footbot_distance_scanner_equipped_entity.cpp

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#include "footbot_distance_scanner_equipped_entity.h"
#include <argos3/core/simulator/physics_engine/physics_engine.h>
#include <argos3/core/simulator/space/space.h>
 
namespace argos {
 
   /****************************************/
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   CFootBotDistanceScannerEquippedEntity::CFootBotDistanceScannerEquippedEntity(CComposableEntity* pc_parent) :
      CEntity(pc_parent),
      m_unMode(MODE_OFF),
      m_fRotationSpeed(0.0f) {
      Disable();
   }
   
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   /****************************************/
 
   CFootBotDistanceScannerEquippedEntity::CFootBotDistanceScannerEquippedEntity(CComposableEntity* pc_parent,
                                                                  const std::string& str_id) :
      CEntity(pc_parent, str_id),
      m_unMode(MODE_OFF),
      m_fRotationSpeed(0.0f) {
      Disable();
   }
   
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   void CFootBotDistanceScannerEquippedEntity::Reset() {
      m_unMode = MODE_OFF;
      m_cRotation = CRadians::ZERO;
      m_fRotationSpeed = 0.0f;
   }
 
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   /****************************************/
 
   void CFootBotDistanceScannerEquippedEntity::Update() {
      if(m_unMode == MODE_SPEED_CONTROL &&
         m_fRotationSpeed != 0.0f) {
         m_cRotation += CRadians(m_fRotationSpeed *
                                 CPhysicsEngine::GetSimulationClockTick());
         m_cRotation.UnsignedNormalize();
      }
   }
 
   /****************************************/
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   void CFootBotDistanceScannerEquippedEntity::SetRotation(const CRadians& c_rotation) {
      m_cRotation = c_rotation;
      m_cRotation.UnsignedNormalize();
   }
 
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   REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY(CFootBotDistanceScannerEquippedEntity);
 
   /****************************************/
   /****************************************/
 
}