ARGoS 3
A parallel, multi-engine simulator for swarm robotics
footbot_distance_scanner_equipped_entity.cpp
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1
7#include "footbot_distance_scanner_equipped_entity.h"
8#include <argos3/core/simulator/physics_engine/physics_engine.h>
9#include <argos3/core/simulator/space/space.h>
10
11namespace argos {
12
13 /****************************************/
14 /****************************************/
15
16 CFootBotDistanceScannerEquippedEntity::CFootBotDistanceScannerEquippedEntity(CComposableEntity* pc_parent) :
17 CEntity(pc_parent),
18 m_unMode(MODE_OFF),
19 m_fRotationSpeed(0.0f) {
20 Disable();
21 }
22
23 /****************************************/
24 /****************************************/
25
26 CFootBotDistanceScannerEquippedEntity::CFootBotDistanceScannerEquippedEntity(CComposableEntity* pc_parent,
27 const std::string& str_id) :
28 CEntity(pc_parent, str_id),
29 m_unMode(MODE_OFF),
30 m_fRotationSpeed(0.0f) {
31 Disable();
32 }
33
34 /****************************************/
35 /****************************************/
36
37 void CFootBotDistanceScannerEquippedEntity::Reset() {
38 m_unMode = MODE_OFF;
39 m_cRotation = CRadians::ZERO;
40 m_fRotationSpeed = 0.0f;
41 }
42
43 /****************************************/
44 /****************************************/
45
46 void CFootBotDistanceScannerEquippedEntity::Update() {
47 if(m_unMode == MODE_SPEED_CONTROL &&
48 m_fRotationSpeed != 0.0f) {
49 m_cRotation += CRadians(m_fRotationSpeed *
50 CPhysicsEngine::GetSimulationClockTick());
51 m_cRotation.UnsignedNormalize();
52 }
53 }
54
55 /****************************************/
56 /****************************************/
57
58 void CFootBotDistanceScannerEquippedEntity::SetRotation(const CRadians& c_rotation) {
59 m_cRotation = c_rotation;
60 m_cRotation.UnsignedNormalize();
61 }
62
63 /****************************************/
64 /****************************************/
65
66 REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY(CFootBotDistanceScannerEquippedEntity);
67
68 /****************************************/
69 /****************************************/
70
71}
REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY
#define REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY(ENTITY)
Definition space.h:564
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::CEntity
The basic entity type.
Definition entity.h:90
argos::CEntity::Disable
void Disable()
Disables the entity.
Definition entity.h:275
argos::CPhysicsEngine::GetSimulationClockTick
static Real GetSimulationClockTick()
Returns the simulation clock tick.
Definition physics_engine.cpp:264
argos::CRadians
It defines the basic type CRadians, used to store an angle value in radians.
Definition angles.h:42
argos::CRadians::UnsignedNormalize
CRadians & UnsignedNormalize()
Normalizes the value in the range [0:TWO_PI].
Definition angles.h:148
argos::CRadians::ZERO
static const CRadians ZERO
Set to zero radians.
Definition angles.h:79
argos::CFootBotDistanceScannerEquippedEntity::Reset
virtual void Reset()
Resets the state of the entity to whatever it was after Init() or the standalone constructor was call...
Definition footbot_distance_scanner_equipped_entity.cpp:37