floor_entity.h

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#ifndef FLOOR_ENTITY_H
#define FLOOR_ENTITY_H
 
namespace argos {
   class CFloorEntity;
}
 
#include <argos3/core/simulator/entity/entity.h>
#include <argos3/core/utility/math/vector2.h>
#include <argos3/core/utility/math/vector3.h>
#include <argos3/core/utility/datatypes/color.h>
 
namespace argos {
 
   class CFloorEntity : public CEntity {
 
   public:
 
      class CFloorColorSource {
 
      public:
 
         virtual ~CFloorColorSource() {}
 
         virtual void Reset() {}
 
         virtual CColor GetColorAtPoint(Real f_x,
                                        Real f_y) = 0;
 
#ifdef ARGOS_WITH_FREEIMAGE
         virtual void SaveAsImage(const std::string& str_path) = 0;
#endif
 
      };
 
   public:
 
      ENABLE_VTABLE();
 
      enum EColorSource {
         UNSET = 0,
         FROM_IMAGE,
         FROM_LOOP_FUNCTIONS
      };
 
   public:
 
      CFloorEntity();
 
#ifdef ARGOS_WITH_FREEIMAGE
      CFloorEntity(const std::string& str_id,
                   const std::string& str_file_name);
#endif
      
      CFloorEntity(const std::string& str_id,
                   UInt32 un_pixels_per_meter);
 
      virtual ~CFloorEntity();
 
      virtual void Init(TConfigurationNode& t_tree);
 
      virtual void Reset();
 
      inline CColor GetColorAtPoint(Real f_x,
                                    Real f_y) {
         ARGOS_ASSERT(m_pcColorSource != NULL,
                      "The floor entity \"" <<
                      GetId() <<
                      "\" has no associated color source.");
         return m_pcColorSource->GetColorAtPoint(f_x, f_y);
      }
 
      inline bool HasChanged() const {
         return m_bHasChanged;
      }
 
      inline void SetChanged() {
         m_bHasChanged = true;
      }
 
      inline void ClearChanged() {
         m_bHasChanged = false;
      }
 
#ifdef ARGOS_WITH_FREEIMAGE
      void SaveAsImage(const std::string& str_path);
#endif
 
      virtual std::string GetTypeDescription() const {
         return "floor";
      }
 
   private:
 
      EColorSource       m_eColorSource;
 
      CFloorColorSource* m_pcColorSource;
 
      bool               m_bHasChanged;
   };
}
 
#endif