enki/robots/s-bot/SbotObject.h

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/*
    Enki - a fast 2D robot simulator
    Copyright (C) 1999-2008 Stephane Magnenat <stephane at magnenat dot net>
    Copyright (C) 2004-2005 Markus Waibel <markus dot waibel at epfl dot ch>
    Copyright (c) 2004-2005 Antoine Beyeler <abeyeler at ab-ware dot com>
    Copyright (C) 2005-2006 Laboratory of Intelligent Systems, EPFL, Lausanne
    Copyright (C) 2006-2008 Laboratory of Robotics Systems, EPFL, Lausanne
    See AUTHORS for details

    This program is free software; the authors of any publication 
    arising from research using this software are asked to add the 
    following reference:
    Enki - a fast 2D robot simulator
    http://lis.epfl.ch/enki
    Stephane Magnenat <stephane at magnenat dot net>,
    Markus Waibel <markus dot waibel at epfl dot ch>
    Laboratory of Intelligent Systems, EPFL, Lausanne.

    You can redistribute this program and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef __ENKI_SBOTOBJECT_H
#define __ENKI_SBOTOBJECT_H

#include <enki/Interaction.h>
#include <enki/PhysicalEngine.h>
#include <enki/interactions/ActiveSoundSource.h>

namespace Enki
{

    class SbotFeeding : public LocalInteraction
    {
    public:
        double actualEnergy;
        double actualTime;
        double activeDuration;
        double inactiveDuration;
        Color activeColor;
        Color inactiveColor;
        bool consumeEnergy;
        double dEnergyActive;
        double dEnergyInactive;

    public :
        SbotFeeding(double r, Robot *owner);
        virtual void objectStep (double dt, PhysicalObject *po, World *w);
        virtual void finalize(double dt);
    };


    class SbotActiveObject : public Robot
    {
    public:
        SbotFeeding feeding;
        
    public:
        SbotActiveObject(double objectRadius, double actionRange);
    };


    class SbotActiveSoundObject : public SbotActiveObject, public ActiveSoundObject
    {
    public:
        SbotActiveSoundObject(double objectRadius, double actionRange);
        void setSoundRange(double soundRange);
    };
}
#endif

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