pointmass3d_footbot_model.h
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1 
7 #ifndef POINTMASS3D_FOOTBOT_H
8 #define POINTMASS3D_FOOTBOT_H
9 
10 namespace argos {
11  class CPointMass3DEngine;
12  class CPointMass3DFootBotModel;
13  class CFootBotEntity;
14 }
15 
16 #include <argos3/plugins/simulator/physics_engines/pointmass3d/pointmass3d_model.h>
17 #include <argos3/core/simulator/entity/embodied_entity.h>
18 #include <argos3/plugins/robots/foot-bot/simulator/footbot_entity.h>
19 
20 namespace argos {
21 
23 
24  public:
25 
27  CFootBotEntity& c_footbot);
28 
30 
31  virtual void Reset();
32 
33  virtual void UpdateFromEntityStatus();
34  virtual void Step();
35 
36  virtual void CalculateBoundingBox();
37 
38  virtual bool CheckIntersectionWithRay(Real& f_t_on_ray,
39  const CRay3& c_ray) const;
40 
41  virtual void UpdateOriginAnchor(SAnchor& s_anchor);
42 
43  private:
44 
46  CWheeledEntity& m_cWheeledEntity;
47 
49  CRadians m_cYaw;
50 
52  Real m_fAngularVelocity;
53 
55  const Real* m_fCurrentWheelVelocity;
56  };
57 
58 }
59 
60 #endif
CPointMass3DFootBotModel(CPointMass3DEngine &c_engine, CFootBotEntity &c_footbot)
virtual void UpdateFromEntityStatus()
Updates the state of this model from the status of the associated entity.
float Real
Collects all ARGoS code.
Definition: datatypes.h:39
virtual void CalculateBoundingBox()
Calculates the axis-aligned box that contains the entire physics model.
It defines the basic type CRadians, used to store an angle value in radians.
Definition: angles.h:42
An anchor related to the body of an entity.
Definition: physics_model.h:38
virtual void UpdateOriginAnchor(SAnchor &s_anchor)
Updates the origin anchor associated to the embodied entity.
virtual bool CheckIntersectionWithRay(Real &f_t_on_ray, const CRay3 &c_ray) const
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12