#include <footbot_turret_default_actuator.h>

Inheritance diagram for argos::CFootBotTurretDefaultActuator:

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Collaboration diagram for argos::CFootBotTurretDefaultActuator:

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Public Member Functions
	CFootBotTurretDefaultActuator ()

virtual	~CFootBotTurretDefaultActuator ()

virtual void	SetRobot (CComposableEntity &c_entity)
	Sets the entity associated to this actuator. More...

virtual void	SetRotation (const CRadians &c_angle)
	Sets the turret rotation Turret rotation is expressed in radians, positive values rotate the turret clockwise when looking from above. More...

virtual void	SetRotationSpeed (SInt32 n_speed_pulses)
	Sets the turret rotation speed Turret rotation speed is expressed in motor pulses, positive values rotate the turret clockwise when looking from above. More...

virtual void	SetMode (ETurretModes e_mode)
	Sets the turret control mode Modes are: angular position control, rotation speed control, passive mode, off. More...

virtual void	Update ()
	Updates the state of the entity associated to this actuator. More...

virtual void	Reset ()
	Resets the actuator to the state it had just after Init(). More...

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

Public Member Functions inherited from argos::CCI_FootBotTurretActuator
virtual	~CCI_FootBotTurretActuator ()
	Destructor. More...

void	SetActiveWithRotation (const CRadians &c_angle)
	Sets the turret control mode to active, and sets the target rotation to the given one. More...

void	SetSpeedControlMode ()
	Sets the turret control mode to speed control. More...

void	SetPositionControlMode ()
	Sets the turret control mode to position control. More...

void	SetPassiveMode ()
	Sets the turret control mode to passive. More...

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

virtual void	Init (TConfigurationNode &t_node)
	Initializes the actuator from the XML configuration tree. More...

virtual void	Destroy ()
	Destroys the actuator. More...

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

Additional Inherited Members
Public Types inherited from argos::CCI_FootBotTurretActuator
enum	ETurretModes { MODE_OFF , MODE_PASSIVE , MODE_SPEED_CONTROL , MODE_POSITION_CONTROL }
	Turret modes. More...

Public Types inherited from argos::CCI_Actuator
typedef std::map< std::string, CCI_Actuator *, std::less< std::string > >	TMap

Static Public Attributes inherited from argos::CCI_FootBotTurretActuator
static const CRange< SInt32 >	SPEED_RANGE

static const CRange< Real >	NORMALIZED_SPEED_RANGE

Detailed Description

Definition at line 24 of file footbot_turret_default_actuator.h.

Constructor & Destructor Documentation

◆ CFootBotTurretDefaultActuator()

argos::CFootBotTurretDefaultActuator::CFootBotTurretDefaultActuator ( )

Definition at line 16 of file footbot_turret_default_actuator.cpp.

◆ ~CFootBotTurretDefaultActuator()

virtual argos::CFootBotTurretDefaultActuator::~CFootBotTurretDefaultActuator ( )

inlinevirtual

Definition at line 30 of file footbot_turret_default_actuator.h.

Member Function Documentation

◆ Reset()

void argos::CFootBotTurretDefaultActuator::Reset ( )

virtual

Resets the actuator to the state it had just after Init().

The default implementation of this method does nothing.

See also: Init(); Destroy()

Reimplemented from argos::CCI_Actuator.

Definition at line 59 of file footbot_turret_default_actuator.cpp.

◆ SetMode()

void argos::CFootBotTurretDefaultActuator::SetMode ( ETurretModes e_mode )

virtual

Sets the turret control mode Modes are: angular position control, rotation speed control, passive mode, off.

Parameters

un_mode turret control mode, possible values are defined in CCI_FootBotTurretActuator

Implements argos::CCI_FootBotTurretActuator.

Definition at line 45 of file footbot_turret_default_actuator.cpp.

◆ SetRobot()

void argos::CFootBotTurretDefaultActuator::SetRobot ( CComposableEntity & c_entity )

virtual

Sets the entity associated to this actuator.

When a controller is created, all the sensors and actuators are created, too. This function is called right before the Init() method of the actuator is called.

Parameters

c_entity The entity to associate to this actuator.

See also: CComposableEntity; CControllableEntity::SetController(); CCI_Actuator::Init()

Implements argos::CSimulatedActuator.

Definition at line 23 of file footbot_turret_default_actuator.cpp.

◆ SetRotation()

void argos::CFootBotTurretDefaultActuator::SetRotation ( const CRadians & c_angle )

virtual

Sets the turret rotation Turret rotation is expressed in radians, positive values rotate the turret clockwise when looking from above.

In the current real robot implementation, values are limited using range functions. If the turret is not in position control mode, the only effect is that the target rotation is changed but the turret will not turn: it will turn when position control mode is activated (unless another target rotation is specified meantime).

Parameters

c_angle desired turret rotation

Implements argos::CCI_FootBotTurretActuator.

Definition at line 31 of file footbot_turret_default_actuator.cpp.

◆ SetRotationSpeed()

void argos::CFootBotTurretDefaultActuator::SetRotationSpeed ( SInt32 n_speed_pulses )

virtual

Sets the turret rotation speed Turret rotation speed is expressed in motor pulses, positive values rotate the turret clockwise when looking from above.

In the current real robot implementation, values are limited using range functions. If the turret is not in speed control mode, the only effect is that the target rotation speed is changed but the turret will not turn: it will turn when speed control mode is activated (unless another target rotation speed is specified meantime).

Parameters

n_speed_pulses desired turret rotation speed - pid pulses

Implements argos::CCI_FootBotTurretActuator.

Definition at line 38 of file footbot_turret_default_actuator.cpp.