7 #ifndef FOOTBOT_ENTITY_H 8 #define FOOTBOT_ENTITY_H 11 class CBatteryEquippedEntity;
12 class CControllableEntity;
13 class CFootBotDistanceScannerEquippedEntity;
14 class CEmbodiedEntity;
16 class CFootBotTurretEntity;
17 class CGripperEquippedEntity;
18 class CGroundSensorEquippedEntity;
19 class CLEDEquippedEntity;
20 class CLightSensorEquippedEntity;
21 class COmnidirectionalCameraEquippedEntity;
22 class CPerspectiveCameraEquippedEntity;
23 class CProximitySensorEquippedEntity;
24 class CRABEquippedEntity;
25 class CWiFiEquippedEntity;
28 #include <argos3/core/simulator/entity/composable_entity.h> 29 #include <argos3/plugins/simulator/entities/wheeled_entity.h> 44 const std::string& str_controller_id,
47 Real f_rab_range = 3.0f,
48 size_t un_rab_data_size = 10,
49 const std::string& str_bat_model =
"",
51 bool b_perspcam_front =
true,
53 Real f_perspcam_focal_length = 0.035,
54 Real f_perspcam_range = 2.0);
61 return *m_pcControllableEntity;
65 return *m_pcDistanceScannerEquippedEntity;
69 return *m_pcTurretEntity;
73 return *m_pcEmbodiedEntity;
77 return *m_pcGripperEquippedEntity;
81 return *m_pcGroundSensorEquippedEntity;
85 return *m_pcLEDEquippedEntity;
89 return *m_pcLightSensorEquippedEntity;
93 return *m_pcOmnidirectionalCameraEquippedEntity;
97 return *m_pcPerspectiveCameraEquippedEntity;
101 return *m_pcProximitySensorEquippedEntity;
105 return *m_pcRABEquippedEntity;
109 return *m_pcWheeledEntity;
113 return *m_pcWiFiEquippedEntity;
117 return *m_pcBatteryEquippedEntity;
virtual void Init(TConfigurationNode &t_tree)
Initializes the state of the entity from the XML configuration tree.
CEmbodiedEntity & GetEmbodiedEntity()
Basic class for an entity that contains other entities.
CControllableEntity & GetControllableEntity()
CGroundSensorEquippedEntity & GetGroundSensorEquippedEntity()
COmnidirectionalCameraEquippedEntity & GetOmnidirectionalCameraEquippedEntity()
CRABEquippedEntity & GetRABEquippedEntity()
This entity is a link to a body in the physics engine.
CProximitySensorEquippedEntity & GetProximitySensorEquippedEntity()
CFootBotDistanceScannerEquippedEntity & GetDistanceScannerEquippedEntity()
virtual void UpdateComponents()
Calls the Update() method on all the components.
CRadians ToRadians(const CDegrees &c_degrees)
Converts CDegrees to CRadians.
CLightSensorEquippedEntity & GetLightSensorEquippedEntity()
CLEDEquippedEntity & GetLEDEquippedEntity()
An entity that stores the state of a robot gripper.
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
virtual void Reset()
Resets the state of the entity to whatever it was after Init() or the standalone constructor was call...
CBatteryEquippedEntity & GetBatterySensorEquippedEntity()
An entity that contains a pointer to the user-defined controller.
A container of CLEDEntity.
CPerspectiveCameraEquippedEntity & GetPerspectiveCameraEquippedEntity()
It defines the basic type CDegrees, used to store an angle value in degrees.
It defines the basic type CRadians, used to store an angle value in radians.
CWheeledEntity & GetWheeledEntity()
CWiFiEquippedEntity & GetWiFiEquippedEntity()
CFootBotTurretEntity & GetTurretEntity()
virtual std::string GetTypeDescription() const
Returns a string label for this class.
CGripperEquippedEntity & GetGripperEquippedEntity()
The namespace containing all the ARGoS related code.
float Real
Collects all ARGoS code.