footbot_distance_scanner_equipped_entity.h

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#ifndef FOOTBOT_DISTANCE_SCANNER_EQUIPPED_ENTITY_H
#define FOOTBOT_DISTANCE_SCANNER_EQUIPPED_ENTITY_H
 
namespace argos {
   class CFootBotDistanceScannerEquippedEntity;
}
 
#include <argos3/core/simulator/entity/entity.h>
#include <argos3/core/utility/math/vector3.h>
 
namespace argos {
 
   class CFootBotDistanceScannerEquippedEntity : public CEntity {
 
   public:
 
      ENABLE_VTABLE();
 
      enum EMode {
         MODE_OFF,
         MODE_POSITION_CONTROL,
         MODE_SPEED_CONTROL
      };
 
   public:
 
      CFootBotDistanceScannerEquippedEntity(CComposableEntity* pc_parent);
 
      CFootBotDistanceScannerEquippedEntity(CComposableEntity* pc_parent,
                                            const std::string& str_id);
 
      virtual void Reset();
 
      virtual void Update();
 
      inline UInt32 GetMode() const {
         return m_unMode;
      }
 
      inline void SetMode(UInt32 un_mode) {
         m_unMode = un_mode;
      }
 
      inline const CRadians& GetRotation() const {
         return m_cRotation;
      }
 
      void SetRotation(const CRadians& c_rotation);
 
      inline Real GetRotationSpeed() const {
         return m_fRotationSpeed;
      }
 
      inline void SetRotationSpeed(Real f_speed) {
         m_fRotationSpeed = f_speed;
      }
 
      virtual std::string GetTypeDescription() const {
         return "distance_scanner";
      }
 
   private:
 
      UInt32 m_unMode;
      CRadians m_cRotation;
      Real m_fRotationSpeed;
 
   };
}
 
#endif