ARGoS 3
A parallel, multi-engine simulator for swarm robotics
quadrotor_entity.cpp
Go to the documentation of this file.
1
7#include "quadrotor_entity.h"
8#include <argos3/core/simulator/space/space.h>
9
10namespace argos {
11
12 /****************************************/
13 /****************************************/
14
15 CQuadRotorEntity::SPositionControlData::SPositionControlData(
16 const CVector3& c_position,
17 const CRadians& c_yaw) :
18 Position(c_position),
19 Yaw(c_yaw) {}
20
21 /****************************************/
22 /****************************************/
23
24 CQuadRotorEntity::SSpeedControlData::SSpeedControlData(
25 const CVector3& c_velocity,
26 const CRadians& c_rot_speed) :
27 Velocity(c_velocity),
28 RotSpeed(c_rot_speed) {}
29
30 /****************************************/
31 /****************************************/
32
33 CQuadRotorEntity::CQuadRotorEntity(CComposableEntity* pc_parent) :
34 CEntity(pc_parent),
35 m_eControlMethod(NO_CONTROL) {
36 Reset();
37 }
38
39 /****************************************/
40 /****************************************/
41
42 CQuadRotorEntity::CQuadRotorEntity(CComposableEntity* pc_parent,
43 const std::string& str_id) :
44 CEntity(pc_parent, str_id),
45 m_eControlMethod(NO_CONTROL) {
46 Reset();
47 }
48
49 /****************************************/
50 /****************************************/
51
52 void CQuadRotorEntity::Reset() {
53 m_sPositionControlData.Position.Set(0.0f, 0.0f, 0.0f);
54 m_sPositionControlData.Yaw.SetValue(0.0f);
55 m_sSpeedControlData.Velocity.Set(0.0f, 0.0f, 0.0f);
56 m_sSpeedControlData.RotSpeed.SetValue(0.0);
57 }
58
59 /****************************************/
60 /****************************************/
61
62 REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY(CQuadRotorEntity);
63
64 /****************************************/
65 /****************************************/
66
67}
REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY
#define REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY(ENTITY)
Definition space.h:564
argos
The namespace containing all the ARGoS related code.
Definition ci_actuator.h:12
argos::CComposableEntity
Basic class for an entity that contains other entities.
Definition composable_entity.h:32
argos::CEntity
The basic entity type.
Definition entity.h:90
argos::CRadians
It defines the basic type CRadians, used to store an angle value in radians.
Definition angles.h:42
argos::CRadians::SetValue
void SetValue(Real f_value)
Sets the value in radians.
Definition angles.h:127
argos::CVector3
A 3D vector class.
Definition vector3.h:31
argos::CVector3::Set
void Set(const Real f_x, const Real f_y, const Real f_z)
Sets the vector contents from Cartesian coordinates.
Definition vector3.h:155
argos::CQuadRotorEntity::CQuadRotorEntity
CQuadRotorEntity(CComposableEntity *pc_parent)
Definition quadrotor_entity.cpp:33
argos::CQuadRotorEntity::Reset
virtual void Reset()
Resets the state of the entity to whatever it was after Init() or the standalone constructor was call...
Definition quadrotor_entity.cpp:52