ARGoS
3
A parallel, multi-engine simulator for swarm robotics
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7 #ifndef DYNAMICS2D_VELOCITY_CONTROL_H
8 #define DYNAMICS2D_VELOCITY_CONTROL_H
11 class CDynamics2DEngine;
14 #include <argos3/plugins/simulator/physics_engines/dynamics2d/chipmunk-physics/include/chipmunk.h>
15 #include <argos3/core/utility/math/vector2.h>
virtual ~CDynamics2DVelocityControl()
The namespace containing all the ARGoS related code.
CVector2 GetLinearVelocity() const
void SetLinearVelocity(const CVector2 &c_velocity)
cpConstraint * m_ptLinearConstraint
cpBody * m_ptControlledBody
Real GetAngularVelocity() const
Real GetMaxTorque() const
void SetAngularVelocity(Real f_velocity)
cpConstraint * m_ptAngularConstraint
CDynamics2DEngine & m_cDyn2DEngine
CDynamics2DVelocityControl(CDynamics2DEngine &c_engine, Real f_max_force, Real f_max_torque)
float Real
Collects all ARGoS code.
void AttachTo(cpBody *pt_body)