ci_footbot_turret_actuator.h

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#ifndef CCI_FOOTBOT_TURRET_ACTUATOR_H
#define CCI_FOOTBOT_TURRET_ACTUATOR_H
 
namespace argos {
   class CCI_FootBotTurretActuator;
}
 
#include <argos3/core/control_interface/ci_actuator.h>
#include <argos3/core/utility/math/angles.h>
 
namespace argos {
 
   class CCI_FootBotTurretActuator : virtual public CCI_Actuator {
 
   public:
 
      enum ETurretModes {
         MODE_OFF,
         MODE_PASSIVE,
         MODE_SPEED_CONTROL,
         MODE_POSITION_CONTROL
      };
 
   public:
 
      static const CRange<SInt32> SPEED_RANGE;
      static const CRange<Real>   NORMALIZED_SPEED_RANGE;
 
   public:
 
      virtual ~CCI_FootBotTurretActuator() {}
 
      virtual void SetRotation(const CRadians& c_angle) = 0;
 
      virtual void SetRotationSpeed(SInt32 n_speed_pulses) = 0;
 
      virtual void SetMode(ETurretModes e_mode) = 0;
 
      void SetActiveWithRotation(const CRadians& c_angle);
 
      void SetSpeedControlMode();
 
      void SetPositionControlMode();
 
      void SetPassiveMode();
 
#ifdef ARGOS_WITH_LUA
      virtual void CreateLuaState(lua_State* pt_lua_state);
#endif
   };
 
}
 
#endif