spiri_entity.h

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#ifndef SPIRI_ENTITY_H
#define SPIRI_ENTITY_H
 
namespace argos {
   class CControllableEntity;
   class CEmbodiedEntity;
   class CSpiriEntity;
   class CQuadRotorEntity;
   class CRABEquippedEntity;
   class CPerspectiveCameraEquippedEntity;
   class CBatteryEquippedEntity;
}
 
#include <argos3/core/simulator/entity/composable_entity.h>
 
namespace argos {
 
   class CSpiriEntity : public CComposableEntity {
 
   public:
 
      ENABLE_VTABLE();
 
   public:
 
      CSpiriEntity();
 
      CSpiriEntity(const std::string& str_id,
                   const std::string& str_controller_id,
                   const CVector3& c_position = CVector3(),
                   const CQuaternion& c_orientation = CQuaternion(),
                   Real f_rab_range = 3.0f,
                   size_t un_rab_data_size = 10,
                   const std::string& str_bat_model = "",
                   const CRadians& c_cam_aperture = ToRadians(CDegrees(30.0f)),
                   Real f_cam_range = 10.0f);
 
      virtual void Init(TConfigurationNode& t_tree);
      virtual void Reset();
 
      inline CControllableEntity& GetControllableEntity() {
         return *m_pcControllableEntity;
      }
 
      inline CEmbodiedEntity& GetEmbodiedEntity() {
         return *m_pcEmbodiedEntity;
      }
 
      inline CQuadRotorEntity& GetQuadRotorEntity() {
         return *m_pcQuadRotorEntity;
      }
 
      inline CRABEquippedEntity& GetRABEquippedEntity() {
         return *m_pcRABEquippedEntity;
      }
 
      inline CPerspectiveCameraEquippedEntity& GetPerspectiveCameraEquippedEntity() {
         return *m_pcPerspectiveCameraEquippedEntity;
      }
 
      inline CBatteryEquippedEntity& GetBatterySensorEquippedEntity() {
          return *m_pcBatteryEquippedEntity;
      }
 
      virtual std::string GetTypeDescription() const {
         return "spiri";
      }
 
   private:
 
      CControllableEntity*              m_pcControllableEntity;
      CEmbodiedEntity*                  m_pcEmbodiedEntity;
      CQuadRotorEntity*                 m_pcQuadRotorEntity;
      CRABEquippedEntity*               m_pcRABEquippedEntity;
      CPerspectiveCameraEquippedEntity* m_pcPerspectiveCameraEquippedEntity;
      CBatteryEquippedEntity*           m_pcBatteryEquippedEntity;
   };
 
}
 
#endif