Cast entity to EyeBot entity

emerckx · Postby **emerckx** » Sun Apr 10, 2016 3:03 am

Hello,

I've retrieved the entities by the type of "eye-bot" and I want to cast them to CEyeBotEntity objects. In order to do so, I've used the code listed below.

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// get the entities
CSpace::TMapPerType& tEntityMap =  
    CSimulator::GetInstance().GetLoopFunctions().GetSpace().GetEntitiesByType(
    "eye-bot");

// loop over the entities
for(CSpace::TMapPerType::iterator it = tEntityMap.begin();
    it != tEntityMap.end();
    ++it) {

    // cast the entity to an eye-bot entity
    CEyeBotEntity& cEyebotEnt = *any_cast<CEyeBotEntity*>(it->second);
}

When I compile the code, no error messages are given. I have also included the header file for the eye-bot entity. But when I try to run the ARGoS simulator, I get the following error:

[INFO] Loaded library "/argos3/build_simulator/core/libargos3core_simulator.so"
[INFO] Loaded library "/argos3/build_simulator/testing/libtest_footbot_controller.so"
[INFO] Loaded library "/argos3/build_simulator/testing/libtest_eyebot_controller.so"
[FATAL] Can't load library "/argos3/build_simulator/testing/libtest_loop_functions.so" even after trying to add extensions for shared library (so) and module library (so):
/argos3/build_simulator/testing/libtest_loop_functions.so: /argos3/build_simulator/plugins/simulator/visualizations/qt-opengl/libargos3plugin_simulator_qtopengl.so: undefined symbol: _ZTIN5argos13CEyeBotEntityE
/argos3/build_simulator/testing/libtest_loop_functions.so.so: /argos3/build_simulator/testing/libtest_loop_functions.so.so: cannot open shared object file: No such file or directory
/argos3/build_simulator/testing/libtest_loop_functions.so.so: OK

So I have run the c++filt command on the error:

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c++filt _ZTIN5argos13CEyeBotEntityE

And I got the following output:

typeinfo for argos::CEyeBotEntity

Which I think it indicates that he can't find the CEyeBotEntity, or am I wrong?
I have the same issue with the CEPuckEntity and the CSpiriEntity objects.
But oddly enough, I do not have this issue with the CFootBotEntity

Do you know what might cause this issue?

Sincerely yours,
Ewout Merckx.

pincy · Postby **pincy** » Sun Apr 10, 2016 6:47 am

Hi Ewout,

It looks like you need to link the eye-bot library to your loop functions. In practice, in the CMakeLists.txt file that compiles your test_loop_functions, you need to have something like:

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target_link_libraries(test_loop_functions
  argos3core_simulator
  argos3plugin_simulator_dynamics2d
  argos3plugin_simulator_entities
  argos3plugin_simulator_eyebot      # <- THIS IS MISSING!
  argos3plugin_simulator_genericrobot
  argos3plugin_simulator_media)

Cheers,
Carlo

emerckx · Postby **emerckx** » Sun Apr 10, 2016 1:49 pm

Hi Carlo,

Thank you very much for the explanation and quick response, with it I have been able to solve the issue.

I documented the changes I made below. Note that this is for the source version of ARGoS.

I first added the argos3plugin_${ARGOS_BUILD_FOR}_eyebot statement to the /argos3/src/testing/CMakeLists.txt file.

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if(ARGOS_BUILD_FOR_SIMULATOR OR ARGOS_BUILD_FOR STREQUAL "foot-bot")
  
  // other statements
  
  target_link_libraries(test_loop_functions
    argos3core_${ARGOS_BUILD_FOR}
    argos3plugin_${ARGOS_BUILD_FOR}_eyebot    // <- I've added this line
    argos3plugin_${ARGOS_BUILD_FOR}_footbot )
    
endif(ARGOS_BUILD_FOR_SIMULATOR OR ARGOS_BUILD_FOR STREQUAL "foot-bot")

But that wasn't enough. I had to edit the test too. So in the /argos3/src/testing/experiment/test_footbot.argos file, I have added an eye-bot controller to the controllers node.

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<test_eyebot_controller id="y">
    <actuators>
        <range_and_bearing implementation="default" />
    </actuators>
    <sensors>
        <range_and_bearing implementation="medium" medium="rab" />
    </sensors>
    <params />
</test_eyebot_controller>

Of course, I also had to add an eye-bot to the arena.

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<eye-bot id="eb">
    <body position="1,1,0" orientation="0,0,0"/>
    <controller config="y"/>
</eye-bot>

And in the implementation file /argos3/src/testing/experiment/test_loop_functions.cpp, I have changed the Init method by adding the code listing below.

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CEyeBotEntity& eb = dynamic_cast<CEyeBotEntity&>(GetSpace().GetEntity("eb"));
CLEDEntity& cLedD = eb.GetComponent<CLEDEntity>("leds.led[led_2]");
cLedD.SetColor(CColor::GREEN);

Sincerely yours,
Ewout Merckx.

pincy · Postby **pincy** » Sun Apr 10, 2016 6:09 pm

Hi Ewout,

You should be able to shorten

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CEyeBotEntity& eb = dynamic_cast<CEyeBotEntity&>(GetSpace().GetEntity("eb"));
CLEDEntity& cLedD = eb.GetComponent<CLEDEntity>("leds.led[led_2]");
cLedD.SetColor(CColor::GREEN);

into the following one-liner:

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(dynamic_cast<CLEDEntity&>(GetSpace().GetEntity("eb.leds.led[led_2]"))).SetColor(CColor::GREEN);

Cheers,
Carlo

Cast entity to EyeBot entity

Cast entity to EyeBot entity

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Re: Cast entity to EyeBot entity