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hingeperceptor.cpp

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00001 /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
00002 
00003    this file is part of rcssserver3D
00004    Thu Nov 8 2005
00005    Copyright (C) 2005 RoboCup Soccer Server 3D Maintenance Group
00006 
00007    This program is free software; you can redistribute it and/or modify
00008    it under the terms of the GNU General Public License as published by
00009    the Free Software Foundation; version 2 of the License.
00010 
00011    This program is distributed in the hope that it will be useful,
00012    but WITHOUT ANY WARRANTY; without even the implied warranty of
00013    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014    GNU General Public License for more details.
00015 
00016    You should have received a copy of the GNU General Public License
00017    along with this program; if not, write to the Free Software
00018    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00019 */
00020 #include "hingeperceptor.h"
00021 #include <zeitgeist/logserver/logserver.h>
00022 
00023 using namespace oxygen;
00024 using namespace zeitgeist;
00025 using namespace boost;
00026 using namespace std;
00027 
00028 HingePerceptor::HingePerceptor() : Perceptor()
00029 {
00030 }
00031 
00032 HingePerceptor::~HingePerceptor()
00033 {
00034 }
00035 
00036 void HingePerceptor::OnLink()
00037 {
00038     mJoint = make_shared(FindParentSupportingClass<HingeJoint>());
00039 
00040     if (mJoint.get() == 0)
00041         {
00042             GetLog()->Error()
00043                 << "(HingePerceptor) ERROR: found no HingeJoint parent\n";
00044         }
00045 
00046 }
00047 
00048 void HingePerceptor::OnUnlink()
00049 {
00050     mJoint.reset();
00051 }
00052 
00053 void HingePerceptor::InsertAxisAngle(Predicate& predicate)
00054 {
00055     ParameterList& axisElement = predicate.parameter.AddList();
00056     axisElement.AddValue(string("axis"));
00057     axisElement.AddValue(mJoint->GetAngle());
00058 }
00059 
00060 void HingePerceptor::InsertAxisRate(Predicate& predicate)
00061 {
00062     ParameterList& axisElement = predicate.parameter.AddList();
00063     axisElement.AddValue(string("rate"));
00064     axisElement.AddValue(mJoint->GetAngleRate());
00065 }
00066 
00067 bool HingePerceptor::Percept(boost::shared_ptr<oxygen::PredicateList> predList)
00068 {
00069     if (mJoint.get() == 0)
00070         {
00071             return false;
00072         }
00073 
00074     Predicate& predicate = predList->AddPredicate();
00075     predicate.name = "HJ";
00076     predicate.parameter.Clear();
00077 
00078     ParameterList& nameElement = predicate.parameter.AddList();
00079     nameElement.AddValue(string("name"));
00080     nameElement.AddValue(GetName());
00081 
00082     InsertAxisAngle(predicate);
00083     InsertAxisRate(predicate);
00084 
00085     return true;
00086 }
00087 
00088 

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