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 #include "universaljointperceptor.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 UniversalJointPerceptor::UniversalJointPerceptor() : Perceptor() 00029 { 00030 } 00031 00032 UniversalJointPerceptor::~UniversalJointPerceptor() 00033 { 00034 } 00035 00036 void UniversalJointPerceptor::OnLink() 00037 { 00038 mJoint = make_shared(FindParentSupportingClass<UniversalJoint>()); 00039 00040 if (mJoint.get() == 0) 00041 { 00042 GetLog()->Error() 00043 << "(UniversalJointPerceptor) ERROR: found no UniversalJoint parent\n"; 00044 } 00045 00046 } 00047 00048 void UniversalJointPerceptor::OnUnlink() 00049 { 00050 mJoint.reset(); 00051 } 00052 00053 void UniversalJointPerceptor::InsertAxisAngle(Predicate& predicate, Joint::EAxisIndex idx) 00054 { 00055 ParameterList& axisElement = predicate.parameter.AddList(); 00056 if (idx == Joint::AI_FIRST) 00057 { 00058 axisElement.AddValue(string("axis1")); 00059 axisElement.AddValue(mJoint->GetAngle(Joint::AI_FIRST)); 00060 } 00061 else 00062 { 00063 axisElement.AddValue(string("axis2")); 00064 axisElement.AddValue(mJoint->GetAngle(Joint::AI_SECOND)); 00065 } 00066 } 00067 00068 void UniversalJointPerceptor::InsertAxisRate(Predicate& predicate, Joint::EAxisIndex idx) 00069 { 00070 ParameterList& axisElement = predicate.parameter.AddList(); 00071 if (idx == Joint::AI_FIRST) 00072 { 00073 axisElement.AddValue(string("rate1")); 00074 axisElement.AddValue(mJoint->GetAngleRate(Joint::AI_FIRST)); 00075 } 00076 else 00077 { 00078 axisElement.AddValue(string("rate2")); 00079 axisElement.AddValue(mJoint->GetAngleRate(Joint::AI_SECOND)); 00080 } 00081 } 00082 00083 bool UniversalJointPerceptor::Percept(boost::shared_ptr<oxygen::PredicateList> predList) 00084 { 00085 if (mJoint.get() == 0) 00086 { 00087 return false; 00088 } 00089 00090 Predicate& predicate = predList->AddPredicate(); 00091 predicate.name = "UJ"; 00092 predicate.parameter.Clear(); 00093 00094 ParameterList& nameElement = predicate.parameter.AddList(); 00095 nameElement.AddValue(string("name")); 00096 nameElement.AddValue(GetName()); 00097 00098 InsertAxisAngle(predicate, Joint::AI_FIRST); 00099 InsertAxisRate(predicate, Joint::AI_FIRST); 00100 InsertAxisAngle(predicate, Joint::AI_SECOND); 00101 InsertAxisRate(predicate, Joint::AI_SECOND); 00102 00103 return true; 00104 } 00105 00106