ARGoS
3
A parallel, multi-engine simulator for swarm robotics
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00001 00007 #include "ci_controller.h" 00008 00009 namespace argos { 00010 00011 /****************************************/ 00012 /****************************************/ 00013 00014 CCI_Controller::~CCI_Controller() { 00015 /* Delete actuators*/ 00016 for(CCI_Actuator::TMap::iterator itActuators = m_mapActuators.begin(); 00017 itActuators != m_mapActuators.end(); 00018 ++itActuators) { 00019 delete itActuators->second; 00020 } 00021 m_mapActuators.clear(); 00022 00023 /* Delete sensors */ 00024 for(CCI_Sensor::TMap::iterator itSensors = m_mapSensors.begin(); 00025 itSensors != m_mapSensors.end(); 00026 ++itSensors) { 00027 delete itSensors->second; 00028 } 00029 m_mapSensors.clear(); 00030 } 00031 00032 /****************************************/ 00033 /****************************************/ 00034 00035 bool CCI_Controller::HasActuator(const std::string& str_actuator_type) const { 00036 CCI_Actuator::TMap::const_iterator it = m_mapActuators.find(str_actuator_type); 00037 return (it != m_mapActuators.end()); 00038 } 00039 00040 /****************************************/ 00041 /****************************************/ 00042 00043 bool CCI_Controller::HasSensor(const std::string& str_sensor_type) const { 00044 CCI_Sensor::TMap::const_iterator it = m_mapSensors.find(str_sensor_type); 00045 return (it != m_mapSensors.end()); 00046 } 00047 00048 /****************************************/ 00049 /****************************************/ 00050 00051 }