ARGoS
3
A parallel, multi-engine simulator for swarm robotics
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8 #include <argos3/core/utility/math/cylinder.h>
12 static const Real FOOTBOT_RADIUS = 0.085036758f;
13 static const Real FOOTBOT_INTERWHEEL_DISTANCE = 0.14f;
14 static const Real FOOTBOT_HEIGHT = 0.146899733f;
27 m_cWheeledEntity(c_footbot.GetWheeledEntity()),
28 m_fCurrentWheelVelocity(m_cWheeledEntity.GetWheelVelocities()) {
44 m_fAngularVelocity = 0.0;
83 const CRay3& c_ray)
const {
88 bool bIntersects = m_cShape.
Intersects(f_t_on_ray, c_ray);
void Set(const Real f_x, const Real f_y, const Real f_z)
Sets the vector contents from Cartesian coordinates.
const SAnchor & GetOriginAnchor() const
Returns a const reference to the origin anchor associated to this entity.
CQuaternion Orientation
The orientation of the anchor wrt the global coordinate system.
The namespace containing all the ARGoS related code.
It defines the basic type CRadians, used to store an angle value in radians.
static const CVector3 Z
The z axis.
CVector3 & RotateZ(const CRadians &c_angle)
Rotates this vector wrt the z axis.
void ToEulerAngles(CRadians &c_z_angle, CRadians &c_y_angle, CRadians &c_x_angle) const
An anchor related to the body of an entity.
virtual void CalculateBoundingBox()
Calculates the axis-aligned box that contains the entire physics model.
bool Intersects(Real &f_t_on_ray, const CRay3 &c_ray)
void RegisterAnchorMethod(const SAnchor &s_anchor, void(MODEL::*pt_method)(SAnchor &))
Registers an anchor method.
Real GetPhysicsClockTick() const
Returns the length of the physics engine tick.
CPointMass3DEngine & m_cPM3DEngine
Reference to the physics engine.
CVector3 m_cVelocity
The linear velocity of this model in the engine.
const SBoundingBox & GetBoundingBox() const
Returns an axis-aligned box that contains the physics model.
CPointMass3DFootBotModel(CPointMass3DEngine &c_engine, CFootBotEntity &c_footbot)
virtual void UpdateOriginAnchor(SAnchor &s_anchor)
Updates the origin anchor associated to the embodied entity.
CVector3 m_cPosition
The position of the model in this engine.
CVector3 Position
The position of the anchor wrt the global coordinate system.
virtual void UpdateFromEntityStatus()
Updates the state of this model from the status of the associated entity.
float Real
Collects all ARGoS code.
virtual bool CheckIntersectionWithRay(Real &f_t_on_ray, const CRay3 &c_ray) const
REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY(CEyeBotEntity, CPointMass3DEyeBotModel)
CEmbodiedEntity & GetEmbodiedEntity()
Returns the embodied entity associated to this physics model.