ci_footbot_turret_encoder_sensor.cpp
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1 
8 
9 #ifdef ARGOS_WITH_LUA
10 #include <argos3/core/wrappers/lua/lua_utility.h>
11 #endif
12 
13 namespace argos {
14 
15  /****************************************/
16  /****************************************/
17 
18  const CRange<CRadians> CCI_FootBotTurretEncoderSensor::ANGULAR_RANGE(CRadians(-ARGOS_PI), CRadians(ARGOS_PI));
19 
20  /****************************************/
21  /****************************************/
22 
24  return m_cRotation;
25  }
26 
27  /****************************************/
28  /****************************************/
29 
30 #ifdef ARGOS_WITH_LUA
31  void CCI_FootBotTurretEncoderSensor::CreateLuaState(lua_State* pt_lua_state) {
32  CLuaUtility::OpenRobotStateTable(pt_lua_state, "turret");
33  CLuaUtility::AddToTable(pt_lua_state, "rotation", m_cRotation);
35  }
36 #endif
37 
38  /****************************************/
39  /****************************************/
40 
41 #ifdef ARGOS_WITH_LUA
42  void CCI_FootBotTurretEncoderSensor::ReadingsToLuaState(lua_State* pt_lua_state) {
43  lua_getfield(pt_lua_state, -1, "turret");
44  lua_pushnumber(pt_lua_state, m_cRotation.GetValue());
45  lua_setfield(pt_lua_state, -2, "rotation");
46  lua_pop(pt_lua_state, 1);
47  }
48 #endif
49 
50 
51  /****************************************/
52  /****************************************/
53 
54 }
static void CloseRobotStateTable(lua_State *pt_state)
Closes a table in the robot state.
static void OpenRobotStateTable(lua_State *pt_state, const std::string &str_key)
Opens a table in the robot state, creating it if it does not exist.
#define ARGOS_PI
To be used when initializing static variables.
Definition: angles.h:32
Real GetValue() const
Returns the value in radians.
Definition: angles.h:111
It defines the basic type CRadians, used to store an angle value in radians.
Definition: angles.h:42
static void AddToTable(lua_State *pt_state, const std::string &str_key, void *pt_data)
Adds a pointer to a chunk of data with the given string key to the table located at the top of the st...
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12