ci_differential_steering_actuator.cpp

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#include "ci_differential_steering_actuator.h"
 
#ifdef ARGOS_WITH_LUA
#include <argos3/core/wrappers/lua/lua_utility.h>
#endif
 
namespace argos {
 
   /****************************************/
   /****************************************/
 
#ifdef ARGOS_WITH_LUA
   /*
    * The stack must have two values in this order:
    * 1. left wheel speed (a number)
    * 2. right wheel speed (a number)
    */
   int LuaSetDiffSteeringLinearVelocity(lua_State* pt_lua_state) {
      /* Check parameters */
      if(lua_gettop(pt_lua_state) != 2) {
         return luaL_error(pt_lua_state, "robot.wheels.set_velocity() expects 2 arguments");
      }
      luaL_checktype(pt_lua_state, 1, LUA_TNUMBER);
      luaL_checktype(pt_lua_state, 2, LUA_TNUMBER);
      /* Perform action */
      CLuaUtility::GetDeviceInstance<CCI_DifferentialSteeringActuator>(pt_lua_state, "wheels")->
         SetLinearVelocity(lua_tonumber(pt_lua_state, 1),
                           lua_tonumber(pt_lua_state, 2));
      return 0;
   }
#endif
   
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   /****************************************/
 
#ifdef ARGOS_WITH_LUA
   void CCI_DifferentialSteeringActuator::CreateLuaState(lua_State* pt_lua_state) {
      CLuaUtility::OpenRobotStateTable(pt_lua_state, "wheels");
      CLuaUtility::AddToTable(pt_lua_state, "_instance", this);
      CLuaUtility::AddToTable(pt_lua_state, "set_velocity", &LuaSetDiffSteeringLinearVelocity);
      CLuaUtility::CloseRobotStateTable(pt_lua_state);
   }
#endif
 
   /****************************************/
   /****************************************/
 
}