footbot_base_ground_rotzonly_sensor.h

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#ifndef FOOTBOT_BASE_GROUND_ROTZONLY_SENSOR_H
#define FOOTBOT_BASE_GROUND_ROTZONLY_SENSOR_H
 
#include <string>
#include <map>
 
namespace argos {
   class CFootBotBaseGroundRotZOnlySensor;
   class CGroundSensorEquippedEntity;
   class CFloorEntity;
}
 
#include <argos3/plugins/robots/foot-bot/control_interface/ci_footbot_base_ground_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 CFootBotBaseGroundRotZOnlySensor : public CCI_FootBotBaseGroundSensor,
                                            public CSimulatedSensor {
      
   public:
 
      CFootBotBaseGroundRotZOnlySensor();
 
      virtual ~CFootBotBaseGroundRotZOnlySensor() {}
 
      virtual void SetRobot(CComposableEntity& c_entity);
 
      virtual void Init(TConfigurationNode& t_tree);
 
      virtual void Update();
 
      virtual void Reset();
 
   protected:
 
      CEmbodiedEntity* m_pcEmbodiedEntity;
 
      CFloorEntity* m_pcFloorEntity;
 
      CGroundSensorEquippedEntity* m_pcGroundSensorEntity;
 
      CRandom::CRNG* m_pcRNG;
 
      bool m_bAddNoise;
 
      CRange<Real> m_cNoiseRange;
 
      CSpace& m_cSpace;
   };
 
}
 
#endif