ci_range_and_bearing_sensor.h

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#ifndef CI_RANGE_AND_BEARING_SENSOR_H
#define CI_RANGE_AND_BEARING_SENSOR_H
 
namespace argos {
   class CCI_RangeAndBearingSensor;
}
 
#include <argos3/core/control_interface/ci_sensor.h>
#include <argos3/core/utility/datatypes/datatypes.h>
#include <argos3/core/utility/datatypes/byte_array.h>
#include <argos3/core/utility/math/quaternion.h>
 
namespace argos {
 
   /****************************************/
   /****************************************/
 
   class CCI_RangeAndBearingSensor : public CCI_Sensor {
 
   public:
 
      struct SPacket {
         Real Range;
         CRadians HorizontalBearing;
         CRadians VerticalBearing;
         CByteArray Data;
 
         SPacket();
      };
 
      typedef std::vector<SPacket> TReadings;
 
   public:
 
      virtual ~CCI_RangeAndBearingSensor() {}
 
      const TReadings& GetReadings() const;
 
#ifdef ARGOS_WITH_LUA
      virtual void CreateLuaState(lua_State* pt_lua_state);
 
      virtual void ReadingsToLuaState(lua_State* pt_lua_state);
#endif
 
   protected:
 
      TReadings m_tReadings;
 
   };
 
   /****************************************/
   /****************************************/
 
}
 
#endif