footbot_distance_scanner_default_actuator.h

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#ifndef FOOTBOT_DISTANCE_SCANNER_DEFAULT_ACTUATOR_H
#define FOOTBOT_DISTANCE_SCANNER_DEFAULT_ACTUATOR_H
 
#include <string>
#include <map>
 
namespace argos {
   class CFootBotDistanceScannerDefaultActuator;
}
 
#include <argos3/plugins/robots/foot-bot/control_interface/ci_footbot_distance_scanner_actuator.h>
#include <argos3/plugins/robots/foot-bot/simulator/footbot_entity.h>
#include <argos3/plugins/robots/foot-bot/simulator/footbot_distance_scanner_equipped_entity.h>
#include <argos3/core/simulator/actuator.h>
 
namespace argos {
 
   class CFootBotDistanceScannerDefaultActuator : public CSimulatedActuator,
                                                  public CCI_FootBotDistanceScannerActuator {
 
   public:
 
      static const Real RPM_TO_RADIANS_PER_SEC;
 
      CFootBotDistanceScannerDefaultActuator();
      virtual ~CFootBotDistanceScannerDefaultActuator() {}
 
      virtual void SetRobot(CComposableEntity& c_entity);
 
      virtual void SetAngle(const CRadians& c_angle);
      virtual void SetRPM(Real f_rpm);
 
      virtual void Enable();
      virtual void Disable();
 
      virtual void Update();
      virtual void Reset();
 
   private:
 
      CFootBotDistanceScannerEquippedEntity* m_pcDistanceScannerEquippedEntity;
 
      CRadians m_cDesiredRotation;
      Real     m_fDesiredRotationSpeed;
      UInt8    m_unDesiredMode;
 
   };
 
}
 
#endif