differential_steering_default_sensor.h

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#ifndef DIFFERENTIAL_STEERING_DEFAULT_SENSOR_H
#define DIFFERENTIAL_STEERING_DEFAULT_SENSOR_H
 
#include <string>
#include <map>
 
namespace argos {
   class CDifferentialSteeringDefaultSensor;
   class CWheeledEntity;
}
 
#include <argos3/plugins/robots/generic/control_interface/ci_differential_steering_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 CDifferentialSteeringDefaultSensor : public CSimulatedSensor,
                                     public CCI_DifferentialSteeringSensor {
 
   public:
 
      CDifferentialSteeringDefaultSensor();
 
      virtual ~CDifferentialSteeringDefaultSensor() {}
 
      virtual void SetRobot(CComposableEntity& c_entity);
 
      virtual void Init(TConfigurationNode& t_tree);
 
      virtual void Update();
 
      virtual void Reset();
 
   protected:
 
      CWheeledEntity* m_pcWheeledEntity;
 
      const Real* m_pfWheelVelocities;
 
      CRandom::CRNG* m_pcRNG;
 
      bool m_bAddNoise;
 
      CRange<Real> m_cVelNoiseRange;
 
      CRange<Real> m_cDistNoiseRange;
   };
 
}
 
#endif