ARGoS  3
A parallel, multi-engine simulator for swarm robotics
plugins/robots/generic/control_interface/ci_range_and_bearing_sensor.h
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00001 
00007 #ifndef CI_RANGE_AND_BEARING_SENSOR_H
00008 #define CI_RANGE_AND_BEARING_SENSOR_H
00009 
00010 namespace argos {
00011    class CCI_RangeAndBearingSensor;
00012 }
00013 
00014 #include <argos3/core/control_interface/ci_sensor.h>
00015 #include <argos3/core/utility/datatypes/datatypes.h>
00016 #include <argos3/core/utility/datatypes/byte_array.h>
00017 #include <argos3/core/utility/math/quaternion.h>
00018 
00019 namespace argos {
00020 
00021    /****************************************/
00022    /****************************************/
00023 
00024    class CCI_RangeAndBearingSensor : public CCI_Sensor {
00025 
00026    public:
00027 
00028       struct SPacket {
00029          Real Range;
00030          CRadians HorizontalBearing;
00031          CRadians VerticalBearing;
00032          CByteArray Data;
00033 
00034          SPacket();
00035       };
00036 
00037       typedef std::vector<SPacket> TReadings;
00038 
00039    public:
00040 
00041       virtual ~CCI_RangeAndBearingSensor() {}
00042 
00043       inline const TReadings& GetReadings() const {
00044          return m_tReadings;
00045       }
00046 
00047 #ifdef ARGOS_WITH_LUA
00048       virtual void CreateLuaState(lua_State* pt_lua_state);
00049 
00050       virtual void ReadingsToLuaState(lua_State* pt_lua_state);
00051 #endif
00052 
00053    protected:
00054 
00055       TReadings m_tReadings;
00056 
00057    };
00058 
00059    /****************************************/
00060    /****************************************/
00061 
00062 }
00063 
00064 #endif