ci_miniquadrotor_rotor_actuator.h

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#ifndef MINIQUADROTOR_ROTOR_ACTUATOR_H
#define MINIQUADROTOR_ROTOR_ACTUATOR_H
 
namespace argos {
   class CCI_MiniQuadrotorRotorActuator;
}
 
#include <argos3/core/control_interface/ci_actuator.h>
 
namespace argos {
 
   class CCI_MiniQuadrotorRotorActuator : public CCI_Actuator {
 
   public:
 
      struct SVelocities {
         Real Velocities[4];
 
         SVelocities();
         SVelocities(Real f_north_vel,
                     Real f_west_vel,
                     Real f_south_vel,
                     Real f_east_vel);
         SVelocities(const SVelocities& s_velocities);
         SVelocities& operator=(const SVelocities& s_velocities);
      };
 
   public:
 
      virtual ~CCI_MiniQuadrotorRotorActuator() {}
 
      virtual void SetRotorVelocities(const SVelocities& s_velocities) = 0;
 
#ifdef ARGOS_WITH_LUA
      virtual void CreateLuaState(lua_State* pt_lua_state);
#endif
 
   protected:
 
      SVelocities m_sCurrentVelocities;
 
   };
 
}
 
#endif