Class base_saa_subsystem

Inheritance Relationships

Base Types

  • public rer::client< base_saa_subsystem >

  • public cosm::apf2D::boid (Class boid)

Derived Types

Class Documentation

class base_saa_subsystem : public rer::client<base_saa_subsystem>, public cosm::apf2D::boid

Base Sensing and Actuation (SAA) subsystem for all robots.

Subclassed by cosm::subsystem::saa_subsystem3D, cosm::subsystem::saa_subsystemQ3D

Public Types

using actuation_type = csubsystem::actuation_subsystem
using actuator_map = typename chsubsystem::actuator_variant_map<COSM_HAL_ROBOT_AVAILABLE_ACTUATORS>
using sensing_type = csubsystem::sensing_subsystem
using sensor_map = typename chsubsystem::sensor_variant_map<COSM_HAL_ROBOT_AVAILABLE_SENSORS>

Public Functions

base_saa_subsystem(sensor_map &&sensors, actuator_map &&actuators, const apf2D::config::apf_manager_config *const apf_config)
inline actuation_type *actuation(void)
inline const actuation_type *actuation(void) const
inline apf2D::apf_manager &apf(void)
inline const apf2D::apf_manager &apf(void) const
virtual void apf_apply(void) = 0

Apply and then reset the summed APF forces.

virtual double max_velocity(void) const override

Should return the magnitude of the maximum velocity of the entity. This can vary in time, if desired.

virtual ckin::odometry odometry(void) const override

Should return the odometry of the entity.

inline sensing_type *sensing(void)
inline const sensing_type *sensing(void) const