footbot_gripper_default_actuator.cpp
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1 
8 #include <argos3/core/utility/logging/argos_log.h>
9 #include <argos3/core/simulator/entity/composable_entity.h>
10 
11 namespace argos {
12 
13  /****************************************/
14  /****************************************/
15 
17  m_pcGripperEquippedEntity(NULL) {}
18 
19  /****************************************/
20  /****************************************/
21 
23  m_pcGripperEquippedEntity = &(c_entity.GetComponent<CGripperEquippedEntity>("gripper"));
24  m_pcGripperEquippedEntity->Enable();
25  }
26 
27  /****************************************/
28  /****************************************/
29 
31  m_pcGripperEquippedEntity->SetLockState(Abs(m_cAperture) / CRadians::PI_OVER_TWO);
32  }
33 
34  /****************************************/
35  /****************************************/
36 
38  Unlock();
39  }
40 
41  /****************************************/
42  /****************************************/
43 
44 }
45 
46 REGISTER_ACTUATOR(CFootBotGripperDefaultActuator,
47  "footbot_gripper", "default",
48  "Carlo Pinciroli [ilpincy@gmail.com]",
49  "1.0",
50  "The footbot gripper actuator.",
51  "This actuator controls the foot-bot gripper. For a complete description of its\n"
52  "usage, refer to the ci_footbot_gripper_actuator.h file.\n\n"
53  "REQUIRED XML CONFIGURATION\n\n"
54  " <controllers>\n"
55  " ...\n"
56  " <my_controller ...>\n"
57  " ...\n"
58  " <actuators>\n"
59  " ...\n"
60  " <footbot_gripper implementation=\"default\" />\n"
61  " ...\n"
62  " </actuators>\n"
63  " ...\n"
64  " </my_controller>\n"
65  " ...\n"
66  " </controllers>\n\n"
67  "OPTIONAL XML CONFIGURATION\n\n"
68  "None.\n",
69  "Usable"
70  );
71 
Basic class for an entity that contains other entities.
virtual void Update()
Updates the state of the entity associated to this actuator.
T Abs(const T &t_v)
Returns the absolute value of the passed argument.
Definition: general.h:25
void Unlock()
Unlock gripper: objects are released.
void SetLockState(Real f_lock_state)
Sets the lock state of the gripper.
An entity that stores the state of a robot gripper.
static const CRadians PI_OVER_TWO
Set to PI / 2.
Definition: angles.h:59
virtual void Reset()
Resets the actuator to the state it had just after Init().
void Enable()
Enables the entity.
Definition: entity.h:265
CEntity & GetComponent(const std::string &str_component)
Returns the component with the passed string label.
REGISTER_ACTUATOR(CFootBotGripperDefaultActuator, "footbot_gripper", "default", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The footbot gripper actuator.", "This actuator controls the foot-bot gripper. For a complete description of its\ "usage, refer to the ci_footbot_gripper_actuator.h file.\\" "REQUIRED XML CONFIGURATION\\" "< controllers >\" " ...\" "< my_controller ... >\" " ...\" "< actuators >\" " ...\" "< footbot_gripper implementation=\default\/>\" " ...\" "</actuators >\" " ...\" "</my_controller >\" " ...\" "</controllers >\\" "OPTIONAL XML CONFIGURATION\\" "None.\", "Usable")
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.