light_default_sensor.h

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#ifndef LIGHT_DEFAULT_SENSOR_H
#define LIGHT_DEFAULT_SENSOR_H
 
#include <string>
#include <map>
 
namespace argos {
   class CLightDefaultSensor;
   class CLightSensorEquippedEntity;
}
 
#include <argos3/plugins/robots/generic/control_interface/ci_light_sensor.h>
#include <argos3/core/utility/math/range.h>
#include <argos3/core/utility/math/rng.h>
#include <argos3/core/simulator/space/space.h>
#include <argos3/core/simulator/sensor.h>
 
namespace argos {
 
   class CLightDefaultSensor : public CSimulatedSensor,
                                   public CCI_LightSensor {
 
   public:
 
      CLightDefaultSensor();
 
      virtual ~CLightDefaultSensor() {}
 
      virtual void SetRobot(CComposableEntity& c_entity);
 
      virtual void Init(TConfigurationNode& t_tree);
 
      virtual void Update();
 
      virtual void Reset();
 
      virtual Real CalculateReading(Real f_distance, Real f_intensity);
 
      inline bool IsShowRays() {
         return m_bShowRays;
      }
 
      inline void SetShowRays(bool b_show_rays) {
         m_bShowRays = b_show_rays;
      }
 
   protected:
 
      CLightSensorEquippedEntity* m_pcLightEntity;
 
      CControllableEntity* m_pcControllableEntity;
 
      bool m_bShowRays;
 
      CRandom::CRNG* m_pcRNG;
 
      bool m_bAddNoise;
 
      CRange<Real> m_cNoiseRange;
 
      CSpace& m_cSpace;
   };
 
}
 
#endif