00001 00007 #ifndef QUADROTOR_SPEED_ACTUATOR_DEFAULT_H 00008 #define QUADROTOR_SPEED_ACTUATOR_DEFAULT_H 00009 00010 #include <string> 00011 #include <map> 00012 00013 namespace argos { 00014 class CQuadRotorSpeedDefaultActuator; 00015 } 00016 00017 #include <argos3/core/utility/math/rng.h> 00018 #include <argos3/core/simulator/actuator.h> 00019 #include <argos3/core/simulator/entity/composable_entity.h> 00020 #include <argos3/plugins/robots/generic/control_interface/ci_quadrotor_speed_actuator.h> 00021 #include <argos3/plugins/simulator/entities/quadrotor_entity.h> 00022 00023 namespace argos { 00024 00025 class CQuadRotorSpeedDefaultActuator : public CSimulatedActuator, 00026 public CCI_QuadRotorSpeedActuator { 00027 00028 public: 00029 00030 CQuadRotorSpeedDefaultActuator(); 00031 virtual ~CQuadRotorSpeedDefaultActuator() {} 00032 00033 virtual void SetRobot(CComposableEntity& c_entity); 00034 00035 virtual void Init(TConfigurationNode& t_tree); 00036 00037 virtual void SetLinearVelocity(const CVector3& c_velocity); 00038 virtual void SetRotationalSpeed(const CRadians& c_speed); 00039 00040 virtual void Update(); 00041 virtual void Reset(); 00042 00043 protected: 00044 00045 CQuadRotorEntity* m_pcQuadRotorEntity; 00046 CEmbodiedEntity* m_pcEmbodiedEntity; 00047 CQuadRotorEntity::SSpeedControlData m_sDesiredSpeedData; 00048 00049 }; 00050 00051 } 00052 00053 #endif