eyebot_entity.h

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#ifndef EYEBOT_ENTITY_H
#define EYEBOT_ENTITY_H
 
namespace argos {
   class CControllableEntity;
   class CEmbodiedEntity;
   class CEyeBotEntity;
   class CLEDEquippedEntity;
   class CLightSensorEquippedEntity;
   class CPerspectiveCameraEquippedEntity;
   class CProximitySensorEquippedEntity;
   class CQuadRotorEntity;
   class CRABEquippedEntity;
   class CBatteryEquippedEntity;
}
 
#include <argos3/core/simulator/entity/composable_entity.h>
 
namespace argos {
 
   class CEyeBotEntity : public CComposableEntity {
 
   public:
 
      ENABLE_VTABLE();
 
   public:
 
      CEyeBotEntity();
 
      CEyeBotEntity(const std::string& str_id,
                    const std::string& str_controller_id,
                    const CVector3& c_position = CVector3(),
                    const CQuaternion& c_orientation = CQuaternion(),
                    Real f_rab_range = 3.0f,
                    size_t un_rab_data_size = 10,
                    const std::string& str_bat_model = "",
                    const CRadians& c_perspcam_aperture = ToRadians(CDegrees(30.0f)),
                    Real f_perspcam_focal_length = 0.035,
                    Real f_perspcam_range = 2.0);
 
      virtual void Init(TConfigurationNode& t_tree);
      virtual void Reset();
 
      virtual void UpdateComponents();
      
      inline CControllableEntity& GetControllableEntity() {
         return *m_pcControllableEntity;
      }
 
      inline CEmbodiedEntity& GetEmbodiedEntity() {
         return *m_pcEmbodiedEntity;
      }
 
      inline CLEDEquippedEntity& GetLEDEquippedEntity() {
         return *m_pcLEDEquippedEntity;
      }
 
      inline CLightSensorEquippedEntity& GetLightSensorEquippedEntity() {
         return *m_pcLightSensorEquippedEntity;
      }
 
      inline CProximitySensorEquippedEntity& GetProximitySensorEquippedEntity() {
         return *m_pcProximitySensorEquippedEntity;
      }
 
      inline CQuadRotorEntity& GetQuadRotorEntity() {
         return *m_pcQuadRotorEntity;
      }
 
      inline CRABEquippedEntity& GetRABEquippedEntity() {
         return *m_pcRABEquippedEntity;
      }
 
      inline CBatteryEquippedEntity& GetBatterySensorEquippedEntity() {
          return *m_pcBatteryEquippedEntity;
      }
 
      virtual std::string GetTypeDescription() const {
         return "eye-bot";
      }
 
   private:
 
      CControllableEntity*              m_pcControllableEntity;
      CEmbodiedEntity*                  m_pcEmbodiedEntity;
      CLEDEquippedEntity*               m_pcLEDEquippedEntity;
      CLightSensorEquippedEntity*       m_pcLightSensorEquippedEntity;
      CPerspectiveCameraEquippedEntity* m_pcPerspectiveCameraEquippedEntity;
      CProximitySensorEquippedEntity*   m_pcProximitySensorEquippedEntity;
      CQuadRotorEntity*                 m_pcQuadRotorEntity;
      CRABEquippedEntity*               m_pcRABEquippedEntity;
      CBatteryEquippedEntity*           m_pcBatteryEquippedEntity;
   };
 
}
 
#endif