quadrotor_speed_default_actuator.h
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1 
7 #ifndef QUADROTOR_SPEED_ACTUATOR_DEFAULT_H
8 #define QUADROTOR_SPEED_ACTUATOR_DEFAULT_H
9 
10 #include <string>
11 #include <map>
12 
13 namespace argos {
14  class CQuadRotorSpeedDefaultActuator;
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_speed_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 SetLinearVelocity(const CVector3& c_velocity);
38  virtual void SetRotationalSpeed(const CRadians& c_speed);
39 
40  virtual void Update();
41  virtual void Reset();
42 
43  protected:
44 
48 
49  };
50 
51 }
52 
53 #endif
A 3D vector class.
Definition: vector3.h:29
virtual void Init(TConfigurationNode &t_tree)
Initializes the actuator from the XML configuration tree.
virtual void SetRotationalSpeed(const CRadians &c_speed)
Sets the rotational velocity of the quadrotor around the local Z axis (yaw).
The basic interface for a simulated actuator.
Definition: actuator.h:22
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
CQuadRotorEntity::SSpeedControlData m_sDesiredSpeedData
This entity is a link to a body in the physics engine.
It defines the basic type CRadians, used to store an angle value in radians.
Definition: angles.h:42
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 SetLinearVelocity(const CVector3 &c_velocity)
Sets the linear velocity of the quadrotor.
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.
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12