Class actuation_subsystem

• Defined in File actuation_subsystem.hpp

Inheritance Relationships

Base Type

• public chal::subsystem::base_actuation_subsystem< COSM_HAL_ROBOT_AVAILABLE_ACTUATORS >

Class Documentation

class actuation_subsystem : public chal::subsystem::base_actuation_subsystem<COSM_HAL_ROBOT_AVAILABLE_ACTUATORS>

The actuation subsystem for any robot on ARGoS.

Public Types

using actuator_map = chsubsystem::base_actuation_subsystem<COSM_HAL_ROBOT_AVAILABLE_ACTUATORS>::actuator_map

Public Functions

inline explicit actuation_subsystem(actuator_map &&actuators)

COSM_HAL_ACTUATOR_ACCESSOR(chal::actuators::diagnostic_actuator, diagnostics)

COSM_HAL_ACTUATOR_ACCESSOR(chargos::actuators::diff_drive_actuator, locomotion)

COSM_HAL_ACTUATOR_ACCESSOR(chargos::actuators::quadrotor_actuator, locomotion)

COSM_HAL_ACTUATOR_ACCESSOR(chargos::actuators::quadrotor_actuator, quadrotor)

COSM_HAL_ACTUATOR_ACCESSOR(ckin2D::governed_diff_drive, governed_diff_drive)

inline const chal::actuators::diagnostic_actuator *diagnostics(void) const

inline const ckin2D::governed_diff_drive *governed_diff_drive(void) const

inline const chargos::actuators::quadrotor_actuator *locomotion(void) const

inline const chargos::actuators::diff_drive_actuator *locomotion(void) const

inline const chargos::actuators::quadrotor_actuator *quadrotor(void) const