We've rented condos, townhouses and pool homes, so I've see it all. In fact, we just had this decision to make ourselves for our trip in August. Here are some pros and cons.
Condo
Pros - Unit all on one floor
Cons - If not on first floor, stairs get old real quick. No private pool so dealing with community pool issues and distance from condo to pool. Could have noisy neighbors.
Townhouse
Pro - Private splash pool. Ground level entry.
Con - Two story unit. Splash pool not big enough to actually swim.
Pool home
Pro - Private full pool and possibly hot tub. May or may not be all one floor. Usually more amenities than condo or townhouse (game room, etc.). No worries about noise in single home.
Con - Generally more costly than other options.
We decided to go with a pool home. We never go in the summer and this year we're going in August and for 2 weeks, also something we've never done. We figure with summer weather and a longer stay, we're going to make more use of the pool. We can't stand community pools with unruly kids, ill-mannered adults, etc.
In recent years, we've rented at Windsor Palms but opted to go to Lindfields instead since rates are lower (we've rented there in the past). We got a 3-bedroom pool home for $100/nite total including tax. A townhouse wouldn't have been that much cheaper.