7 #ifndef POINTMASS3D_QUADROTOR_H
8 #define POINTMASS3D_QUADROTOR_H
11 class CPointMass3DEngine;
12 class CPointMass3DQuadRotorModel;
13 class CQuadRotorEntity;
16 #include <argos3/plugins/simulator/physics_engines/pointmass3d/pointmass3d_model.h>
17 #include <argos3/core/simulator/entity/embodied_entity.h>
18 #include <argos3/plugins/simulator/entities/quadrotor_entity.h>
42 Real f_max_torque = 1000.0f);
54 const CRay3& c_ray)
const;
60 void PositionalControl();
133 Real m_fRotationalControl;
136 Real m_pfLinearError[3];
float Real
Collects all ARGoS code.
virtual void UpdateFromEntityStatus()
Updates the state of this model from the status of the associated entity.
virtual void UpdateOriginAnchor(SAnchor &s_anchor)
Updates the origin anchor associated to the embodied entity.
This entity is a link to a body in the physics engine.
virtual ~CPointMass3DQuadRotorModel()
It defines the basic type CRadians, used to store an angle value in radians.
An anchor related to the body of an entity.
CPointMass3DQuadRotorModel(CPointMass3DEngine &c_engine, CEmbodiedEntity &c_body, CQuadRotorEntity &c_quadrotor, Real f_body_height, Real f_arm_length, Real f_body_mass, Real f_body_inertia, const CVector3 &c_pos_kp, const CVector3 &c_pos_kd, Real f_yaw_kp, Real f_yaw_kd, const CVector3 &c_vel_kp, const CVector3 &c_vel_kd, Real f_rot_kp, Real f_rot_kd, const CVector3 &c_max_force=CVector3(1000.0f, 1000.0f, 1000.0f), Real f_max_torque=1000.0f)
virtual void CalculateBoundingBox()
Calculates the axis-aligned box that contains the entire physics model.
virtual bool CheckIntersectionWithRay(Real &f_t_on_ray, const CRay3 &c_ray) const
The namespace containing all the ARGoS related code.