ARGoS  3
A parallel, multi-engine simulator for swarm robotics
plugins/simulator/sensors/ground_rotzonly_sensor.h
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00001 
00007 #ifndef GROUND_ROTZONLY_SENSOR_H
00008 #define GROUND_ROTZONLY_SENSOR_H
00009 
00010 #include <string>
00011 #include <map>
00012 
00013 namespace argos {
00014    class CGroundRotZOnlySensor;
00015    class CGroundSensorEquippedEntity;
00016    class CFloorEntity;
00017 }
00018 
00019 #include <argos3/plugins/robots/generic/control_interface/ci_ground_sensor.h>
00020 #include <argos3/core/utility/math/range.h>
00021 #include <argos3/core/utility/math/rng.h>
00022 #include <argos3/core/simulator/space/space.h>
00023 #include <argos3/core/simulator/sensor.h>
00024 
00025 namespace argos {
00026 
00027    class CGroundRotZOnlySensor : public CSimulatedSensor,
00028                                  public CCI_GroundSensor {
00029 
00030    public:
00031 
00032       CGroundRotZOnlySensor();
00033 
00034       virtual ~CGroundRotZOnlySensor() {}
00035 
00036       virtual void SetRobot(CComposableEntity& c_entity);
00037 
00038       virtual void Init(TConfigurationNode& t_tree);
00039 
00040       virtual void Update();
00041 
00042       virtual void Reset();
00043 
00044    protected:
00045 
00047       CEmbodiedEntity* m_pcEmbodiedEntity;
00048 
00050       CFloorEntity* m_pcFloorEntity;
00051 
00053       CGroundSensorEquippedEntity* m_pcGroundSensorEntity;
00054 
00056       CRandom::CRNG* m_pcRNG;
00057 
00059       bool m_bAddNoise;
00060 
00062       CRange<Real> m_cNoiseRange;
00063 
00065       CSpace& m_cSpace;
00066    };
00067 
00068 }
00069 
00070 #endif