ARGoS  3
A parallel, multi-engine simulator for swarm robotics
plugins/robots/generic/control_interface/ci_differential_steering_actuator.h
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00001 
00007 #ifndef CCI_DIFFERENTIAL_STEERING_ACTUATOR_H
00008 #define CCI_DIFFERENTIAL_STEERING_ACTUATOR_H
00009 
00010 /* To avoid dependency problems when including */
00011 namespace argos {
00012    class CCI_DifferentialSteeringActuator;
00013 }
00014 
00015 #include <argos3/core/control_interface/ci_actuator.h>
00016 
00017 namespace argos {
00018 
00019    class CCI_DifferentialSteeringActuator : public CCI_Actuator {
00020 
00021    public:
00022 
00023       virtual ~CCI_DifferentialSteeringActuator() {}
00024 
00025       virtual void SetLinearVelocity(Real f_left_velocity,
00026                                      Real f_right_velocity) = 0;
00027 
00028 #ifdef ARGOS_WITH_LUA
00029       virtual void CreateLuaState(lua_State* pt_lua_state);
00030 #endif
00031 
00032    protected:
00033 
00034       Real m_fCurrentVelocity[2];
00035 
00036    };
00037 
00038 }
00039 
00040 #endif