footbot_turret_entity.h

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#ifndef FOOTBOT_TURRET_ENTITY_H
#define FOOTBOT_TURRET_ENTITY_H
 
namespace argos {
   class CFootBotTurretEntity;
   struct SAnchor;
}
 
#include <argos3/core/simulator/entity/entity.h>
#include <argos3/core/utility/math/vector3.h>
 
namespace argos {
 
   class CFootBotTurretEntity : public CEntity {
 
   public:
 
      ENABLE_VTABLE();
 
      enum EMode {
         MODE_OFF,
         MODE_PASSIVE,
         MODE_SPEED_CONTROL,
         MODE_POSITION_CONTROL
      };
 
   public:
 
      CFootBotTurretEntity(CComposableEntity* pc_parent);
 
      CFootBotTurretEntity(CComposableEntity* pc_parent,
                           const std::string& str_id,
                           SAnchor& s_anchor);
 
      virtual void Init(TConfigurationNode& t_tree);
      
      virtual void Reset();
 
      virtual void Update();
 
      inline UInt32 GetMode() const {
         return m_unMode;
      }
 
      inline void SetMode(UInt32 un_mode) {
         m_unMode = un_mode;
      }
 
      CRadians GetRotation() const;
 
      Real GetRotationSpeed() const;
 
      const CRadians& GetDesiredRotation() const;
 
      Real GetDesiredRotationSpeed() const;
 
      void SetDesiredRotation(const CRadians& c_rotation);
 
      void SetDesiredRotationSpeed(Real f_speed);
 
      virtual std::string GetTypeDescription() const {
         return "turret";
      }
 
   private:
 
      /* Anchor associated to this turret */
      SAnchor* m_psAnchor;
      /* Operational mode (off, passive, rotation control, speed control */
      UInt32 m_unMode;
      /* Desired rotation set by the actuator */
      CRadians m_cDesRot;
      /* Desired rotation speed set by the actuator */
      Real m_fDesRotSpeed;
      /* Current rotation speed */
      Real m_fCurRotSpeed;
      /* Rotation at previous time step */
      CRadians m_cOldRot;
 
   };
}
 
#endif