00001 /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*- 00002 00003 this file is part of rcssserver3D 00004 Mon May 9 2005 00005 Copyright (C) 2002,2003 Koblenz University 00006 Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group 00007 $Id: pantilteffector.h,v 1.1 2006/03/10 13:46:47 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 PANTILTEFFECTOR_H 00023 #define PANTILTEFFECTOR_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 PanTiltEffector : public oxygen::Effector 00031 { 00032 public: 00033 PanTiltEffector(); 00034 virtual ~PanTiltEffector(); 00035 00037 virtual bool Realize(boost::shared_ptr<oxygen::ActionObject> action); 00038 00040 virtual std::string GetPredicate() { return "pantilt"; } 00041 00043 virtual boost::shared_ptr<oxygen::ActionObject> 00044 GetActionObject(const oxygen::Predicate& predicate); 00045 00053 void SetMaxPanAngleDelta(unsigned char max_pan_angle); 00054 00059 void SetMaxTiltAngleDelta(unsigned char max_tilt_angle); 00060 00065 void SetSigma(float sigma); 00066 00067 protected: 00069 virtual void OnLink(); 00070 00072 virtual void OnUnlink(); 00073 00074 protected: 00075 typedef boost::shared_ptr<salt::NormalRNG<> > NormalRngPtr; 00076 00078 boost::shared_ptr<oxygen::Transform> mTransformParent; 00080 boost::shared_ptr<oxygen::Body> mBody; 00082 boost::shared_ptr<AgentState> mAgentState; 00083 00085 NormalRngPtr mActuatorErrorRNG; 00086 00088 unsigned char mMaxPanAngleDelta; 00089 00091 unsigned char mMaxTiltAngleDelta; 00092 }; 00093 00094 DECLARE_CLASS(PanTiltEffector); 00095 00096 #endif // PANTILTEFFECTOR_H