miniquadrotor_entity.h

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#ifndef MINIQUADROTOR_ENTITY_H
#define MINIQUADROTOR_ENTITY_H
 
namespace argos {
   class CControllableEntity;
   class CEmbodiedEntity;
   class CRotorEquippedEntity;
}
 
#include <argos3/core/simulator/entity/composable_entity.h>
#include <argos3/plugins/robots/mini-quadrotor/control_interface/ci_miniquadrotor_trajectory_actuator.h>
 
namespace argos {
 
   class CMiniQuadrotorEntity : public CComposableEntity {
 
   public:
 
      ENABLE_VTABLE();
 
   public:
 
      CMiniQuadrotorEntity();
 
      CMiniQuadrotorEntity(const std::string& str_id,
                     const std::string& str_controller_id,
                     const CVector3& c_position = CVector3(),
                     const CQuaternion& c_orientation = CQuaternion());
      
      virtual void Init(TConfigurationNode& t_tree);
 
      inline CControllableEntity& GetControllableEntity() {
         return *m_pcControllableEntity;
      }
      
      inline CEmbodiedEntity& GetEmbodiedEntity() {
         return *m_pcEmbodiedEntity;
      }
 
      inline CRotorEquippedEntity& GetRotorEquippedEntity() {
         return *m_pcRotorEquippedEntity;
      }
      
      virtual std::string GetTypeDescription() const {
         return "mini-bot";
      }
 
      inline const CCI_MiniQuadrotorTrajectoryActuator::SWaypoint& GetDesiredWaypoint() const {
         return m_sDesiredWaypoint;
      }
 
      inline void SetDesiredWaypoint(CCI_MiniQuadrotorTrajectoryActuator::SWaypoint& s_waypoint) {
         m_sDesiredWaypoint = s_waypoint;
      }
 
   private:
 
      CControllableEntity*                           m_pcControllableEntity;
      CEmbodiedEntity*                               m_pcEmbodiedEntity;
      CRotorEquippedEntity*                          m_pcRotorEquippedEntity;
      CCI_MiniQuadrotorTrajectoryActuator::SWaypoint m_sDesiredWaypoint;
   };
 
}
 
#endif