range_and_bearing_medium_sensor.h

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#ifndef RANGE_AND_BEARING_MEDIUM_SENSOR_H
#define RANGE_AND_BEARING_MEDIUM_SENSOR_H
 
#include <string>
#include <map>
 
namespace argos {
   class CRangeAndBearingMediumSensor;
   class CRABEquippedEntity;
   class CControllableEntity;
   class CRABMedium;
}
 
#include <argos3/core/simulator/sensor.h>
#include <argos3/core/utility/math/rng.h>
#include <argos3/core/simulator/space/space.h>
#include <argos3/plugins/robots/generic/control_interface/ci_range_and_bearing_sensor.h>
 
namespace argos {
 
   class CRangeAndBearingMediumSensor : public CSimulatedSensor,
                                        public CCI_RangeAndBearingSensor {
 
   public:
 
      CRangeAndBearingMediumSensor();
      virtual ~CRangeAndBearingMediumSensor() {}
 
      virtual void SetRobot(CComposableEntity& c_entity);
 
      virtual void Init(TConfigurationNode& t_tree);
 
      virtual void Update();
 
      virtual void Reset();
 
      virtual void Destroy();
 
      virtual void Enable();
 
      virtual void Disable();
 
      inline bool IsShowRays() {
         return m_bShowRays;
      }
 
      inline void SetShowRays(bool b_show_rays) {
         m_bShowRays = b_show_rays;
      }
 
   private:
 
      CRABEquippedEntity*  m_pcRangeAndBearingEquippedEntity;
      CControllableEntity* m_pcControllableEntity;
      CRABMedium*          m_pcRangeAndBearingMedium;
      Real                 m_fDistanceNoiseStdDev;
      Real                 m_fPacketDropProb;
      CRandom::CRNG*       m_pcRNG;
      CSpace&              m_cSpace;
      bool                 m_bShowRays;
   };
}
 
#endif