ARGoS 3
A parallel, multi-engine simulator for swarm robotics
ci_quadrotor_speed_actuator.cpp
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1
7#include "ci_quadrotor_speed_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#ifdef ARGOS_WITH_LUA
19 /*
20 * The stack must have three values in this order:
21 * 1. x coordinate of the velocity (a number)
22 * 2. y coordinate of the velocity (a number)
23 * 3. z coordinate of the velocity (a number)
24 */
25 int LuaSetQuadRotorLinearVelocity(lua_State* pt_lua_state) {
26 /* Check parameters */
27 if(lua_gettop(pt_lua_state) != 3) {
28 return luaL_error(pt_lua_state, "robot.quadrotor.set_linear_velocity() expects 3 arguments");
29 }
30 luaL_checktype(pt_lua_state, 1, LUA_TNUMBER);
31 luaL_checktype(pt_lua_state, 2, LUA_TNUMBER);
32 luaL_checktype(pt_lua_state, 3, LUA_TNUMBER);
33 /* Perform action */
34 CLuaUtility::GetDeviceInstance<CCI_QuadRotorSpeedActuator>(pt_lua_state, "quadrotor")->
35 SetLinearVelocity(CVector3(lua_tonumber(pt_lua_state, 1),
36 lua_tonumber(pt_lua_state, 2),
37 lua_tonumber(pt_lua_state, 3)));
38 return 0;
39 }
40#endif
41
42 /****************************************/
43 /****************************************/
44
45#ifdef ARGOS_WITH_LUA
46 /*
47 * The stack must have one value:
48 * 1. x coordinate of the velocity (a number)
49 */
50 int LuaSetQuadRotorRotationalSpeed(lua_State* pt_lua_state) {
51 /* Check parameters */
52 if(lua_gettop(pt_lua_state) != 1) {
53 return luaL_error(pt_lua_state, "robot.quadrotor.set_rotational_speed() expects 1 argument");
54 }
55 luaL_checktype(pt_lua_state, 1, LUA_TNUMBER);
56 /* Perform action */
57 CLuaUtility::GetDeviceInstance<CCI_QuadRotorSpeedActuator>(pt_lua_state, "quadrotor")->
58 SetRotationalSpeed(CRadians(lua_tonumber(pt_lua_state, 1)));
59 return 0;
60 }
61#endif
62
63 /****************************************/
64 /****************************************/
65
66#ifdef ARGOS_WITH_LUA
67 void CCI_QuadRotorSpeedActuator::CreateLuaState(lua_State* pt_lua_state) {
68 CLuaUtility::OpenRobotStateTable(pt_lua_state, "quadrotor");
69 CLuaUtility::AddToTable(pt_lua_state, "_instance", this);
70 CLuaUtility::AddToTable(pt_lua_state, "set_linear_velocity", &LuaSetQuadRotorLinearVelocity);
71 CLuaUtility::AddToTable(pt_lua_state, "set_rotational_speed", &LuaSetQuadRotorRotationalSpeed);
72 CLuaUtility::CloseRobotStateTable(pt_lua_state);
73 }
74#endif
75
76 /****************************************/
77 /****************************************/
78
79}
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