rotor_equipped_entity.h

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#ifndef ROTOR_EQUIPPED_ENTITY_H
#define ROTOR_EQUIPPED_ENTITY_H
 
#include <argos3/core/simulator/entity/entity.h>
#include <argos3/core/utility/math/vector3.h>
 
namespace argos {
 
   class CRotorEquippedEntity : public CEntity {
 
   public:
 
      ENABLE_VTABLE();
 
   public:
 
      CRotorEquippedEntity(CComposableEntity* pc_parent,
                           size_t un_num_rotors);
 
      CRotorEquippedEntity(CComposableEntity* pc_parent,
                           const std::string& str_id,
                           size_t un_num_rotors);
 
      virtual ~CRotorEquippedEntity();
 
      virtual void Reset();
 
      inline size_t GetNumRotors() const {
         return m_unNumRotors;
      }
 
      void SetRotor(UInt32 un_index,
                    const CVector3& c_position);
 
      const CVector3& GetRotorPosition(size_t un_index) const;
 
      inline const CVector3* GetRotorPositions() const {
         return m_pcRotorPositions;
      }
 
      Real GetRotorVelocity(size_t un_index) const;
 
      inline const Real* GetRotorVelocities() const {
         return m_pfRotorVelocities;
      }
 
      void SetVelocities(Real* pf_velocities);
 
      virtual std::string GetTypeDescription() const {
         return "rotors";
      }
 
   private:
 
      size_t m_unNumRotors;
      CVector3* m_pcRotorPositions;
      Real* m_pfRotorVelocities;
 
   };
 
}
 
#endif