ARGoS 3
A parallel, multi-engine simulator for swarm robotics
ci_differential_steering_sensor.cpp
Go to the documentation of this file.
1
7#include "ci_differential_steering_sensor.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 void CCI_DifferentialSteeringSensor::CreateLuaState(lua_State* pt_lua_state) {
20 CLuaUtility::OpenRobotStateTable(pt_lua_state, "wheels");
21 CLuaUtility::AddToTable(pt_lua_state, "distance_left", m_sReading.CoveredDistanceLeftWheel );
22 CLuaUtility::AddToTable(pt_lua_state, "distance_right", m_sReading.CoveredDistanceRightWheel);
23 CLuaUtility::AddToTable(pt_lua_state, "velocity_left", m_sReading.VelocityLeftWheel );
24 CLuaUtility::AddToTable(pt_lua_state, "velocity_right", m_sReading.VelocityRightWheel );
25 CLuaUtility::AddToTable(pt_lua_state, "axis_length", m_sReading.WheelAxisLength );
26 CLuaUtility::CloseRobotStateTable(pt_lua_state);
27 }
28#endif
29
30 /****************************************/
31 /****************************************/
32
33#ifdef ARGOS_WITH_LUA
34 void CCI_DifferentialSteeringSensor::ReadingsToLuaState(lua_State* pt_lua_state) {
35 lua_getfield (pt_lua_state, -1, "wheels" );
36 lua_pushnumber(pt_lua_state, m_sReading.CoveredDistanceLeftWheel );
37 lua_setfield (pt_lua_state, -2, "distance_left" );
38 lua_pushnumber(pt_lua_state, m_sReading.CoveredDistanceRightWheel);
39 lua_setfield (pt_lua_state, -2, "distance_right" );
40 lua_pushnumber(pt_lua_state, m_sReading.VelocityLeftWheel );
41 lua_setfield (pt_lua_state, -2, "velocity_left" );
42 lua_pushnumber(pt_lua_state, m_sReading.VelocityRightWheel );
43 lua_setfield (pt_lua_state, -2, "velocity_right" );
44 lua_pop (pt_lua_state, 1 );
45 }
46#endif
47
48
49 /****************************************/
50 /****************************************/
51
55
56}
argos
The namespace containing all the ARGoS related code.
Definition ci_actuator.h:12
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::CCI_DifferentialSteeringSensor::GetReading
const SReading & GetReading() const
Returns the reading of the encoder sensor Returns the reading of the encoder sensor.
Definition ci_differential_steering_sensor.cpp:52