prototype_link_entity.h

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#ifndef PROTOTYPE_LINK_ENTITY_H
#define PROTOTYPE_LINK_ENTITY_H

namespace argos {
   class CPrototypeLinkEntity;
}

#include <argos3/core/utility/math/vector3.h>
#include <argos3/core/utility/math/quaternion.h>
#include <argos3/core/simulator/entity/embodied_entity.h>
#include <unordered_map>

namespace argos {

   class CPrototypeLinkEntity : public CEntity {

   public:

      ENABLE_VTABLE();

      using TVector = std::vector<CPrototypeLinkEntity*>;
      using TVectorIterator = std::vector<CPrototypeLinkEntity*>::iterator;
      using TVectorConstIterator = std::vector<CPrototypeLinkEntity*>::const_iterator;

   public:
      enum EGeometry {
         CYLINDER,
         BOX,
         SPHERE,
      };

   public:

      CPrototypeLinkEntity(CComposableEntity* pc_parent);

      virtual ~CPrototypeLinkEntity() {}

      virtual void Init(TConfigurationNode& t_tree);

      virtual std::string GetTypeDescription() const {
         return "link";
      }

      EGeometry GetGeometry() const {
         return m_eGeometry;
      }

      const CVector3& GetExtents() const {
         return m_cExtents;
      }

      Real GetMass() const {
         return m_fMass;
      }

      SAnchor& GetAnchor() {
         return *m_psAnchor;
      } 

      const SAnchor& GetAnchor() const {
         return *m_psAnchor;
      } 

   private:

    EGeometry m_eGeometry;
    CVector3 m_cExtents;
    Real m_fMass;
      SAnchor* m_psAnchor;
   };

}

#endif