[simspark-cvs] simspark/spark/plugin/sparkagent hingeaction.h,NONE,1.1 hingeeffector.cpp,NONE,1.1 hi

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Update of /cvsroot/simspark/simspark/spark/plugin/sparkagent
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv21881

Modified Files:
	Makefile.am export.cpp hinge2action.h hinge2effector.cpp 
	hinge2effector.h hinge2effector_c.cpp hinge2perceptor.cpp 
	hinge2perceptor.h hinge2perceptor_c.cpp timeperceptor.cpp 
	timeperceptor.h timeperceptor_c.cpp 
Added Files:
	hingeaction.h hingeeffector.cpp hingeeffector.h 
	hingeeffector_c.cpp hingeperceptor.cpp hingeperceptor.h 
	hingeperceptor_c.cpp 
Log Message:
- added Joschka's hingeeffector implementation
- sync with rcssserver3d CVS

--- NEW FILE: hingeperceptor_c.cpp ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Thu Nov 8 2005
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/

#include "hingeperceptor.h"

void CLASS(HingePerceptor)::DefineClass()
{
    DEFINE_BASECLASS(oxygen/Perceptor);
}

--- NEW FILE: hingeaction.h ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Thu Nov 9 2005
   Copyright (C) 2005 RoboCup Soccer Server 3D Maintenance Group

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#ifndef HINGEACTION_H
#define HINGEACTION_H

#include <oxygen/gamecontrolserver/actionobject.h>

class HingeAction : public oxygen::ActionObject
{
public:
    HingeAction(const std::string& predicate, float velocity)
        : ActionObject(predicate), mVelocity(velocity) {};

    virtual ~HingeAction() {}
    float GetMotorVelocity() { return mVelocity; }

protected:
    float mVelocity;
};

#endif // HINGEACTION_H

Index: Makefile.am
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/Makefile.am,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** Makefile.am	13 Dec 2005 21:48:50 -0000	1.1
--- Makefile.am	2 Jan 2006 18:11:33 -0000	1.2
***************
*** 12,16 ****
  	timeperceptor.cpp \
  	timeperceptor_c.cpp \
! 	export.cpp

  sparkagent_la_LDFLAGS = -module -version-info 0:0:0
--- 12,23 ----
  	timeperceptor.cpp \
  	timeperceptor_c.cpp \
! 	export.cpp \
! 	hingeaction.h \
! 	hingeeffector.h \
! 	hingeeffector.cpp \
! 	hingeeffector_c.cpp \
! 	hingeperceptor.h \
! 	hingeperceptor.cpp \
! 	hingeperceptor_c.cpp

  sparkagent_la_LDFLAGS = -module -version-info 0:0:0

Index: export.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/export.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** export.cpp	13 Dec 2005 21:48:50 -0000	1.1
--- export.cpp	2 Jan 2006 18:11:33 -0000	1.2
***************
*** 21,24 ****
--- 21,26 ----
  */
  #include <zeitgeist/zeitgeist.h>
+ #include "hingeperceptor.h"
+ #include "hingeeffector.h"
  #include "hinge2perceptor.h"
  #include "hinge2effector.h"
***************
*** 29,31 ****
--- 31,35 ----
      ZEITGEIST_EXPORT(Hinge2Perceptor);
      ZEITGEIST_EXPORT(TimePerceptor);
+     ZEITGEIST_EXPORT(HingeEffector);
+     ZEITGEIST_EXPORT(HingePerceptor);
  ZEITGEIST_EXPORT_END()

--- NEW FILE: hingeeffector.h ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Wed Nov 9 2005
   Copyright (C) 2005 RoboCup Soccer Server 3D Maintenance Group

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#ifndef HINGEEFFECTOR_H
#define HINGEEFFECTOR_H

#include <oxygen/agentaspect/effector.h>
#include <oxygen/physicsserver/hingejoint.h>

class HingeEffector : public oxygen::Effector
{
public:
    HingeEffector();
    virtual ~HingeEffector();

    /** realizes the action described by the ActionObject */
    virtual bool Realize(boost::shared_ptr<oxygen::ActionObject> action);

    /** returns the name of the predicate this effector implements. */
    virtual std::string GetPredicate() { return GetName(); }

    /** constructs an Actionobject, describing a predicate */
    virtual boost::shared_ptr<oxygen::ActionObject>
    GetActionObject(const oxygen::Predicate& predicate);

protected:
    /** setup the reference to the HingeJoint parent node */
    virtual void OnLink();

    /** remove the reference to the HingeJoint parent node */
    virtual void OnUnlink();

protected:
    /** cached reference to the monitor joint */
    boost::shared_ptr<oxygen::HingeJoint> mJoint;

};

DECLARE_CLASS(HingeEffector);

#endif // HINGEEFFECTOR_H

Index: hinge2effector.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/hinge2effector.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** hinge2effector.h	13 Dec 2005 21:48:50 -0000	1.1
--- hinge2effector.h	2 Jan 2006 18:11:33 -0000	1.2
***************
*** 42,49 ****
      GetActionObject(const oxygen::Predicate& predicate);

!     /** setup the reference to the ball body node */
      virtual void OnLink();

!     /** remove the reference to the ball body node */
      virtual void OnUnlink();

--- 42,50 ----
      GetActionObject(const oxygen::Predicate& predicate);

! protected:
!     /** setup the reference to the Hinge2Joint parent node */
      virtual void OnLink();

!     /** remove the reference to the Hinge2Joint parent node */
      virtual void OnUnlink();

--- NEW FILE: hingeperceptor.cpp ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Thu Nov 8 2005
   Copyright (C) 2005 RoboCup Soccer Server 3D Maintenance Group

