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dynamics2d_model.h
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1 
7 #ifndef DYNAMICS2D_MODEL_H
8 #define DYNAMICS2D_MODEL_H
9 
10 namespace argos {
11  class CDynamics2DEngine;
12 }
13 
14 #include <argos3/core/simulator/physics_engine/physics_model.h>
15 #include <argos3/plugins/simulator/physics_engines/dynamics2d/dynamics2d_engine.h>
16 
17 namespace argos {
18 
28 
29  public:
30 
31  typedef std::map<std::string, CDynamics2DModel*> TMap;
32 
33  public:
34 
36  CEmbodiedEntity& c_entity) :
37  CPhysicsModel(c_engine, c_entity),
38  m_cDyn2DEngine(c_engine) {}
39 
40  virtual ~CDynamics2DModel() {}
41 
42  virtual void Reset() = 0;
43 
49  return m_cDyn2DEngine;
50  }
51 
56  inline const CDynamics2DEngine& GetDynamics2DEngine() const {
57  return m_cDyn2DEngine;
58  }
59 
60  private:
61 
62  CDynamics2DEngine& m_cDyn2DEngine;
63 
64  };
65 
66 }
67 
68 #endif
CDynamics2DModel(CDynamics2DEngine &c_engine, CEmbodiedEntity &c_entity)
std::map< std::string, CDynamics2DModel * > TMap
This entity is a link to a body in the physics engine.
CDynamics2DEngine & GetDynamics2DEngine()
Returns the dynamics 2D engine state.
The base class for models in the dynamics 2D engine.
const CDynamics2DEngine & GetDynamics2DEngine() const
Returns the dynamics 2D engine state as a const reference.
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
virtual void Reset()=0