-
Notifications
You must be signed in to change notification settings - Fork 0
/
actuator.h
76 lines (54 loc) · 2.33 KB
/
actuator.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
#ifndef ACTUATOR_H_
#define ACTUATOR_H_
/******************************************************************************/
/******************************************************************************/
#include <math.h>
#include <vector>
#include <list>
using namespace std;
class CActuator;
typedef vector<CActuator*> TActuatorVector;
typedef vector<CActuator*>::iterator TActuatorIterator;
/******************************************************************************/
/******************************************************************************/
#include "simobject.h"
#include "epuck.h"
/******************************************************************************/
/******************************************************************************/
#define ACTUATOR_WHEELS 0x0001
#define ACTUATOR_WHEELS_TEST 0x0004
#define ACTUATOR_GRIPPER_ELEVATION 0x0008
#define ACTUATOR_CONFIDENCE 0x1000
#define ACTUATOR_SIMPLESOUND 0x0010
#define ACTUATOR_INTENSITYSOUND 0x0011
#define ACTUATOR_UDP_MESSAGE 0x001A
#define ACTUATOR_TEMPORARY_MESSAGE 0x0111
#define ACTUATOR_TX2 0x0020
#define ACTUATOR_PROJECTION 0x3000
#define ACTUATOR_CHAR_WHEEL 'W'
#define ACTUATOR_CHAR_GRIPPER_APERTURE 'G'
#define ACTUATOR_CHAR_GRIPPER_ELEVATION 'E'
#define ACTUATOR_CHAR_CONFIDENCE 'C'
#define ACTUATOR_CHAR_SIMPLESOUND 'S'
#define ACTUATOR_CHAR_INTENSITYSOUND 'I'
#define ACTUATOR_CHAR_UDP_MESSAGE 'U'
#define ACTUATOR_CHAR_TEMPORARY_MESSAGE 'O'
#define ACTUATOR_CHAR_TX2 'T'
/******************************************************************************/
/******************************************************************************/
class CActuator : public CSimObject
{
public:
CActuator(const char* pch_name, CEpuck* pc_epuck, unsigned int un_number_of_outputs);
virtual unsigned int GetNumberOfOutputs();
virtual void SetOutput(unsigned int un_output_index, double f_value) = 0;
virtual unsigned int GetType() = 0;
protected:
virtual CEpuck* GetEpuck();
protected:
unsigned int m_unNumberOfOutputs;
CEpuck* m_pcEpuck;
};
/******************************************************************************/
/******************************************************************************/
#endif