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pantilteffector.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    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

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