[simspark-cvs] simspark/contrib/agentspark soccerbotbehavior.cpp, 1.1.2.2, 1.1.2.3

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

Update of /cvsroot/simspark/simspark/contrib/agentspark
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv20323

Modified Files:
      Tag: WIN32
	soccerbotbehavior.cpp 
Log Message:
- adapt to changed joint perceptor parameter names

Index: soccerbotbehavior.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/contrib/agentspark/Attic/soccerbotbehavior.cpp,v
retrieving revision 1.1.2.2
retrieving revision 1.1.2.3
diff -C2 -d -r1.1.2.2 -r1.1.2.3
*** soccerbotbehavior.cpp	25 Feb 2007 17:58:25 -0000	1.1.2.2
--- soccerbotbehavior.cpp	25 Feb 2007 19:01:41 -0000	1.1.2.3
***************
*** 100,104 ****
      // read the angle value
      HingeJointSense sense;
!     if (! predicate.GetValue(iter,"axis", sense.angle))
      {
          return;
--- 100,104 ----
      // read the angle value
      HingeJointSense sense;
!     if (! predicate.GetValue(iter,"ax", sense.angle))
      {
          return;
***************
*** 134,164 ****
  
      // try to read axis1 angle
!     if (! predicate.GetValue(iter,"axis1", sense.angle1))
      {
          cerr << "(SoccerbotBehavior) could not parse universal joint angle1!" << endl;
          return;
      }
!     // try to read axis1 rate
!     if (! predicate.GetValue(iter,"rate1", sense.rate1))
!     {
!         cerr << "(SoccerbotBehavior) could not parse universal joint rate1!" << endl;
!         return;
!     }   
      // try to read axis2 angle
!     if (! predicate.GetValue(iter,"axis2", sense.angle2))
      {
          cerr << "(SoccerbotBehavior) could not parse universal joint angle2!" << endl;
          return;
-     }   
-     // try to read axis2 rate
-     if (! predicate.GetValue(iter,"rate2", sense.rate2))
-     {
-         cerr << "(SoccerbotBehavior) could not parse universal joint rate2!" << endl;
-         return;
      }
  
-     //cout << "(ParseUniversalJointInfo) got angles " << sense.angle1 
-     //     << " and " << sense.angle2 << endl;
- 
      // update the map
      mUniversalJointSenseMap[jid] = sense;
--- 134,150 ----
  
      // try to read axis1 angle
!     if (! predicate.GetValue(iter,"ax1", sense.angle1))
      {
          cerr << "(SoccerbotBehavior) could not parse universal joint angle1!" << endl;
          return;
      }
! 
      // try to read axis2 angle
!     if (! predicate.GetValue(iter,"ax2", sense.angle2))
      {
          cerr << "(SoccerbotBehavior) could not parse universal joint angle2!" << endl;
          return;
      }
  
      // update the map
      mUniversalJointSenseMap[jid] = sense;
***************
*** 170,174 ****
  float SoccerbotBehavior::ClampAngle(float angle)
  {
!     if (angle >= 0.0) 
      {
          if (angle < gain)
--- 156,160 ----
  float SoccerbotBehavior::ClampAngle(float angle)
  {
!     if (angle >= 0.0)
      {
          if (angle < gain)
***************
*** 209,213 ****
              // check for a joint percept
              switch(predicate.name[0])
!             { 
              case 'H': // hinge joint (HJ)
                  ParseHingeJointInfo(predicate);
--- 195,199 ----
              // check for a joint percept
              switch(predicate.name[0])
!             {
              case 'H': // hinge joint (HJ)
                  ParseHingeJointInfo(predicate);
***************
*** 224,228 ****
      float curAngle = 0;
      float newAngle = 0;
!  
      // string stream for the server commands
      stringstream ss("");
--- 210,214 ----
      float curAngle = 0;
      float newAngle = 0;
! 
      // string stream for the server commands
      stringstream ss("");
***************
*** 250,254 ****
                  ss << "(rarm_eff_3 " << newAngle << ")";
              }
!             else    
              {
                  state = ARM_WAVE_1;
--- 236,240 ----
                  ss << "(rarm_eff_3 " << newAngle << ")";
              }
!             else
              {
                  state = ARM_WAVE_1;
***************
*** 261,265 ****
              {
                  newAngle = ClampAngle(gain * (90.0f - curAngle));
!                 ss << "(rarm_eff_4 " << newAngle << ")"; 
              }
              else
--- 247,251 ----
              {
                  newAngle = ClampAngle(gain * (90.0f - curAngle));
!                 ss << "(rarm_eff_4 " << newAngle << ")";
              }
              else
***************
*** 295,299 ****
              break;
  
!         default:   
              break;
      }
--- 281,285 ----
              break;
  
!         default:
              break;
      }