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universaljointperceptor.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    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 UNIVERSALJOINTPERCEPTOR_H
00021 #define UNIVERSALJOINTPERCEPTOR_H
00022 
00023 #include <oxygen/agentaspect/perceptor.h>
00024 #include <oxygen/physicsserver/universaljoint.h>
00025 
00026 class UniversalJointPerceptor : public oxygen::Perceptor
00027 {
00028 public:
00029     UniversalJointPerceptor();
00030     virtual ~UniversalJointPerceptor();
00031 
00033     bool Percept(boost::shared_ptr<oxygen::PredicateList> predList);
00034 
00035 protected:
00036     virtual void OnLink();
00037     virtual void OnUnlink();
00038 
00039     void InsertAxisAngle(oxygen::Predicate& predicate, oxygen::Joint::EAxisIndex idx);
00040     void InsertAxisRate(oxygen::Predicate& predicate, oxygen::Joint::EAxisIndex idx);
00041 
00042 protected:
00044     boost::shared_ptr<oxygen::UniversalJoint> mJoint;
00045 };
00046 
00047 DECLARE_CLASS(UniversalJointPerceptor);
00048 
00049 #endif //UNIVERSALJOINTPERCEPTOR_H

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