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 UNIVERSALJOINTACTION_H 00021 #define UNIVERSALJOINTACTION_H 00022 00023 #include <oxygen/gamecontrolserver/actionobject.h> 00024 00025 class UniversalJointAction : public oxygen::ActionObject 00026 { 00027 public: 00028 UniversalJointAction(const std::string& predicate, float velocity1, float velocity2) 00029 : ActionObject(predicate), mVelocityAxis1(velocity1), mVelocityAxis2(velocity2) 00030 {}; 00031 00032 virtual ~UniversalJointAction() {} 00033 00034 float GetMotorVelocity(oxygen::Joint::EAxisIndex idx) 00035 { 00036 if (idx == oxygen::Joint::AI_FIRST) 00037 return mVelocityAxis1; 00038 else 00039 return mVelocityAxis2; 00040 } 00041 00042 protected: 00043 float mVelocityAxis1; 00044 float mVelocityAxis2; 00045 }; 00046 00047 #endif // UNIVERSALJOINTACTION_H