ci_quadrotor_position_actuator.h
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1 
7 #ifndef CI_QUADROTOR_POSITION_ACTUATOR_H
8 #define CI_QUADROTOR_POSITION_ACTUATOR_H
9 
10 /* To avoid dependency problems when including */
11 namespace argos {
12  class CCI_QuadRotorPositionActuator;
13 }
14 
15 #include <argos3/core/control_interface/ci_actuator.h>
16 #include <argos3/core/utility/math/vector3.h>
17 
18 namespace argos {
19 
21 
22  public:
23 
25 
30  virtual void SetAbsolutePosition(const CVector3& c_pos) = 0;
31 
36  virtual void SetRelativePosition(const CVector3& c_pos) = 0;
37 
42  virtual void SetAbsoluteYaw(const CRadians& c_yaw) = 0;
43 
48  virtual void SetRelativeYaw(const CRadians& c_yaw) = 0;
49 
50 #ifdef ARGOS_WITH_LUA
51  virtual void CreateLuaState(lua_State* pt_lua_state);
52 #endif
53 
54  };
55 
56 }
57 
58 #endif
A 3D vector class.
Definition: vector3.h:29
The basic interface for all actuators.
Definition: ci_actuator.h:34
virtual void SetRelativePosition(const CVector3 &c_pos)=0
Sets the position of the robot in the environment relative to the current position and attitude...
virtual void SetAbsolutePosition(const CVector3 &c_pos)=0
Sets the absolute position of the robot in the environment.
It defines the basic type CRadians, used to store an angle value in radians.
Definition: angles.h:42
virtual void SetRelativeYaw(const CRadians &c_yaw)=0
Sets the yaw of the robot in the environment relative to the current position and attitude...
virtual void SetAbsoluteYaw(const CRadians &c_yaw)=0
Sets the absolute yaw of the robot in the world.
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12