ARGoS  3
A parallel, multi-engine simulator for swarm robotics
plugins/robots/foot-bot/control_interface/ci_footbot_turret_encoder_sensor.cpp
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00001 
00007 #include "ci_footbot_turret_encoder_sensor.h"
00008 
00009 #ifdef ARGOS_WITH_LUA
00010 #include <argos3/core/wrappers/lua/lua_utility.h>
00011 #endif
00012 
00013 namespace argos {
00014    
00015    /****************************************/
00016     /****************************************/
00017    
00018    const CRange<CRadians> CCI_FootBotTurretEncoderSensor::ANGULAR_RANGE(CRadians(-ARGOS_PI), CRadians(ARGOS_PI));
00019    
00020    /****************************************/
00021    /****************************************/
00022    
00023 #ifdef ARGOS_WITH_LUA
00024    void CCI_FootBotTurretEncoderSensor::CreateLuaState(lua_State* pt_lua_state) {
00025       CLuaUtility::OpenRobotStateTable(pt_lua_state, "turret");
00026       CLuaUtility::AddToTable(pt_lua_state, "rotation",  m_cRotation);
00027       CLuaUtility::CloseRobotStateTable(pt_lua_state);
00028    }
00029 #endif
00030 
00031    /****************************************/
00032    /****************************************/
00033 
00034 #ifdef ARGOS_WITH_LUA
00035    void CCI_FootBotTurretEncoderSensor::ReadingsToLuaState(lua_State* pt_lua_state) {
00036       lua_getfield(pt_lua_state, -1, "turret");
00037       lua_pushnumber(pt_lua_state, m_cRotation.GetValue());
00038       lua_setfield(pt_lua_state, -2, "rotation");
00039       lua_pop(pt_lua_state, 1);
00040    }
00041 #endif
00042 
00043 
00044    /****************************************/
00045    /****************************************/
00046 
00047 }