gripper_default_actuator.cpp

Go to the documentation of this file.

 
#include "gripper_default_actuator.h"
#include <argos3/core/utility/logging/argos_log.h>
#include <argos3/core/simulator/entity/composable_entity.h>
 
namespace argos {
 
   /****************************************/
   /****************************************/
 
   CGripperDefaultActuator::CGripperDefaultActuator() :
      m_pcGripperEquippedEntity(nullptr) {}
 
   /****************************************/
   /****************************************/
 
   void CGripperDefaultActuator::SetRobot(CComposableEntity& c_entity) {
      m_pcGripperEquippedEntity = &(c_entity.GetComponent<CGripperEquippedEntity>("gripper"));
      m_pcGripperEquippedEntity->Enable();
   }
 
   /****************************************/
   /****************************************/
 
   void CGripperDefaultActuator::Update() {
      m_pcGripperEquippedEntity->SetLockState(m_fLockState);
   }
 
   /****************************************/
   /****************************************/
 
   void CGripperDefaultActuator::Reset() {
      m_fLockState = 0.0;
   }
 
   /****************************************/
   /****************************************/
 
}
 
REGISTER_ACTUATOR(CGripperDefaultActuator,
                  "gripper", "default",
                  "Carlo Pinciroli [ilpincy@gmail.com]",
                  "1.0",
                  "The Gripper actuator.",
 
                  "This actuator controls a gripper. For a complete description of its\n"
                  "usage, refer to the ci_gripper_actuator.h file.\n\n"
 
                  "REQUIRED XML CONFIGURATION\n\n"
                  "  <controllers>\n"
                  "    ...\n"
                  "    <my_controller ...>\n"
                  "      ...\n"
                  "      <actuators>\n"
                  "        ...\n"
                  "        <gripper implementation=\"default\" />\n"
                  "        ...\n"
                  "      </actuators>\n"
                  "      ...\n"
                  "    </my_controller>\n"
                  "    ...\n"
                  "  </controllers>\n\n"
 
                  "OPTIONAL XML CONFIGURATION\n\n"
 
                  "None.\n",
 
                  "Usable"
   );