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

driveeffector.h

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: 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

Generated on Thu Apr 6 15:25:37 2006 for rcssserver3d by  doxygen 1.4.4