ci_footbot_base_ground_sensor.h

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#ifndef CCI_FOOTBOT_BASE_GROUND_SENSOR_H
#define CCI_FOOTBOT_BASE_GROUND_SENSOR_H
 
namespace argos {
   class CCI_FootBotBaseGroundSensor;
}
 
#include <argos3/core/control_interface/ci_sensor.h>
#include <argos3/core/utility/math/vector2.h>
#include <vector>
 
namespace argos {
 
   class CCI_FootBotBaseGroundSensor : virtual public CCI_Sensor {
 
   public:
 
      struct SReading {
         Real Value;
         CVector2 Offset;
         
         SReading() :
            Value(0.0f) {}
         
         SReading(Real f_value,
                  const CVector2& c_offset) :
            Value(f_value),
            Offset(c_offset) {}
      };
 
      typedef std::vector<SReading> TReadings;
 
   public:
 
      CCI_FootBotBaseGroundSensor();
 
      virtual ~CCI_FootBotBaseGroundSensor() {}
      
      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;
 
   };
 
   std::ostream& operator<<(std::ostream& c_os,
                            const CCI_FootBotBaseGroundSensor::SReading& s_reading);
 
   std::ostream& operator<<(std::ostream& c_os,
                            const CCI_FootBotBaseGroundSensor::TReadings& t_readings);
 
}
 
#endif