footbot_distance_scanner_default_actuator.h
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1 
7 #ifndef FOOTBOT_DISTANCE_SCANNER_DEFAULT_ACTUATOR_H
8 #define FOOTBOT_DISTANCE_SCANNER_DEFAULT_ACTUATOR_H
9 
10 #include <string>
11 #include <map>
12 
13 namespace argos {
14  class CFootBotDistanceScannerDefaultActuator;
15 }
16 
17 #include <argos3/plugins/robots/foot-bot/control_interface/ci_footbot_distance_scanner_actuator.h>
18 #include <argos3/plugins/robots/foot-bot/simulator/footbot_entity.h>
19 #include <argos3/plugins/robots/foot-bot/simulator/footbot_distance_scanner_equipped_entity.h>
20 #include <argos3/core/simulator/actuator.h>
21 
22 namespace argos {
23 
26 
27  public:
28 
30 
33 
34  virtual void SetRobot(CComposableEntity& c_entity);
35 
36  virtual void SetAngle(const CRadians& c_angle);
37  virtual void SetRPM(Real f_rpm);
38 
39  virtual void Enable();
40  virtual void Disable();
41 
42  virtual void Update();
43  virtual void Reset();
44 
45  private:
46 
47  CFootBotDistanceScannerEquippedEntity* m_pcDistanceScannerEquippedEntity;
48 
49  CRadians m_cDesiredRotation;
50  Real m_fDesiredRotationSpeed;
51  UInt8 m_unDesiredMode;
52 
53  };
54 
55 }
56 
57 #endif
virtual void Update()
Updates the state of the entity associated to this actuator.
float Real
Collects all ARGoS code.
Definition: datatypes.h:39
unsigned char UInt8
8-bit unsigned integer.
Definition: datatypes.h:60
The basic interface for a simulated actuator.
Definition: actuator.h:22
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
virtual void SetAngle(const CRadians &c_angle)
Sets the distance scanner angle The distance scanner can be controller in position or in speed...
It defines the basic type CRadians, used to store an angle value in radians.
Definition: angles.h:42
Basic class for an entity that contains other entities.
virtual void SetRPM(Real f_rpm)
Sets the distance scanner speed The distance scanner can be controller in position or in speed...
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
virtual void Reset()
Resets the actuator to the state it had just after Init().