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: driveeffector.h,v 1.3 2004/06/19 11:38:05 fruit 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 DRIVEEFFECTOR_H 00023 #define DRIVEEFFECTOR_H 00024 00025 #include <salt/random.h> 00026 #include <oxygen/agentaspect/effector.h> 00027 #include <oxygen/physicsserver/body.h> 00028 #include <soccer/agentstate/agentstate.h> 00029 00030 class DriveEffector : public oxygen::Effector 00031 { 00032 public: 00033 DriveEffector(); 00034 virtual ~DriveEffector(); 00035 00037 virtual bool Realize(boost::shared_ptr<oxygen::ActionObject> action); 00038 00040 virtual std::string GetPredicate() { return "drive"; } 00041 00043 virtual boost::shared_ptr<oxygen::ActionObject> 00044 GetActionObject(const oxygen::Predicate& predicate); 00045 00051 void SetForceFactor(float force_factor); 00052 00060 void SetSigma(float sigma); 00061 00063 void SetMaxPower(float max_power); 00064 00070 void SetConsumption(float consume_time); 00071 00072 protected: 00073 virtual void PrePhysicsUpdateInternal(float deltaTime); 00074 00076 virtual void OnLink(); 00077 00079 virtual void OnUnlink(); 00080 00081 protected: 00082 typedef boost::shared_ptr<salt::NormalRNG<> > NormalRngPtr; 00083 00085 boost::shared_ptr<oxygen::Transform> mTransformParent; 00087 boost::shared_ptr<oxygen::Body> mBody; 00089 boost::shared_ptr<AgentState> mAgentState; 00090 00092 salt::Vector3f mForce; 00093 00095 float mMaxDistance; 00096 00099 float mForceFactor; 00100 00102 NormalRngPtr mForceErrorRNG; 00103 00105 float mMaxPower; 00106 00108 double mConsumption; 00109 }; 00110 00111 DECLARE_CLASS(DriveEffector); 00112 00113 #endif // DRIVEEFFECTOR_H