ARGoS
3
A parallel, multi-engine simulator for swarm robotics
|
Go to the documentation of this file.
8 #include <argos3/core/utility/logging/argos_log.h>
16 m_pcQuadRotorEntity(NULL) {
34 THROW_ARGOSEXCEPTION(
"Can't associate a quadrotor speed actuator to entity \"" << c_entity.
GetId() <<
"\" because it conflicts with a previously associated quadrotor actuator.");
91 "quadrotor_speed",
"default",
92 "Carlo Pinciroli [ilpincy@gmail.com]",
94 "The quadrotor speed actuator.",
95 "This actuator controls the speed of a quadrotor robot. For a\n"
96 "complete description of its usage, refer to the\n"
97 "ci_quadrotor_speed_actuator.h file.\n\n"
98 "REQUIRED XML CONFIGURATION\n\n"
101 " <my_controller ...>\n"
105 " <quadrotor_speed implementation=\"default\" />\n"
109 " </my_controller>\n"
111 " </controllers>\n\n"
112 "OPTIONAL XML CONFIGURATION\n\n"
113 "None for the time being.\n\n"
const std::string & GetId() const
Returns the id of this entity.
The namespace containing all the ARGoS related code.
CQuadRotorEntity * m_pcQuadRotorEntity
It defines the basic type CRadians, used to store an angle value in radians.
Basic class for an entity that contains other entities.
The exception that wraps all errors in ARGoS.
CEntity & GetComponent(const std::string &str_component)
Returns the component with the passed string label.
This entity is a link to a body in the physics engine.
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
CQuadRotorEntity::SSpeedControlData m_sDesiredSpeedData
void SetSpeedControlData(const SSpeedControlData &s_data)
virtual void Init(TConfigurationNode &t_tree)
Initializes the actuator from the XML configuration tree.
virtual void Update()
Updates the state of the entity associated to this actuator.
void SetControlMethod(EControlMethod e_control_method)
#define THROW_ARGOSEXCEPTION_NESTED(message, nested)
This macro throws an ARGoS exception with the passed message and nesting the passed exception.
#define THROW_ARGOSEXCEPTION(message)
This macro throws an ARGoS exception with the passed message.
REGISTER_ACTUATOR(CQuadRotorSpeedDefaultActuator, "quadrotor_speed", "default", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The quadrotor speed actuator.", "This actuator controls the speed of a quadrotor robot. For a\n" "complete description of its usage, refer to the\n" "ci_quadrotor_speed_actuator.h file.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <actuators>\n" " ...\n" " <quadrotor_speed implementation=\"default\" />\n" " ...\n" " </actuators>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None for the time being.\n\n", "Usable")
CQuadRotorSpeedDefaultActuator()
virtual void Reset()
Resets the actuator to the state it had just after Init().
virtual void SetLinearVelocity(const CVector3 &c_velocity)
Sets the linear velocity of the quadrotor.
EControlMethod GetControlMethod() const
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
virtual void Init(TConfigurationNode &t_node)
Initializes the actuator from the XML configuration tree.
CEmbodiedEntity * m_pcEmbodiedEntity
virtual void SetRotationalSpeed(const CRadians &c_speed)
Sets the rotational velocity of the quadrotor around the local Z axis (yaw).
static const CRadians ZERO
Set to zero radians.