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: hinge2effector.h,v 1.3 2006/01/02 17:55:45 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 HINGE2EFFECTOR_H 00023 #define HINGE2EFFECTOR_H 00024 00025 #include <oxygen/agentaspect/effector.h> 00026 #include <oxygen/physicsserver/hinge2joint.h> 00027 00028 class Hinge2Effector : public oxygen::Effector 00029 { 00030 public: 00031 Hinge2Effector(); 00032 virtual ~Hinge2Effector(); 00033 00035 virtual bool Realize(boost::shared_ptr<oxygen::ActionObject> action); 00036 00038 virtual std::string GetPredicate() { return GetName(); } 00039 00041 virtual boost::shared_ptr<oxygen::ActionObject> 00042 GetActionObject(const oxygen::Predicate& predicate); 00043 00044 protected: 00046 virtual void OnLink(); 00047 00049 virtual void OnUnlink(); 00050 00051 protected: 00053 boost::shared_ptr<oxygen::Hinge2Joint> mJoint; 00054 00055 }; 00056 00057 DECLARE_CLASS(Hinge2Effector); 00058 00059 #endif // HINGE2EFFECTOR_H