Program Listing for File block_embodiment_creator.hpp

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#pragma once

/*******************************************************************************
 * Includes
 ******************************************************************************/
#include <memory>

#include "rcppsw/math/radians.hpp"
#include "rcppsw/types/type_uuid.hpp"

#include "cosm/argos/block_embodiment_variant.hpp"
#include "cosm/argos/cube_block_embodiment.hpp"
#include "cosm/argos/ramp_block_embodiment.hpp"
#include "cosm/cosm.hpp"

/*******************************************************************************
 * Namespaces/Decls
 ******************************************************************************/
namespace cosm::pal::argos {
class swarm_manager_adaptor;
} // namespace cosm::pal::argos

namespace cosm::argos {
class embodied_cube_block;
class embodied_ramp_block;

/*******************************************************************************
 * Structure Definitions
 ******************************************************************************/
class block_embodiment_creator {
 public:
  block_embodiment_creator(const rmath::radians& z_rotation,
                           const rtypes::type_uuid& parent_id,
                           cpargos::swarm_manager_adaptor* sm)
      : mc_z_rot(z_rotation), mc_parent_id(parent_id), m_sm(sm) {}

  /* Not copy constructable/assignable by default */
  block_embodiment_creator(const block_embodiment_creator&) = delete;
  const block_embodiment_creator&
  operator=(const block_embodiment_creator&) = delete;

  cargos::block_embodiment_variant
  operator()(const cargos::embodied_cube_block* block) const;
  cargos::block_embodiment_variant
  operator()(const cargos::embodied_ramp_block* block) const;

 private:
  static constexpr const double kRAMP_BOX_THICKNESS = 0.0001;

  ::argos::CBoxEntity* ramp_bottom(const cargos::embodied_ramp_block* block,
                                   const rmath::radians& z_rotation,
                                   const rtypes::type_uuid& parent_id) const;

  ::argos::CBoxEntity* ramp_back(const cargos::embodied_ramp_block* block,
                                 const rmath::radians& z_rotation,
                                 const rtypes::type_uuid& parent_id) const;

  ::argos::CBoxEntity* ramp_top(const cargos::embodied_ramp_block* block,
                                const rmath::radians& z_rotation,
                                const rtypes::type_uuid& parent_id) const;

  /* clang-format off */
  const rmath::radians            mc_z_rot;
  const rtypes::type_uuid         mc_parent_id;

  cpargos::swarm_manager_adaptor* m_sm;
  /* clang-format off */
};

} /* namespace cosm::argos */