prototype_joints_default_sensor.h

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#ifndef PROTOTYPE_JOINTS_DEFAULT_SENSOR_H
#define PROTOTYPE_JOINTS_DEFAULT_SENSOR_H
 
namespace argos {
   class CPrototypeJointsDefaultSensor;
}
 
#include <argos3/core/simulator/sensor.h>
#include <argos3/plugins/robots/prototype/control_interface/ci_prototype_joints_sensor.h>
#include <argos3/plugins/robots/prototype/simulator/prototype_entity.h>
#include <argos3/plugins/robots/prototype/simulator/prototype_joint_equipped_entity.h>
 
namespace argos {
 
   class CPrototypeJointsDefaultSensor : public CSimulatedSensor,
                                         public CCI_PrototypeJointsSensor {
 
   public:
      struct SSimulatedSensor : public SSensor {
         SSimulatedSensor(const std::string& str_id,
                          CPrototypeJointEntity::SSensor& s_sensor) :
            SSensor(str_id),
            Instance(s_sensor) {}
            CPrototypeJointEntity::SSensor& Instance;
      };
      
   public:
      CPrototypeJointsDefaultSensor();
 
      virtual ~CPrototypeJointsDefaultSensor() {}
 
      virtual void SetRobot(CComposableEntity& c_entity);
 
      virtual void Init(TConfigurationNode& t_tree);
 
      virtual void Update();
 
      virtual void Reset();
 
   private:
 
      std::vector<SSimulatedSensor> m_vecSimulatedSensors;
 
      CPrototypeJointEquippedEntity* m_pcJointEquippedEntity;
 
   };
}
 
#endif