Class base_controller2D
Defined in File base_controller2D.hpp
Inheritance Relationships
Base Types
public cosm::controller::base_controller
(Class base_controller)public cspatial::metrics::dist2D_metrics
Derived Types
public cosm::pal::argos::controller::adaptor2D
(Class adaptor2D)public cosm::pal::ros::controller::adaptor2D
(Class adaptor2D)
Class Documentation
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class base_controller2D : public cosm::controller::base_controller, public cspatial::metrics::dist2D_metrics
The implementation of base controller class that the controllers for all robots that operate in 2D derive.
It should never be derived from directly; derive from one of the adaptor controllers in the PAL.
Subclassed by cosm::pal::argos::controller::adaptor2D, cosm::pal::ros::controller::adaptor2D
Public Functions
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base_controller2D(const base_controller2D&) = delete
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base_controller2D(void)
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~base_controller2D(void) override
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rmath::vector2z dpos2D(void) const final override
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rmath::radians heading2D(void) const final override
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virtual void mdc_ts_update(void) const final override
Convenience function to add timestamp to messages during the control step.
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base_controller2D &operator=(const base_controller2D&) = delete
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rmath::vector2d rpos2D(void) const final override
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virtual void sensing_update(const rtypes::timestep &tick) override
Update the sensing for the robot.
Set the current clock tick.
Update positioning information.
- Parameters:
tick – The current simulation clock tick.
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virtual void sensing_update(const rtypes::timestep &tick, const rtypes::discretize_ratio &ratio) override
Update the sensing for the robot.
Set the current clock tick.
Update positioning information.
- Parameters:
tick – The current clock tick.
ratio – The ratio that should be used to calculate the robot’s discrete position in the arena (should match the ratio used to create the arena grid).
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base_controller2D(const base_controller2D&) = delete