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kickeffector.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    Fri May 9 2003
00005    Copyright (C) 2002,2003 Koblenz University
00006    Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
00007    $Id: kickeffector.h,v 1.5 2006/03/01 15:49:26 fruit Exp $
00008 
00009    This program is free software; you can redistribute it and/or modify
00010    it under the terms of the GNU General Public License as published by
00011    the Free Software Foundation; version 2 of the License.
00012 
00013    This program is distributed in the hope that it will be useful,
00014    but WITHOUT ANY WARRANTY; without even the implied warranty of
00015    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016    GNU General Public License for more details.
00017 
00018    You should have received a copy of the GNU General Public License
00019    along with this program; if not, write to the Free Software
00020    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00021 */
00022 #ifndef KICKEFFECTOR_H
00023 #define KICKEFFECTOR_H
00024 
00025 #include <salt/random.h>
00026 #include <oxygen/agentaspect/agentaspect.h>
00027 #include <oxygen/agentaspect/effector.h>
00028 #include <oxygen/physicsserver/body.h>
00029 #include <soccer/ball/ball.h>
00030 #include <soccer/ballstateaspect/ballstateaspect.h>
00031 
00032 class KickEffector : public oxygen::Effector
00033 {
00034 public:
00035     KickEffector();
00036     virtual ~KickEffector();
00037 
00039     virtual bool Realize(boost::shared_ptr<oxygen::ActionObject> action);
00040 
00042     virtual std::string GetPredicate() { return "kick"; }
00043 
00045     virtual boost::shared_ptr<oxygen::ActionObject>
00046     GetActionObject(const oxygen::Predicate& predicate);
00047 
00049     virtual void OnLink();
00050 
00052     virtual void OnUnlink();
00053 
00055     void SetKickMargin(float margin);
00056 
00061     void SetForceFactor(float force_factor);
00062 
00067     void SetTorqueFactor(float torque_factor);
00068 
00072     void SetSteps(int steps);
00073 
00084     void SetNoiseParams(double sigma_force,
00085                         double sigma_theta,
00086                         double sigma_phi_end,
00087                         double sigma_phi_mid);
00088 
00090     void SetMaxPower(float max_power);
00091 
00098     void SetAngleRange(float min, float max);
00099 
00100 protected:
00101     typedef boost::shared_ptr<salt::NormalRNG<> > NormalRngPtr;
00102 
00104     boost::shared_ptr<oxygen::Body> mBallBody;
00106     boost::shared_ptr<Ball> mBall;
00108     boost::shared_ptr<oxygen::AgentAspect> mAgent;
00109 
00111     NormalRngPtr mForceErrorRNG;
00113     NormalRngPtr mThetaErrorRNG;
00114 
00115 private:
00117     float mKickMargin;
00119     float mPlayerRadius;
00121     float mBallRadius;
00123     float mForceFactor;
00125     float mTorqueFactor;
00127     float mMaxPower;
00129     float mMinAngle;
00131     float mMaxAngle;
00133     int mSteps;
00135     double mSigmaPhiEnd;
00137     double mSigmaPhiMid;
00138 };
00139 
00140 DECLARE_CLASS(KickEffector);
00141 
00142 #endif // KICKEFFECTOR_H

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