ARGoS 3
A parallel, multi-engine simulator for swarm robotics
pointmass3d_eyebot_model.cpp
Go to the documentation of this file.
1
7#include "pointmass3d_eyebot_model.h"
8#include <argos3/core/utility/logging/argos_log.h>
9#include <argos3/core/utility/math/cylinder.h>
10#include <argos3/core/simulator/simulator.h>
11#include <argos3/core/simulator/space/space.h>
12#include <argos3/plugins/simulator/physics_engines/pointmass3d/pointmass3d_engine.h>
13
14namespace argos {
15
16 static const Real BODY_HEIGHT = 0.566f;
17 static const Real BODY_RADIUS = 0.25f;
18 static const Real BODY_MASS = 1.00f;
19 static const Real BODY_INERTIA = 0.01f;
20 static const CVector3 POS_K_P(20.0f, 20.0f, 20.0f);
21 static const CVector3 POS_K_D(10.0f, 10.0f, 10.0f);
22 static const Real YAW_K_P = 0.5f;
23 static const Real YAW_K_D = 0.1f;
24 static const CVector3 VEL_K_P(1.0f, 1.0f, 1.0f);
25 static const CVector3 VEL_K_D(0.0f, 0.0f, 0.0f);
26 static const Real ROT_K_P = 0.5f;
27 static const Real ROT_K_D = 0.1f;
28
29 /****************************************/
30 /****************************************/
31
32 CPointMass3DEyeBotModel::CPointMass3DEyeBotModel(CPointMass3DEngine& c_engine,
33 CEyeBotEntity& c_eyebot) :
34 CPointMass3DQuadRotorModel(c_engine,
35 c_eyebot.GetEmbodiedEntity(),
36 c_eyebot.GetQuadRotorEntity(),
37 BODY_HEIGHT,
38 BODY_RADIUS,
39 BODY_MASS,
40 BODY_INERTIA,
41 POS_K_P,
42 POS_K_D,
43 YAW_K_P,
44 YAW_K_D,
45 VEL_K_P,
46 VEL_K_D,
47 ROT_K_P,
48 ROT_K_D) {
49 RegisterAnchorMethod<CPointMass3DEyeBotModel>(
50 GetEmbodiedEntity().GetAnchor("perspective_camera"),
51 &CPointMass3DEyeBotModel::UpdatePerspectiveCameraAnchor);
52 }
53
54 /****************************************/
55 /****************************************/
56
60
61 /****************************************/
62 /****************************************/
63
64 REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY(CEyeBotEntity, CPointMass3DEyeBotModel);
65
66 /****************************************/
67 /****************************************/
68
69}
REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY
#define REGISTER_STANDARD_POINTMASS3D_OPERATIONS_ON_ENTITY(SPACE_ENTITY, PM3D_ENTITY)
Definition pointmass3d_engine.h:133
Real
float Real
Collects all ARGoS code.
Definition datatypes.h:39
argos
The namespace containing all the ARGoS related code.
Definition ci_actuator.h:12
argos::SAnchor
An anchor related to the body of an entity.
Definition physics_model.h:38
argos::SAnchor::Position
CVector3 Position
The position of the anchor wrt the global coordinate system.
Definition physics_model.h:51
argos::CPhysicsModel::RegisterAnchorMethod
void RegisterAnchorMethod(const SAnchor &s_anchor, void(MODEL::*pt_method)(SAnchor &))
Registers an anchor method.
Definition physics_model.h:341
argos::CPhysicsModel::GetEmbodiedEntity
CEmbodiedEntity & GetEmbodiedEntity()
Returns the embodied entity associated to this physics model.
Definition physics_model.h:133
argos::CPointMass3DEyeBotModel::CPointMass3DEyeBotModel
CPointMass3DEyeBotModel(CPointMass3DEngine &c_engine, CEyeBotEntity &c_eyebot)
Definition pointmass3d_eyebot_model.cpp:32
argos::CPointMass3DEyeBotModel::UpdatePerspectiveCameraAnchor
void UpdatePerspectiveCameraAnchor(SAnchor &s_anchor)
Definition pointmass3d_eyebot_model.cpp:57
argos::CPointMass3DModel::m_cPosition
CVector3 m_cPosition
The position of the model in this engine.
Definition pointmass3d_model.h:74