00001
00007 #ifndef CCI_DIFFERENTIAL_STEERING_ACTUATOR_H
00008 #define CCI_DIFFERENTIAL_STEERING_ACTUATOR_H
00009
00010
00011 namespace argos {
00012 class CCI_DifferentialSteeringActuator;
00013 }
00014
00015 #include <argos3/core/control_interface/ci_actuator.h>
00016
00017 namespace argos {
00018
00019 class CCI_DifferentialSteeringActuator : public CCI_Actuator {
00020
00021 public:
00022
00023 virtual ~CCI_DifferentialSteeringActuator() {}
00024
00025 virtual void SetLinearVelocity(Real f_left_velocity,
00026 Real f_right_velocity) = 0;
00027
00028 #ifdef ARGOS_WITH_LUA
00029 virtual void CreateLuaState(lua_State* pt_lua_state);
00030 #endif
00031
00032 protected:
00033
00034 Real m_fCurrentVelocity[2];
00035
00036 };
00037
00038 }
00039
00040 #endif