directional_led_equipped_entity.h

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#ifndef DIRECTIONAL_LED_EQUIPPED_ENTITY_H
#define DIRECTIONAL_LED_EQUIPPED_ENTITY_H
 
namespace argos {
   class CDirectionalLEDEquippedEntity;
   class CDirectionalLEDEntity;
}
 
#include <argos3/core/simulator/entity/composable_entity.h>
#include <argos3/plugins/simulator/entities/directional_led_entity.h>
#include <vector>
 
namespace argos {

   class CDirectionalLEDEquippedEntity : public CComposableEntity {
 
   public:
 
      ENABLE_VTABLE();
 
   public:
 
      struct SInstance {
         CDirectionalLEDEntity& LED;
         SAnchor& Anchor;
         CVector3 PositionOffset;
         CQuaternion OrientationOffset;
         SInstance(CDirectionalLEDEntity& c_led,
                   SAnchor& s_anchor,
                   const CVector3& c_position_offset,
                   const CQuaternion& c_orientation_offset);
         using TVector = std::vector<SInstance>;
      };
 
   public:

      CDirectionalLEDEquippedEntity(CComposableEntity* pc_parent);

      CDirectionalLEDEquippedEntity(CComposableEntity* pc_parent,
                                    const std::string& str_id);
 
 
      virtual ~CDirectionalLEDEquippedEntity() {}
 
      virtual void Init(TConfigurationNode& t_tree);
 
      virtual void Enable();
 
      virtual void Disable();

      void AddLED(const std::string& str_id,
                  const CVector3& c_position,
                  const CQuaternion& c_orientation,
                  SAnchor& s_anchor,
                  const CRadians& c_observable_angle,
                  const CColor& c_color);

      CDirectionalLEDEntity& GetLED(UInt32 un_index);

      const CDirectionalLEDEntity& GetLED(UInt32 un_index) const;

      inline SInstance::TVector& GetInstances() {
         return m_vecInstances;
      }

      inline const SInstance::TVector& GetInstances() const {
         return m_vecInstances;
      }

      void SetLEDColor(UInt32 un_index, const CColor& c_color);

      void SetLEDColors(const CColor& c_color);

      void SetLEDColors(const std::vector<CColor>& vec_colors);

      void SetMedium(CDirectionalLEDMedium& c_medium);
 
      virtual std::string GetTypeDescription() const {
         return "directional_leds";
      }
 
   protected:
 
      virtual void UpdateComponents();
 
   protected:

      SInstance::TVector m_vecInstances;
   };
 
}
 
#endif