Class saa_subsystem3D

Defined in File saa_subsystem3D.hpp

Inheritance Relationships

Base Types

public rer::client< saa_subsystem3D >
public cosm::subsystem::base_saa_subsystem (Class base_saa_subsystem)

Class Documentation

class saa_subsystem3D : public rer::client<saa_subsystem3D>, public cosm::subsystem::base_saa_subsystem 

Sensing and Actuation (SAA) subsystem for a robot when it is operating in 3D environments. The precise set of sensors/actuators abstracted away at a lower level, so that this class can be used for any robot which has 3D bindings in the HAL.

Public Functions

saa_subsystem3D(sensor_map &&sensors, actuator_map &&actuators, const apf2D::config::apf_manager_config *const apf_config)

virtual void apf_apply(void) override: Apply and then reset the summed APF forces.