ARGoS
3
A parallel, multi-engine simulator for swarm robotics
dynamics2d_differentialsteering_control.h
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#ifndef DYNAMICS2D_DIFFERENTIALSTEERING_CONTROL_H
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#define DYNAMICS2D_DIFFERENTIALSTEERING_CONTROL_H
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namespace
argos
{
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class
CDynamics2DEngine;
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}
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#include <argos3/plugins/simulator/physics_engines/dynamics2d/dynamics2d_velocity_control.h>
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#include <argos3/core/utility/math/vector2.h>
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namespace
argos
{
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class
CDynamics2DDifferentialSteeringControl
:
public
CDynamics2DVelocityControl
{
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public
:
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CDynamics2DDifferentialSteeringControl
(
CDynamics2DEngine
& c_engine,
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Real
f_max_force,
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Real
f_max_torque,
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Real
f_interwheel_distance);
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virtual
~CDynamics2DDifferentialSteeringControl
() {}
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void
SetWheelVelocity
(
Real
f_left_wheel,
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Real
f_right_wheel);
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inline
Real
GetInterwheelDistance
()
const
{
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return
m_fInterwheelDistance;
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}
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private
:
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Real
m_fInterwheelDistance;
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};
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}
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#endif
argos::CDynamics2DDifferentialSteeringControl::CDynamics2DDifferentialSteeringControl
CDynamics2DDifferentialSteeringControl(CDynamics2DEngine &c_engine, Real f_max_force, Real f_max_torque, Real f_interwheel_distance)
Definition:
dynamics2d_differentialsteering_control.cpp:14
argos
The namespace containing all the ARGoS related code.
Definition:
ci_actuator.h:12
argos::CDynamics2DEngine
Definition:
dynamics2d_engine.h:42
argos::CDynamics2DDifferentialSteeringControl::GetInterwheelDistance
Real GetInterwheelDistance() const
Definition:
dynamics2d_differentialsteering_control.h:33
argos::CDynamics2DVelocityControl
Definition:
dynamics2d_velocity_control.h:19
argos::CDynamics2DDifferentialSteeringControl::~CDynamics2DDifferentialSteeringControl
virtual ~CDynamics2DDifferentialSteeringControl()
Definition:
dynamics2d_differentialsteering_control.h:28
argos::CDynamics2DDifferentialSteeringControl
Definition:
dynamics2d_differentialsteering_control.h:19
Real
float Real
Collects all ARGoS code.
Definition:
datatypes.h:39
argos::CDynamics2DDifferentialSteeringControl::SetWheelVelocity
void SetWheelVelocity(Real f_left_wheel, Real f_right_wheel)
Definition:
dynamics2d_differentialsteering_control.cpp:24
plugins
simulator
physics_engines
dynamics2d
dynamics2d_differentialsteering_control.h
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