proximity_default_sensor.h

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#ifndef PROXIMITY_DEFAULT_SENSOR_H
#define PROXIMITY_DEFAULT_SENSOR_H

#include <string>
#include <map>

namespace argos {
   class CProximityDefaultSensor;
   class CProximitySensorEquippedEntity;
}

#include <argos3/plugins/robots/generic/control_interface/ci_proximity_sensor.h>
#include <argos3/core/utility/math/range.h>
#include <argos3/core/utility/math/rng.h>
#include <argos3/core/simulator/space/space.h>
#include <argos3/core/simulator/sensor.h>

namespace argos {

   class CProximityDefaultSensor : public CSimulatedSensor,
                                   public CCI_ProximitySensor {

   public:

      CProximityDefaultSensor();

      virtual ~CProximityDefaultSensor() {}

      virtual void SetRobot(CComposableEntity& c_entity);

      virtual void Init(TConfigurationNode& t_tree);

      virtual void Update();

      virtual void Reset();

      virtual Real CalculateReading(Real f_distance);

   protected:

      CEmbodiedEntity* m_pcEmbodiedEntity;

      CProximitySensorEquippedEntity* m_pcProximityEntity;

      CControllableEntity* m_pcControllableEntity;

      bool m_bShowRays;

      CRandom::CRNG* m_pcRNG;

      bool m_bAddNoise;

      CRange<Real> m_cNoiseRange;

      CSpace& m_cSpace;
   };

}

#endif