ARGoS
3
A parallel, multi-engine simulator for swarm robotics
physx_epuck_model.h
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#ifndef PHYSX_EPUCK_MODEL_H
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#define PHYSX_EPUCK_MODEL_H
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namespace
argos
{
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class
CPhysXEngine;
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class
CPhysXEPuckModel;
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class
CEPuckEntity;
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class
CWheeledEntity;
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}
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#include <argos3/plugins/simulator/physics_engines/physx/physx_differential_drive.h>
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#include <argos3/plugins/simulator/physics_engines/physx/physx_multi_body_object_model.h>
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namespace
argos
{
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class
CPhysXEPuckModel
:
public
CPhysXMultiBodyObjectModel {
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public
:
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CPhysXEPuckModel
(CPhysXEngine& c_engine,
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CEPuckEntity
& c_entity);
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virtual
void
Reset
();
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virtual
void
UpdateFromEntityStatus
();
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void
UpdateOriginAnchor
(
SAnchor
& s_anchor);
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inline
CPhysXDifferentialDrive&
GetDifferentialDrive
() {
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return
m_cDiffDrive;
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}
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private
:
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const
Real
* m_fCurrentWheelVelocity;
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CPhysXDifferentialDrive m_cDiffDrive;
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};
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}
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#endif
argos
The namespace containing all the ARGoS related code.
Definition:
ci_actuator.h:12
argos::CPhysXEPuckModel::CPhysXEPuckModel
CPhysXEPuckModel(CPhysXEngine &c_engine, CEPuckEntity &c_entity)
Definition:
physx_epuck_model.cpp:37
argos::CEPuckEntity
Definition:
epuck_entity.h:26
argos::CPhysXEPuckModel::GetDifferentialDrive
CPhysXDifferentialDrive & GetDifferentialDrive()
Definition:
physx_epuck_model.h:39
argos::SAnchor
An anchor related to the body of an entity.
Definition:
physics_model.h:38
argos::CPhysXEPuckModel
Definition:
physx_epuck_model.h:22
argos::CPhysXEPuckModel::UpdateFromEntityStatus
virtual void UpdateFromEntityStatus()
Definition:
physx_epuck_model.cpp:100
argos::CPhysXEPuckModel::UpdateOriginAnchor
void UpdateOriginAnchor(SAnchor &s_anchor)
Updates the origin anchor associated to the embodied entity.
Definition:
physx_epuck_model.cpp:117
argos::CPhysXEPuckModel::Reset
virtual void Reset()
Definition:
physx_epuck_model.cpp:90
Real
float Real
Collects all ARGoS code.
Definition:
datatypes.h:39
plugins
robots
e-puck
simulator
physx_epuck_model.h
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