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.h,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 #ifndef HINGE2PERCEPTOR_H 00023 #define HINGE2PERCEPTOR_H 00024 00025 #include <oxygen/agentaspect/perceptor.h> 00026 #include <oxygen/physicsserver/hinge2joint.h> 00027 00028 class Hinge2Perceptor : public oxygen::Perceptor 00029 { 00030 public: 00031 Hinge2Perceptor(); 00032 virtual ~Hinge2Perceptor(); 00033 00035 bool Percept(boost::shared_ptr<oxygen::PredicateList> predList); 00036 00037 protected: 00038 virtual void OnLink(); 00039 virtual void OnUnlink(); 00040 00041 void InsertAxisAngle(oxygen::Predicate& predicate, oxygen::Joint::EAxisIndex idx); 00042 void InsertAxisRate(oxygen::Predicate& predicate, oxygen::Joint::EAxisIndex idx); 00043 00044 00045 protected: 00047 boost::shared_ptr<oxygen::Hinge2Joint> mJoint; 00048 }; 00049 00050 DECLARE_CLASS(Hinge2Perceptor); 00051 00052 #endif //HINGE2PERCEPTOR_H