ARGoS  3
A parallel, multi-engine simulator for swarm robotics
quadrotor_position_default_actuator.h
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1 
7 #ifndef QUADROTOR_POSITION_ACTUATOR_DEFAULT_H
8 #define QUADROTOR_POSITION_ACTUATOR_DEFAULT_H
9 
10 #include <string>
11 #include <map>
12 
13 namespace argos {
14  class CQuadRotorPositionDefaultActuator;
15 }
16 
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_position_actuator.h>
21 #include <argos3/plugins/simulator/entities/quadrotor_entity.h>
22 
23 namespace argos {
24 
27 
28  public:
29 
32 
33  virtual void SetRobot(CComposableEntity& c_entity);
34 
35  virtual void Init(TConfigurationNode& t_tree);
36 
37  virtual void SetAbsolutePosition(const CVector3& c_pos);
38  virtual void SetRelativePosition(const CVector3& c_pos);
39  virtual void SetAbsoluteYaw(const CRadians& c_yaw);
40  virtual void SetRelativeYaw(const CRadians& c_yaw);
41 
42  virtual void Update();
43  virtual void Reset();
44 
45  protected:
46 
50 
51  };
52 
53 }
54 
55 #endif
argos::CQuadRotorPositionDefaultActuator::Reset
virtual void Reset()
Resets the actuator to the state it had just after Init().
Definition: quadrotor_position_default_actuator.cpp:97
argos::CQuadRotorPositionDefaultActuator::SetRobot
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
Definition: quadrotor_position_default_actuator.cpp:22
argos
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
argos::CVector3
A 3D vector class.
Definition: vector3.h:29
argos::CCI_QuadRotorPositionActuator
Definition: ci_quadrotor_position_actuator.h:20
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::CQuadRotorEntity::SPositionControlData
Definition: quadrotor_entity.h:29
argos::CSimulatedActuator
The basic interface for a simulated actuator.
Definition: actuator.h:22
argos::CEmbodiedEntity
This entity is a link to a body in the physics engine.
Definition: embodied_entity.h:48
argos::CQuadRotorPositionDefaultActuator::m_sDesiredPosData
CQuadRotorEntity::SPositionControlData m_sDesiredPosData
Definition: quadrotor_position_default_actuator.h:49
argos::TConfigurationNode
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
Definition: argos_configuration.h:27
argos::CQuadRotorPositionDefaultActuator::SetAbsolutePosition
virtual void SetAbsolutePosition(const CVector3 &c_pos)
Sets the absolute position of the robot in the environment.
Definition: quadrotor_position_default_actuator.cpp:58
argos::CQuadRotorPositionDefaultActuator::Init
virtual void Init(TConfigurationNode &t_tree)
Initializes the actuator from the XML configuration tree.
Definition: quadrotor_position_default_actuator.cpp:45
argos::CQuadRotorPositionDefaultActuator
Definition: quadrotor_position_default_actuator.h:25
argos::CQuadRotorPositionDefaultActuator::SetRelativeYaw
virtual void SetRelativeYaw(const CRadians &c_yaw)
Sets the yaw of the robot in the environment relative to the current position and attitude.
Definition: quadrotor_position_default_actuator.cpp:81
argos::CQuadRotorPositionDefaultActuator::Update
virtual void Update()
Updates the state of the entity associated to this actuator.
Definition: quadrotor_position_default_actuator.cpp:90
argos::CQuadRotorEntity
Definition: quadrotor_entity.h:15
argos::CQuadRotorPositionDefaultActuator::SetRelativePosition
virtual void SetRelativePosition(const CVector3 &c_pos)
Sets the position of the robot in the environment relative to the current position and attitude.
Definition: quadrotor_position_default_actuator.cpp:65
argos::CQuadRotorPositionDefaultActuator::m_pcEmbodiedEntity
CEmbodiedEntity * m_pcEmbodiedEntity
Definition: quadrotor_position_default_actuator.h:48
argos::CQuadRotorPositionDefaultActuator::SetAbsoluteYaw
virtual void SetAbsoluteYaw(const CRadians &c_yaw)
Sets the absolute yaw of the robot in the world.
Definition: quadrotor_position_default_actuator.cpp:74
argos::CQuadRotorPositionDefaultActuator::~CQuadRotorPositionDefaultActuator
virtual ~CQuadRotorPositionDefaultActuator()
Definition: quadrotor_position_default_actuator.h:31
argos::CQuadRotorPositionDefaultActuator::m_pcQuadRotorEntity
CQuadRotorEntity * m_pcQuadRotorEntity
Definition: quadrotor_position_default_actuator.h:47
argos::CQuadRotorPositionDefaultActuator::CQuadRotorPositionDefaultActuator
CQuadRotorPositionDefaultActuator()
Definition: quadrotor_position_default_actuator.cpp:15