ARGoS  3
A parallel, multi-engine simulator for swarm robotics
plugins/simulator/actuators/gripper_default_actuator.h
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00001 
00007 #ifndef GRIPPER_DEFAULT_ACTUATOR_H
00008 #define GRIPPER_DEFAULT_ACTUATOR_H
00009 
00010 #include <string>
00011 #include <map>
00012 
00013 namespace argos {
00014    class CGripperDefaultActuator;
00015 }
00016 
00017 #include <argos3/plugins/robots/generic/control_interface/ci_gripper_actuator.h>
00018 #include <argos3/plugins/simulator/entities/gripper_equipped_entity.h>
00019 #include <argos3/core/simulator/actuator.h>
00020 
00021 namespace argos {
00022 
00023    class CGripperDefaultActuator : public CSimulatedActuator,
00024                                    public CCI_GripperActuator {
00025 
00026    public:
00027 
00028       CGripperDefaultActuator();
00029 
00030       virtual ~CGripperDefaultActuator() {}
00031 
00032       virtual void SetRobot(CComposableEntity& c_entity);
00033 
00034       virtual void Update();
00035       virtual void Reset();
00036 
00037    private:
00038 
00039       CGripperEquippedEntity* m_pcGripperEquippedEntity;
00040 
00041    };
00042 
00043 }
00044 
00045 #endif