ARGoS 3
A parallel, multi-engine simulator for swarm robotics
ci_miniquadrotor_rotor_actuator.cpp
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1
7#include "ci_miniquadrotor_rotor_actuator.h"
8
9#ifdef ARGOS_WITH_LUA
10#include <argos3/core/wrappers/lua/lua_utility.h>
11#endif
12
13namespace argos {
14
15 /****************************************/
16 /****************************************/
17
18 CCI_MiniQuadrotorRotorActuator::SVelocities::SVelocities() {
19 Velocities[0] = 0.0f;
20 Velocities[1] = 0.0f;
21 Velocities[2] = 0.0f;
22 Velocities[3] = 0.0f;
23 }
24
25 /****************************************/
26 /****************************************/
27
28 CCI_MiniQuadrotorRotorActuator::SVelocities::SVelocities(Real f_north_vel,
29 Real f_west_vel,
30 Real f_south_vel,
31 Real f_east_vel) {
32 Velocities[0] = f_north_vel;
33 Velocities[1] = f_west_vel;
34 Velocities[2] = f_south_vel;
35 Velocities[3] = f_east_vel;
36 }
37
38 /****************************************/
39 /****************************************/
40
41 CCI_MiniQuadrotorRotorActuator::SVelocities::SVelocities(const SVelocities& s_velocities) {
42 Velocities[0] = s_velocities.Velocities[0];
43 Velocities[1] = s_velocities.Velocities[1];
44 Velocities[2] = s_velocities.Velocities[2];
45 Velocities[3] = s_velocities.Velocities[3];
46 }
47
48 /****************************************/
49 /****************************************/
50
51 CCI_MiniQuadrotorRotorActuator::SVelocities& CCI_MiniQuadrotorRotorActuator::SVelocities::operator=(const CCI_MiniQuadrotorRotorActuator::SVelocities& s_velocities) {
52 if(&s_velocities != this) {
53 Velocities[0] = s_velocities.Velocities[0];
54 Velocities[1] = s_velocities.Velocities[1];
55 Velocities[2] = s_velocities.Velocities[2];
56 Velocities[3] = s_velocities.Velocities[3];
57 }
58 return *this;
59 }
60
61 /****************************************/
62 /****************************************/
63
64#ifdef ARGOS_WITH_LUA
65 /*
66 * The stack must have four values in this order:
67 * 1. north rotor velocity (a number)
68 * 2. west rotor velocity (a number)
69 * 3. south rotor velocity (a number)
70 * 4. east rotor velocity (a number)
71 */
72 int LuaSetVelocity(lua_State* pt_lua_state) {
73 /* Check parameters */
74 if(lua_gettop(pt_lua_state) != 4) {
75 return luaL_error(pt_lua_state, "robot.rotors.set_velocity() expects 4 arguments");
76 }
77 luaL_checktype(pt_lua_state, 1, LUA_TNUMBER);
78 luaL_checktype(pt_lua_state, 2, LUA_TNUMBER);
79 luaL_checktype(pt_lua_state, 3, LUA_TNUMBER);
80 luaL_checktype(pt_lua_state, 4, LUA_TNUMBER);
81 /* Perform action */
82 CLuaUtility::GetDeviceInstance<CCI_MiniQuadrotorRotorActuator>(pt_lua_state, "rotors")->
83 SetRotorVelocities(CCI_MiniQuadrotorRotorActuator::SVelocities(
84 lua_tonumber(pt_lua_state, 1),
85 lua_tonumber(pt_lua_state, 2),
86 lua_tonumber(pt_lua_state, 3),
87 lua_tonumber(pt_lua_state, 4)));
88 return 0;
89 }
90#endif
91
92 /****************************************/
93 /****************************************/
94
95#ifdef ARGOS_WITH_LUA
96 void CCI_MiniQuadrotorRotorActuator::CreateLuaState(lua_State* pt_lua_state) {
97 CLuaUtility::OpenRobotStateTable(pt_lua_state, "rotors");
98 CLuaUtility::AddToTable(pt_lua_state, "_instance", this);
99 CLuaUtility::AddToTable(pt_lua_state, "set_velocity", &LuaSetVelocity);
100 CLuaUtility::CloseRobotStateTable(pt_lua_state);
101 }
102#endif
103
104 /****************************************/
105 /****************************************/
106
107}
Real
float Real
Collects all ARGoS code.
Definition datatypes.h:39
argos
The namespace containing all the ARGoS related code.
Definition ci_actuator.h:12
argos::CCI_Actuator::CreateLuaState
virtual void CreateLuaState(lua_State *pt_lua_state)=0
Creates the Lua state for this actuator.
argos::CLuaUtility::AddToTable
static void AddToTable(lua_State *pt_state, const std::string &str_key, void *pt_data)
Adds a pointer to a chunk of data with the given string key to the table located at the top of the st...
Definition lua_utility.cpp:383
argos::CLuaUtility::OpenRobotStateTable
static void OpenRobotStateTable(lua_State *pt_state, const std::string &str_key)
Opens a table in the robot state, creating it if it does not exist.
Definition lua_utility.cpp:326
argos::CLuaUtility::CloseRobotStateTable
static void CloseRobotStateTable(lua_State *pt_state)
Closes a table in the robot state.
Definition lua_utility.cpp:342
argos::CLuaUtility::GetDeviceInstance
static T * GetDeviceInstance(lua_State *pt_state, const std::string &str_key)
Returns a pointer to the instance to the wanted device.
Definition lua_utility.h:380
argos::CCI_MiniQuadrotorRotorActuator::SetRotorVelocities
virtual void SetRotorVelocities(const SVelocities &s_velocities)=0
argos::CCI_MiniQuadrotorRotorActuator::SVelocities::operator=
SVelocities & operator=(const SVelocities &s_velocities)
Definition ci_miniquadrotor_rotor_actuator.cpp:51