ARGoS 3
A parallel, multi-engine simulator for swarm robotics
ci_gripper_actuator.cpp
Go to the documentation of this file.
1
7#include "ci_gripper_actuator.h"
8#include <argos3/core/utility/math/range.h>
9
10#ifdef ARGOS_WITH_LUA
11#include <argos3/core/wrappers/lua/lua_utility.h>
12#endif
13
14namespace argos {
15
16 /****************************************/
17 /****************************************/
18
19 CRange<Real> UNIT(0.0f, 1.0f);
20
21 /****************************************/
22 /****************************************/
23
24#ifdef ARGOS_WITH_LUA
25 /*
26 * The stack must have no values
27 */
28 int LuaGripperLock(lua_State* pt_lua_state) {
29 /* Get wheel speed from stack */
30 if(lua_gettop(pt_lua_state) != 0) {
31 return luaL_error(pt_lua_state, "robot.gripper.lock() expects no arguments");
32 }
33 /* Perform action */
34 CLuaUtility::GetDeviceInstance<CCI_GripperActuator>(pt_lua_state, "gripper")->Lock();
35 return 0;
36 }
37
38 /*
39 * The stack must have no values
40 */
41 int LuaGripperUnlock(lua_State* pt_lua_state) {
42 /* Get wheel speed from stack */
43 if(lua_gettop(pt_lua_state) != 0) {
44 return luaL_error(pt_lua_state, "robot.gripper.unlock() expects no arguments");
45 }
46 /* Perform action */
47 CLuaUtility::GetDeviceInstance<CCI_GripperActuator>(pt_lua_state, "gripper")->Unlock();
48 return 0;
49 }
50#endif
51
52 /****************************************/
53 /****************************************/
54
55 CCI_GripperActuator::CCI_GripperActuator() :
56 m_fLockState(0.0f) {}
57
58 /****************************************/
59 /****************************************/
60
61 void CCI_GripperActuator::SetLockState(Real f_lock_state) {
62 UNIT.TruncValue(f_lock_state);
63 m_fLockState = f_lock_state;
64 }
65
66 /****************************************/
67 /****************************************/
68
69 void CCI_GripperActuator::Lock() {
70 SetLockState(1.0f);
71 }
72
73 /****************************************/
74 /****************************************/
75
79
80 /****************************************/
81 /****************************************/
82
83#ifdef ARGOS_WITH_LUA
84 void CCI_GripperActuator::CreateLuaState(lua_State* pt_lua_state) {
85 CLuaUtility::StartTable(pt_lua_state, "gripper");
86 CLuaUtility::AddToTable(pt_lua_state, "_instance", this);
87 CLuaUtility::AddToTable(pt_lua_state, "lock", &LuaGripperLock);
88 CLuaUtility::AddToTable(pt_lua_state, "unlock", &LuaGripperUnlock);
89 CLuaUtility::EndTable(pt_lua_state);
90 }
91#endif
92
93 /****************************************/
94 /****************************************/
95
96}
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::EndTable
static void EndTable(lua_State *pt_state)
Adds a table to the Lua stack.
Definition lua_utility.cpp:367
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::StartTable
static void StartTable(lua_State *pt_state, const std::string &str_key)
Adds a table with the given string key to the table located at the top of the stack.
Definition lua_utility.cpp:349
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_GripperActuator::SetLockState
void SetLockState(Real f_lock_state)
Sets the gripper lock state.
Definition ci_gripper_actuator.cpp:61
argos::CCI_GripperActuator::Lock
void Lock()
Locks the gripper.
Definition ci_gripper_actuator.cpp:69
argos::CCI_GripperActuator::CCI_GripperActuator
CCI_GripperActuator()
Class constructor.
Definition ci_gripper_actuator.cpp:55
argos::CCI_GripperActuator::Unlock
void Unlock()
Unlocks the gripper.
Definition ci_gripper_actuator.cpp:76