[simspark-cvs] simspark/simulations/soccer/plugin/initeffector initaction.h, NONE, 1.1.2.1 initeffe

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Update of /cvsroot/simspark/simspark/simulations/soccer/plugin/initeffector
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv24718/initeffector

Added Files:
      Tag: projectx
	initaction.h initeffector.cpp initeffector.h 
	initeffector_c.cpp 
Log Message:
soccer plugins from rcssserver3D

--- NEW FILE: initeffector.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) 2004 RoboCup Soccer Server 3D Maintenance Group
   $Id: initeffector.cpp,v 1.1.2.1 2007/03/07 10:39:35 fruit 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 "initaction.h"
#include "initeffector.h"
#include <zeitgeist/logserver/logserver.h>
#include <oxygen/agentaspect/agentaspect.h>
#include <oxygen/gamecontrolserver/predicate.h>
#include <oxygen/physicsserver/body.h>
#include <soccer/soccerbase/soccerbase.h>
#include <soccer/agentstate/agentstate.h>
#include <soccer/gamestateaspect/gamestateaspect.h>
#include <sstream>

using namespace boost;
using namespace oxygen;
using namespace salt;

InitEffector::InitEffector() : oxygen::Effector()
{
}

InitEffector::~InitEffector()
{
}

bool
InitEffector::Realize(boost::shared_ptr<ActionObject> action)
{
    if (
        (mGameState.get() == 0) ||
        (mAgentAspect.get() == 0)
        )
        {
            return false;
        }

    shared_ptr<InitAction> initAction =
        shared_dynamic_cast<InitAction>(action);

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

    // search for the AgentState
    shared_ptr<AgentState> state = shared_static_cast<AgentState>
        (mAgentAspect->GetChildOfClass("AgentState",true));

    if (state.get() == 0)
    {
        GetLog()->Error()
            << "ERROR: (InitEffector) cannot find AgentState\n";
        return false;
    }

    // register the uniform number and team index to the GameStateAspect
    mGameState->RequestUniform
        (state, initAction->GetName(), initAction->GetNumber());

    // request an initial position for the agent and move it there
    Vector3f pos = mGameState->RequestInitPosition(state->GetTeamIndex());

    shared_ptr<Body> body;
    if (SoccerBase::GetAgentBody(mAgentAspect,body))
        {
            body->SetPosition(pos);
            body->SetVelocity(Vector3f(0,0,0));
            body->SetAngularVelocity(Vector3f(0,0,0));
        }

    return true;
}

shared_ptr<ActionObject>
InitEffector::GetActionObject(const Predicate& predicate)
{
    if (predicate.name != GetPredicate())
    {
        GetLog()->Error() << "ERROR: (InitEffector) invalid predicate"
                          << predicate.name << "\n";
        return shared_ptr<ActionObject>();
    }

    std::string name;
    predicate.GetValue(predicate.begin(),"teamname",name);

    int unum = 0;
    predicate.GetValue(predicate.begin(),"unum",unum);

    return shared_ptr<ActionObject>(new InitAction(GetPredicate(),name,unum));
}

void InitEffector::OnLink()
{
    mGameState = shared_dynamic_cast<GameStateAspect>
        (SoccerBase::GetControlAspect(*this,"GameStateAspect"));
    mAgentAspect = GetAgentAspect();
    if (mAgentAspect.get() == 0)
    {
        GetLog()->Error()
            << "ERROR: (InitEffector) cannot get AgentAspect\n";
    }
}

void InitEffector::OnUnlink()
{
    mGameState.reset();
    mAgentAspect.reset();
}

--- NEW FILE: initeffector_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: initeffector_c.cpp,v 1.1.2.1 2007/03/07 10:39:36 fruit 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 "initeffector.h"

using namespace oxygen;

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

--- NEW FILE: initaction.h ---
/* -*- 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: initaction.h,v 1.1.2.1 2007/03/07 10:39:35 fruit 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.
*/
#ifndef INITACTION_H
#define INITACTION_H

#include <oxygen/gamecontrolserver/actionobject.h>

class InitAction : public oxygen::ActionObject
{
public:
    InitAction(const std::string& predicate,
               const std::string& name, int number)
        : ActionObject(predicate), mName(name), mNumber(number) {}
    virtual ~InitAction() {}

    /** @return the requested team name */
    const std::string& GetName() { return mName; }
    /** @return the requested uniform number */
    int GetNumber() { return mNumber; }

protected:
    /** the team name to set */
    std::string mName;
    /** the requested uniform number */
    int mNumber;
};

#endif // INITACTION_H

--- NEW FILE: initeffector.h ---
/* -*- 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: initeffector.h,v 1.1.2.1 2007/03/07 10:39:36 fruit 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.
*/
#ifndef INITEFFECTOR_H
#define INITEFFECTOR_H

#include <oxygen/agentaspect/effector.h>

class GameStateAspect;

class InitEffector : public oxygen::Effector
{
    //
    // functions
    //
public:
    InitEffector();
    virtual ~InitEffector();

    /** 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 "init"; }

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

protected:
    /** set up the reference GameStateAspect */
    virtual void OnLink();

    /** reset the reference to the GameStateAspect */
    virtual void OnUnlink();

protected:
    /** reference to the GameStateAspect */
    boost::shared_ptr<GameStateAspect> mGameState;

    /** reference to the AgentAspect */
    boost::shared_ptr<oxygen::AgentAspect> mAgentAspect;
};

DECLARE_CLASS(InitEffector);

#endif // INITEFFECTOR_H

[simspark-cvs] simspark/simulations/soccer/plugin/initeffector initaction.h, NONE, 1.1.2.1 initeffe

[simspark-cvs] simspark/simulations/soccer/plugin/initeffector initaction.h, NONE, 1.1.2.1 initeffector.cpp, NONE, 1.1.2.1 initeffector.h, NONE, 1.1.2.1 initeffector_c.cpp, NONE, 1.1.2.1