ARGoS  3
A parallel, multi-engine simulator for swarm robotics
argos::CDifferentialSteeringDefaultActuator Class Reference

#include <differential_steering_default_actuator.h>

+ Inheritance diagram for argos::CDifferentialSteeringDefaultActuator:

List of all members.

Public Types

enum  DIFFERENTIAL_STEERING { LEFT_WHEEL = 0, RIGHT_WHEEL = 1 }

Public Member Functions

 CDifferentialSteeringDefaultActuator ()
 Constructor.
virtual ~CDifferentialSteeringDefaultActuator ()
 Destructor.
virtual void SetRobot (CComposableEntity &c_entity)
 Sets the entity associated to this actuator.
virtual void Init (TConfigurationNode &t_tree)
 Initializes the actuator from the XML configuration tree.
virtual void SetLinearVelocity (Real f_left_velocity, Real f_right_velocity)
 Sets the linear velocity of the two steering.
virtual void Update ()
 Updates the state of the entity associated to this actuator.
virtual void Reset ()
 Resets the actuator to the state it had just after Init().

Protected Member Functions

virtual void AddGaussianNoise ()
 Adds noise to the steering velocity.

Protected Attributes

CWheeledEntitym_pcWheeledEntity
CRandom::CRNGm_pcRNG
 Random number generator.
Real m_fNoiseStdDeviation
 Noise parameters, at the moment noise is Gaussian.

Detailed Description

Definition at line 25 of file differential_steering_default_actuator.h.


Member Enumeration Documentation

Enumerator:
LEFT_WHEEL 
RIGHT_WHEEL 

Definition at line 30 of file differential_steering_default_actuator.h.


Constructor & Destructor Documentation


Member Function Documentation

Adds noise to the steering velocity.

Definition at line 87 of file differential_steering_default_actuator.cpp.

Initializes the actuator from the XML configuration tree.

The default implementation of this method does nothing.

Parameters:
t_nodeThe XML configuration tree relative to this actuator.
See also:
Reset()
Destroy()

Reimplemented from argos::CCI_Actuator.

Definition at line 42 of file differential_steering_default_actuator.cpp.

Resets the actuator to the state it had just after Init().

The default implementation of this method does nothing.

See also:
Init()
Destroy()

Reimplemented from argos::CCI_Actuator.

Definition at line 79 of file differential_steering_default_actuator.cpp.

void argos::CDifferentialSteeringDefaultActuator::SetLinearVelocity ( Real  f_left_velocity,
Real  f_right_velocity 
) [virtual]

Sets the linear velocity of the two steering.

Velocities are expressed in cm per second.

Parameters:
f_left_velocitydesired left wheel velocity.
f_right_velocitydesired right wheel velocity.

Implements argos::CCI_DifferentialSteeringActuator.

Definition at line 58 of file differential_steering_default_actuator.cpp.

Sets the entity associated to this actuator.

When a controller is created, all the sensors and actuators are created, too. This function is called right before the Init() method of the actuator is called.

Parameters:
c_entityThe entity to associate to this actuator.
See also:
CComposableEntity
CControllableEntity::SetController()
CCI_Actuator::Init()

Implements argos::CSimulatedActuator.

Definition at line 27 of file differential_steering_default_actuator.cpp.

Updates the state of the entity associated to this actuator.

Implements argos::CSimulatedActuator.

Definition at line 72 of file differential_steering_default_actuator.cpp.


Member Data Documentation

Noise parameters, at the moment noise is Gaussian.

Definition at line 78 of file differential_steering_default_actuator.h.


The documentation for this class was generated from the following files: