ci_prototype_joints_actuator.h

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#ifndef CCI_PROTOTYPE_JOINTS_ACTUATOR_H
#define CCI_PROTOTYPE_JOINTS_ACTUATOR_H
 
namespace argos {
   class CCI_PrototypeJointsActuator;
}
 
#include <argos3/core/control_interface/ci_actuator.h>
#include <argos3/core/utility/math/angles.h>
 
namespace argos {
 
   class CCI_PrototypeJointsActuator : virtual public CCI_Actuator {
 
   public:
      struct SActuator {
         using TVector = std::vector<SActuator*>;
         SActuator(const std::string& str_id, Real f_target) :
            Id(str_id),
            Target(f_target) {}
         std::string Id;
         Real Target;
      };
 
   public:
      virtual ~CCI_PrototypeJointsActuator() {}
 
#ifdef ARGOS_WITH_LUA
      virtual void CreateLuaState(lua_State*);
#endif
 
   protected: 
      SActuator::TVector m_vecActuators;
   };
}
 
#endif