Main Page | Namespace List | Class Hierarchy | Alphabetical List | Class List | Directories | File List | Namespace Members | Class Members | File Members

hinge2perceptor.cpp

Go to the documentation of this file.
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: hinge2perceptor.cpp,v 1.1 2004/05/07 12:14:51 rollmark 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 #include "hinge2perceptor.h"
00023 #include <zeitgeist/logserver/logserver.h>
00024 
00025 using namespace oxygen;
00026 using namespace zeitgeist;
00027 using namespace boost;
00028 using namespace std;
00029 
00030 Hinge2Perceptor::Hinge2Perceptor() : Perceptor()
00031 {
00032 }
00033 
00034 Hinge2Perceptor::~Hinge2Perceptor()
00035 {
00036 }
00037 
00038 void Hinge2Perceptor::OnLink()
00039 {
00040     mJoint = make_shared(FindParentSupportingClass<Hinge2Joint>());
00041 
00042     if (mJoint.get() == 0)
00043         {
00044             GetLog()->Error()
00045                 << "(Hinge2Perceptor) ERROR: found no Hinge2Joint parent\n";
00046         }
00047 
00048 }
00049 
00050 void Hinge2Perceptor::OnUnlink()
00051 {
00052     mJoint.reset();
00053 }
00054 
00055 void Hinge2Perceptor::InsertAxisAngle(Predicate& predicate, Joint::EAxisIndex idx)
00056 {
00057     ParameterList& axisElement = predicate.parameter.AddList();
00058     axisElement.AddValue(string("axis"));
00059     axisElement.AddValue(static_cast<int>(idx));
00060     axisElement.AddValue(mJoint->GetAngle(idx));
00061 }
00062 
00063 void Hinge2Perceptor::InsertAxisRate(Predicate& predicate, Joint::EAxisIndex idx)
00064 {
00065     ParameterList& axisElement = predicate.parameter.AddList();
00066     axisElement.AddValue(string("rate"));
00067     axisElement.AddValue(static_cast<int>(idx));
00068     axisElement.AddValue(mJoint->GetAngleRate(idx));
00069 }
00070 
00071 bool Hinge2Perceptor::Percept(boost::shared_ptr<oxygen::PredicateList> predList)
00072 {
00073     if (mJoint.get() == 0)
00074         {
00075             return false;
00076         }
00077 
00078     Predicate& predicate = predList->AddPredicate();
00079     predicate.name = "hinge2";
00080     predicate.parameter.Clear();
00081 
00082     ParameterList& nameElement = predicate.parameter.AddList();
00083     nameElement.AddValue(string("name"));
00084     nameElement.AddValue(GetName());
00085 
00086     InsertAxisAngle(predicate,Joint::AI_FIRST);
00087     InsertAxisRate(predicate,Joint::AI_SECOND);
00088 
00089     return true;
00090 }
00091 
00092 

Generated on Thu Apr 6 15:25:38 2006 for rcssserver3d by  doxygen 1.4.4