ARGoS
3
A parallel, multi-engine simulator for swarm robotics
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00001 00007 #ifndef CCI_DIFFERENTIAL_STEERING_ACTUATOR_H 00008 #define CCI_DIFFERENTIAL_STEERING_ACTUATOR_H 00009 00010 /* To avoid dependency problems when including */ 00011 namespace argos { 00012 class CCI_DifferentialSteeringActuator; 00013 } 00014 00015 #include <argos3/core/control_interface/ci_actuator.h> 00016 00017 namespace argos { 00018 00019 class CCI_DifferentialSteeringActuator : public CCI_Actuator { 00020 00021 public: 00022 00023 virtual ~CCI_DifferentialSteeringActuator() {} 00024 00025 virtual void SetLinearVelocity(Real f_left_velocity, 00026 Real f_right_velocity) = 0; 00027 00028 #ifdef ARGOS_WITH_LUA 00029 virtual void CreateLuaState(lua_State* pt_lua_state); 00030 #endif 00031 00032 protected: 00033 00034 Real m_fCurrentVelocity[2]; 00035 00036 }; 00037 00038 } 00039 00040 #endif