footbot_gripper_default_actuator.cpp

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#include "footbot_gripper_default_actuator.h"
#include <argos3/core/utility/logging/argos_log.h>
#include <argos3/core/simulator/entity/composable_entity.h>
 
namespace argos {
 
   /****************************************/
   /****************************************/
 
   CFootBotGripperDefaultActuator::CFootBotGripperDefaultActuator() :
      m_pcGripperEquippedEntity(nullptr) {}
 
   /****************************************/
   /****************************************/
 
   void CFootBotGripperDefaultActuator::SetRobot(CComposableEntity& c_entity) {
      m_pcGripperEquippedEntity = &(c_entity.GetComponent<CGripperEquippedEntity>("gripper"));
      m_pcGripperEquippedEntity->Enable();
   }
 
   /****************************************/
   /****************************************/
 
   void CFootBotGripperDefaultActuator::Update() {
      m_pcGripperEquippedEntity->SetLockState(Abs(m_cAperture) / CRadians::PI_OVER_TWO);
   }
 
   /****************************************/
   /****************************************/
 
   void CFootBotGripperDefaultActuator::Reset() {
      Unlock();
   }
 
   /****************************************/
   /****************************************/
 
}
 
REGISTER_ACTUATOR(CFootBotGripperDefaultActuator,
                  "footbot_gripper", "default",
                  "Carlo Pinciroli [ilpincy@gmail.com]",
                  "1.0",
                  "The footbot gripper actuator.",
                  "This actuator controls the foot-bot gripper. For a complete description of its\n"
                  "usage, refer to the ci_footbot_gripper_actuator.h file.\n\n"
                  "REQUIRED XML CONFIGURATION\n\n"
                  "  <controllers>\n"
                  "    ...\n"
                  "    <my_controller ...>\n"
                  "      ...\n"
                  "      <actuators>\n"
                  "        ...\n"
                  "        <footbot_gripper implementation=\"default\" />\n"
                  "        ...\n"
                  "      </actuators>\n"
                  "      ...\n"
                  "    </my_controller>\n"
                  "    ...\n"
                  "  </controllers>\n\n"
                  "OPTIONAL XML CONFIGURATION\n\n"
                  "None.\n",
                  "Usable"
   );