ARGoS 3
A parallel, multi-engine simulator for swarm robotics
footbot_turret_default_actuator.cpp
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1
7#include "footbot_turret_default_actuator.h"
8
9namespace argos {
10
11 const Real RPM_TO_RADIANS_PER_SEC = ARGOS_PI / 30.0f;
12
13 /****************************************/
14 /****************************************/
15
16 CFootBotTurretDefaultActuator::CFootBotTurretDefaultActuator() :
17 m_pcTurretEntity(nullptr),
18 m_unDesiredMode(CFootBotTurretEntity::MODE_OFF) {}
19
20 /****************************************/
21 /****************************************/
22
23 void CFootBotTurretDefaultActuator::SetRobot(CComposableEntity& c_entity) {
24 m_pcTurretEntity = &(c_entity.GetComponent<CFootBotTurretEntity>("turret"));
25 m_pcTurretEntity->Enable();
26 }
27
28 /****************************************/
29 /****************************************/
30
31 void CFootBotTurretDefaultActuator::SetRotation(const CRadians& c_angle) {
32 m_pcTurretEntity->SetDesiredRotation(c_angle);
33 }
34
35 /****************************************/
36 /****************************************/
37
38 void CFootBotTurretDefaultActuator::SetRotationSpeed(SInt32 n_speed_pulses) {
39 m_pcTurretEntity->SetDesiredRotationSpeed(RPM_TO_RADIANS_PER_SEC * n_speed_pulses);
40 }
41
42 /****************************************/
43 /****************************************/
44
45 void CFootBotTurretDefaultActuator::SetMode(ETurretModes e_mode) {
46 m_unDesiredMode = e_mode;
47 }
48
49 /****************************************/
50 /****************************************/
51
52 void CFootBotTurretDefaultActuator::Update() {
53 m_pcTurretEntity->SetMode(m_unDesiredMode);
54 }
55
56 /****************************************/
57 /****************************************/
58
62
63 /****************************************/
64 /****************************************/
65
66 REGISTER_ACTUATOR(CFootBotTurretDefaultActuator,
67 "footbot_turret", "default",
68 "Carlo Pinciroli [ilpincy@gmail.com]",
69 "1.0",
70 "The foot-bot turret actuator.",
71 "This actuator controls the foot-bot turret. For a complete\n"
72 "description of its usage, refer to the ci_footbot_turret_actuator\n"
73 "file.\n\n"
74 "REQUIRED XML CONFIGURATION\n\n"
75 " <controllers>\n"
76 " ...\n"
77 " <my_controller ...>\n"
78 " ...\n"
79 " <actuators>\n"
80 " ...\n"
81 " <footbot_turret implementation=\"default\" />\n"
82 " ...\n"
83 " </actuators>\n"
84 " ...\n"
85 " </my_controller>\n"
86 " ...\n"
87 " </controllers>\n\n"
88 "OPTIONAL XML CONFIGURATION\n\n"
89 "None for the time being.\n",
90 "Usable"
91 );
92
93}
ARGOS_PI
#define ARGOS_PI
To be used when initializing static variables.
Definition angles.h:32
SInt32
signed int SInt32
32-bit signed integer.
Definition datatypes.h:93
Real
float Real
Collects all ARGoS code.
Definition datatypes.h:39
REGISTER_ACTUATOR
#define REGISTER_ACTUATOR(CLASSNAME, LABEL, IMPLEMENTATION, AUTHOR, VERSION, BRIEF_DESCRIPTION, LONG_DESCRIPTION, STATUS)
Registers a new actuator model inside ARGoS.
Definition actuator.h:59
argos
The namespace containing all the ARGoS related code.
Definition ci_actuator.h:12
argos::CComposableEntity
Basic class for an entity that contains other entities.
Definition composable_entity.h:32
argos::CComposableEntity::GetComponent
CEntity & GetComponent(const std::string &str_component)
Returns the component with the passed string label.
Definition composable_entity.cpp:109
argos::CEntity::Enable
void Enable()
Enables the entity.
Definition entity.h:265
argos::CRadians
It defines the basic type CRadians, used to store an angle value in radians.
Definition angles.h:42
argos::CFootBotTurretDefaultActuator::Update
virtual void Update()
Updates the state of the entity associated to this actuator.
Definition footbot_turret_default_actuator.cpp:52
argos::CFootBotTurretDefaultActuator::SetRotation
virtual void SetRotation(const CRadians &c_angle)
Sets the turret rotation Turret rotation is expressed in radians, positive values rotate the turret c...
Definition footbot_turret_default_actuator.cpp:31
argos::CFootBotTurretDefaultActuator::Reset
virtual void Reset()
Resets the actuator to the state it had just after Init().
Definition footbot_turret_default_actuator.cpp:59
argos::CFootBotTurretDefaultActuator::SetRobot
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
Definition footbot_turret_default_actuator.cpp:23
argos::CFootBotTurretDefaultActuator::SetRotationSpeed
virtual void SetRotationSpeed(SInt32 n_speed_pulses)
Sets the turret rotation speed Turret rotation speed is expressed in motor pulses,...
Definition footbot_turret_default_actuator.cpp:38
argos::CFootBotTurretDefaultActuator::SetMode
virtual void SetMode(ETurretModes e_mode)
Sets the turret control mode Modes are: angular position control, rotation speed control,...
Definition footbot_turret_default_actuator.cpp:45
argos::CFootBotTurretEntity::SetDesiredRotation
void SetDesiredRotation(const CRadians &c_rotation)
Definition footbot_turret_entity.cpp:103