magnet_entity.cpp

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#include "magnet_entity.h"
#include <argos3/core/simulator/space/space.h>
 
namespace argos {
 
   /****************************************/
   /****************************************/
 
   CMagnetEntity::CMagnetEntity(CComposableEntity* pc_parent) :
      CEntity(pc_parent),
      m_cField(CVector3::ZERO),
      m_cPassiveField(CVector3::ZERO),
      m_cActiveField(CVector3::ZERO) {}
 
   /****************************************/
   /****************************************/
 
   CMagnetEntity::CMagnetEntity(CComposableEntity* pc_parent,
                                const std::string& str_id,
                                const CVector3& c_passive_field,
                                const CVector3& c_active_field) :
      CEntity(pc_parent, str_id),
      m_cField(c_passive_field),
      m_cPassiveField(c_passive_field),
      m_cActiveField(c_active_field) {}
 
   /****************************************/
   /****************************************/
 
   void CMagnetEntity::Init(TConfigurationNode& t_tree) {
      try {
         /* Parse XML */
         CEntity::Init(t_tree);
         GetNodeAttribute(t_tree, "passive_field", m_cPassiveField);
         GetNodeAttributeOrDefault(t_tree, "active_field", m_cActiveField, m_cActiveField);
         /* m_cField is updated by SetCurrent which sums the product of the current with
            m_cActiveField and m_cPassiveField to evalaute m_cField */
         m_cField = m_cPassiveField;
      }
      catch(CARGoSException& ex) {
         THROW_ARGOSEXCEPTION_NESTED("Error while initializing magnet entity", ex);
      }
   }
 
   /****************************************/
   /****************************************/
 
   void CMagnetEntity::Reset() {
      m_cField = m_cPassiveField;
   }
 
   /****************************************/
   /****************************************/
 
   REGISTER_STANDARD_SPACE_OPERATIONS_ON_ENTITY(CMagnetEntity);
 
   /****************************************/
   /****************************************/
 
}