omnidirectional_camera_equipped_entity.h
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1 
7 #ifndef OMNIDIRECTIONAL_CAMERA_EQUIPPED_ENTITY_H
8 #define OMNIDIRECTIONAL_CAMERA_EQUIPPED_ENTITY_H
9 
10 namespace argos {
11  class COmnidirectionalCameraEquippedEntity;
12  class CEmbodiedEntity;
13 }
14 
15 #include <argos3/core/simulator/entity/entity.h>
16 #include <argos3/core/utility/math/vector3.h>
17 #include <argos3/core/utility/math/quaternion.h>
18 
19 namespace argos {
20 
22 
23  public:
24 
25  ENABLE_VTABLE();
26 
27  public:
28 
35 
47  const std::string& str_id,
48  const CRadians& c_aperture,
49  const CVector3& c_offset);
50 
55  virtual void Init(TConfigurationNode& t_tree);
56 
61  inline const CVector3& GetOffset() const {
62  return m_cOffset;
63  }
64 
69  inline void SetOffset(const CVector3& c_offset) {
70  m_cOffset = c_offset;
71  }
72 
77  inline const CRadians& GetAperture() const {
78  return m_cAperture;
79  }
80 
85  inline void SetAperture(const CRadians& c_aperture) {
86  m_cAperture = c_aperture;
87  }
88 
89  virtual std::string GetTypeDescription() const {
90  return "omnidirectional_camera";
91  }
92 
93  private:
94 
96  CRadians m_cAperture;
97 
99  CVector3 m_cOffset;
100 
101  };
102 }
103 
104 #endif
A 3D vector class.
Definition: vector3.h:29
void SetAperture(const CRadians &c_aperture)
Sets the aperture of the visibility cone of the omnidirectional camera.
The basic entity type.
Definition: entity.h:89
void SetOffset(const CVector3 &c_offset)
Sets the offset of the omnidirectionalcamera with respect to the reference point. ...
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
const CRadians & GetAperture() const
Returns the aperture of the visibility cone of the omnidirectional camera.
virtual void Init(TConfigurationNode &t_tree)
Initializes the state of the entity from the XML configuration tree.
const CVector3 & GetOffset() const
Returns the offset of the omnidirectional camera with respect to the reference point.
It defines the basic type CRadians, used to store an angle value in radians.
Definition: angles.h:42
Basic class for an entity that contains other entities.
virtual std::string GetTypeDescription() const
Returns a string label for this class.
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
COmnidirectionalCameraEquippedEntity(CComposableEntity *pc_parent)
Class constructor.