tag_entity.h

Go to the documentation of this file.

 
#ifndef TAG_ENTITY_H
#define TAG_ENTITY_H
 
namespace argos {
   class CTagEntity;
   class CTagMedium;
}
 
#include <argos3/core/simulator/entity/positional_entity.h>
#include <argos3/core/utility/datatypes/set.h>
#include <argos3/core/utility/math/vector3.h>
#include <argos3/core/simulator/space/positional_indices/space_hash.h>
#include <argos3/core/simulator/space/positional_indices/grid.h>
 
namespace argos {
 
   class CTagEntity : public CPositionalEntity {
 
   public:
 
      ENABLE_VTABLE();
 
      typedef std::vector<CTagEntity*> TList;
      typedef CSet<CTagEntity*> TSet;
 
   public:
 
      CTagEntity(CComposableEntity* pc_parent);
 
      CTagEntity(CComposableEntity* pc_parent,
                 const std::string& str_id,
                 const CVector3& c_position,
                 const CQuaternion& c_orientation,
                 const CRadians& c_observable_angle,
                 Real f_side_length,
                 const std::string& str_payload);
 
      virtual ~CTagEntity() {}
 
      virtual void Init(TConfigurationNode& t_tree);
 
      virtual void Reset();
 
      virtual void Destroy();
 
      virtual void SetEnabled(bool b_enabled);
 
      inline const std::string& GetPayload() const {
         return m_strPayload;
      }
 
      inline const CRadians& GetObservableAngle() const {
         return m_cObservableAngle;
      }
 
      inline Real GetSideLength() const {
         return m_fSideLength;
      }
 
      inline const std::string& GetInitPayload() const {
         return m_strInitPayload;
      }
 
      void SetPayload(const std::string& str_payload);
 
      inline void SetInitPayload(const std::string& str_payload) {
         m_strInitPayload = str_payload;
      }
 
      virtual std::string GetTypeDescription() const {
         return "tag";
      }
 
      inline bool HasMedium() const {
         return m_pcMedium != nullptr;
      }
 
      CTagMedium& GetMedium() const;
 
      void SetMedium(CTagMedium& c_medium);
 
 
   protected:
 
      CRadians m_cObservableAngle;
      Real m_fSideLength;
      std::string m_strPayload;
      std::string m_strInitPayload;
      CTagMedium* m_pcMedium;
 
   };
 
   /****************************************/
   /****************************************/
 
   class CTagEntitySpaceHashUpdater : public CSpaceHashUpdater<CTagEntity> {
 
   public:
 
      virtual void operator()(CAbstractSpaceHash<CTagEntity>& c_space_hash,
                              CTagEntity& c_element);
 
   private:
 
      SInt32 m_nI, m_nJ, m_nK;
 
   };
 
   /****************************************/
   /****************************************/
 
   class CTagEntityGridUpdater : public CGrid<CTagEntity>::COperation {
 
   public:
 
      CTagEntityGridUpdater(CGrid<CTagEntity>& c_grid);
      virtual bool operator()(CTagEntity& c_entity);
 
   private:
 
      CGrid<CTagEntity>& m_cGrid;
      SInt32 m_nI, m_nJ, m_nK;
 
   };
 
   /****************************************/
   /****************************************/
 
}
 
#endif