An entity that contains a pointer to the user-defined controller. More...

#include <controllable_entity.h>

Inheritance diagram for argos::CControllableEntity:

[legend]

Collaboration diagram for argos::CControllableEntity:

[legend]

Public Types
typedef std::vector< CControllableEntity * >	TVector
	A vector of controllable entities. More...

typedef std::map< std::string, CControllableEntity * >	TMap
	A map of controllable entities, indexed by id. More...

Public Types inherited from argos::CEntity
typedef std::vector< CEntity * >	TVector
	A vector of entities. More...

typedef unordered_map< std::string, CEntity * >	TMap
	A map of entities. More...

typedef std::multimap< std::string, CEntity * >	TMultiMap
	A multi-map of entities. More...

Public Member Functions
	ENABLE_VTABLE ()

	CControllableEntity (CComposableEntity *pc_parent)
	Class constructor. More...

	CControllableEntity (CComposableEntity *pc_parent, const std::string &str_id)
	Class constructor. More...

virtual	~CControllableEntity ()
	Class destructor. More...

virtual void	Init (TConfigurationNode &t_tree)
	Initializes the state of the entity from the XML configuration tree. More...

virtual void	Reset ()
	Resets the state of the entity to whatever it was after Init() or one of the standalone constructors was called. More...

virtual void	Destroy ()
	Destroys the entity, undoing whatever was done by Init() or by the standalone constructor. More...

const CCI_Controller &	GetController () const
	Returns a reference to the associated controller. More...

CCI_Controller &	GetController ()
	Returns a reference to the associated controller. More...

void	SetController (const std::string &str_controller_id)
	Creates and assigns a controller with the given id. More...

void	SetController (const std::string &str_controller_id, TConfigurationNode &t_controller_config)
	Creates and assigns a controller with the given id and the given XML parameters. More...

virtual void	Sense ()
	Executes the CSimulatedSensor::Update() method for all associated sensors. More...

virtual void	ControlStep ()
	Executes CCI_Controller::ControlStep(). More...

virtual void	Act ()
	Executes the CSimulatedActuator::Update() method for all associated actuators. More...

virtual std::string	GetTypeDescription () const
	Returns a string label for this class. More...

void	AddCheckedRay (bool b_obstructed, const CRay3 &c_ray)
	Adds a ray to the list of checked rays. More...

void	AddIntersectionPoint (const CRay3 &c_ray, Real f_t_on_ray)
	Adds an intersection point to the list. More...

std::vector< std::pair< bool, CRay3 > > &	GetCheckedRays ()
	Returns the list of checked rays. More...

std::vector< CVector3 > &	GetIntersectionPoints ()
	Returns the list of intersection points. More...

const std::map< std::string, CSimulatedActuator * > &	GetActuators () const
	Returns a map of actuators indexed by actuator type. More...

const std::map< std::string, CSimulatedSensor * > &	GetSensors () const
	Returns a map of sensors indexed by sensor type. More...

Public Member Functions inherited from argos::CEntity
	ENABLE_VTABLE ()

	CEntity (CComposableEntity *pc_parent)
	Class constructor. More...

	CEntity (CComposableEntity *pc_parent, const std::string &str_id)
	Class constructor. More...

virtual	~CEntity ()
	Class destructor. More...

const std::string &	GetId () const
	Returns the id of this entity. More...

std::string	GetContext () const
	Returns the context of this entity. More...

bool	HasParent () const
	Returns `true` if this entity has a parent. More...

CEntity &	GetRootEntity ()
	Returns the root entity containing this entity. More...

const CEntity &	GetRootEntity () const
	Returns the root entity containing this entity. More...

