8 #include <argos3/core/utility/math/angles.h>
9 #include <argos3/core/simulator/physics_engine/physics_engine.h>
10 #include <argos3/core/simulator/space/space.h>
28 const std::string& str_id,
31 m_psAnchor(&s_anchor) {
83 return m_fCurRotSpeed;
97 return m_fDesRotSpeed;
104 m_cDesRot = c_rotation;
112 m_fDesRotSpeed = f_speed;
virtual void Update()
Updates the state of this entity.
static Real GetInverseSimulationClockTick()
Returns the inverse of GetSimulationClockTick().
float Real
Collects all ARGoS code.
CRadians & SignedNormalize()
Normalizes the value in the range [-PI:PI].
CRadians GetRotation() const
CQuaternion OffsetOrientation
The initial orientation of the anchor wrt the body coordinate system.
virtual void Reset()
Resets the state of the entity to whatever it was after Init() or the standalone constructor was call...
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
It defines the basic type CRadians, used to store an angle value in radians.
void SetDesiredRotation(const CRadians &c_rotation)
Real GetDesiredRotationSpeed() const
Basic class for an entity that contains other entities.
An anchor related to the body of an entity.
void ToEulerAngles(CRadians &c_z_angle, CRadians &c_y_angle, CRadians &c_x_angle) const
virtual void Init(TConfigurationNode &t_tree)
Initializes the state of the entity from the XML configuration tree.
CFootBotTurretEntity(CComposableEntity *pc_parent)
static const CRadians ZERO
Set to zero radians.
CRadians NormalizedDifference(const CRadians &c_angle1, const CRadians &c_angle2)
Calculates the normalized difference between the given angles.
Real GetRotationSpeed() const
void Disable()
Disables the entity.
Real GetValue() const
Returns the value in radians.
REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY(CEntity)
The namespace containing all the ARGoS related code.
const CRadians & GetDesiredRotation() const
void SetDesiredRotationSpeed(Real f_speed)