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