[simspark-cvs] simspark/spark/plugin/sparkagent hinge2perceptor.cpp, 1.2, 1.2.2.1 hinge2perceptor.h, 1.2, 1.2.2.1 hingeperceptor.cpp, 1.1, 1.1.2.1 hingeperceptor.h, 1.1, 1.1.2.1 universaljointperceptor.cpp, 1.2, 1.2.2.1 universaljointperceptor.h, 1.1, 1.1.2.1

[Markus R. <rol...@us...>]

Update of /cvsroot/simspark/simspark/spark/plugin/sparkagent
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv29117

Modified Files:
      Tag: WIN32
	hinge2perceptor.cpp hinge2perceptor.h hingeperceptor.cpp 
	hingeperceptor.h universaljointperceptor.cpp 
	universaljointperceptor.h 
Log Message:
- use JointPerceptor template

Index: hingeperceptor.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/hingeperceptor.h,v
retrieving revision 1.1
retrieving revision 1.1.2.1
diff -C2 -d -r1.1 -r1.1.2.1
*** hingeperceptor.h	2 Jan 2006 18:11:33 -0000	1.1
--- hingeperceptor.h	18 Feb 2007 12:50:58 -0000	1.1.2.1
***************
*** 21,28 ****
  #define HINGEPERCEPTOR_H
  
! #include <oxygen/agentaspect/perceptor.h>
  #include <oxygen/physicsserver/hingejoint.h>
  
! class HingePerceptor : public oxygen::Perceptor
  {
  public:
--- 21,28 ----
  #define HINGEPERCEPTOR_H
  
! #include <oxygen/agentaspect/jointperceptor.h>
  #include <oxygen/physicsserver/hingejoint.h>
  
! class HingePerceptor : public oxygen::JointPerceptor<oxygen::HingeJoint>
  {
  public:
***************
*** 34,46 ****
  
  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;
  };
  
--- 34,39 ----

Index: universaljointperceptor.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/universaljointperceptor.h,v
retrieving revision 1.1
retrieving revision 1.1.2.1
diff -C2 -d -r1.1 -r1.1.2.1
*** universaljointperceptor.h	6 Jan 2006 13:57:36 -0000	1.1
--- universaljointperceptor.h	18 Feb 2007 12:50:58 -0000	1.1.2.1
***************
*** 21,28 ****
  #define UNIVERSALJOINTPERCEPTOR_H
  
! #include <oxygen/agentaspect/perceptor.h>
  #include <oxygen/physicsserver/universaljoint.h>
  
! class UniversalJointPerceptor : public oxygen::Perceptor
  {
  public:
--- 21,28 ----
  #define UNIVERSALJOINTPERCEPTOR_H
  
! #include <oxygen/agentaspect/jointperceptor.h>
  #include <oxygen/physicsserver/universaljoint.h>
  
! class UniversalJointPerceptor : public oxygen::JointPerceptor<oxygen::UniversalJoint>
  {
  public:
***************
*** 34,46 ****
  
  protected:
-     virtual void OnLink();
-     virtual void OnUnlink();
- 
      void InsertAxisAngle(oxygen::Predicate& predicate, oxygen::Joint::EAxisIndex idx);
      void InsertAxisRate(oxygen::Predicate& predicate, oxygen::Joint::EAxisIndex idx);
- 
- protected:
-     /** cached reference to the monitor joint */
-     boost::shared_ptr<oxygen::UniversalJoint> mJoint;
  };
  
--- 34,39 ----

Index: hinge2perceptor.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/hinge2perceptor.h,v
retrieving revision 1.2
retrieving revision 1.2.2.1
diff -C2 -d -r1.2 -r1.2.2.1
*** hinge2perceptor.h	2 Jan 2006 18:11:33 -0000	1.2
--- hinge2perceptor.h	18 Feb 2007 12:50:58 -0000	1.2.2.1
***************
*** 23,30 ****
  #define HINGE2PERCEPTOR_H
  
! #include <oxygen/agentaspect/perceptor.h>
  #include <oxygen/physicsserver/hinge2joint.h>
  
! class Hinge2Perceptor : public oxygen::Perceptor
  {
  public:
--- 23,30 ----
  #define HINGE2PERCEPTOR_H
  
! #include <oxygen/agentaspect/jointperceptor.h>
  #include <oxygen/physicsserver/hinge2joint.h>
  
