dynamics2d_differentialsteering_control.h
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1 
7 #ifndef DYNAMICS2D_DIFFERENTIALSTEERING_CONTROL_H
8 #define DYNAMICS2D_DIFFERENTIALSTEERING_CONTROL_H
9 
10 namespace argos {
11  class CDynamics2DEngine;
12 }
13 
14 #include <argos3/plugins/simulator/physics_engines/dynamics2d/dynamics2d_velocity_control.h>
15 #include <argos3/core/utility/math/vector2.h>
16 
17 namespace argos {
18 
20 
21  public:
22 
24  Real f_max_force,
25  Real f_max_torque,
26  Real f_interwheel_distance,
27  TConfigurationNode* t_node = NULL);
28 
30 
31  void SetWheelVelocity(Real f_left_wheel,
32  Real f_right_wheel);
33 
34  inline Real GetInterwheelDistance() const {
35  return m_fInterwheelDistance;
36  }
37 
38  private:
39 
40  Real m_fInterwheelDistance;
41 
42  };
43 
44 }
45 
46 #endif
float Real
Collects all ARGoS code.
Definition: datatypes.h:39
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
CDynamics2DDifferentialSteeringControl(CDynamics2DEngine &c_engine, Real f_max_force, Real f_max_torque, Real f_interwheel_distance, TConfigurationNode *t_node=NULL)