#include <differential_steering_default_actuator.h>

Inheritance diagram for argos::CDifferentialSteeringDefaultActuator:

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Collaboration diagram for argos::CDifferentialSteeringDefaultActuator:

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Public Types
enum	DIFFERENTIAL_STEERING { LEFT_WHEEL = 0 , RIGHT_WHEEL = 1 }

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

Public Member Functions
	CDifferentialSteeringDefaultActuator ()
	Constructor. More...

virtual	~CDifferentialSteeringDefaultActuator ()
	Destructor. More...

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

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

virtual void	SetLinearVelocity (Real f_left_velocity, Real f_right_velocity)
	Sets the linear velocity of the two steering. 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_DifferentialSteeringActuator
virtual	~CCI_DifferentialSteeringActuator ()

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

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

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

Protected Attributes
CWheeledEntity *	m_pcWheeledEntity

CRandom::CRNG *	m_pcRNG
	Random number generator. More...

Real	m_fNoiseBias [2]
	Noise bias for each wheel. More...

Real	m_fNoiseFactorAvg [2]
	Noise factor average (Gaussian model) for each wheel More...

Real	m_fNoiseFactorStdDev [2]
	Noise factor stddev (Gaussian model) for each wheel More...

Protected Attributes inherited from argos::CCI_DifferentialSteeringActuator
Real	m_fCurrentVelocity [2]

Detailed Description

Definition at line 25 of file differential_steering_default_actuator.h.

Member Enumeration Documentation

◆ DIFFERENTIAL_STEERING

enum argos::CDifferentialSteeringDefaultActuator::DIFFERENTIAL_STEERING

Enumerator
LEFT_WHEEL
RIGHT_WHEEL

Definition at line 30 of file differential_steering_default_actuator.h.

Constructor & Destructor Documentation

◆ CDifferentialSteeringDefaultActuator()

argos::CDifferentialSteeringDefaultActuator::CDifferentialSteeringDefaultActuator ( )

Constructor.

Definition at line 16 of file differential_steering_default_actuator.cpp.

◆ ~CDifferentialSteeringDefaultActuator()

virtual argos::CDifferentialSteeringDefaultActuator::~CDifferentialSteeringDefaultActuator ( )

inlinevirtual

Destructor.

Definition at line 45 of file differential_steering_default_actuator.h.

Member Function Documentation

◆ Init()

void argos::CDifferentialSteeringDefaultActuator::Init ( TConfigurationNode & t_node )

virtual

Initializes the actuator from the XML configuration tree.

The default implementation of this method does nothing.

Parameters

t_node The XML configuration tree relative to this actuator.

See also: Reset(); Destroy()

Reimplemented from argos::CCI_Actuator.

Definition at line 61 of file differential_steering_default_actuator.cpp.

◆ Reset()

void argos::CDifferentialSteeringDefaultActuator::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 131 of file differential_steering_default_actuator.cpp.

◆ SetLinearVelocity()

void argos::CDifferentialSteeringDefaultActuator::SetLinearVelocity	(	Real	f_left_velocity,
		Real	f_right_velocity
	)

virtual

Sets the linear velocity of the two steering.

Velocities are expressed in cm per second.

Parameters

f_left_velocity	desired left wheel velocity.
f_right_velocity	desired right wheel velocity.

Implements argos::CCI_DifferentialSteeringActuator.

Definition at line 107 of file differential_steering_default_actuator.cpp.

◆ SetRobot()

void argos::CDifferentialSteeringDefaultActuator::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.