ARGoS  3
A parallel, multi-engine simulator for swarm robotics
footbot_distance_scanner_default_actuator.h
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1 
7 #ifndef FOOTBOT_DISTANCE_SCANNER_DEFAULT_ACTUATOR_H
8 #define FOOTBOT_DISTANCE_SCANNER_DEFAULT_ACTUATOR_H
9 
10 #include <string>
11 #include <map>
12 
13 namespace argos {
14  class CFootBotDistanceScannerDefaultActuator;
15 }
16 
17 #include <argos3/plugins/robots/foot-bot/control_interface/ci_footbot_distance_scanner_actuator.h>
18 #include <argos3/plugins/robots/foot-bot/simulator/footbot_entity.h>
19 #include <argos3/plugins/robots/foot-bot/simulator/footbot_distance_scanner_equipped_entity.h>
20 #include <argos3/core/simulator/actuator.h>
21 
22 namespace argos {
23 
26 
27  public:
28 
30 
33 
34  virtual void SetRobot(CComposableEntity& c_entity);
35 
36  virtual void SetAngle(const CRadians& c_angle);
37  virtual void SetRPM(Real f_rpm);
38 
39  virtual void Enable();
40  virtual void Disable();
41 
42  virtual void Update();
43  virtual void Reset();
44 
45  private:
46 
47  CFootBotDistanceScannerEquippedEntity* m_pcDistanceScannerEquippedEntity;
48 
49  CRadians m_cDesiredRotation;
50  Real m_fDesiredRotationSpeed;
51  UInt8 m_unDesiredMode;
52 
53  };
54 
55 }
56 
57 #endif
argos
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
argos::CFootBotDistanceScannerDefaultActuator
Definition: footbot_distance_scanner_default_actuator.h:24
argos::CCI_FootBotDistanceScannerActuator
Definition: ci_footbot_distance_scanner_actuator.h:55
argos::CFootBotDistanceScannerDefaultActuator::SetRPM
virtual void SetRPM(Real f_rpm)
Sets the distance scanner speed The distance scanner can be controller in position or in speed.
Definition: footbot_distance_scanner_default_actuator.cpp:39
argos::CRadians
It defines the basic type CRadians, used to store an angle value in radians.
Definition: angles.h:42
argos::CComposableEntity
Basic class for an entity that contains other entities.
Definition: composable_entity.h:32
argos::CFootBotDistanceScannerDefaultActuator::SetAngle
virtual void SetAngle(const CRadians &c_angle)
Sets the distance scanner angle The distance scanner can be controller in position or in speed.
Definition: footbot_distance_scanner_default_actuator.cpp:31
argos::CFootBotDistanceScannerDefaultActuator::Enable
virtual void Enable()
Enables the distance scanner.
Definition: footbot_distance_scanner_default_actuator.cpp:47
argos::CSimulatedActuator
The basic interface for a simulated actuator.
Definition: actuator.h:22
argos::CFootBotDistanceScannerDefaultActuator::~CFootBotDistanceScannerDefaultActuator
virtual ~CFootBotDistanceScannerDefaultActuator()
Definition: footbot_distance_scanner_default_actuator.h:32
argos::CFootBotDistanceScannerDefaultActuator::CFootBotDistanceScannerDefaultActuator
CFootBotDistanceScannerDefaultActuator()
Definition: footbot_distance_scanner_default_actuator.cpp:16
argos::CFootBotDistanceScannerEquippedEntity
Definition: footbot_distance_scanner_equipped_entity.h:19
argos::CFootBotDistanceScannerDefaultActuator::Update
virtual void Update()
Updates the state of the entity associated to this actuator.
Definition: footbot_distance_scanner_default_actuator.cpp:61
UInt8
unsigned char UInt8
8-bit unsigned integer.
Definition: datatypes.h:60
argos::CFootBotDistanceScannerDefaultActuator::Disable
virtual void Disable()
Disables the distance scanner.
Definition: footbot_distance_scanner_default_actuator.cpp:54
argos::CFootBotDistanceScannerDefaultActuator::SetRobot
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
Definition: footbot_distance_scanner_default_actuator.cpp:23
Real
float Real
Collects all ARGoS code.
Definition: datatypes.h:39
argos::CFootBotDistanceScannerDefaultActuator::Reset
virtual void Reset()
Resets the actuator to the state it had just after Init().
Definition: footbot_distance_scanner_default_actuator.cpp:74
argos::CFootBotDistanceScannerDefaultActuator::RPM_TO_RADIANS_PER_SEC
static const Real RPM_TO_RADIANS_PER_SEC
Definition: footbot_distance_scanner_default_actuator.h:29