miniquadrotor_rotor_default_actuator.h

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#ifndef MINIQUADROTOR_ROTOR_ACTUATOR_DEFAULT_H
#define MINIQUADROTOR_ROTOR_ACTUATOR_DEFAULT_H
 
#include <string>
#include <map>
 
namespace argos {
   class CMiniQuadrotorRotorDefaultActuator;
   class CRotorEquippedEntity;
}
 
#include <argos3/plugins/robots/mini-quadrotor/control_interface/ci_miniquadrotor_rotor_actuator.h>
#include <argos3/core/simulator/actuator.h>
#include <argos3/core/simulator/entity/composable_entity.h>
#include <argos3/core/utility/math/rng.h>
 
namespace argos {
 
   class CMiniQuadrotorRotorDefaultActuator : public CSimulatedActuator,
                                              public CCI_MiniQuadrotorRotorActuator {
 
   public:
 
      enum MINIQUADROTOR_ROTOR {
         NORTH_ROTOR = 0,
         WEST_ROTOR,
         SOUTH_ROTOR,
         EAST_ROTOR
      };
 
   public:
 
      CMiniQuadrotorRotorDefaultActuator();
 
      virtual ~CMiniQuadrotorRotorDefaultActuator() {}
 
      virtual void SetRobot(CComposableEntity& c_entity);
 
      virtual void Init(TConfigurationNode& t_tree);
 
      virtual void SetRotorVelocities(const CCI_MiniQuadrotorRotorActuator::SVelocities& s_velocities);
 
      virtual void Update();
 
      virtual void Reset();
 
   protected:
 
      virtual void AddGaussianNoise();
 
   protected:
 
      CRotorEquippedEntity* m_pcRotorEquippedEntity;
      
      CRandom::CRNG* m_pcRNG;
      
      Real m_fNoiseStdDeviation;
 
   };
 
}
 
#endif