ARGoS
3
A parallel, multi-engine simulator for swarm robotics
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#include <differential_steering_default_actuator.h>
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 | |
CWheeledEntity * | m_pcWheeledEntity |
CRandom::CRNG * | m_pcRNG |
Random number generator. | |
Real | m_fNoiseStdDeviation |
Noise parameters, at the moment noise is Gaussian. |
Definition at line 25 of file differential_steering_default_actuator.h.
Definition at line 30 of file differential_steering_default_actuator.h.
Constructor.
Definition at line 16 of file differential_steering_default_actuator.cpp.
virtual argos::CDifferentialSteeringDefaultActuator::~CDifferentialSteeringDefaultActuator | ( | ) | [inline, virtual] |
Destructor.
Definition at line 45 of file differential_steering_default_actuator.h.
void argos::CDifferentialSteeringDefaultActuator::AddGaussianNoise | ( | ) | [protected, virtual] |
Adds noise to the steering velocity.
Definition at line 87 of file differential_steering_default_actuator.cpp.
void argos::CDifferentialSteeringDefaultActuator::Init | ( | TConfigurationNode & | t_node | ) | [virtual] |
Initializes the actuator from the XML configuration tree.
The default implementation of this method does nothing.
t_node | The XML configuration tree relative to this actuator. |
Reimplemented from argos::CCI_Actuator.
Definition at line 42 of file differential_steering_default_actuator.cpp.
void argos::CDifferentialSteeringDefaultActuator::Reset | ( | ) | [virtual] |
Resets the actuator to the state it had just after Init().
The default implementation of this method does nothing.
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.
f_left_velocity | desired left wheel velocity. |
f_right_velocity | desired right wheel velocity. |
Implements argos::CCI_DifferentialSteeringActuator.
Definition at line 58 of file differential_steering_default_actuator.cpp.
void argos::CDifferentialSteeringDefaultActuator::SetRobot | ( | CComposableEntity & | c_entity | ) | [virtual] |
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.
c_entity | The entity to associate to this actuator. |
Implements argos::CSimulatedActuator.
Definition at line 27 of file differential_steering_default_actuator.cpp.
void argos::CDifferentialSteeringDefaultActuator::Update | ( | ) | [virtual] |
Updates the state of the entity associated to this actuator.
Implements argos::CSimulatedActuator.
Definition at line 72 of file differential_steering_default_actuator.cpp.
Noise parameters, at the moment noise is Gaussian.
Definition at line 78 of file differential_steering_default_actuator.h.
Random number generator.
Definition at line 75 of file differential_steering_default_actuator.h.
Definition at line 72 of file differential_steering_default_actuator.h.