CComposableEntity &	GetParent ()
	Returns this entity's parent. More...

const CComposableEntity &	GetParent () const
	Returns this entity's parent. More...

void	SetParent (CComposableEntity &c_parent)
	Sets this entity's parent. More...

virtual void	Update ()
	Updates the state of this entity. More...

ssize_t	GetIndex () const
	Returns the entity index. More...

void	SetIndex (ssize_t n_idx)
	Sets the entity index. More...

bool	IsEnabled () const
	Returns `true` if the entity is enabled. More...

void	Enable ()
	Enables the entity. More...

void	Disable ()
	Disables the entity. More...

virtual void	SetEnabled (bool b_enabled)
	Enables or disables an entity. More...

TConfigurationNode *	GetConfigurationNode ()
	Returns a pointer to the configuration node that was used to create this entity. More...

Public Member Functions inherited from argos::CBaseConfigurableResource
virtual	~CBaseConfigurableResource ()
	Class destructor. More...

Public Member Functions inherited from argos::EnableVTableFor< CEntity >
size_t	GetTagHelper (const DERIVED *) const

Protected Attributes
CCI_Controller *	m_pcController
	The pointer to the associated controller. More...

std::map< std::string, CSimulatedActuator * >	m_mapActuators
	The map of actuators, indexed by actuator type (not implementation!) More...

std::map< std::string, CSimulatedSensor * >	m_mapSensors
	The map of sensors, indexed by sensor type (not implementation!) More...

std::vector< std::pair< bool, CRay3 > >	m_vecCheckedRays
	The list of checked rays. More...

std::vector< CVector3 >	m_vecIntersectionPoints
	The list of intersection points. More...

Detailed Description

An entity that contains a pointer to the user-defined controller.

See also: CComposableEntity

Definition at line 26 of file controllable_entity.h.

Member Typedef Documentation

◆ TMap

typedef std::map<std::string, CControllableEntity*> argos::CControllableEntity::TMap

A map of controllable entities, indexed by id.

Definition at line 36 of file controllable_entity.h.

◆ TVector

typedef std::vector<CControllableEntity*> argos::CControllableEntity::TVector

A vector of controllable entities.

Definition at line 33 of file controllable_entity.h.

Constructor & Destructor Documentation

◆ CControllableEntity() [1/2]

argos::CControllableEntity::CControllableEntity ( CComposableEntity * pc_parent )

Class constructor.

This constructor is meant to be used with the Init() method. After the execution of this constructor, the controller has not been associated to this entity yet.

Parameters

pc_parent The parent of this entity.

Definition at line 19 of file controllable_entity.cpp.

◆ CControllableEntity() [2/2]

argos::CControllableEntity::CControllableEntity	(	CComposableEntity *	pc_parent,
		const std::string &	str_id
	)

Class constructor.

This constructor is meant to be standalone. You should not call Init() after using this constructor, or memory leaks are likely to happen. After the execution of this constructor, a new controller instance must be associated to this entity using SetController().

Parameters

pc_parent	The parent of this entity.
str_id	The id of this entity.

Exceptions

CARGoSException if an error occurs in the creation of the controller

See also: SetController()

Definition at line 26 of file controllable_entity.cpp.

◆ ~CControllableEntity()

argos::CControllableEntity::~CControllableEntity ( )

virtual

Class destructor.

Definition at line 35 of file controllable_entity.cpp.

Member Function Documentation

◆ Act()

void argos::CControllableEntity::Act ( )

virtual

Executes the CSimulatedActuator::Update() method for all associated actuators.

See also: CSimulatedActuator

Definition at line 229 of file controllable_entity.cpp.

◆ AddCheckedRay()

void argos::CControllableEntity::AddCheckedRay	(	bool	b_obstructed,
		const CRay3 &	c_ray
	)

inline

Adds a ray to the list of checked rays.

This method is typically called by sensors to show which rays were shot and whether they intersected an object or not. These rays can then be drawn by a visualization (such as the Qt-OpenGL one) or analyzed for debugging purposes.

Parameters

b_obstructed	`true` if the ray intersects an object.
c_ray	The actual ray.

See also: CRay3; AddIntersectionPoint()

Definition at line 178 of file controllable_entity.h.

