ARGoS Example

trajectory_loop_functions.h

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#ifndef TRAJECTORY_LOOP_FUNCTIONS_H
#define TRAJECTORY_LOOP_FUNCTIONS_H
 
#include <argos3/core/simulator/loop_functions.h>
#include <argos3/plugins/robots/foot-bot/simulator/footbot_entity.h>
 
using namespace argos;
 
class CTrajectoryLoopFunctions : public CLoopFunctions {
 
public:
 
   typedef std::map<CFootBotEntity*, std::vector<CVector3> > TWaypointMap;
   TWaypointMap m_tWaypoints;
 
public:
 
   virtual ~CTrajectoryLoopFunctions() {}
 
   virtual void Init(TConfigurationNode& t_tree);
 
   virtual void Reset();
 
   virtual void PostStep();
 
   inline const TWaypointMap& GetWaypoints() const {
      return m_tWaypoints;
   }
 
private:
 
};
 
#endif
 

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