8 #include <argos3/core/utility/logging/argos_log.h>
9 #include <argos3/core/utility/math/cylinder.h>
10 #include <argos3/core/simulator/simulator.h>
11 #include <argos3/core/simulator/space/space.h>
12 #include <argos3/plugins/simulator/physics_engines/pointmass3d/pointmass3d_engine.h>
16 static const Real BODY_HEIGHT = 0.566f;
17 static const Real BODY_RADIUS = 0.25f;
18 static const Real BODY_MASS = 1.00f;
19 static const Real BODY_INERTIA = 0.01f;
20 static const CVector3 POS_K_P(20.0f, 20.0f, 20.0f);
21 static const CVector3 POS_K_D(10.0f, 10.0f, 10.0f);
22 static const Real YAW_K_P = 0.5f;
23 static const Real YAW_K_D = 0.1f;
24 static const CVector3 VEL_K_P(20.0f, 20.0f, 20.0f);
25 static const CVector3 VEL_K_D(10.0f, 10.0f, 10.0f);
26 static const Real ROT_K_P = 0.5f;
27 static const Real ROT_K_D = 0.1f;
35 c_eyebot.GetEmbodiedEntity(),
36 c_eyebot.GetQuadRotorEntity(),
49 RegisterAnchorMethod<CPointMass3DEyeBotModel>(