◆ AddIntersectionPoint()

void argos::CControllableEntity::AddIntersectionPoint	(	const CRay3 &	c_ray,
		Real	f_t_on_ray
	)

inline

Adds an intersection point to the list.

This method is typically called by sensors to show which rays were shot, whether they intersected an object or not and where the intersection occurred. Rays and intersection points can be drawn by a visualization (such as the Qt-OpenGL one) or analyzed for debugging purposes.

See also: AddCheckedRay()

Definition at line 191 of file controllable_entity.h.

◆ ControlStep()

void argos::CControllableEntity::ControlStep ( )

virtual

Executes CCI_Controller::ControlStep().

Exceptions

CARGoSException If no controller has been associated.

See also: CCI_Controller

Definition at line 217 of file controllable_entity.cpp.

◆ Destroy()

void argos::CControllableEntity::Destroy ( )

virtual

Destroys the entity, undoing whatever was done by Init() or by the standalone constructor.

Reimplemented from argos::CEntity.

Definition at line 92 of file controllable_entity.cpp.

◆ ENABLE_VTABLE()

argos::CControllableEntity::ENABLE_VTABLE ( )

◆ GetActuators()

const std::map<std::string, CSimulatedActuator*>& argos::CControllableEntity::GetActuators ( ) const

inline

Returns a map of actuators indexed by actuator type.

Returns: a map of actuators indexed by actuator type.

Definition at line 222 of file controllable_entity.h.

◆ GetCheckedRays()

std::vector<std::pair<bool, CRay3> >& argos::CControllableEntity::GetCheckedRays ( )

inline

Returns the list of checked rays.

Returns: The list of checked rays.

See also: AddCheckedRay(); AddIntersectionPoint()

Definition at line 204 of file controllable_entity.h.

◆ GetController() [1/2]

CCI_Controller & argos::CControllableEntity::GetController ( )

Returns a reference to the associated controller.

Returns: A reference to the associated controller.

Exceptions

CARGoSException If no controller has been associated.

See also: CCI_Controller

Definition at line 127 of file controllable_entity.cpp.

◆ GetController() [2/2]

const CCI_Controller & argos::CControllableEntity::GetController ( ) const

Returns a reference to the associated controller.

Returns: A reference to the associated controller.

Exceptions

CARGoSException If no controller has been associated.

See also: CCI_Controller

Definition at line 115 of file controllable_entity.cpp.

◆ GetIntersectionPoints()

std::vector<CVector3>& argos::CControllableEntity::GetIntersectionPoints ( )

inline

Returns the list of intersection points.

Returns: The list of intersection points.

See also: AddCheckedRay(); AddIntersectionPoint()

Definition at line 214 of file controllable_entity.h.

◆ GetSensors()

const std::map<std::string, CSimulatedSensor*>& argos::CControllableEntity::GetSensors ( ) const

inline

Returns a map of sensors indexed by sensor type.

Returns: a map of sensors indexed by sensor type.

Definition at line 230 of file controllable_entity.h.

◆ GetTypeDescription()

virtual std::string argos::CControllableEntity::GetTypeDescription ( ) const

inlinevirtual

Returns a string label for this class.

Returns: A string label for this class.

Reimplemented from argos::CEntity.

Definition at line 163 of file controllable_entity.h.

◆ Init()

void argos::CControllableEntity::Init ( TConfigurationNode & t_tree )

virtual

Initializes the state of the entity from the XML configuration tree.

After the execution of this constructor, a new controller instance is associated to this entity.

Exceptions

CARGoSException if an error occurs in the creation of the controller

See also: CCI_Controller; SetController()

Reimplemented from argos::CEntity.

Definition at line 44 of file controllable_entity.cpp.

◆ Reset()

void argos::CControllableEntity::Reset ( )

virtual

Resets the state of the entity to whatever it was after Init() or one of the standalone constructors was called.

Reimplemented from argos::CEntity.

Definition at line 71 of file controllable_entity.cpp.