! class Hinge2Perceptor : public oxygen::JointPerceptor<oxygen::Hinge2Joint>
  {
  public:
***************
*** 36,49 ****
  
  protected:
-     virtual void OnLink();
-     virtual void OnUnlink();
- 
      void InsertAxisAngle(oxygen::Predicate& predicate, oxygen::Joint::EAxisIndex idx);
      void InsertAxisRate(oxygen::Predicate& predicate, oxygen::Joint::EAxisIndex idx);
- 
- 
- protected:
-     /** cached reference to the monitor joint */
-     boost::shared_ptr<oxygen::Hinge2Joint> mJoint;
  };
  
--- 36,41 ----

Index: universaljointperceptor.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/universaljointperceptor.cpp,v
retrieving revision 1.2
retrieving revision 1.2.2.1
diff -C2 -d -r1.2 -r1.2.2.1
*** universaljointperceptor.cpp	22 Jan 2006 11:57:40 -0000	1.2
--- universaljointperceptor.cpp	18 Feb 2007 12:50:58 -0000	1.2.2.1
***************
*** 26,30 ****
  using namespace std;
  
! UniversalJointPerceptor::UniversalJointPerceptor() : Perceptor()
  {
  }
--- 26,31 ----
  using namespace std;
  
! UniversalJointPerceptor::UniversalJointPerceptor()
!     : JointPerceptor<UniversalJoint>::JointPerceptor()
  {
  }
***************
*** 34,54 ****
  }
  
- void UniversalJointPerceptor::OnLink()
- {
-     mJoint = make_shared(FindParentSupportingClass<UniversalJoint>());
- 
-     if (mJoint.get() == 0)
-         {
-             GetLog()->Error()
-                 << "(UniversalJointPerceptor) ERROR: found no UniversalJoint parent\n";
-         }
- 
- }
- 
- void UniversalJointPerceptor::OnUnlink()
- {
-     mJoint.reset();
- }
- 
  void UniversalJointPerceptor::InsertAxisAngle(Predicate& predicate, Joint::EAxisIndex idx)
  {
--- 35,38 ----
***************
*** 103,106 ****
      return true;
  }
- 
- 
--- 87,88 ----

Index: hingeperceptor.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/hingeperceptor.cpp,v
retrieving revision 1.1
retrieving revision 1.1.2.1
diff -C2 -d -r1.1 -r1.1.2.1
*** hingeperceptor.cpp	2 Jan 2006 18:11:33 -0000	1.1
--- hingeperceptor.cpp	18 Feb 2007 12:50:58 -0000	1.1.2.1
***************
*** 26,30 ****
  using namespace std;
  
! HingePerceptor::HingePerceptor() : Perceptor()
  {
  }
--- 26,31 ----
  using namespace std;
  
! HingePerceptor::HingePerceptor()
!     : JointPerceptor<HingeJoint>::JointPerceptor()
  {
  }
***************
*** 34,54 ****
  }
  
- 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)
  {
--- 35,38 ----

Index: hinge2perceptor.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/hinge2perceptor.cpp,v
retrieving revision 1.2
retrieving revision 1.2.2.1
diff -C2 -d -r1.2 -r1.2.2.1
*** hinge2perceptor.cpp	2 Jan 2006 18:11:33 -0000	1.2
--- hinge2perceptor.cpp	18 Feb 2007 12:50:58 -0000	1.2.2.1
***************
*** 28,32 ****
  using namespace std;
  
! Hinge2Perceptor::Hinge2Perceptor() : Perceptor()
  {
  }
--- 28,33 ----
  using namespace std;
  
! Hinge2Perceptor::Hinge2Perceptor()
!     : JointPerceptor<Hinge2Joint>::JointPerceptor()
  {
  }
***************
*** 36,56 ****
  }
  
- void Hinge2Perceptor::OnLink()
- {
-     mJoint = make_shared(FindParentSupportingClass<Hinge2Joint>());
- 
-     if (mJoint.get() == 0)
-         {
-             GetLog()->Error()
-                 << "(Hinge2Perceptor) ERROR: found no Hinge2Joint parent\n";
-         }
- 
- }
- 
- void Hinge2Perceptor::OnUnlink()
- {
-     mJoint.reset();
- }
- 
  void Hinge2Perceptor::InsertAxisAngle(Predicate& predicate, Joint::EAxisIndex idx)
  {
--- 37,40 ----