argos::CDifferentialSteeringDefaultActuator Class Reference

#include <differential_steering_default_actuator.h>

Inheritance diagram for argos::CDifferentialSteeringDefaultActuator:
Collaboration diagram for argos::CDifferentialSteeringDefaultActuator:

Public Types

enum  DIFFERENTIAL_STEERING { LEFT_WHEEL = 0, RIGHT_WHEEL = 1 }
 
- Public Types inherited from argos::CCI_Actuator
typedef std::map< std::string, CCI_Actuator *, std::less< std::string > > TMap
 

Public Member Functions

 CDifferentialSteeringDefaultActuator ()
 Constructor. More...
 
virtual ~CDifferentialSteeringDefaultActuator ()
 Destructor. More...
 
virtual void SetRobot (CComposableEntity &c_entity)
 Sets the entity associated to this actuator. More...
 
virtual void Init (TConfigurationNode &t_tree)
 Initializes the actuator from the XML configuration tree. More...
 
virtual void SetLinearVelocity (Real f_left_velocity, Real f_right_velocity)
 Sets the linear velocity of the two steering. More...
 
virtual void Update ()
 Updates the state of the entity associated to this actuator. More...
 
virtual void Reset ()
 Resets the actuator to the state it had just after Init(). More...
 
- Public Member Functions inherited from argos::CSimulatedActuator
virtual ~CSimulatedActuator ()
 Class destructor. More...
 
- Public Member Functions inherited from argos::CCI_DifferentialSteeringActuator
virtual ~CCI_DifferentialSteeringActuator ()
 
- Public Member Functions inherited from argos::CCI_Actuator
virtual ~CCI_Actuator ()
 Class destructor. More...
 
virtual void Destroy ()
 Destroys the actuator. More...
 
- Public Member Functions inherited from argos::CBaseConfigurableResource
virtual ~CBaseConfigurableResource ()
 Class destructor. More...
 

Protected Attributes

CWheeledEntitym_pcWheeledEntity
 
CRandom::CRNGm_pcRNG
 Random number generator. More...
 
Real m_fNoiseBias [2]
 Noise bias for each wheel. More...
 
Real m_fNoiseFactorAvg [2]
 Noise factor average (Gaussian model) for each wheel. More...
 
Real m_fNoiseFactorStdDev [2]
 Noise factor stddev (Gaussian model) for each wheel. More...
 
- Protected Attributes inherited from argos::CCI_DifferentialSteeringActuator
Real m_fCurrentVelocity [2]
 

Detailed Description

Definition at line 25 of file differential_steering_default_actuator.h.

Member Enumeration Documentation

Enumerator
LEFT_WHEEL 
RIGHT_WHEEL 

Definition at line 30 of file differential_steering_default_actuator.h.

Constructor & Destructor Documentation

argos::CDifferentialSteeringDefaultActuator::CDifferentialSteeringDefaultActuator ( )

Constructor.

Definition at line 16 of file differential_steering_default_actuator.cpp.

virtual argos::CDifferentialSteeringDefaultActuator::~CDifferentialSteeringDefaultActuator ( )
inlinevirtual

Destructor.

Definition at line 45 of file differential_steering_default_actuator.h.

Member Function Documentation

void argos::CDifferentialSteeringDefaultActuator::Init ( TConfigurationNode t_node)
virtual

Initializes the actuator from the XML configuration tree.

The default implementation of this method does nothing.

Parameters
t_nodeThe XML configuration tree relative to this actuator.
See also
Reset()
Destroy()

Reimplemented from argos::CCI_Actuator.

Definition at line 61 of file differential_steering_default_actuator.cpp.

void argos::CDifferentialSteeringDefaultActuator::Reset ( )
virtual

Resets the actuator to the state it had just after Init().

The default implementation of this method does nothing.

See also
Init()
Destroy()

Reimplemented from argos::CCI_Actuator.

Definition at line 129 of file differential_steering_default_actuator.cpp.

void argos::CDifferentialSteeringDefaultActuator::SetLinearVelocity ( Real  f_left_velocity,
Real  f_right_velocity 
)
virtual

Sets the linear velocity of the two steering.

Velocities are expressed in cm per second.

Parameters
f_left_velocitydesired left wheel velocity.
f_right_velocitydesired right wheel velocity.

Implements argos::CCI_DifferentialSteeringActuator.

Definition at line 107 of file differential_steering_default_actuator.cpp.

void argos::CDifferentialSteeringDefaultActuator::SetRobot ( CComposableEntity c_entity)
virtual

Sets the entity associated to this actuator.

When a controller is created, all the sensors and actuators are created, too. This function is called right before the Init() method of the actuator is called.

Parameters
c_entityThe entity to associate to this actuator.
See also
CComposableEntity
CControllableEntity::SetController()
CCI_Actuator::Init()

Implements argos::CSimulatedActuator.

Definition at line 32 of file differential_steering_default_actuator.cpp.

void argos::CDifferentialSteeringDefaultActuator::Update ( )
virtual

Updates the state of the entity associated to this actuator.

Implements argos::CSimulatedActuator.

Definition at line 122 of file differential_steering_default_actuator.cpp.

Member Data Documentation

Real argos::CDifferentialSteeringDefaultActuator::m_fNoiseBias[2]
protected

Noise bias for each wheel.

Definition at line 73 of file differential_steering_default_actuator.h.

Real argos::CDifferentialSteeringDefaultActuator::m_fNoiseFactorAvg[2]
protected

Noise factor average (Gaussian model) for each wheel.

Definition at line 76 of file differential_steering_default_actuator.h.

Real argos::CDifferentialSteeringDefaultActuator::m_fNoiseFactorStdDev[2]
protected

Noise factor stddev (Gaussian model) for each wheel.

Definition at line 79 of file differential_steering_default_actuator.h.

CRandom::CRNG* argos::CDifferentialSteeringDefaultActuator::m_pcRNG
protected

Random number generator.

Definition at line 70 of file differential_steering_default_actuator.h.

CWheeledEntity* argos::CDifferentialSteeringDefaultActuator::m_pcWheeledEntity
protected

Definition at line 67 of file differential_steering_default_actuator.h.