ARGoS  3
A parallel, multi-engine simulator for swarm robotics
core/control_interface/ci_controller.cpp
Go to the documentation of this file.
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 }