dynamics2d_footbot_model.h

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#ifndef DYNAMICS2D_FOOTBOT_MODEL_H
#define DYNAMICS2D_FOOTBOT_MODEL_H
 
namespace argos {
   class CDynamics2DDifferentialSteeringControl;
   class CDynamics2DGripper;
   class CDynamics2DGrippable;
}
 
#include <argos3/plugins/simulator/physics_engines/dynamics2d/dynamics2d_multi_body_object_model.h>
#include <argos3/plugins/simulator/physics_engines/dynamics2d/dynamics2d_differentialsteering_control.h>
#include <argos3/plugins/robots/foot-bot/simulator/footbot_entity.h>
 
namespace argos {
 
   class CDynamics2DFootBotModel : public CDynamics2DMultiBodyObjectModel {
 
   public:
 
      CDynamics2DFootBotModel(CDynamics2DEngine& c_engine,
                              CFootBotEntity& c_entity);
      virtual ~CDynamics2DFootBotModel();
      
      virtual void MoveTo(const CVector3& c_position,
                          const CQuaternion& c_orientation);
 
      virtual void Reset();
 
      virtual void CalculateBoundingBox();
 
      virtual void UpdateFromEntityStatus();
 
      void UpdateOriginAnchor(SAnchor& s_anchor);
 
      void UpdateTurretAnchor(SAnchor& s_anchor);
 
      void UpdatePerspectiveCameraAnchor(SAnchor& s_anchor);
 
      inline cpBody* GetActualBaseBody() {
         return m_ptActualBaseBody;
      }
 
      inline const cpBody* GetActualBaseBody() const {
         return m_ptActualBaseBody;
      }
 
      inline cpBody* GetActualGripperBody() {
         return m_ptActualGripperBody;
      }
 
      inline const cpBody* GetActualGripperBody() const {
         return m_ptActualGripperBody;
      }
 
   private:
 
      void TurretPassiveToActive();
      void TurretActiveToPassive();
 
   private:
 
      CFootBotEntity&         m_cFootBotEntity;
      CWheeledEntity&         m_cWheeledEntity;
      CGripperEquippedEntity& m_cGripperEntity;
 
      CDynamics2DDifferentialSteeringControl m_cDiffSteering;
      CDynamics2DGripper*                    m_pcGripper;
      CDynamics2DGrippable*                  m_pcGrippable;
 
      cpFloat  m_fMass;
      cpShape* m_ptBaseShape;
      cpBody*  m_ptActualBaseBody;
      cpBody*  m_ptActualGripperBody;
      cpBody*  m_ptControlGripperBody;
      cpConstraint* m_ptGripperControlAngularMotion;
      cpConstraint* m_ptBaseGripperLinearMotion;
      cpConstraint* m_ptBaseGripperAngularMotion;
 
      const Real* m_fCurrentWheelVelocity;
 
      UInt8 m_unLastTurretMode;
      Real m_fPreviousTurretAngleError;
 
   };
 
}
 
#endif