footbot_distance_scanner_default_actuator.cpp
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1 
7 #include "footbot_distance_scanner_default_actuator.h"
8 
9 namespace argos {
10 
11  const Real CFootBotDistanceScannerDefaultActuator::RPM_TO_RADIANS_PER_SEC = ARGOS_PI / 30.0f;
12 
13  /****************************************/
14  /****************************************/
15 
16  CFootBotDistanceScannerDefaultActuator::CFootBotDistanceScannerDefaultActuator() :
17  m_fDesiredRotationSpeed(0.0f),
18  m_unDesiredMode(CFootBotDistanceScannerEquippedEntity::MODE_OFF) {}
19 
20  /****************************************/
21  /****************************************/
22 
23  void CFootBotDistanceScannerDefaultActuator::SetRobot(CComposableEntity& c_entity) {
24  m_pcDistanceScannerEquippedEntity = &(c_entity.GetComponent<CFootBotDistanceScannerEquippedEntity>("distance_scanner"));
25  m_pcDistanceScannerEquippedEntity->Enable();
26  }
27 
28  /****************************************/
29  /****************************************/
30 
31  void CFootBotDistanceScannerDefaultActuator::SetAngle(const CRadians& c_angle) {
32  m_unDesiredMode = CFootBotDistanceScannerEquippedEntity::MODE_POSITION_CONTROL;
33  m_cDesiredRotation = c_angle;
34  }
35 
36  /****************************************/
37  /****************************************/
38 
39  void CFootBotDistanceScannerDefaultActuator::SetRPM(Real f_rpm) {
40  m_unDesiredMode = CFootBotDistanceScannerEquippedEntity::MODE_SPEED_CONTROL;
41  m_fDesiredRotationSpeed = f_rpm * RPM_TO_RADIANS_PER_SEC;
42  }
43 
44  /****************************************/
45  /****************************************/
46 
47  void CFootBotDistanceScannerDefaultActuator::Enable() {
48  m_unDesiredMode = CFootBotDistanceScannerEquippedEntity::MODE_POSITION_CONTROL;
49  }
50 
51  /****************************************/
52  /****************************************/
53 
54  void CFootBotDistanceScannerDefaultActuator::Disable() {
55  m_unDesiredMode = CFootBotDistanceScannerEquippedEntity::MODE_OFF;
56  }
57 
58  /****************************************/
59  /****************************************/
60 
61  void CFootBotDistanceScannerDefaultActuator::Update() {
62  m_pcDistanceScannerEquippedEntity->SetMode(m_unDesiredMode);
63  if(m_unDesiredMode == CFootBotDistanceScannerEquippedEntity::MODE_POSITION_CONTROL) {
64  m_pcDistanceScannerEquippedEntity->SetRotation(m_cDesiredRotation);
65  }
66  else if(m_unDesiredMode == CFootBotDistanceScannerEquippedEntity::MODE_SPEED_CONTROL) {
67  m_pcDistanceScannerEquippedEntity->SetRotationSpeed(m_fDesiredRotationSpeed);
68  }
69  }
70 
71  /****************************************/
72  /****************************************/
73 
74  void CFootBotDistanceScannerDefaultActuator::Reset() {
75  m_cDesiredRotation = CRadians::ZERO;
76  m_fDesiredRotationSpeed = 0.0f;
77  m_unDesiredMode = CFootBotDistanceScannerEquippedEntity::MODE_OFF;
78  }
79 
80  /****************************************/
81  /****************************************/
82 
83  REGISTER_ACTUATOR(CFootBotDistanceScannerDefaultActuator,
84  "footbot_distance_scanner", "default",
85  "Carlo Pinciroli [ilpincy@gmail.com]",
86  "1.0",
87  "The foot-bot distance scanner actuator.",
88  "This actuator controls the foot-bot distance scanner. For a complete\n"
89  "description of its usage, refer to the ci_footbot_distance_scanner_actuator\n"
90  "file.\n\n"
91  "REQUIRED XML CONFIGURATION\n\n"
92  " <controllers>\n"
93  " ...\n"
94  " <my_controller ...>\n"
95  " ...\n"
96  " <actuators>\n"
97  " ...\n"
98  " <footbot_distance_scanner implementation=\"default\" />\n"
99  " ...\n"
100  " </actuators>\n"
101  " ...\n"
102  " </my_controller>\n"
103  " ...\n"
104  " </controllers>\n\n"
105  "OPTIONAL XML CONFIGURATION\n\n"
106  "None for the time being.\n",
107  "Usable"
108  );
109 
110 }
Real
float Real
Collects all ARGoS code.
Definition: datatypes.h:39
ARGOS_PI
#define ARGOS_PI
To be used when initializing static variables.
Definition: angles.h:32
argos
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
argos::REGISTER_ACTUATOR
REGISTER_ACTUATOR(CFootBotDistanceScannerDefaultActuator, "footbot_distance_scanner", "default", "Carlo Pinciroli [ilpincy@gmail.com]", "1.0", "The foot-bot distance scanner actuator.", "This actuator controls the foot-bot distance scanner. For a complete\n" "description of its usage, refer to the ci_footbot_distance_scanner_actuator\n" "file.\n\n" "REQUIRED XML CONFIGURATION\n\n" " <controllers>\n" " ...\n" " <my_controller ...>\n" " ...\n" " <actuators>\n" " ...\n" " <footbot_distance_scanner implementation=\"default\" />\n" " ...\n" " </actuators>\n" " ...\n" " </my_controller>\n" " ...\n" " </controllers>\n\n" "OPTIONAL XML CONFIGURATION\n\n" "None for the time being.\n", "Usable")
argos::CComposableEntity
Basic class for an entity that contains other entities.
Definition: composable_entity.h:32
argos::CComposableEntity::GetComponent
CEntity & GetComponent(const std::string &str_component)
Returns the component with the passed string label.
Definition: composable_entity.cpp:109
argos::CEntity::Enable
void Enable()
Enables the entity.
Definition: entity.h:265
argos::CRadians
It defines the basic type CRadians, used to store an angle value in radians.
Definition: angles.h:42
argos::CRadians::ZERO
static const CRadians ZERO
Set to zero radians.
Definition: angles.h:79
argos::CFootBotDistanceScannerDefaultActuator::Update
virtual void Update()
Updates the state of the entity associated to this actuator.
Definition: footbot_distance_scanner_default_actuator.cpp:61
argos::CFootBotDistanceScannerDefaultActuator::SetRPM
virtual void SetRPM(Real f_rpm)
Sets the distance scanner speed The distance scanner can be controller in position or in speed.
Definition: footbot_distance_scanner_default_actuator.cpp:39
argos::CFootBotDistanceScannerDefaultActuator::Reset
virtual void Reset()
Resets the actuator to the state it had just after Init().
Definition: footbot_distance_scanner_default_actuator.cpp:74
argos::CFootBotDistanceScannerDefaultActuator::SetAngle
virtual void SetAngle(const CRadians &c_angle)
Sets the distance scanner angle The distance scanner can be controller in position or in speed.
Definition: footbot_distance_scanner_default_actuator.cpp:31
argos::CFootBotDistanceScannerDefaultActuator::SetRobot
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
Definition: footbot_distance_scanner_default_actuator.cpp:23