prototype_entity.h

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#ifndef PROTOTYPE_ENTITY_H
#define PROTOTYPE_ENTITY_H
 
namespace argos {
   class CEmbodiedEntity;
   class CControllableEntity;
   class CPrototypeLinkEquippedEntity;
   class CPrototypeJointEquippedEntity;
   class CTagEquippedEntity;
   class CRadioEquippedEntity;
   class CMagnetEquippedEntity;
   class CCameraEquippedEntity;
   class CProximitySensorEquippedEntity; 
   class CDirectionalLEDEquippedEntity;
   class CLEDEquippedEntity;
   class CPrototypeEntity;
}
 
#include <argos3/core/simulator/entity/composable_entity.h>
 
namespace argos {
 
   class CPrototypeEntity : public CComposableEntity {
 
   public:
 
      ENABLE_VTABLE();
 
   public:
 
      CPrototypeEntity();
 
      virtual ~CPrototypeEntity() {}
 
      virtual void Init(TConfigurationNode& t_tree);
 
      inline CEmbodiedEntity& GetEmbodiedEntity() {
         return *m_pcEmbodiedEntity;
      }
 
      inline CPrototypeLinkEquippedEntity& GetLinkEquippedEntity() {
         return *m_pcLinkEquippedEntity;
      }
 
      inline CPrototypeJointEquippedEntity& GetJointEquippedEntity() {
         return *m_pcJointEquippedEntity;
      }
 
      inline bool HasControllableEntity() const {
         return (m_pcControllableEntity != nullptr);
      }
 
      inline CControllableEntity& GetControllableEntity() {
         ARGOS_ASSERT(m_pcControllableEntity != nullptr,
                      "CPrototypeEntity::GetControllableEntity(), id=\"" <<
                      GetId() + GetContext() <<
                      "\": was not initialized with a controllable entity");
         return *m_pcControllableEntity;
      }
 
      inline bool HasDirectionalLEDEquippedEntity() const {
         return (m_pcDirectionalLEDEquippedEntity != nullptr);
      }
 
      inline CDirectionalLEDEquippedEntity& GetDirectionalLEDEquippedEntity() {
         ARGOS_ASSERT(m_pcDirectionalLEDEquippedEntity != nullptr,
                      "CPrototypeEntity::GetDirectionalLEDEquippedEntity(), id=\"" <<
                      GetId() + GetContext() <<
                      "\": was not initialized with an directional LED equipped entity");
         return *m_pcDirectionalLEDEquippedEntity;
      }
 
      inline bool HasLEDEquippedEntity() const {
         return (m_pcLEDEquippedEntity != nullptr);
      }
 
      inline CLEDEquippedEntity& GetLEDEquippedEntity() {
         ARGOS_ASSERT(m_pcLEDEquippedEntity != nullptr,
                      "CPrototypeEntity::GetLEDEquippedEntity(), id=\"" <<
                      GetId() + GetContext() <<
                      "\": was not initialized with an LED equipped entity");
         return *m_pcLEDEquippedEntity;
      }
 
      inline bool HasTagEquippedEntity() const {
         return (m_pcTagEquippedEntity != nullptr);
      }
 
      inline CTagEquippedEntity& GetTagEquippedEntity() {
         ARGOS_ASSERT(m_pcTagEquippedEntity != nullptr,
                      "CPrototypeEntity::GetTagEquippedEntity(), id=\"" <<
                      GetId() + GetContext() <<
                      "\": was not initialized with a tag equipped entity");
         return *m_pcTagEquippedEntity;
      }
 
      inline bool HasRadioEquippedEntity() const {
         return (m_pcRadioEquippedEntity != nullptr);
      }
 
      inline CRadioEquippedEntity& GetRadioEquippedEntity() {
         ARGOS_ASSERT(m_pcRadioEquippedEntity != nullptr,
                      "CPrototypeEntity::GetRadioEquippedEntity(), id=\"" <<
                      GetId() + GetContext() <<
                      "\": was not initialized with a radio equipped entity");
         return *m_pcRadioEquippedEntity;
      }
 
      inline bool HasMagnetEquippedEntity() const {
         return (m_pcMagnetEquippedEntity != nullptr);
      }
 
      inline CMagnetEquippedEntity& GetMagnetEquippedEntity() {
         ARGOS_ASSERT(m_pcMagnetEquippedEntity != nullptr,
                      "CPrototypeEntity::GetMagnetEquippedEntity(), id=\"" <<
                      GetId() + GetContext() <<
                      "\": was not initialized with a magnet equipped entity");
         return *m_pcMagnetEquippedEntity;
      }
 
      inline bool HasProximitySensorEquippedEntity() const {
         return (m_pcProximitySensorEquippedEntity != nullptr);
      }
 
      inline CProximitySensorEquippedEntity& GetProximitySensorEquippedEntity() {
         ARGOS_ASSERT(m_pcProximitySensorEquippedEntity != nullptr,
                      "CPrototypeEntity::GetProximitySensorEquippedEntity(), id=\"" <<
                      GetId() + GetContext() <<
                      "\": was not initialized with a proximity sensor equipped entity");
         return *m_pcProximitySensorEquippedEntity;
      }
 
      virtual std::string GetTypeDescription() const {
         return "prototype";
      }
 
   private:
 
      CEmbodiedEntity*                 m_pcEmbodiedEntity;
      CControllableEntity*             m_pcControllableEntity;
      CPrototypeLinkEquippedEntity*    m_pcLinkEquippedEntity;
      CPrototypeJointEquippedEntity*   m_pcJointEquippedEntity;
      CDirectionalLEDEquippedEntity*   m_pcDirectionalLEDEquippedEntity;
      CLEDEquippedEntity*              m_pcLEDEquippedEntity;
      CTagEquippedEntity*              m_pcTagEquippedEntity;
      CRadioEquippedEntity*            m_pcRadioEquippedEntity;
      CMagnetEquippedEntity*           m_pcMagnetEquippedEntity;
      CProximitySensorEquippedEntity*  m_pcProximitySensorEquippedEntity;
 
   };
 
}
 
#endif