rab_medium.h

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#ifndef RAB_MEDIUM_H
#define RAB_MEDIUM_H
 
namespace argos {
   class CRABMedium;
   class CRABEquippedEntity;
}
 
#include <argos3/core/simulator/medium/medium.h>
#include <argos3/core/simulator/space/positional_indices/positional_index.h>
#include <argos3/plugins/robots/generic/control_interface/ci_range_and_bearing_sensor.h>
#include <argos3/plugins/simulator/entities/rab_equipped_entity.h>
 
namespace argos {
 
   class CRABMedium : public CMedium {
 
   public:
 
      CRABMedium();
 
      virtual ~CRABMedium();
 
      virtual void Init(TConfigurationNode& t_tree);
      virtual void PostSpaceInit();
      virtual void Reset();
      virtual void Destroy();
      virtual void Update();
 
      void AddEntity(CRABEquippedEntity& c_entity);
      
      void RemoveEntity(CRABEquippedEntity& c_entity);
 
      const CSet<CRABEquippedEntity*,SEntityComparator>& GetRABsCommunicatingWith(CRABEquippedEntity& c_entity) const;
 
   private:
 
      typedef unordered_map<ssize_t, CSet<CRABEquippedEntity*,SEntityComparator> > TRoutingTable;
 
      TRoutingTable m_tRoutingTable;
 
      CPositionalIndex<CRABEquippedEntity>* m_pcRABEquippedEntityIndex;
 
      CRABEquippedEntityGridEntityUpdater* m_pcRABEquippedEntityGridUpdateOperation;
 
      /* Whether occlusions should be considered or not */
      bool m_bCheckOcclusions;
 
   };
 
}
 
#endif