quadrotor_position_default_actuator.h
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1 
7 #ifndef QUADROTOR_POSITION_ACTUATOR_DEFAULT_H
8 #define QUADROTOR_POSITION_ACTUATOR_DEFAULT_H
9 
10 #include <string>
11 #include <map>
12 
13 namespace argos {
14  class CQuadRotorPositionDefaultActuator;
15 }
16 
17 #include <argos3/core/utility/math/rng.h>
18 #include <argos3/core/simulator/actuator.h>
19 #include <argos3/core/simulator/entity/composable_entity.h>
20 #include <argos3/plugins/robots/generic/control_interface/ci_quadrotor_position_actuator.h>
21 #include <argos3/plugins/simulator/entities/quadrotor_entity.h>
22 
23 namespace argos {
24 
27 
28  public:
29 
32 
33  virtual void SetRobot(CComposableEntity& c_entity);
34 
35  virtual void Init(TConfigurationNode& t_tree);
36 
37  virtual void SetAbsolutePosition(const CVector3& c_pos);
38  virtual void SetRelativePosition(const CVector3& c_pos);
39  virtual void SetAbsoluteYaw(const CRadians& c_yaw);
40  virtual void SetRelativeYaw(const CRadians& c_yaw);
41 
42  virtual void Update();
43  virtual void Reset();
44 
45  protected:
46 
50 
51  };
52 
53 }
54 
55 #endif
A 3D vector class.
Definition: vector3.h:29
virtual void SetRelativeYaw(const CRadians &c_yaw)
Sets the yaw of the robot in the environment relative to the current position and attitude...
The basic interface for a simulated actuator.
Definition: actuator.h:22
virtual void SetAbsolutePosition(const CVector3 &c_pos)
Sets the absolute position of the robot in the environment.
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
This entity is a link to a body in the physics engine.
virtual void Reset()
Resets the actuator to the state it had just after Init().
It defines the basic type CRadians, used to store an angle value in radians.
Definition: angles.h:42
CQuadRotorEntity::SPositionControlData m_sDesiredPosData
virtual void SetRelativePosition(const CVector3 &c_pos)
Sets the position of the robot in the environment relative to the current position and attitude...
Basic class for an entity that contains other entities.
virtual void Update()
Updates the state of the entity associated to this actuator.
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
virtual void Init(TConfigurationNode &t_tree)
Initializes the actuator from the XML configuration tree.
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
virtual void SetAbsoluteYaw(const CRadians &c_yaw)
Sets the absolute yaw of the robot in the world.