wheeled_entity.h

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#ifndef WHEELED_ENTITY_H
#define WHEELED_ENTITY_H
 
#include <argos3/core/simulator/entity/entity.h>
#include <argos3/core/utility/math/vector3.h>
 
namespace argos {
 
   class CWheeledEntity : public CEntity {
 
   public:
 
      ENABLE_VTABLE();
 
   public:
 
      CWheeledEntity(CComposableEntity* pc_parent,
                     size_t un_num_wheels);
 
      CWheeledEntity(CComposableEntity* pc_parent,
                     const std::string& str_id,
                     size_t un_num_wheels);
 
      virtual ~CWheeledEntity();
 
      virtual void Reset();
 
      inline size_t GetNumWheels() const {
         return m_unNumWheels;
      }
 
      void SetWheel(UInt32 un_index,
                    const CVector3& c_position,
                    Real f_radius);
 
      const CVector3& GetWheelPosition(size_t un_index) const;
 
      inline const CVector3* GetWheelPositions() const {
         return m_pcWheelPositions;
      }
 
      Real GetWheelRadius(size_t un_index) const;
 
      inline const Real* GetWheelRadia() const {
         return m_pfWheelRadia;
      }
 
      Real GetWheelVelocity(size_t un_index) const;
 
      inline const Real* GetWheelVelocities() const {
         return m_pfWheelVelocities;
      }
 
      void SetVelocities(Real* pf_velocities);
 
      virtual std::string GetTypeDescription() const {
         return "wheels";
      }
 
   private:
 
      size_t m_unNumWheels;
      CVector3* m_pcWheelPositions;
      Real* m_pfWheelRadia;
      Real* m_pfWheelVelocities;
 
   };
 
}
 
#endif