Public Member Functions
	PrimitiveExecutor (const Duration time_step, const RobotConstants_t &robot_constants, const TeamColour friendly_team_colour, const RobotId robot_id)

void	updatePrimitive (const TbotsProto::Primitive &primitive_msg)

void	setStopPrimitive ()

void	updateVelocity (const Vector &local_velocity, const AngularVelocity &angular_velocity)

void	setRobotId (RobotId robot_id)

std::unique_ptr< TbotsProto::DirectControlPrimitive >	stepPrimitive (TbotsProto::PrimitiveExecutorStatus &status)

Constructor & Destructor Documentation

◆ PrimitiveExecutor()

explicit

Constructor

Parameters

time_step	Time step which this primitive executor operates in
robot_constants	The robot constants for the robot which uses this primitive executor
friendly_team_colour	The colour of the friendly team
robot_id	The id of the robot which uses this primitive executor

void setRobotId ( RobotId robot_id )

Set the robot id

Parameters

robot_id The id of the robot which uses this primitive executor

void setStopPrimitive ( )

Set the current primitive to the stop primitive

std::unique_ptr< TbotsProto::DirectControlPrimitive > stepPrimitive ( TbotsProto::PrimitiveExecutorStatus & status )

Steps the current primitive and returns a direct control primitive with the target wheel velocities

Parameters

status The status of the primitive executor, set to false if current primitive is a Stop primitive

void updatePrimitive ( const TbotsProto::Primitive & primitive_msg )

Update primitive executor with a new Primitive

Parameters

primitive_msg The primitive to start

Update primitive executor with the current velocity of the robot

Parameters

local_velocity	The current local velocity
angular_velocity	The current angular velocity

The documentation for this class was generated from the following files: