8 #include <argos3/core/simulator/simulator.h>
9 #include <argos3/core/simulator/space/space.h>
10 #include <argos3/core/simulator/space/positional_indices/grid.h>
11 #include <argos3/core/utility/configuration/argos_exception.h>
12 #include <argos3/core/utility/logging/argos_log.h>
23 std::string strPosIndexMethod(
"grid");
32 if(strPosIndexMethod ==
"grid") {
33 size_t punGridSize[3];
35 punGridSize[0] = cArenaSize.
GetX();
36 punGridSize[1] = cArenaSize.
GetY();
37 punGridSize[2] = cArenaSize.
GetZ();
40 std::string strPosGridSize;
42 ParseValues<size_t>(strPosGridSize, 3, punGridSize,
',');
45 cArenaCenter - cArenaSize * 0.5f, cArenaCenter + cArenaSize * 0.5f,
46 punGridSize[0], punGridSize[1], punGridSize[2]);
49 m_pcTagEntityIndex = pcGrid;
52 THROW_ARGOSEXCEPTION(
"Unknown method \"" << strPosIndexMethod <<
"\" for the positional index.");
71 m_pcTagEntityIndex->Reset();
78 delete m_pcTagEntityIndex;
79 if(m_pcTagEntityGridUpdateOperation !=
nullptr) {
80 delete m_pcTagEntityGridUpdateOperation;
88 m_pcTagEntityIndex->Update();
95 m_pcTagEntityIndex->AddEntity(c_entity);
102 m_pcTagEntityIndex->RemoveEntity(c_entity);
110 "Michael Allwright [allsey87@gmail.com]",
112 "Manages tag entities.",
113 "This medium is required to manage the tag entities, so that the\n"
114 "associated camera sensors can find them. If you use a camera sensor, you\n"
115 "must add this medium the sensors XML configuration.\n\n"
116 "REQUIRED XML CONFIGURATION\n\n"
117 "<tag id=\"qrcodes\" />\n\n"
118 "OPTIONAL XML CONFIGURATION\n\n"
119 "None for the time being\n",
void AddEntity(CTagEntity &c_entity)
Adds the specified entity to the list of managed entities.
void GetNodeAttributeOrDefault(TConfigurationNode &t_node, const std::string &str_attribute, T &t_buffer, const T &t_default)
Returns the value of a node's attribute, or the passed default value.
#define THROW_ARGOSEXCEPTION(message)
This macro throws an ARGoS exception with the passed message.
Real GetX() const
Returns the x coordinate of this vector.
Real GetY() const
Returns the y coordinate of this vector.
void SetUpdateEntityOperation(CEntityOperation *pc_operation)
TConfigurationNode & GetNode(TConfigurationNode &t_node, const std::string &str_tag)
Given a tree root node, returns the first of its child nodes with the wanted name.
void RemoveEntity(CTagEntity &c_entity)
Removes the specified entity from the list of managed entities.
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
#define THROW_ARGOSEXCEPTION_NESTED(message, nested)
This macro throws an ARGoS exception with the passed message and nesting the passed exception...
virtual void Init(TConfigurationNode &t_tree)
Initialized the medium.
bool NodeAttributeExists(TConfigurationNode &t_node, const std::string &str_attribute)
Returns true if the specified attribute of a node exists.
void GetNodeAttribute(TConfigurationNode &t_node, const std::string &str_attribute, T &t_buffer)
Returns the value of a node's attribute.
virtual void Update()
Updates the state of this medium.
The exception that wraps all errors in ARGoS.
virtual void Reset()
Resets the resource.
virtual void PostSpaceInit()
Executes extra initialization activities after the space has been initialized.
REGISTER_MEDIUM(CDirectionalLEDMedium,"directional_led","Michael Allwright [allsey87@gmail.com]","1.0","Manages directional LED entities.","This medium is required to manage the directional LED entities, so that\n""the associated camera sensors can find them. If you use a camera sensor,\n""you must add this medium the sensors XML configuration.\n\n""REQUIRED XML CONFIGURATION\n\n""<directional_led id=\"led\" />\n\n""OPTIONAL XML CONFIGURATION\n\n""None for the time being\n","Under development")
The namespace containing all the ARGoS related code.
Real GetZ() const
Returns the z coordinate of this vector.
virtual void Init(TConfigurationNode &t_tree)
Initialized the medium.
static CSimulator & GetInstance()
Returns the instance to the CSimulator class.
virtual void Destroy()
Undoes whatever was done by Init().