The basic interface for a robot controller. More...

#include <ci_controller.h>

Inheritance diagram for argos::CCI_Controller:

Collaboration diagram for argos::CCI_Controller:

[legend]

Public Member Functions
virtual	~CCI_Controller ()
	Class destructor. More...

virtual void	Init (TConfigurationNode &t_node)
	Initializes the controller. More...

virtual void	ControlStep ()
	Executes a control step. More...

virtual void	Reset ()
	Resets the state of the controller to what it was right after Init() was executed. More...

virtual void	Destroy ()
	The default implementation of this method does nothing. More...

const std::string &	GetId () const
	Returns the id of the robot associated to this controller. More...

void	SetId (const std::string &str_id)
	Sets the id of the robot associated to this controller. More...

template<typename ACTUATOR_IMPL >
ACTUATOR_IMPL *	GetActuator (const std::string &str_actuator_type)
	Returns a pointer to the an actuator, given its type. More...

template<typename SENSOR_IMPL >
SENSOR_IMPL *	GetSensor (const std::string &str_sensor_type)
	Returns a pointer to the an sensor, given its type. More...

bool	HasActuator (const std::string &str_actuator_type) const
	Returns `true` if an actuator with the passed type is associated to this controller. More...

bool	HasSensor (const std::string &str_sensor_type) const
	Returns `true` if an sensor with the passed type is associated to this controller. More...

CCI_Actuator::TMap &	GetAllActuators ()
	Returns a map of the associated actuators. More...

CCI_Sensor::TMap &	GetAllSensors ()
	Returns a map of the associated sensors. More...

void	AddActuator (const std::string &str_actuator_type, CCI_Actuator *pc_actuator)
	Adds an actuator to this controller. More...

void	AddSensor (const std::string &str_sensor_type, CCI_Sensor *pc_sensor)
	Adds an sensor to this controller. More...

Public Member Functions inherited from argos::CBaseConfigurableResource
virtual	~CBaseConfigurableResource ()
	Class destructor. More...

Protected Attributes
CCI_Actuator::TMap	m_mapActuators
	A map containing all the actuators associated to this controller. More...

CCI_Sensor::TMap	m_mapSensors
	A map containing all the sensors associated to this controller. More...

std::string	m_strId
	The id of the robot associated to this controller More...

Detailed Description

The basic interface for a robot controller.

Definition at line 30 of file ci_controller.h.

Constructor & Destructor Documentation

◆ ~CCI_Controller()

argos::CCI_Controller::~CCI_Controller ( )

virtual

Class destructor.

Definition at line 14 of file ci_controller.cpp.

Member Function Documentation

◆ AddActuator()

void argos::CCI_Controller::AddActuator	(	const std::string &	str_actuator_type,
		CCI_Actuator *	pc_actuator
	)

inline

Adds an actuator to this controller.

This method is called internally by ARGoS. You should never call it in your controllers.

Parameters

str_actuator_type	The type of the actuator to add.
pc_actuator	A pointer to the actuator to add.

See also: CCI_Actuator

Definition at line 193 of file ci_controller.h.

◆ AddSensor()

void argos::CCI_Controller::AddSensor	(	const std::string &	str_sensor_type,
		CCI_Sensor *	pc_sensor
	)

inline

Adds an sensor to this controller.

This method is called internally by ARGoS. You should never call it in your controllers.

Parameters

str_sensor_type	The type of the sensor to add.
pc_sensor	A pointer to the sensor to add.

See also: CCI_Sensor

Definition at line 205 of file ci_controller.h.

◆ ControlStep()

virtual void argos::CCI_Controller::ControlStep ( )

inlinevirtual

Executes a control step.

The logic of your controller goes here. The default implementation does nothing.

Reimplemented in argos::CLuaController.

Definition at line 55 of file ci_controller.h.

◆ Destroy()

virtual void argos::CCI_Controller::Destroy ( )

inlinevirtual

The default implementation of this method does nothing.

See also: Init(); Reset()

Implements argos::CBaseConfigurableResource.

Reimplemented in argos::CLuaController.

Definition at line 72 of file ci_controller.h.

◆ GetActuator()

template<typename ACTUATOR_IMPL >

ACTUATOR_IMPL* argos::CCI_Controller::GetActuator ( const std::string & str_actuator_type )

inline

Returns a pointer to the an actuator, given its type.

Internally, ARGoS creates an actuator object for each actuator listed in the <actuators> section of the XML file. This method allows you to get a pointer to a specific actuator listed in the XML. The type corresponds to the XML tag of an actuator (not its implementation attribute!).

Parameters

str_actuator_type The wanted actuator type.

Returns: A pointer to the wanted actuator.

