argos::CMiniQuadrotorRotorDefaultActuator Class Reference

#include <miniquadrotor_rotor_default_actuator.h>

Inheritance diagram for argos::CMiniQuadrotorRotorDefaultActuator:
Collaboration diagram for argos::CMiniQuadrotorRotorDefaultActuator:

Public Types

enum  MINIQUADROTOR_ROTOR { NORTH_ROTOR = 0, WEST_ROTOR, SOUTH_ROTOR, EAST_ROTOR }
 
- Public Types inherited from argos::CCI_Actuator
typedef std::map< std::string, CCI_Actuator *, std::less< std::string > > TMap
 

Public Member Functions

 CMiniQuadrotorRotorDefaultActuator ()
 
virtual ~CMiniQuadrotorRotorDefaultActuator ()
 
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 SetRotorVelocities (const CCI_MiniQuadrotorRotorActuator::SVelocities &s_velocities)
 
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_MiniQuadrotorRotorActuator
virtual ~CCI_MiniQuadrotorRotorActuator ()
 
- 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 Member Functions

virtual void AddGaussianNoise ()
 Adds noise to the rotor velocity. More...
 

Protected Attributes

CRotorEquippedEntitym_pcRotorEquippedEntity
 The rotor equipped entity. More...
 
CRandom::CRNGm_pcRNG
 Random number generator. More...
 
Real m_fNoiseStdDeviation
 Noise parameters, at the moment noise is Gaussian. More...
 
- Protected Attributes inherited from argos::CCI_MiniQuadrotorRotorActuator
SVelocities m_sCurrentVelocities
 

Detailed Description

Definition at line 25 of file miniquadrotor_rotor_default_actuator.h.

Member Enumeration Documentation

Enumerator
NORTH_ROTOR 
WEST_ROTOR 
SOUTH_ROTOR 
EAST_ROTOR 

Definition at line 30 of file miniquadrotor_rotor_default_actuator.h.

Constructor & Destructor Documentation

argos::CMiniQuadrotorRotorDefaultActuator::CMiniQuadrotorRotorDefaultActuator ( )

Definition at line 17 of file miniquadrotor_rotor_default_actuator.cpp.

virtual argos::CMiniQuadrotorRotorDefaultActuator::~CMiniQuadrotorRotorDefaultActuator ( )
inlinevirtual

Definition at line 41 of file miniquadrotor_rotor_default_actuator.h.

Member Function Documentation

void argos::CMiniQuadrotorRotorDefaultActuator::AddGaussianNoise ( )
protectedvirtual

Adds noise to the rotor velocity.

Definition at line 83 of file miniquadrotor_rotor_default_actuator.cpp.

void argos::CMiniQuadrotorRotorDefaultActuator::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 41 of file miniquadrotor_rotor_default_actuator.cpp.

void argos::CMiniQuadrotorRotorDefaultActuator::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 76 of file miniquadrotor_rotor_default_actuator.cpp.

void argos::CMiniQuadrotorRotorDefaultActuator::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 26 of file miniquadrotor_rotor_default_actuator.cpp.

void argos::CMiniQuadrotorRotorDefaultActuator::SetRotorVelocities ( const CCI_MiniQuadrotorRotorActuator::SVelocities s_velocities)
virtual
void argos::CMiniQuadrotorRotorDefaultActuator::Update ( )
virtual

Updates the state of the entity associated to this actuator.

Implements argos::CSimulatedActuator.

Definition at line 69 of file miniquadrotor_rotor_default_actuator.cpp.

Member Data Documentation

Real argos::CMiniQuadrotorRotorDefaultActuator::m_fNoiseStdDeviation
protected

Noise parameters, at the moment noise is Gaussian.

Definition at line 67 of file miniquadrotor_rotor_default_actuator.h.

CRandom::CRNG* argos::CMiniQuadrotorRotorDefaultActuator::m_pcRNG
protected

Random number generator.

Definition at line 64 of file miniquadrotor_rotor_default_actuator.h.

CRotorEquippedEntity* argos::CMiniQuadrotorRotorDefaultActuator::m_pcRotorEquippedEntity
protected

The rotor equipped entity.

Definition at line 61 of file miniquadrotor_rotor_default_actuator.h.