tag_equipped_entity.h

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#ifndef TAG_EQUIPPED_ENTITY_H
#define TAG_EQUIPPED_ENTITY_H
 
namespace argos {
   class CTagEquippedEntity;
   class CTagEntity;
}
 
#include <argos3/core/simulator/entity/composable_entity.h>
#include <argos3/plugins/simulator/entities/tag_entity.h>
#include <vector>
 
namespace argos {
 
   class CTagEquippedEntity : public CComposableEntity {
 
   public:
 
      ENABLE_VTABLE();
 
   public:
 
      struct SInstance {
         CTagEntity& Tag;
         SAnchor& Anchor;
         CVector3 PositionOffset;
         CQuaternion OrientationOffset;
         SInstance(CTagEntity& c_tag,
                   SAnchor& s_anchor,
                   const CVector3& c_position_offset,
                   const CQuaternion& c_orientation_offset);
         using TVector = std::vector<SInstance>;
      };
 
   public:
 
      CTagEquippedEntity(CComposableEntity* pc_parent);
 
      CTagEquippedEntity(CComposableEntity* pc_parent,
                         const std::string& str_id);
 
      virtual ~CTagEquippedEntity() {}
 
      virtual void Init(TConfigurationNode& t_tree);
 
      virtual void Enable();
 
      virtual void Disable();
 
      void AddTag(const std::string& str_id,
                  const CVector3& c_position,
                  const CQuaternion& c_orientation,
                  SAnchor& s_anchor,
                  const CRadians& c_observable_angle,
                  Real f_side_length,
                  const std::string& str_payload);
 
      CTagEntity& GetTag(UInt32 un_index);
 
      inline SInstance::TVector& GetInstances() {
         return m_vecInstances;
      }
 
      inline const SInstance::TVector& GetInstances() const {
         return m_vecInstances;
      }
 
      void SetTagPayload(UInt32 un_index,
                         const std::string& str_payload);
 
      void SetTagPayloads(const std::string& str_payload);
 
      void SetTagPayloads(const std::vector<std::string>& vec_payloads);
 
      void SetMedium(CTagMedium& c_medium);
 
      virtual std::string GetTypeDescription() const {
         return "tags";
      }
 
   protected:
 
      virtual void UpdateComponents();
 
   protected:
 
      SInstance::TVector m_vecInstances;
   };
 
}
 
#endif