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
virtual void SetMode(ETurretModes e_mode)
Sets the turret control mode Modes are: angular position control, rotation speed control, passive mode, off.
signed int SInt32
32-bit signed integer.
Definition: datatypes.h:93
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 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.
virtual void Reset()
Resets the actuator to the state it had just after Init().
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
The basic interface for a simulated actuator.
Definition: actuator.h:22
It defines the basic type CRadians, used to store an angle value in radians.
Definition: angles.h:42
unsigned int UInt32
32-bit unsigned integer.
Definition: datatypes.h:97
Basic class for an entity that contains other entities.
virtual void Update()
Updates the state of the entity associated to this actuator.
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12