led_equipped_entity.h

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#ifndef LED_EQUIPPED_ENTITY_H
#define LED_EQUIPPED_ENTITY_H
 
namespace argos {
   class CLEDEquippedEntity;
   class CLEDEntity;
}
 
#include <argos3/core/simulator/entity/composable_entity.h>
#include <argos3/plugins/simulator/entities/led_entity.h>
#include <map>
 
namespace argos {
 
   class CLEDEquippedEntity : public CComposableEntity {
 
   public:
 
      ENABLE_VTABLE();
 
      typedef std::map<std::string, CLEDEquippedEntity*> TMap;
 
   public:
 
      struct SActuator {
         typedef std::vector<SActuator*> TList;
 
         CLEDEntity& LED;
         CVector3 Offset;
         SAnchor& Anchor;
 
         SActuator(CLEDEntity& c_led,
                   const CVector3& c_offset,
                   SAnchor& s_anchor);
      };
 
   public:
 
      CLEDEquippedEntity(CComposableEntity* pc_parent);
 
      CLEDEquippedEntity(CComposableEntity* pc_parent,
                         const std::string& str_id);
 
      ~CLEDEquippedEntity();
 
      virtual void Init(TConfigurationNode& t_tree);
 
      virtual void Reset();
 
      virtual void Enable();
 
      virtual void Disable();
 
      void AddLED(const CVector3& c_offset,
                  SAnchor& s_anchor,
                  const CColor& c_color = CColor::BLACK);
 
      void AddLEDRing(const CVector3& c_center,
                      Real f_radius,
                      const CRadians& c_start_angle,
                      UInt32 un_num_leds,
                      SAnchor& s_anchor,
                      const CColor& c_color = CColor::BLACK);
 
      CLEDEntity& GetLED(UInt32 un_index);
 
      inline SActuator::TList& GetLEDs() {
         return m_tLEDs;
      }
 
      inline const CVector3& GetLEDOffset(size_t un_idx) const {
         ARGOS_ASSERT(un_idx < m_tLEDs.size(),
                      "CLEDEquippedEntity::GetLEDOffset() : index " <<
                      un_idx <<
                      " out of bounds [0:" <<
                      m_tLEDs.size()-1 <<
                      "]" );
         return m_tLEDs[un_idx]->Offset;
      }
 
      void SetLEDOffset(UInt32 un_index,
                        const CVector3& c_offset);
 
      void SetLEDColor(UInt32 un_index,
                       const CColor& c_color);
 
      void SetAllLEDsColors(const CColor& c_color);
 
      void SetAllLEDsColors(const std::vector<CColor>& vec_colors);
 
      void SetMedium(CLEDMedium& c_medium);
 
      virtual std::string GetTypeDescription() const {
         return "leds";
      }
 
   protected:
 
      virtual void UpdateComponents();
 
   protected:
 
      SActuator::TList m_tLEDs;
   };
 
}
 
#endif