argos::CRealRobot Class Reference

#include <real_robot.h>

Collaboration diagram for argos::CRealRobot:

Public Member Functions
	CRealRobot ()
	Class constructor. More...
virtual	~CRealRobot ()
	Class destructor. More...
virtual void	Init (const std::string &str_conf_fname, const std::string &str_controller_id)
	Initializes the robot and the controller. More...
virtual void	InitRobot ()=0
	Put your robot initialization code here. More...
virtual void	Destroy ()=0
	Put your robot cleanup code here. More...
virtual CCI_Actuator *	MakeActuator (const std::string &str_name)=0
	Creates an actuator given its name. More...
virtual CCI_Sensor *	MakeSensor (const std::string &str_name)=0
	Creates a sensor given its name. More...
virtual void	Sense (Real f_elapsed_time)=0
	Collect data from the sensors. More...
virtual void	Control ()
	Execute the robot controller. More...
virtual void	Act (Real f_elapsed_time)=0
	Send data to the actuators. More...
virtual void	Execute ()
	Performs the main loop. More...

Static Public Member Functions
static void	Cleanup (int)
	Cleanup function called when the controller is stopped. More...

Protected Attributes
CCI_Controller *	m_pcController
ticpp::Document	m_tConfiguration
TConfigurationNode	m_tConfRoot
TConfigurationNode *	m_ptControllerConfRoot
Real	m_fRate

Static Protected Attributes
static CRealRobot *	m_pcInstance = NULL

Detailed Description

Definition at line 9 of file real_robot.h.

Constructor & Destructor Documentation

CRealRobot()

CRealRobot::CRealRobot

(

)

Class constructor.

Definition at line 18 of file real_robot.cpp.

~CRealRobot()

CRealRobot::~CRealRobot ( )

virtual

Class destructor.

Definition at line 122 of file real_robot.cpp.

Member Function Documentation

Act()

virtual void argos::CRealRobot::Act ( Real  f_elapsed_time )

pure virtual

Send data to the actuators.

Cleanup()

void CRealRobot::Cleanup ( int  )

static

Cleanup function called when the controller is stopped.

Definition at line 164 of file real_robot.cpp.

Control()

void CRealRobot::Control ( )

virtual

Execute the robot controller.

Definition at line 130 of file real_robot.cpp.

Destroy()

virtual void argos::CRealRobot::Destroy ( )

pure virtual

Put your robot cleanup code here.

Execute()

void CRealRobot::Execute ( )

virtual

Performs the main loop.

Definition at line 137 of file real_robot.cpp.

Init()

void CRealRobot::Init ( const std::string &  str_conf_fname, const std::string &  str_controller_id  )

virtual

Initializes the robot and the controller.

Internally calls InitRobot() and InitController() in this order.

Definition at line 27 of file real_robot.cpp.

InitRobot()

virtual void argos::CRealRobot::InitRobot ( )

pure virtual

Put your robot initialization code here.

MakeActuator()

virtual CCI_Actuator* argos::CRealRobot::MakeActuator ( const std::string &  str_name )

pure virtual

Creates an actuator given its name.

Returns NULL if no actuator corresponds to that name.

MakeSensor()

virtual CCI_Sensor* argos::CRealRobot::MakeSensor ( const std::string &  str_name )

pure virtual

Creates a sensor given its name.

Returns NULL if no sensor corresponds to that name.

Sense()

virtual void argos::CRealRobot::Sense ( Real  f_elapsed_time )

pure virtual

Collect data from the sensors.

Member Data Documentation

m_fRate

Real argos::CRealRobot::m_fRate

protected

Definition at line 83 of file real_robot.h.

m_pcController

CCI_Controller* argos::CRealRobot::m_pcController

protected

Definition at line 79 of file real_robot.h.

m_pcInstance

CRealRobot * CRealRobot::m_pcInstance = NULL

staticprotected

Definition at line 84 of file real_robot.h.

m_ptControllerConfRoot

TConfigurationNode* argos::CRealRobot::m_ptControllerConfRoot

protected

Definition at line 82 of file real_robot.h.

m_tConfiguration

ticpp::Document argos::CRealRobot::m_tConfiguration

protected

Definition at line 80 of file real_robot.h.

m_tConfRoot

TConfigurationNode argos::CRealRobot::m_tConfRoot

protected

Definition at line 81 of file real_robot.h.