miniquadrotor_rotor_default_actuator.h
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1 
7 #ifndef MINIQUADROTOR_ROTOR_ACTUATOR_DEFAULT_H
8 #define MINIQUADROTOR_ROTOR_ACTUATOR_DEFAULT_H
9 
10 #include <string>
11 #include <map>
12 
13 namespace argos {
14  class CMiniQuadrotorRotorDefaultActuator;
15  class CRotorEquippedEntity;
16 }
17 
18 #include <argos3/plugins/robots/mini-quadrotor/control_interface/ci_miniquadrotor_rotor_actuator.h>
19 #include <argos3/core/simulator/actuator.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 
35  };
36 
37  public:
38 
40 
42 
43  virtual void SetRobot(CComposableEntity& c_entity);
44 
45  virtual void Init(TConfigurationNode& t_tree);
46 
47  virtual void SetRotorVelocities(const CCI_MiniQuadrotorRotorActuator::SVelocities& s_velocities);
48 
49  virtual void Update();
50 
51  virtual void Reset();
52 
53  protected:
54 
56  virtual void AddGaussianNoise();
57 
58  protected:
59 
62 
65 
68 
69  };
70 
71 }
72 
73 #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
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
Basic class for an entity that contains other entities.
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
CRotorEquippedEntity * m_pcRotorEquippedEntity
The rotor equipped entity.
Real m_fNoiseStdDeviation
Noise parameters, at the moment noise is Gaussian.
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
virtual void AddGaussianNoise()
Adds noise to the rotor velocity.
virtual void Reset()
Resets the actuator to the state it had just after Init().
virtual void Update()
Updates the state of the entity associated to this actuator.
virtual void SetRotorVelocities(const CCI_MiniQuadrotorRotorActuator::SVelocities &s_velocities)
virtual void Init(TConfigurationNode &t_tree)
Initializes the actuator from the XML configuration tree.