differential_steering_default_actuator.h
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1 
7 #ifndef DIFFERENTIAL_STEERING_ACTUATOR_DEFAULT_H
8 #define DIFFERENTIAL_STEERING_ACTUATOR_DEFAULT_H
9 
10 #include <string>
11 #include <map>
12 
13 namespace argos {
14  class CDifferentialSteeringDefaultActuator;
15 }
16 
17 #include <argos3/plugins/robots/generic/control_interface/ci_differential_steering_actuator.h>
18 #include <argos3/core/simulator/actuator.h>
19 #include <argos3/plugins/simulator/entities/wheeled_entity.h>
20 #include <argos3/core/simulator/entity/composable_entity.h>
21 #include <argos3/core/utility/math/rng.h>
22 
23 namespace argos {
24 
27 
28  public:
29 
32  RIGHT_WHEEL = 1
33  };
34 
35  public:
36 
41 
46 
47  virtual void SetRobot(CComposableEntity& c_entity);
48 
49  virtual void Init(TConfigurationNode& t_tree);
50 
58  virtual void SetLinearVelocity(Real f_left_velocity,
59  Real f_right_velocity);
60 
61  virtual void Update();
62 
63  virtual void Reset();
64 
65  protected:
66 
68 
71 
74 
77 
80 
81  };
82 
83 }
84 
85 #endif
float Real
Collects all ARGoS code.
Definition: datatypes.h:39
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
The basic interface for a simulated actuator.
Definition: actuator.h:24
Basic class for an entity that contains other entities.
The RNG.
Definition: rng.h:90
virtual void SetRobot(CComposableEntity &c_entity)
Sets the entity associated to this actuator.
virtual void Reset()
Resets the actuator to the state it had just after Init().
virtual void SetLinearVelocity(Real f_left_velocity, Real f_right_velocity)
Sets the linear velocity of the two steering.
virtual void Update()
Updates the state of the entity associated to this actuator.
Real m_fNoiseFactorAvg[2]
Noise factor average (Gaussian model) for each wheel
virtual void Init(TConfigurationNode &t_tree)
Initializes the actuator from the XML configuration tree.
Real m_fNoiseFactorStdDev[2]
Noise factor stddev (Gaussian model) for each wheel