ci_footbot_turret_encoder_sensor.cpp

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#include "ci_footbot_turret_encoder_sensor.h"

#ifdef ARGOS_WITH_LUA
#include <argos3/core/wrappers/lua/lua_utility.h>
#endif

namespace argos {
   
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   const CRange<CRadians> CCI_FootBotTurretEncoderSensor::ANGULAR_RANGE(CRadians(-ARGOS_PI), CRadians(ARGOS_PI));
   
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   const CRadians& CCI_FootBotTurretEncoderSensor::GetRotation() const {
     return m_cRotation;
   }

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#ifdef ARGOS_WITH_LUA
   void CCI_FootBotTurretEncoderSensor::CreateLuaState(lua_State* pt_lua_state) {
      CLuaUtility::OpenRobotStateTable(pt_lua_state, "turret");
      CLuaUtility::AddToTable(pt_lua_state, "rotation",  m_cRotation);
      CLuaUtility::CloseRobotStateTable(pt_lua_state);
   }
#endif

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#ifdef ARGOS_WITH_LUA
   void CCI_FootBotTurretEncoderSensor::ReadingsToLuaState(lua_State* pt_lua_state) {
      lua_getfield(pt_lua_state, -1, "turret");
      lua_pushnumber(pt_lua_state, m_cRotation.GetValue());
      lua_setfield(pt_lua_state, -2, "rotation");
      lua_pop(pt_lua_state, 1);
   }
#endif


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}