ARGoS 3
A parallel, multi-engine simulator for swarm robotics
footbot_distance_scanner_default_actuator.cpp
Go to the documentation of this file.
1
7#include "footbot_distance_scanner_default_actuator.h"
8
9namespace argos {
10
11 const Real CFootBotDistanceScannerDefaultActuator::RPM_TO_RADIANS_PER_SEC = ARGOS_PI / 30.0f;
12
13 /****************************************/
14 /****************************************/
15
19
20 /****************************************/
21 /****************************************/
22
23 void CFootBotDistanceScannerDefaultActuator::SetRobot(CComposableEntity& c_entity) {
24 m_pcDistanceScannerEquippedEntity = &(c_entity.GetComponent<CFootBotDistanceScannerEquippedEntity>("distance_scanner"));
25 m_pcDistanceScannerEquippedEntity->Enable();
26 }
27
28 /****************************************/
29 /****************************************/
30
31 void CFootBotDistanceScannerDefaultActuator::SetAngle(const CRadians& c_angle) {
32 m_unDesiredMode = CFootBotDistanceScannerEquippedEntity::MODE_POSITION_CONTROL;
33 m_cDesiredRotation = c_angle;
34 }
35
36 /****************************************/
37 /****************************************/
38
43
44 /****************************************/
45 /****************************************/
46
50
51 /****************************************/
52 /****************************************/
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57
58 /****************************************/
59 /****************************************/
60
61 void CFootBotDistanceScannerDefaultActuator::Update() {
62 m_pcDistanceScannerEquippedEntity->SetMode(m_unDesiredMode);
63 if(m_unDesiredMode == CFootBotDistanceScannerEquippedEntity::MODE_POSITION_CONTROL) {
64 m_pcDistanceScannerEquippedEntity->SetRotation(m_cDesiredRotation);
65 }
66 else if(m_unDesiredMode == CFootBotDistanceScannerEquippedEntity::MODE_SPEED_CONTROL) {
67 m_pcDistanceScannerEquippedEntity->SetRotationSpeed(m_fDesiredRotationSpeed);
68 }
69 }
70
71 /****************************************/
72 /****************************************/
73
74 void CFootBotDistanceScannerDefaultActuator::Reset() {
75 m_cDesiredRotation = CRadians::ZERO;
76 m_fDesiredRotationSpeed = 0.0f;
77 m_unDesiredMode = CFootBotDistanceScannerEquippedEntity::MODE_OFF;
78 }
79
80 /****************************************/
81 /****************************************/
82
83 REGISTER_ACTUATOR(CFootBotDistanceScannerDefaultActuator,
84 "footbot_distance_scanner", "default",
85 "Carlo Pinciroli [ilpincy@gmail.com]",
86 "1.0",
87 "The foot-bot distance scanner actuator.",
88 "This actuator controls the foot-bot distance scanner. For a complete\n"
89 "description of its usage, refer to the ci_footbot_distance_scanner_actuator\n"
90 "file.\n\n"
91 "REQUIRED XML CONFIGURATION\n\n"
92 " <controllers>\n"
93 " ...\n"
94 " <my_controller ...>\n"
95 " ...\n"
96 " <actuators>\n"
97 " ...\n"
98 " <footbot_distance_scanner implementation=\"default\" />\n"
99 " ...\n"
100 " </actuators>\n"
101 " ...\n"
102 " </my_controller>\n"
103 " ...\n"
104 " </controllers>\n\n"
105 "OPTIONAL XML CONFIGURATION\n\n"
106 "None for the time being.\n",
107 "Usable"
108 );
109
110}
ARGOS_PI
#define ARGOS_PI
To be used when initializing static variables.
Definition angles.h:32
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::CRadians::ZERO
static const CRadians ZERO
Set to zero radians.
Definition angles.h:79
argos::CFootBotDistanceScannerDefaultActuator::Update
virtual void Update()
Updates the state of the entity associated to this actuator.
Definition footbot_distance_scanner_default_actuator.cpp:61
argos::CFootBotDistanceScannerDefaultActuator::SetRPM
virtual void SetRPM(Real f_rpm)
Sets the distance scanner speed The distance scanner can be controller in position or in speed.
Definition footbot_distance_scanner_default_actuator.cpp:39
argos::CFootBotDistanceScannerDefaultActuator::Reset
virtual void Reset()
Resets the actuator to the state it had just after Init().
Definition footbot_distance_scanner_default_actuator.cpp:74
argos::CFootBotDistanceScannerDefaultActuator::SetAngle
virtual void SetAngle(const CRadians &c_angle)
Sets the distance scanner angle The distance scanner can be controller in position or in speed.
Definition footbot_distance_scanner_default_actuator.cpp:31
argos::CFootBotDistanceScannerDefaultActuator::SetRobot
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
Definition footbot_distance_scanner_default_actuator.cpp:23