ARGoS
3
A parallel, multi-engine simulator for swarm robotics
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00001 00007 #ifndef DIFFERENTIAL_STEERING_DEFAULT_SENSOR_H 00008 #define DIFFERENTIAL_STEERING_DEFAULT_SENSOR_H 00009 00010 #include <string> 00011 #include <map> 00012 00013 namespace argos { 00014 class CDifferentialSteeringDefaultSensor; 00015 class CWheeledEntity; 00016 } 00017 00018 #include <argos3/plugins/robots/generic/control_interface/ci_differential_steering_sensor.h> 00019 #include <argos3/core/utility/math/range.h> 00020 #include <argos3/core/utility/math/rng.h> 00021 #include <argos3/core/simulator/space/space.h> 00022 #include <argos3/core/simulator/sensor.h> 00023 00024 namespace argos { 00025 00026 class CDifferentialSteeringDefaultSensor : public CSimulatedSensor, 00027 public CCI_DifferentialSteeringSensor { 00028 00029 public: 00030 00031 CDifferentialSteeringDefaultSensor(); 00032 00033 virtual ~CDifferentialSteeringDefaultSensor() {} 00034 00035 virtual void SetRobot(CComposableEntity& c_entity); 00036 00037 virtual void Init(TConfigurationNode& t_tree); 00038 00039 virtual void Update(); 00040 00041 virtual void Reset(); 00042 00043 protected: 00044 00046 CWheeledEntity* m_pcWheeledEntity; 00047 00049 const Real* m_pfWheelVelocities; 00050 00052 CRandom::CRNG* m_pcRNG; 00053 00055 bool m_bAddNoise; 00056 00058 CRange<Real> m_cVelNoiseRange; 00059 00061 CRange<Real> m_cDistNoiseRange; 00062 }; 00063 00064 } 00065 00066 #endif