magnet_equipped_entity.h

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#ifndef MAGNET_EQUIPPED_ENTITY_H
#define MAGNET_EQUIPPED_ENTITY_H
 
namespace argos {
   class CMagnetEquippedEntity;
   class CMagnetEntity;
}
 
#include <argos3/core/simulator/entity/composable_entity.h>
#include <argos3/plugins/simulator/entities/magnet_entity.h>
#include <vector>
 
namespace argos {
 
   class CMagnetEquippedEntity : public CComposableEntity {
 
   public:
 
      ENABLE_VTABLE();
 
   public:
 
      struct SInstance {
         CMagnetEntity& Magnet;
         SAnchor& Anchor;
         CVector3 Offset;
         SInstance(CMagnetEntity& c_magnet,
                   SAnchor& s_anchor,
                   const CVector3& c_position_offset);
         using TVector = std::vector<SInstance>;
      };
 
   public:
 
      CMagnetEquippedEntity(CComposableEntity* pc_parent);
 
      CMagnetEquippedEntity(CComposableEntity* pc_parent,
                            const std::string& str_id);
 
      virtual ~CMagnetEquippedEntity() {}
 
      virtual void Init(TConfigurationNode& t_tree);
 
      virtual void Enable();
 
      virtual void Disable();
 
      CMagnetEntity& GetMagnet(UInt32 un_index);
 
      CMagnetEntity& AddMagnet(const std::string& str_id, 
                               SAnchor& s_anchor,
                               const CVector3& c_position_offset,
                               const CVector3& c_passive_field,
                               const CVector3& c_active_field = CVector3());
 
      SInstance::TVector& GetInstances() {
         return m_vecInstances;
      }
 
      virtual std::string GetTypeDescription() const {
         return "magnets";
      }
 
   protected:
 
      virtual void UpdateComponents() {}
 
   protected:
 
      SInstance::TVector m_vecInstances;
   };
 
}
 
#endif