ARGoS  3
A parallel, multi-engine simulator for swarm robotics
miniquadrotor_rotor_default_actuator.h
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1 
7 #ifndef MINIQUADROTOR_ROTOR_ACTUATOR_DEFAULT_H
8 #define MINIQUADROTOR_ROTOR_ACTUATOR_DEFAULT_H
9 
10 #include <string>
11 #include <map>
12 
13 namespace argos {
14  class CMiniQuadrotorRotorDefaultActuator;
15  class CRotorEquippedEntity;
16 }
17 
18 #include <argos3/plugins/robots/mini-quadrotor/control_interface/ci_miniquadrotor_rotor_actuator.h>
19 #include <argos3/core/simulator/actuator.h>
20 #include <argos3/core/simulator/entity/composable_entity.h>
21 #include <argos3/core/utility/math/rng.h>
22 
23 namespace argos {
24 
27 
28  public:
29 
35  };
36 
37  public:
38 
40 
42 
43  virtual void SetRobot(CComposableEntity& c_entity);
44 
45  virtual void Init(TConfigurationNode& t_tree);
46 
47  virtual void SetRotorVelocities(const CCI_MiniQuadrotorRotorActuator::SVelocities& s_velocities);
48 
49  virtual void Update();
50 
51  virtual void Reset();
52 
53  protected:
54 
56  virtual void AddGaussianNoise();
57 
58  protected:
59 
62 
65 
68 
69  };
70 
71 }
72 
73 #endif
argos
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
argos::CComposableEntity
Basic class for an entity that contains other entities.
Definition: composable_entity.h:32
argos::CCI_MiniQuadrotorRotorActuator::SVelocities
Definition: ci_miniquadrotor_rotor_actuator.h:22
argos::CMiniQuadrotorRotorDefaultActuator::Reset
virtual void Reset()
Resets the actuator to the state it had just after Init().
Definition: miniquadrotor_rotor_default_actuator.cpp:76
argos::CMiniQuadrotorRotorDefaultActuator::m_fNoiseStdDeviation
Real m_fNoiseStdDeviation
Noise parameters, at the moment noise is Gaussian.
Definition: miniquadrotor_rotor_default_actuator.h:67
argos::CMiniQuadrotorRotorDefaultActuator::SOUTH_ROTOR
@ SOUTH_ROTOR
Definition: miniquadrotor_rotor_default_actuator.h:33
argos::CMiniQuadrotorRotorDefaultActuator::NORTH_ROTOR
@ NORTH_ROTOR
Definition: miniquadrotor_rotor_default_actuator.h:31
argos::CMiniQuadrotorRotorDefaultActuator::WEST_ROTOR
@ WEST_ROTOR
Definition: miniquadrotor_rotor_default_actuator.h:32
argos::CSimulatedActuator
The basic interface for a simulated actuator.
Definition: actuator.h:22
argos::CMiniQuadrotorRotorDefaultActuator::SetRotorVelocities
virtual void SetRotorVelocities(const CCI_MiniQuadrotorRotorActuator::SVelocities &s_velocities)
Definition: miniquadrotor_rotor_default_actuator.cpp:57
argos::TConfigurationNode
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
Definition: argos_configuration.h:27
argos::CRandom::CRNG
The RNG.
Definition: rng.h:90
argos::CMiniQuadrotorRotorDefaultActuator::AddGaussianNoise
virtual void AddGaussianNoise()
Adds noise to the rotor velocity.
Definition: miniquadrotor_rotor_default_actuator.cpp:83
argos::CMiniQuadrotorRotorDefaultActuator::SetRobot
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
Definition: miniquadrotor_rotor_default_actuator.cpp:26
argos::CMiniQuadrotorRotorDefaultActuator::m_pcRNG
CRandom::CRNG * m_pcRNG
Random number generator.
Definition: miniquadrotor_rotor_default_actuator.h:64
argos::CMiniQuadrotorRotorDefaultActuator::m_pcRotorEquippedEntity
CRotorEquippedEntity * m_pcRotorEquippedEntity
The rotor equipped entity.
Definition: miniquadrotor_rotor_default_actuator.h:61
argos::CMiniQuadrotorRotorDefaultActuator
Definition: miniquadrotor_rotor_default_actuator.h:25
argos::CMiniQuadrotorRotorDefaultActuator::CMiniQuadrotorRotorDefaultActuator
CMiniQuadrotorRotorDefaultActuator()
Definition: miniquadrotor_rotor_default_actuator.cpp:17
argos::CRotorEquippedEntity
Definition: rotor_equipped_entity.h:15
argos::CCI_MiniQuadrotorRotorActuator
Definition: ci_miniquadrotor_rotor_actuator.h:18
argos::CMiniQuadrotorRotorDefaultActuator::EAST_ROTOR
@ EAST_ROTOR
Definition: miniquadrotor_rotor_default_actuator.h:34
argos::CMiniQuadrotorRotorDefaultActuator::~CMiniQuadrotorRotorDefaultActuator
virtual ~CMiniQuadrotorRotorDefaultActuator()
Definition: miniquadrotor_rotor_default_actuator.h:41
argos::CMiniQuadrotorRotorDefaultActuator::Init
virtual void Init(TConfigurationNode &t_tree)
Initializes the actuator from the XML configuration tree.
Definition: miniquadrotor_rotor_default_actuator.cpp:41
argos::CMiniQuadrotorRotorDefaultActuator::MINIQUADROTOR_ROTOR
MINIQUADROTOR_ROTOR
Definition: miniquadrotor_rotor_default_actuator.h:30
Real
float Real
Collects all ARGoS code.
Definition: datatypes.h:39
argos::CMiniQuadrotorRotorDefaultActuator::Update
virtual void Update()
Updates the state of the entity associated to this actuator.
Definition: miniquadrotor_rotor_default_actuator.cpp:69