differential_steering_default_actuator.h

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#ifndef DIFFERENTIAL_STEERING_ACTUATOR_DEFAULT_H
#define DIFFERENTIAL_STEERING_ACTUATOR_DEFAULT_H
 
#include <string>
#include <map>
 
namespace argos {
   class CDifferentialSteeringDefaultActuator;
}
 
#include <argos3/plugins/robots/generic/control_interface/ci_differential_steering_actuator.h>
#include <argos3/core/simulator/actuator.h>
#include <argos3/plugins/simulator/entities/wheeled_entity.h>
#include <argos3/core/simulator/entity/composable_entity.h>
#include <argos3/core/utility/math/rng.h>
 
namespace argos {
 
   class CDifferentialSteeringDefaultActuator : public CSimulatedActuator,
                                                public CCI_DifferentialSteeringActuator {
 
   public:
 
      enum DIFFERENTIAL_STEERING {
         LEFT_WHEEL = 0,
         RIGHT_WHEEL = 1
      };
 
   public:
 
      CDifferentialSteeringDefaultActuator();
 
      virtual ~CDifferentialSteeringDefaultActuator() {}
 
      virtual void SetRobot(CComposableEntity& c_entity);
 
      virtual void Init(TConfigurationNode& t_tree);
 
      virtual void SetLinearVelocity(Real f_left_velocity,
                                     Real f_right_velocity);
 
      virtual void Update();
 
      virtual void Reset();
 
   protected:
 
      CWheeledEntity* m_pcWheeledEntity;
      
      CRandom::CRNG* m_pcRNG;
 
      Real m_fNoiseBias[2];
      
      Real m_fNoiseFactorAvg[2];
 
      Real m_fNoiseFactorStdDev[2];
 
   };
 
}
 
#endif