footbot_turret_default_actuator.h
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1 
7 #ifndef FOOTBOT_TURRET_DEFAULT_ACTUATOR_H
8 #define FOOTBOT_TURRET_DEFAULT_ACTUATOR_H
9 
10 #include <string>
11 #include <map>
12 
13 namespace argos {
14  class CFootBotTurretDefaultActuator;
15 }
16 
17 #include <argos3/plugins/robots/foot-bot/control_interface/ci_footbot_turret_actuator.h>
18 #include <argos3/plugins/robots/foot-bot/simulator/footbot_entity.h>
19 #include <argos3/plugins/robots/foot-bot/simulator/footbot_turret_entity.h>
20 #include <argos3/core/simulator/actuator.h>
21 
22 namespace argos {
23 
26 
27  public:
28 
31 
32  virtual void SetRobot(CComposableEntity& c_entity);
33 
34  virtual void SetRotation(const CRadians& c_angle);
35  virtual void SetRotationSpeed(SInt32 n_speed_pulses);
36  virtual void SetMode(ETurretModes e_mode);
37 
38  virtual void Update();
39  virtual void Reset();
40 
41  private:
42 
43  CFootBotTurretEntity* m_pcTurretEntity;
44  UInt32 m_unDesiredMode;
45 
46  };
47 
48 }
49 
50 #endif
Basic class for an entity that contains other entities.
unsigned int UInt32
32-bit unsigned integer.
Definition: datatypes.h:97
virtual void SetMode(ETurretModes e_mode)
Sets the turret control mode Modes are: angular position control, rotation speed control, passive mode, off.
virtual void SetRotation(const CRadians &c_angle)
Sets the turret rotation Turret rotation is expressed in radians, positive values rotate the turret c...
virtual void Update()
Updates the state of the entity associated to this actuator.
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
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.
It defines the basic type CRadians, used to store an angle value in radians.
Definition: angles.h:42
virtual void Reset()
Resets the actuator to the state it had just after Init().
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
The basic interface for a simulated actuator.
Definition: actuator.h:22
signed int SInt32
32-bit signed integer.
Definition: datatypes.h:93