Class adaptor2D

Inheritance Relationships

Base Types

Class Documentation

class adaptor2D : public cosm::controller::base_controller2D, public cpros::controller::base_adaptor

Adaptor for controller::base_controller2D to provide an interface for creating controllers within ROS.

Public Functions

inline void entity_id(const rtypes::type_uuid &entity_id)
inline virtual rtypes::type_uuid entity_id(void) const override

Get the ID of the entity, which is unique among all entities of the same type in simulation. For real robots, it doesn’t have to be unique, but it probably still should be to assist with debugging.

Public Members

rtypes::type_uuid m_entity_id = {rtypes::type_uuid(rtypes::constants::kNoUUID)}

We use a mutator rather than making this a constructor argument so that we have the same interface as ARGoS.