Exceptions

CARGoSException if the actuator type was not found among those listed in the XML, or if the actual actuator object cannot be cast to the target class

See also: HasActuator(); GetSensor()

Definition at line 106 of file ci_controller.h.

◆ GetAllActuators()

CCI_Actuator::TMap& argos::CCI_Controller::GetAllActuators ( )

inline

Returns a map of the associated actuators.

Returns: A map of the associated actuators.

Definition at line 174 of file ci_controller.h.

◆ GetAllSensors()

CCI_Sensor::TMap& argos::CCI_Controller::GetAllSensors ( )

inline

Returns a map of the associated sensors.

Returns: A map of the associated sensors.

Definition at line 182 of file ci_controller.h.

◆ GetId()

const std::string& argos::CCI_Controller::GetId ( ) const

inline

Returns the id of the robot associated to this controller.

Returns: The id of the robot associated to this controller.

Definition at line 78 of file ci_controller.h.

◆ GetSensor()

template<typename SENSOR_IMPL >

SENSOR_IMPL* argos::CCI_Controller::GetSensor ( const std::string & str_sensor_type )

inline

Returns a pointer to the an sensor, given its type.

Internally, ARGoS creates an sensor object for each sensor listed in the <sensors> section of the XML file. This method allows you to get a pointer to a specific sensor listed in the XML. The type corresponds to the XML tag of an sensor (not its implementation attribute!).

Parameters

str_sensor_type The wanted sensor type.

Returns: A pointer to the wanted sensor.

Exceptions

CARGoSException if the sensor type was not found among those listed in the XML, or if the actual sensor object cannot be cast to the target class

See also: HasSensor(); GetActuator()

Definition at line 137 of file ci_controller.h.

◆ HasActuator()

bool argos::CCI_Controller::HasActuator ( const std::string & str_actuator_type ) const

Returns true if an actuator with the passed type is associated to this controller.

Parameters

str_actuator_type The type of the wanted actuator.

Returns: true if an actuator with the passed type is associated to this controller.

See also: GetActuator()

Definition at line 35 of file ci_controller.cpp.

◆ HasSensor()

bool argos::CCI_Controller::HasSensor ( const std::string & str_sensor_type ) const

Returns true if an sensor with the passed type is associated to this controller.

Parameters

str_sensor_type The type of the wanted sensor.

Returns: true if an sensor with the passed type is associated to this controller.

See also: GetSensor()

Definition at line 43 of file ci_controller.cpp.

◆ Init()

virtual void argos::CCI_Controller::Init ( TConfigurationNode & t_node )

inlinevirtual

Initializes the controller.

You should always perform all your memory allocation and configuration in this method, and not in the constructor. The default implementation of this method does nothing.

Parameters

t_node The <params> XML tree associated to this controller.

See also: Reset(); Destroy()

Implements argos::CBaseConfigurableResource.

Reimplemented in argos::CLuaController.

Definition at line 48 of file ci_controller.h.

◆ Reset()

virtual void argos::CCI_Controller::Reset ( )

inlinevirtual

Resets the state of the controller to what it was right after Init() was executed.

Note that the state of the robot, as well as the state of sensors and actuators is automatically reset by ARGoS outside this class. The default implementation of this method does nothing.

See also: Init(); Destroy()

Implements argos::CBaseConfigurableResource.

Reimplemented in argos::CLuaController.

Definition at line 65 of file ci_controller.h.

◆ SetId()

void argos::CCI_Controller::SetId ( const std::string & str_id )

inline

Sets the id of the robot associated to this controller.

It is used internally by ARGoS to set the robot id. You should never use this function inside your controller.

Parameters

str_id The new robot id.

Definition at line 88 of file ci_controller.h.

Member Data Documentation

◆ m_mapActuators

CCI_Actuator::TMap argos::CCI_Controller::m_mapActuators

protected

A map containing all the actuators associated to this controller.

Definition at line 213 of file ci_controller.h.

◆ m_mapSensors

CCI_Sensor::TMap argos::CCI_Controller::m_mapSensors

protected

A map containing all the sensors associated to this controller.

Definition at line 216 of file ci_controller.h.

◆ m_strId

std::string argos::CCI_Controller::m_strId

protected

The id of the robot associated to this controller

Definition at line 219 of file ci_controller.h.

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ~CCI_Controller()

Member Function Documentation

◆ AddActuator()

◆ AddSensor()

◆ ControlStep()

◆ Destroy()

◆ GetActuator()

◆ GetAllActuators()

◆ GetAllSensors()

◆ GetId()

◆ GetSensor()

◆ HasActuator()

◆ HasSensor()

◆ Init()

◆ Reset()

◆ SetId()

Member Data Documentation

◆ m_mapActuators

◆ m_mapSensors

◆ m_strId