pointmass3d_footbot_model.h

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#ifndef POINTMASS3D_FOOTBOT_H
#define POINTMASS3D_FOOTBOT_H
 
namespace argos {
   class CPointMass3DEngine;
   class CPointMass3DFootBotModel;
   class CFootBotEntity;
}
 
#include <argos3/plugins/simulator/physics_engines/pointmass3d/pointmass3d_model.h>
#include <argos3/core/simulator/entity/embodied_entity.h>
#include <argos3/plugins/robots/foot-bot/simulator/footbot_entity.h>
 
namespace argos {
 
   class CPointMass3DFootBotModel : public CPointMass3DModel {
 
   public:
      
      CPointMass3DFootBotModel(CPointMass3DEngine& c_engine,
                               CFootBotEntity& c_footbot);
 
      virtual ~CPointMass3DFootBotModel() {}
      
      virtual void Reset();
 
      virtual void UpdateFromEntityStatus();
      virtual void Step();
 
      virtual void CalculateBoundingBox();
 
      virtual bool CheckIntersectionWithRay(Real& f_t_on_ray,
                                            const CRay3& c_ray) const;
 
      virtual void UpdateOriginAnchor(SAnchor& s_anchor);
 
   private:
 
      CWheeledEntity& m_cWheeledEntity;
 
      CRadians m_cYaw;
 
      Real m_fAngularVelocity;
 
      const Real* m_fCurrentWheelVelocity;
   };
 
}
 
#endif