differential_steering_default_actuator.h

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#ifndef DIFFERENTIAL_STEERING_ACTUATOR_DEFAULT_H
#define DIFFERENTIAL_STEERING_ACTUATOR_DEFAULT_H

#include <string>
#include <map>

namespace argos {
   class CDifferentialSteeringDefaultActuator;
}

#include <argos3/plugins/robots/generic/control_interface/ci_differential_steering_actuator.h>
#include <argos3/core/simulator/actuator.h>
#include <argos3/plugins/simulator/entities/wheeled_entity.h>
#include <argos3/core/simulator/entity/composable_entity.h>
#include <argos3/core/utility/math/rng.h>

namespace argos {

   class CDifferentialSteeringDefaultActuator : public CSimulatedActuator,
                                                public CCI_DifferentialSteeringActuator {

   public:

      enum DIFFERENTIAL_STEERING {
         LEFT_WHEEL = 0,
         RIGHT_WHEEL = 1
      };

   public:

      CDifferentialSteeringDefaultActuator();

      virtual ~CDifferentialSteeringDefaultActuator() {}

      virtual void SetRobot(CComposableEntity& c_entity);

      virtual void Init(TConfigurationNode& t_tree);

      virtual void SetLinearVelocity(Real f_left_velocity,
                                     Real f_right_velocity);

      virtual void Update();

      virtual void Reset();

   protected:

      CWheeledEntity* m_pcWheeledEntity;
      
      CRandom::CRNG* m_pcRNG;

      Real m_fNoiseBias[2];
      
      Real m_fNoiseFactorAvg[2];

      Real m_fNoiseFactorStdDev[2];

   };

}

#endif