ARGoS
3
A parallel, multi-engine simulator for swarm robotics
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8 #include <argos3/core/utility/math/angles.h>
9 #include <argos3/core/simulator/physics_engine/physics_engine.h>
10 #include <argos3/core/simulator/space/space.h>
28 const std::string& str_id,
31 m_psAnchor(&s_anchor) {
83 return m_fCurRotSpeed;
97 return m_fDesRotSpeed;
104 m_cDesRot = c_rotation;
112 m_fDesRotSpeed = f_speed;
The namespace containing all the ARGoS related code.
void SetDesiredRotation(const CRadians &c_rotation)
It defines the basic type CRadians, used to store an angle value in radians.
Basic class for an entity that contains other entities.
Real GetRotationSpeed() const
CRadians GetRotation() const
void SetDesiredRotationSpeed(Real f_speed)
CRadians & SignedNormalize()
Normalizes the value in the range [-PI:PI].
Real GetDesiredRotationSpeed() const
REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY(CEntity)
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
CQuaternion OffsetOrientation
The initial orientation of the anchor wrt the body coordinate system.
Real GetValue() const
Returns the value in radians.
void ToEulerAngles(CRadians &c_z_angle, CRadians &c_y_angle, CRadians &c_x_angle) const
const CRadians & GetDesiredRotation() const
An anchor related to the body of an entity.
virtual void Update()
Updates the state of this entity.
virtual void Reset()
Resets the state of the entity to whatever it was after Init() or the standalone constructor was call...
void Disable()
Disables the entity.
CFootBotTurretEntity(CComposableEntity *pc_parent)
static Real GetInverseSimulationClockTick()
Returns the inverse of GetSimulationClockTick().
float Real
Collects all ARGoS code.
CRadians NormalizedDifference(const CRadians &c_angle1, const CRadians &c_angle2)
Calculates the normalized difference between the given angles.
virtual void Init(TConfigurationNode &t_tree)
Initializes the state of the entity from the XML configuration tree.
static const CRadians ZERO
Set to zero radians.