ci_quadrotor_speed_actuator.cpp

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#include "ci_quadrotor_speed_actuator.h"
 
#ifdef ARGOS_WITH_LUA
#include <argos3/core/wrappers/lua/lua_utility.h>
#endif
 
namespace argos {
 
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#ifdef ARGOS_WITH_LUA
   /*
    * The stack must have three values in this order:
    * 1. x coordinate of the velocity (a number)
    * 2. y coordinate of the velocity (a number)
    * 3. z coordinate of the velocity (a number)
    */
   int LuaSetQuadRotorLinearVelocity(lua_State* pt_lua_state) {
      /* Check parameters */
      if(lua_gettop(pt_lua_state) != 3) {
         return luaL_error(pt_lua_state, "robot.quadrotor.set_linear_velocity() expects 3 arguments");
      }
      luaL_checktype(pt_lua_state, 1, LUA_TNUMBER);
      luaL_checktype(pt_lua_state, 2, LUA_TNUMBER);
      luaL_checktype(pt_lua_state, 3, LUA_TNUMBER);
      /* Perform action */
      CLuaUtility::GetDeviceInstance<CCI_QuadRotorSpeedActuator>(pt_lua_state, "quadrotor")->
         SetLinearVelocity(CVector3(lua_tonumber(pt_lua_state, 1),
                                    lua_tonumber(pt_lua_state, 2),
                                    lua_tonumber(pt_lua_state, 3)));
      return 0;
   }
#endif
 
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#ifdef ARGOS_WITH_LUA
   /*
    * The stack must have one value:
    * 1. x coordinate of the velocity (a number)
    */
   int LuaSetQuadRotorRotationalSpeed(lua_State* pt_lua_state) {
      /* Check parameters */
      if(lua_gettop(pt_lua_state) != 1) {
         return luaL_error(pt_lua_state, "robot.quadrotor.set_rotational_speed() expects 1 argument");
      }
      luaL_checktype(pt_lua_state, 1, LUA_TNUMBER);
      /* Perform action */
      CLuaUtility::GetDeviceInstance<CCI_QuadRotorSpeedActuator>(pt_lua_state, "quadrotor")->
         SetRotationalSpeed(CRadians(lua_tonumber(pt_lua_state, 1)));
      return 0;
   }
#endif
 
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#ifdef ARGOS_WITH_LUA
   void CCI_QuadRotorSpeedActuator::CreateLuaState(lua_State* pt_lua_state) {
      CLuaUtility::OpenRobotStateTable(pt_lua_state, "quadrotor");
      CLuaUtility::AddToTable(pt_lua_state, "_instance", this);
      CLuaUtility::AddToTable(pt_lua_state, "set_linear_velocity", &LuaSetQuadRotorLinearVelocity);
      CLuaUtility::AddToTable(pt_lua_state, "set_rotational_speed", &LuaSetQuadRotorRotationalSpeed);
      CLuaUtility::CloseRobotStateTable(pt_lua_state);
   }
#endif
 
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}