ARGoS 3
A parallel, multi-engine simulator for swarm robotics
gripper_default_actuator.cpp
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1
7#include "gripper_default_actuator.h"
8#include <argos3/core/utility/logging/argos_log.h>
9#include <argos3/core/simulator/entity/composable_entity.h>
10
11namespace argos {
12
13 /****************************************/
14 /****************************************/
15
16 CGripperDefaultActuator::CGripperDefaultActuator() :
17 m_pcGripperEquippedEntity(nullptr) {}
18
19 /****************************************/
20 /****************************************/
21
22 void CGripperDefaultActuator::SetRobot(CComposableEntity& c_entity) {
23 m_pcGripperEquippedEntity = &(c_entity.GetComponent<CGripperEquippedEntity>("gripper"));
24 m_pcGripperEquippedEntity->Enable();
25 }
26
27 /****************************************/
28 /****************************************/
29
30 void CGripperDefaultActuator::Update() {
31 m_pcGripperEquippedEntity->SetLockState(m_fLockState);
32 }
33
34 /****************************************/
35 /****************************************/
36
40
41 /****************************************/
42 /****************************************/
43
44}
45
46REGISTER_ACTUATOR(CGripperDefaultActuator,
47 "gripper", "default",
48 "Carlo Pinciroli [ilpincy@gmail.com]",
49 "1.0",
50 "The Gripper actuator.",
51
52 "This actuator controls a gripper. For a complete description of its\n"
53 "usage, refer to the ci_gripper_actuator.h file.\n\n"
54
55 "REQUIRED XML CONFIGURATION\n\n"
56 " <controllers>\n"
57 " ...\n"
58 " <my_controller ...>\n"
59 " ...\n"
60 " <actuators>\n"
61 " ...\n"
62 " <gripper implementation=\"default\" />\n"
63 " ...\n"
64 " </actuators>\n"
65 " ...\n"
66 " </my_controller>\n"
67 " ...\n"
68 " </controllers>\n\n"
69
70 "OPTIONAL XML CONFIGURATION\n\n"
71
72 "None.\n",
73
74 "Usable"
75 );
76
REGISTER_ACTUATOR
#define REGISTER_ACTUATOR(CLASSNAME, LABEL, IMPLEMENTATION, AUTHOR, VERSION, BRIEF_DESCRIPTION, LONG_DESCRIPTION, STATUS)
Registers a new actuator model inside ARGoS.
Definition actuator.h:59
argos
The namespace containing all the ARGoS related code.
Definition ci_actuator.h:12
argos::CComposableEntity
Basic class for an entity that contains other entities.
Definition composable_entity.h:32
argos::CComposableEntity::GetComponent
CEntity & GetComponent(const std::string &str_component)
Returns the component with the passed string label.
Definition composable_entity.cpp:109
argos::CEntity::Enable
void Enable()
Enables the entity.
Definition entity.h:265
argos::CGripperDefaultActuator::Update
virtual void Update()
Updates the state of the entity associated to this actuator.
Definition gripper_default_actuator.cpp:30
argos::CGripperDefaultActuator::SetRobot
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
Definition gripper_default_actuator.cpp:22
argos::CGripperDefaultActuator::Reset
virtual void Reset()
Resets the actuator to the state it had just after Init().
Definition gripper_default_actuator.cpp:37
argos::CGripperEquippedEntity
An entity that stores the state of a robot gripper.
Definition gripper_equipped_entity.h:37
argos::CGripperEquippedEntity::SetLockState
void SetLockState(Real f_lock_state)
Sets the lock state of the gripper.
Definition gripper_equipped_entity.cpp:80