Class nest

Inheritance Relationships

Base Types

Class Documentation

class nest : public cosm::repr::unicell_immovable_entity2D, public cosm::repr::colored_entity, public rer::client<nest>, public rer::stringizable

Class representing the arena nest in simulation, which is multi-cellular and immobile. Obviously, it can only be used when compiling COSM for ARGoS.

When initializing lights, they will only be detectable by the robots’s light sensor, NOT the omnidirectional camera, as that can only detect LED entities that are on the ground (implementation detail of ARGoS).

Public Functions

nest(const config::nest_config *config, const rmath::vector2d &arena_dim, const rtypes::discretize_ratio &resolution)
void initialize(cpargos::swarm_manager_adaptor *sm, const rutils::color &light_color)

Initialize lights above the nest for robots to use for localization, dependent on the geometry of the nest.

Parameters:

light_color – The color to make the lights above the nest.

inline const std::list<nest_light> &lights(void)
std::string to_str(void) const override