differential_steering_default_actuator.h
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1 
7 #ifndef DIFFERENTIAL_STEERING_ACTUATOR_DEFAULT_H
8 #define DIFFERENTIAL_STEERING_ACTUATOR_DEFAULT_H
9 
10 #include <string>
11 #include <map>
12 
13 namespace argos {
14  class CDifferentialSteeringDefaultActuator;
15 }
16 
17 #include <argos3/plugins/robots/generic/control_interface/ci_differential_steering_actuator.h>
18 #include <argos3/core/simulator/actuator.h>
19 #include <argos3/plugins/simulator/entities/wheeled_entity.h>
20 #include <argos3/core/simulator/entity/composable_entity.h>
21 #include <argos3/core/utility/math/rng.h>
22 
23 namespace argos {
24 
27 
28  public:
29 
33  };
34 
35  public:
36 
41 
46 
47  virtual void SetRobot(CComposableEntity& c_entity);
48 
49  virtual void Init(TConfigurationNode& t_tree);
50 
58  virtual void SetLinearVelocity(Real f_left_velocity,
59  Real f_right_velocity);
60 
61  virtual void Update();
62 
63  virtual void Reset();
64 
65  protected:
66 
68 
71 
74 
77 
80 
81  };
82 
83 }
84 
85 #endif
The RNG.
Definition: rng.h:90
float Real
Collects all ARGoS code.
Definition: datatypes.h:39
The basic interface for a simulated actuator.
Definition: actuator.h:22
virtual void SetLinearVelocity(Real f_left_velocity, Real f_right_velocity)
Sets the linear velocity of the two steering.
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
Real m_fNoiseFactorAvg[2]
Noise factor average (Gaussian model) for each wheel.
virtual void Init(TConfigurationNode &t_tree)
Initializes the actuator from the XML configuration tree.
virtual void Reset()
Resets the actuator to the state it had just after Init().
Basic class for an entity that contains other entities.
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
Real m_fNoiseFactorStdDev[2]
Noise factor stddev (Gaussian model) for each wheel.
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
virtual void Update()
Updates the state of the entity associated to this actuator.