ARGoS 3
A parallel, multi-engine simulator for swarm robotics
ci_quadrotor_position_actuator.cpp
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1
6
7#include "ci_quadrotor_position_actuator.h"
8
9#ifdef ARGOS_WITH_LUA
10#include <argos3/core/wrappers/lua/lua_utility.h>
11#endif
12
13namespace argos {
14
15 /****************************************/
16 /****************************************/
17
18#ifdef ARGOS_WITH_LUA
19 /*
20 * The stack must have three values in this order:
21 * 1. x coordinate (a number)
22 * 2. y coordinate (a number)
23 * 3. z coordinate (a number)
24 */
25 int LuaSetAbsolutePosition(lua_State* pt_lua_state) {
26 /* Check parameters */
27 if(lua_gettop(pt_lua_state) != 3) {
28 return luaL_error(pt_lua_state, "robot.quadrotor.set_absolute_position() expects 3 arguments");
29 }
30 luaL_checktype(pt_lua_state, 1, LUA_TNUMBER);
31 luaL_checktype(pt_lua_state, 2, LUA_TNUMBER);
32 luaL_checktype(pt_lua_state, 3, LUA_TNUMBER);
33 /* Perform action */
34 CLuaUtility::GetDeviceInstance<CCI_QuadRotorPositionActuator>(pt_lua_state, "quadrotor")->
35 SetAbsolutePosition(CVector3(lua_tonumber(pt_lua_state, 1),
36 lua_tonumber(pt_lua_state, 2),
37 lua_tonumber(pt_lua_state, 3)));
38 return 0;
39 }
40#endif
41
42 /****************************************/
43 /****************************************/
44
45#ifdef ARGOS_WITH_LUA
46 /*
47 * The stack must have three values in this order:
48 * 1. x coordinate (a number)
49 * 2. y coordinate (a number)
50 * 3. z coordinate (a number)
51 */
52 int LuaSetRelativePosition(lua_State* pt_lua_state) {
53 /* Check parameters */
54 if(lua_gettop(pt_lua_state) != 3) {
55 return luaL_error(pt_lua_state, "robot.quadrotor.set_relative_position() expects 3 arguments");
56 }
57 luaL_checktype(pt_lua_state, 1, LUA_TNUMBER);
58 luaL_checktype(pt_lua_state, 2, LUA_TNUMBER);
59 luaL_checktype(pt_lua_state, 3, LUA_TNUMBER);
60 /* Perform action */
61 CLuaUtility::GetDeviceInstance<CCI_QuadRotorPositionActuator>(pt_lua_state, "quadrotor")->
62 SetRelativePosition(CVector3(lua_tonumber(pt_lua_state, 1),
63 lua_tonumber(pt_lua_state, 2),
64 lua_tonumber(pt_lua_state, 3)));
65 return 0;
66 }
67#endif
68
69 /****************************************/
70 /****************************************/
71
72#ifdef ARGOS_WITH_LUA
73 /*
74 * The stack must have one value:
75 * 1. yaw angle (in radians)
76 */
77 int LuaSetAbsoluteYaw(lua_State* pt_lua_state) {
78 /* Check parameters */
79 if(lua_gettop(pt_lua_state) != 1) {
80 return luaL_error(pt_lua_state, "robot.quadrotor.set_absolute_yaw() expects 1 argument");
81 }
82 luaL_checktype(pt_lua_state, 1, LUA_TNUMBER);
83 /* Perform action */
84 CLuaUtility::GetDeviceInstance<CCI_QuadRotorPositionActuator>(pt_lua_state, "quadrotor")->
85 SetAbsoluteYaw(CRadians(lua_tonumber(pt_lua_state, 1) / 180.0f * CRadians::PI));
86 return 0;
87 }
88#endif
89
90 /****************************************/
91 /****************************************/
92
93#ifdef ARGOS_WITH_LUA
94 /*
95 * The stack must have one value:
96 * 1. yaw angle (in radians)
97 */
98 int LuaSetRelativeYaw(lua_State* pt_lua_state) {
99 /* Check parameters */
100 if(lua_gettop(pt_lua_state) != 1) {
101 return luaL_error(pt_lua_state, "robot.quadrotor.set_relative_yaw() expects 1 argument");
102 }
103 luaL_checktype(pt_lua_state, 1, LUA_TNUMBER);
104 /* Perform action */
105 CLuaUtility::GetDeviceInstance<CCI_QuadRotorPositionActuator>(pt_lua_state, "quadrotor")->
106 SetRelativeYaw(CRadians(lua_tonumber(pt_lua_state, 1) / 180.0f * CRadians::PI));
107 return 0;
108 }
109#endif
110
111 /****************************************/
112 /****************************************/
113
114#ifdef ARGOS_WITH_LUA
115 void CCI_QuadRotorPositionActuator::CreateLuaState(lua_State* pt_lua_state) {
116 CLuaUtility::OpenRobotStateTable(pt_lua_state, "quadrotor");
117 CLuaUtility::AddToTable(pt_lua_state, "_instance", this);
118 CLuaUtility::AddToTable(pt_lua_state, "set_absolute_position", &LuaSetAbsolutePosition);
119 CLuaUtility::AddToTable(pt_lua_state, "set_absolute_yaw", &LuaSetAbsoluteYaw);
120 CLuaUtility::AddToTable(pt_lua_state, "set_relative_position", &LuaSetRelativePosition);
121 CLuaUtility::AddToTable(pt_lua_state, "set_relative_yaw", &LuaSetRelativeYaw);
122 CLuaUtility::CloseRobotStateTable(pt_lua_state);
123 }
124#endif
125
126 /****************************************/
127 /****************************************/
128
129}
argos
The namespace containing all the ARGoS related code.
Definition ci_actuator.h:12
argos::CCI_Actuator::CreateLuaState
virtual void CreateLuaState(lua_State *pt_lua_state)=0
Creates the Lua state for this actuator.
argos::CRadians
It defines the basic type CRadians, used to store an angle value in radians.
Definition angles.h:42
argos::CRadians::PI
static const CRadians PI
The PI constant.
Definition angles.h:49
argos::CVector3
A 3D vector class.
Definition vector3.h:31
argos::CLuaUtility::AddToTable
static void AddToTable(lua_State *pt_state, const std::string &str_key, void *pt_data)
Adds a pointer to a chunk of data with the given string key to the table located at the top of the st...
Definition lua_utility.cpp:383
argos::CLuaUtility::OpenRobotStateTable
static void OpenRobotStateTable(lua_State *pt_state, const std::string &str_key)
Opens a table in the robot state, creating it if it does not exist.
Definition lua_utility.cpp:326
argos::CLuaUtility::CloseRobotStateTable
static void CloseRobotStateTable(lua_State *pt_state)
Closes a table in the robot state.
Definition lua_utility.cpp:342
argos::CLuaUtility::GetDeviceInstance
static T * GetDeviceInstance(lua_State *pt_state, const std::string &str_key)
Returns a pointer to the instance to the wanted device.
Definition lua_utility.h:380