argos::CFootBotTurretDefaultActuator Class Reference

#include <footbot_turret_default_actuator.h>

Inheritance diagram for argos::CFootBotTurretDefaultActuator:
Collaboration diagram for argos::CFootBotTurretDefaultActuator:

Public Member Functions

 CFootBotTurretDefaultActuator ()
 
virtual ~CFootBotTurretDefaultActuator ()
 
virtual void SetRobot (CComposableEntity &c_entity)
 Sets the entity associated to this actuator. More...
 
virtual void SetRotation (const CRadians &c_angle)
 Sets the turret rotation Turret rotation is expressed in radians, positive values rotate the turret clockwise when looking from above. More...
 
virtual void SetRotationSpeed (SInt32 n_speed_pulses)
 Sets the turret rotation speed Turret rotation speed is expressed in motor pulses, positive values rotate the turret clockwise when looking from above. More...
 
virtual void SetMode (ETurretModes e_mode)
 Sets the turret control mode Modes are: angular position control, rotation speed control, passive mode, off. 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_FootBotTurretActuator
virtual ~CCI_FootBotTurretActuator ()
 Destructor. More...
 
void SetActiveWithRotation (const CRadians &c_angle)
 Sets the turret control mode to active, and sets the target rotation to the given one. More...
 
void SetSpeedControlMode ()
 Sets the turret control mode to speed control. More...
 
void SetPositionControlMode ()
 Sets the turret control mode to position control. More...
 
void SetPassiveMode ()
 Sets the turret control mode to passive. More...
 
- Public Member Functions inherited from argos::CCI_Actuator
virtual ~CCI_Actuator ()
 Class destructor. More...
 
virtual void Init (TConfigurationNode &t_node)
 Initializes the actuator from the XML configuration tree. More...
 
virtual void Destroy ()
 Destroys the actuator. More...
 
- Public Member Functions inherited from argos::CBaseConfigurableResource
virtual ~CBaseConfigurableResource ()
 Class destructor. More...
 

Additional Inherited Members

- Public Types inherited from argos::CCI_FootBotTurretActuator
enum  ETurretModes { MODE_OFF, MODE_PASSIVE, MODE_SPEED_CONTROL, MODE_POSITION_CONTROL }
 Turret modes. More...
 
- Public Types inherited from argos::CCI_Actuator
typedef std::map< std::string, CCI_Actuator *, std::less< std::string > > TMap
 
- Static Public Attributes inherited from argos::CCI_FootBotTurretActuator
static const CRange< SInt32SPEED_RANGE
 
static const CRange< RealNORMALIZED_SPEED_RANGE
 

Detailed Description

Definition at line 24 of file footbot_turret_default_actuator.h.

Constructor & Destructor Documentation

argos::CFootBotTurretDefaultActuator::CFootBotTurretDefaultActuator ( )

Definition at line 16 of file footbot_turret_default_actuator.cpp.

virtual argos::CFootBotTurretDefaultActuator::~CFootBotTurretDefaultActuator ( )
inlinevirtual

Definition at line 30 of file footbot_turret_default_actuator.h.

Member Function Documentation

void argos::CFootBotTurretDefaultActuator::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 59 of file footbot_turret_default_actuator.cpp.

void argos::CFootBotTurretDefaultActuator::SetMode ( ETurretModes  e_mode)
virtual

Sets the turret control mode Modes are: angular position control, rotation speed control, passive mode, off.

Parameters
un_modeturret control mode, possible values are defined in CCI_FootBotTurretActuator

Implements argos::CCI_FootBotTurretActuator.

Definition at line 45 of file footbot_turret_default_actuator.cpp.

void argos::CFootBotTurretDefaultActuator::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 23 of file footbot_turret_default_actuator.cpp.

void argos::CFootBotTurretDefaultActuator::SetRotation ( const CRadians c_angle)
virtual

Sets the turret rotation Turret rotation is expressed in radians, positive values rotate the turret clockwise when looking from above.

In the current real robot implementation, values are limited using range functions. If the turret is not in position control mode, the only effect is that the target rotation is changed but the turret will not turn: it will turn when position control mode is activated (unless another target rotation is specified meantime).

Parameters
c_angledesired turret rotation

Implements argos::CCI_FootBotTurretActuator.

Definition at line 31 of file footbot_turret_default_actuator.cpp.

void argos::CFootBotTurretDefaultActuator::SetRotationSpeed ( SInt32  n_speed_pulses)
virtual

Sets the turret rotation speed Turret rotation speed is expressed in motor pulses, positive values rotate the turret clockwise when looking from above.

In the current real robot implementation, values are limited using range functions. If the turret is not in speed control mode, the only effect is that the target rotation speed is changed but the turret will not turn: it will turn when speed control mode is activated (unless another target rotation speed is specified meantime).

Parameters
n_speed_pulsesdesired turret rotation speed - pid pulses

Implements argos::CCI_FootBotTurretActuator.

Definition at line 38 of file footbot_turret_default_actuator.cpp.

void argos::CFootBotTurretDefaultActuator::Update ( )
virtual

Updates the state of the entity associated to this actuator.

Implements argos::CSimulatedActuator.

Definition at line 52 of file footbot_turret_default_actuator.cpp.