argos::CDifferentialSteeringDefaultActuator::DIFFERENTIAL_STEERING
DIFFERENTIAL_STEERING
Definition: differential_steering_default_actuator.h:30
argos::CDifferentialSteeringDefaultActuator::Update
virtual void Update()
Updates the state of the entity associated to this actuator.
Definition: differential_steering_default_actuator.cpp:73
argos::CDifferentialSteeringDefaultActuator::AddGaussianNoise
virtual void AddGaussianNoise()
Adds noise to the steering velocity.
Definition: differential_steering_default_actuator.cpp:88
argos::CDifferentialSteeringDefaultActuator::~CDifferentialSteeringDefaultActuator
virtual ~CDifferentialSteeringDefaultActuator()
Destructor.
Definition: differential_steering_default_actuator.h:45
argos::CDifferentialSteeringDefaultActuator::CDifferentialSteeringDefaultActuator
CDifferentialSteeringDefaultActuator()
Constructor.
Definition: differential_steering_default_actuator.cpp:16
argos::CCI_DifferentialSteeringActuator
Definition: ci_differential_steering_actuator.h:19
argos::CDifferentialSteeringDefaultActuator::RIGHT_WHEEL
@ RIGHT_WHEEL
Definition: differential_steering_default_actuator.h:32
argos::CDifferentialSteeringDefaultActuator
Definition: differential_steering_default_actuator.h:25
argos::CDifferentialSteeringDefaultActuator::SetLinearVelocity
virtual void SetLinearVelocity(Real f_left_velocity, Real f_right_velocity)
Sets the linear velocity of the two steering.
Definition: differential_steering_default_actuator.cpp:59
Real
float Real
Collects all ARGoS code.
Definition: datatypes.h:39
argos::CDifferentialSteeringDefaultActuator::m_pcWheeledEntity
CWheeledEntity * m_pcWheeledEntity
Definition: differential_steering_default_actuator.h:72
argos::CDifferentialSteeringDefaultActuator::SetRobot
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
Definition: differential_steering_default_actuator.cpp:27