ARGoS
3
A parallel, multi-engine simulator for swarm robotics
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7 #ifndef QUADROTOR_SPEED_ACTUATOR_DEFAULT_H
8 #define QUADROTOR_SPEED_ACTUATOR_DEFAULT_H
14 class CQuadRotorSpeedDefaultActuator;
17 #include <argos3/core/utility/math/rng.h>
18 #include <argos3/core/simulator/actuator.h>
19 #include <argos3/core/simulator/entity/composable_entity.h>
20 #include <argos3/plugins/robots/generic/control_interface/ci_quadrotor_speed_actuator.h>
21 #include <argos3/plugins/simulator/entities/quadrotor_entity.h>
The namespace containing all the ARGoS related code.
CQuadRotorEntity * m_pcQuadRotorEntity
virtual ~CQuadRotorSpeedDefaultActuator()
It defines the basic type CRadians, used to store an angle value in radians.
Basic class for an entity that contains other entities.
The basic interface for a simulated actuator.
This entity is a link to a body in the physics engine.
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
CQuadRotorEntity::SSpeedControlData m_sDesiredSpeedData
virtual void Init(TConfigurationNode &t_tree)
Initializes the actuator from the XML configuration tree.
virtual void Update()
Updates the state of the entity associated to this actuator.
CQuadRotorSpeedDefaultActuator()
virtual void Reset()
Resets the actuator to the state it had just after Init().
virtual void SetLinearVelocity(const CVector3 &c_velocity)
Sets the linear velocity of the quadrotor.
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
CEmbodiedEntity * m_pcEmbodiedEntity
virtual void SetRotationalSpeed(const CRadians &c_speed)
Sets the rotational velocity of the quadrotor around the local Z axis (yaw).