ARGoS  3
A parallel, multi-engine simulator for swarm robotics
footbot_turret_default_actuator.h
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1 
7 #ifndef FOOTBOT_TURRET_DEFAULT_ACTUATOR_H
8 #define FOOTBOT_TURRET_DEFAULT_ACTUATOR_H
9 
10 #include <string>
11 #include <map>
12 
13 namespace argos {
14  class CFootBotTurretDefaultActuator;
15 }
16 
17 #include <argos3/plugins/robots/foot-bot/control_interface/ci_footbot_turret_actuator.h>
18 #include <argos3/plugins/robots/foot-bot/simulator/footbot_entity.h>
19 #include <argos3/plugins/robots/foot-bot/simulator/footbot_turret_entity.h>
20 #include <argos3/core/simulator/actuator.h>
21 
22 namespace argos {
23 
26 
27  public:
28 
31 
32  virtual void SetRobot(CComposableEntity& c_entity);
33 
34  virtual void SetRotation(const CRadians& c_angle);
35  virtual void SetRotationSpeed(SInt32 n_speed_pulses);
36  virtual void SetMode(ETurretModes e_mode);
37 
38  virtual void Update();
39  virtual void Reset();
40 
41  private:
42 
43  CFootBotTurretEntity* m_pcTurretEntity;
44  UInt32 m_unDesiredMode;
45 
46  };
47 
48 }
49 
50 #endif
argos::ETurretModes
ETurretModes
Definition: dynamics2d_footbot_model.cpp:33
argos::CFootBotTurretDefaultActuator::Update
virtual void Update()
Updates the state of the entity associated to this actuator.
Definition: footbot_turret_default_actuator.cpp:52
argos
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
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::CSimulatedActuator
The basic interface for a simulated actuator.
Definition: actuator.h:22
argos::CFootBotTurretDefaultActuator
Definition: footbot_turret_default_actuator.h:24
argos::CFootBotTurretDefaultActuator::SetRobot
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
Definition: footbot_turret_default_actuator.cpp:23
argos::CFootBotTurretDefaultActuator::CFootBotTurretDefaultActuator
CFootBotTurretDefaultActuator()
Definition: footbot_turret_default_actuator.cpp:16
argos::CFootBotTurretDefaultActuator::SetMode
virtual void SetMode(ETurretModes e_mode)
Sets the turret control mode Modes are: angular position control, rotation speed control,...
Definition: footbot_turret_default_actuator.cpp:45
argos::CFootBotTurretDefaultActuator::SetRotation
virtual void SetRotation(const CRadians &c_angle)
Sets the turret rotation Turret rotation is expressed in radians, positive values rotate the turret c...
Definition: footbot_turret_default_actuator.cpp:31
argos::CFootBotTurretDefaultActuator::Reset
virtual void Reset()
Resets the actuator to the state it had just after Init().
Definition: footbot_turret_default_actuator.cpp:59
argos::CFootBotTurretDefaultActuator::SetRotationSpeed
virtual void SetRotationSpeed(SInt32 n_speed_pulses)
Sets the turret rotation speed Turret rotation speed is expressed in motor pulses,...
Definition: footbot_turret_default_actuator.cpp:38
SInt32
signed int SInt32
32-bit signed integer.
Definition: datatypes.h:93
argos::CCI_FootBotTurretActuator
Definition: ci_footbot_turret_actuator.h:55
argos::CFootBotTurretEntity
Definition: footbot_turret_entity.h:20
UInt32
unsigned int UInt32
32-bit unsigned integer.
Definition: datatypes.h:97
argos::CFootBotTurretDefaultActuator::~CFootBotTurretDefaultActuator
virtual ~CFootBotTurretDefaultActuator()
Definition: footbot_turret_default_actuator.h:30