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universaljointeffector.h

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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 Jan 4 2006
00005    Copyright (C) 2006 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 #ifndef UNIVERSALJOINTEFFECTOR_H
00021 #define UNIVERSALJOINTEFFECTOR_H
00022 
00023 #include <oxygen/agentaspect/effector.h>
00024 #include <oxygen/physicsserver/universaljoint.h>
00025 
00026 class UniversalJointEffector : public oxygen::Effector
00027 {
00028 public:
00029     UniversalJointEffector();
00030     virtual ~UniversalJointEffector();
00031 
00033     virtual bool Realize(boost::shared_ptr<oxygen::ActionObject> action);
00034 
00036     virtual std::string GetPredicate() { return GetName(); }
00037 
00039     virtual boost::shared_ptr<oxygen::ActionObject>
00040     GetActionObject(const oxygen::Predicate& predicate);
00041 
00042 protected:
00044     virtual void OnLink();
00045 
00047     virtual void OnUnlink();
00048 
00049 protected:
00051     boost::shared_ptr<oxygen::UniversalJoint> mJoint;
00052 
00053 };
00054 
00055 DECLARE_CLASS(UniversalJointEffector);
00056 
00057 #endif // UNIVERSALJOINTEFFECTOR_H

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