quadrotor_entity.h

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#ifndef QUADROTOR_ENTITY_H
#define QUADROTOR_ENTITY_H
 
#include <argos3/core/simulator/entity/entity.h>
#include <argos3/core/utility/math/vector3.h>
 
namespace argos {
 
   class CQuadRotorEntity : public CEntity {
 
   public:
 
      ENABLE_VTABLE();
 
   public:
 
      enum EControlMethod {
         NO_CONTROL = 0,
         POSITION_CONTROL,
         SPEED_CONTROL
      };
 
      struct SPositionControlData {
         CVector3 Position;
         CRadians Yaw;
 
         SPositionControlData() {}
         SPositionControlData(const CVector3& c_position,
                              const CRadians& c_yaw);
      };
 
      struct SSpeedControlData {
         CVector3 Velocity;
         CRadians RotSpeed;
 
         SSpeedControlData() {}
         SSpeedControlData(const CVector3& c_velocity,
                           const CRadians& c_rot_speed);
      };
 
   public:
 
      CQuadRotorEntity(CComposableEntity* pc_parent);
      
      CQuadRotorEntity(CComposableEntity* pc_parent,
                       const std::string& str_id);
 
      virtual ~CQuadRotorEntity() {}
 
      virtual void Reset();
 
      EControlMethod GetControlMethod() const {
         return m_eControlMethod;
      }
 
      void SetControlMethod(EControlMethod e_control_method) {
         m_eControlMethod = e_control_method;
      }
 
      const SPositionControlData& GetPositionControlData() const {
         return m_sPositionControlData;
      }
 
      void SetPositionControlData(const SPositionControlData& s_data) {
         m_sPositionControlData = s_data;
      }
 
      const SSpeedControlData& GetSpeedControlData() const {
         return m_sSpeedControlData;
      }
 
      void SetSpeedControlData(const SSpeedControlData& s_data) {
         m_sSpeedControlData = s_data;
      }
 
      virtual std::string GetTypeDescription() const {
         return "quadrotor";
      }
 
   private:
 
      EControlMethod       m_eControlMethod;
      SPositionControlData m_sPositionControlData;
      SSpeedControlData    m_sSpeedControlData;
 
   };
 
}
 
#endif