footbot_turret_default_actuator.h

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#ifndef FOOTBOT_TURRET_DEFAULT_ACTUATOR_H
#define FOOTBOT_TURRET_DEFAULT_ACTUATOR_H
 
#include <string>
#include <map>
 
namespace argos {
   class CFootBotTurretDefaultActuator;
}
 
#include <argos3/plugins/robots/foot-bot/control_interface/ci_footbot_turret_actuator.h>
#include <argos3/plugins/robots/foot-bot/simulator/footbot_entity.h>
#include <argos3/plugins/robots/foot-bot/simulator/footbot_turret_entity.h>
#include <argos3/core/simulator/actuator.h>
 
namespace argos {
 
   class CFootBotTurretDefaultActuator : public CSimulatedActuator,
                                         public CCI_FootBotTurretActuator {
 
   public:
 
      CFootBotTurretDefaultActuator();
      virtual ~CFootBotTurretDefaultActuator() {}
 
      virtual void SetRobot(CComposableEntity& c_entity);
 
      virtual void SetRotation(const CRadians& c_angle);
      virtual void SetRotationSpeed(SInt32 n_speed_pulses);
      virtual void SetMode(ETurretModes e_mode);
 
      virtual void Update();
      virtual void Reset();
 
   private:
 
      CFootBotTurretEntity* m_pcTurretEntity;
      UInt32 m_unDesiredMode;
 
   };
 
}
 
#endif