quadrotor_position_default_actuator.h

Go to the documentation of this file.

 
#ifndef QUADROTOR_POSITION_ACTUATOR_DEFAULT_H
#define QUADROTOR_POSITION_ACTUATOR_DEFAULT_H
 
#include <string>
#include <map>
 
namespace argos {
   class CQuadRotorPositionDefaultActuator;
}
 
#include <argos3/core/utility/math/rng.h>
#include <argos3/core/simulator/actuator.h>
#include <argos3/core/simulator/entity/composable_entity.h>
#include <argos3/plugins/robots/generic/control_interface/ci_quadrotor_position_actuator.h>
#include <argos3/plugins/simulator/entities/quadrotor_entity.h>
 
namespace argos {
 
   class CQuadRotorPositionDefaultActuator : public CSimulatedActuator,
                                     public CCI_QuadRotorPositionActuator {
 
   public:
 
      CQuadRotorPositionDefaultActuator();
      virtual ~CQuadRotorPositionDefaultActuator() {}
 
      virtual void SetRobot(CComposableEntity& c_entity);
 
      virtual void Init(TConfigurationNode& t_tree);
 
      virtual void SetAbsolutePosition(const CVector3& c_pos);
      virtual void SetRelativePosition(const CVector3& c_pos);
      virtual void SetAbsoluteYaw(const CRadians& c_yaw);
      virtual void SetRelativeYaw(const CRadians& c_yaw);
 
      virtual void Update();
      virtual void Reset();
 
   protected:
 
      CQuadRotorEntity* m_pcQuadRotorEntity;
      CEmbodiedEntity* m_pcEmbodiedEntity;
      CQuadRotorEntity::SPositionControlData m_sDesiredPosData;
      
   };
 
}
 
#endif