◆ Sense()

void argos::CControllableEntity::Sense ( )

virtual

Executes the CSimulatedSensor::Update() method for all associated sensors.

In addition, it clears the list of rays and intersection points.

See also: CSimulatedSensor; m_vecCheckedRays;; m_vecIntersectionPoints;

Definition at line 205 of file controllable_entity.cpp.

◆ SetController() [1/2]

void argos::CControllableEntity::SetController ( const std::string & str_controller_id )

Creates and assigns a controller with the given id.

As part of the creation of the controller, all the sensors and actuators are also created and initialized. For each sensor and actuator, this method calls SetRobot() and Init(), in this order. This method passes to CCI_Controller::Init() the <params> section found in the controller section.

Parameters

str_controller_id The id of the controller as specified in the XML configuration file

Exceptions

CARGoSException if an error occurs in the creation of the controller

See also: CCI_Controller::Init(); CSimulatedSensor::SetRobot(); CSimulatedActuator::SetRobot(); CCI_Sensor::Init(); CCI_Actuator::Init()

Definition at line 139 of file controllable_entity.cpp.

◆ SetController() [2/2]

void argos::CControllableEntity::SetController	(	const std::string &	str_controller_id,
		TConfigurationNode &	t_controller_config
	)

Creates and assigns a controller with the given id and the given XML parameters.

As part of the creation of the controller, all the sensors and actuators are also created and initialized. For each sensor and actuator, this method calls SetRobot() and Init(), in this order. This method passes the given XML tree to CCI_Controller::Init() instead of that found in the controller XML section.

Parameters

str_controller_id	The id of the controller as specified in the XML configuration file
t_controller_config	An XML tree to pass to CCI_Controller::Init()

Exceptions

CARGoSException if an error occurs in the creation of the controller

See also: CCI_Controller::Init(); CSimulatedSensor::SetRobot(); CSimulatedActuator::SetRobot(); CCI_Sensor::Init(); CCI_Actuator::Init()

Definition at line 148 of file controllable_entity.cpp.

Member Data Documentation

◆ m_mapActuators

std::map<std::string, CSimulatedActuator*> argos::CControllableEntity::m_mapActuators

protected

The map of actuators, indexed by actuator type (not implementation!)

Definition at line 240 of file controllable_entity.h.

◆ m_mapSensors

std::map<std::string, CSimulatedSensor*> argos::CControllableEntity::m_mapSensors

protected

The map of sensors, indexed by sensor type (not implementation!)

Definition at line 243 of file controllable_entity.h.

◆ m_pcController

CCI_Controller* argos::CControllableEntity::m_pcController

protected

The pointer to the associated controller.

Definition at line 237 of file controllable_entity.h.

◆ m_vecCheckedRays

std::vector<std::pair<bool, CRay3> > argos::CControllableEntity::m_vecCheckedRays

protected

The list of checked rays.

Definition at line 246 of file controllable_entity.h.

◆ m_vecIntersectionPoints

std::vector<CVector3> argos::CControllableEntity::m_vecIntersectionPoints

protected

The list of intersection points.

Definition at line 249 of file controllable_entity.h.

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ TMap

◆ TVector

Constructor & Destructor Documentation

◆ CControllableEntity() [1/2]

◆ CControllableEntity() [2/2]

◆ ~CControllableEntity()

Member Function Documentation

◆ Act()

◆ AddCheckedRay()

◆ AddIntersectionPoint()

◆ ControlStep()

◆ Destroy()

◆ ENABLE_VTABLE()

◆ GetActuators()

◆ GetCheckedRays()

◆ GetController() [1/2]

◆ GetController() [2/2]

◆ GetIntersectionPoints()

◆ GetSensors()

◆ GetTypeDescription()

◆ Init()

◆ Reset()

◆ Sense()

◆ SetController() [1/2]

◆ SetController() [2/2]

Member Data Documentation

◆ m_mapActuators

◆ m_mapSensors

◆ m_pcController

◆ m_vecCheckedRays

◆ m_vecIntersectionPoints