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include "hingeperceptor.h"
#include <zeitgeist/logserver/logserver.h>

using namespace oxygen;
using namespace zeitgeist;
using namespace boost;
using namespace std;

HingePerceptor::HingePerceptor() : Perceptor()
{
}

HingePerceptor::~HingePerceptor()
{
}

void HingePerceptor::OnLink()
{
    mJoint = make_shared(FindParentSupportingClass<HingeJoint>());

    if (mJoint.get() == 0)
        {
            GetLog()->Error()
                << "(HingePerceptor) ERROR: found no HingeJoint parent\n";
        }

}

void HingePerceptor::OnUnlink()
{
    mJoint.reset();
}

void HingePerceptor::InsertAxisAngle(Predicate& predicate)
{
    ParameterList& axisElement = predicate.parameter.AddList();
    axisElement.AddValue(string("axis"));
    axisElement.AddValue(mJoint->GetAngle());
}

void HingePerceptor::InsertAxisRate(Predicate& predicate)
{
    ParameterList& axisElement = predicate.parameter.AddList();
    axisElement.AddValue(string("rate"));
    axisElement.AddValue(mJoint->GetAngleRate());
}

bool HingePerceptor::Percept(boost::shared_ptr<oxygen::PredicateList> predList)
{
    if (mJoint.get() == 0)
        {
            return false;
        }

    Predicate& predicate = predList->AddPredicate();
    predicate.name = "HJ";
    predicate.parameter.Clear();

    ParameterList& nameElement = predicate.parameter.AddList();
    nameElement.AddValue(string("name"));
    nameElement.AddValue(GetName());

    InsertAxisAngle(predicate);
    InsertAxisRate(predicate);

    return true;
}

--- NEW FILE: hingeeffector.cpp ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Wed Nov 9 2005
   Copyright (C) 2005 RoboCup Soccer Server 3D Maintenance Group

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include "hingeeffector.h"
#include "hingeaction.h"

using namespace oxygen;
using namespace zeitgeist;
using namespace salt;
using namespace boost;
using namespace std;

HingeEffector::HingeEffector() : Effector()
{
    SetName("hinge");
}

HingeEffector::~HingeEffector()
{
}

bool HingeEffector::Realize(boost::shared_ptr<ActionObject> action)
{
    if (mJoint.get() == 0)
        {
            return false;
        }

    shared_ptr<HingeAction> hingeAction =
        shared_dynamic_cast<HingeAction>(action);

    if (hingeAction.get() == 0)
    {
        GetLog()->Error()
            << "ERROR: (HingeEffector) cannot realize an "
            << "unknown ActionObject\n";
        return false;
    }

/*
    Vector3f axis = mJoint->GetAxis();

    GetLog()->Error() << "(HingeEffector) axis is ("
                      << axis[0] << "," << axis[1] << "," << axis[2] << ")\n";

    GetLog()->Error() << "(HingeEffector) current vel = "
                      << mJoint->GetAngularMotorVelocity(Joint::AI_FIRST) << "\n";

    GetLog()->Error() << "(HingeEffector) set vel to "
                      << hingeAction->GetMotorVelocity() << "\n";
*/

    mJoint->SetParameter(dParamVel, hingeAction->GetMotorVelocity());

    return true;
}

shared_ptr<ActionObject> HingeEffector::GetActionObject(const Predicate& predicate)
{
    for(;;)
        {
            if (mJoint.get() == 0)
                {
                    break;
                }

            if (predicate.name != GetPredicate())
                {
                    GetLog()->Error()
                        << "ERROR: (HingeEffector) invalid predicate"
                        << predicate.name << "\n";
                    break;
                }

            Predicate::Iterator iter = predicate.begin();

            float velocity;
            if (! predicate.AdvanceValue(iter, velocity))
                {
                    GetLog()->Error()
                        << "ERROR: (HingeEffector) motor velocity expected\n";
                    break;
                }

            return shared_ptr<HingeAction>(new HingeAction(GetPredicate(),velocity));
        }

    return shared_ptr<ActionObject>();
}

void HingeEffector::OnLink()
{
    mJoint = make_shared(FindParentSupportingClass<HingeJoint>());

    if (mJoint.get() == 0)
        {
            GetLog()->Error()
                << "(HingeEffector) ERROR: found no HingeJoint parent\n";
        }

}

void HingeEffector::OnUnlink()
{
    mJoint.reset();
}

--- NEW FILE: hingeperceptor.h ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Thu Nov 8 2005
   Copyright (C) 2005 RoboCup Soccer Server 3D Maintenance Group

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#ifndef HINGEPERCEPTOR_H
#define HINGEPERCEPTOR_H

#include <oxygen/agentaspect/perceptor.h>
#include <oxygen/physicsserver/hingejoint.h>

class HingePerceptor : public oxygen::Perceptor
{
public:
    HingePerceptor();
    virtual ~HingePerceptor();

    //! \return true, if valid data is available and false otherwise.
    bool Percept(boost::shared_ptr<oxygen::PredicateList> predList);

protected:
    virtual void OnLink();
    virtual void OnUnlink();

    void InsertAxisAngle(oxygen::Predicate& predicate);
    void InsertAxisRate(oxygen::Predicate& predicate);

protected:
    /** cached reference to the monitor joint */
    boost::shared_ptr<oxygen::HingeJoint> mJoint;
};

DECLARE_CLASS(HingePerceptor);

#endif //HINGEPERCEPTOR_H

--- NEW FILE: hingeeffector_c.cpp ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: hingeeffector_c.cpp,v 1.1 2006/01/02 18:11:33 rollmark Exp $

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/

#include "hingeeffector.h"

void CLASS(HingeEffector)::DefineClass()
{
    DEFINE_BASECLASS(oxygen/Effector);
}