simspark-cvs

[Joschka B. <jbo...@us...>]

Update of /cvsroot/simspark/simspark/spark/plugin/sparkagent
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv30965

Modified Files:
	universaljointaction.h universaljointperceptor.cpp 
Log Message:
sync with rcssserver3D

Index: universaljointaction.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/universaljointaction.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** universaljointaction.h	6 Jan 2006 13:57:36 -0000	1.1
--- universaljointaction.h	22 Jan 2006 11:57:40 -0000	1.2
***************
*** 27,31 ****
  public:
      UniversalJointAction(const std::string& predicate, float velocity1, float velocity2)
!         : ActionObject(predicate), mVelocityAxis1(velocity1), mVelocityAxis2(velocity2) {};
  
      virtual ~UniversalJointAction() {}
--- 27,32 ----
  public:
      UniversalJointAction(const std::string& predicate, float velocity1, float velocity2)
!         : ActionObject(predicate), mVelocityAxis1(velocity1), mVelocityAxis2(velocity2) 
!     {};
  
      virtual ~UniversalJointAction() {}
***************
*** 33,37 ****
      float GetMotorVelocity(oxygen::Joint::EAxisIndex idx) 
      { 
!         if (oxygen::Joint::AI_FIRST) 
              return mVelocityAxis1; 
          else 
--- 34,38 ----
      float GetMotorVelocity(oxygen::Joint::EAxisIndex idx) 
      { 
!         if (idx == oxygen::Joint::AI_FIRST) 
              return mVelocityAxis1; 
          else 

Index: universaljointperceptor.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/universaljointperceptor.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** universaljointperceptor.cpp	6 Jan 2006 13:57:36 -0000	1.1
--- universaljointperceptor.cpp	22 Jan 2006 11:57:40 -0000	1.2
***************
*** 54,59 ****
  {
      ParameterList& axisElement = predicate.parameter.AddList();
!     axisElement.AddValue(string("axis"));
!     axisElement.AddValue(mJoint->GetAngle(idx));
  }
  
--- 54,67 ----
  {
      ParameterList& axisElement = predicate.parameter.AddList();
!     if (idx == Joint::AI_FIRST)
!     {
!         axisElement.AddValue(string("axis1"));
!         axisElement.AddValue(mJoint->GetAngle(Joint::AI_FIRST));
!     }
!     else
!     {
!         axisElement.AddValue(string("axis2"));
!         axisElement.AddValue(mJoint->GetAngle(Joint::AI_SECOND));
!     }
  }
  
***************
*** 61,66 ****
  {
      ParameterList& axisElement = predicate.parameter.AddList();
!     axisElement.AddValue(string("rate"));
!     axisElement.AddValue(mJoint->GetAngleRate(idx));
  }
  
--- 69,82 ----
  {
      ParameterList& axisElement = predicate.parameter.AddList();
!     if (idx == Joint::AI_FIRST)
!     {
!         axisElement.AddValue(string("rate1"));
!         axisElement.AddValue(mJoint->GetAngleRate(Joint::AI_FIRST));
!     }
!     else
!     {
!         axisElement.AddValue(string("rate2"));
!         axisElement.AddValue(mJoint->GetAngleRate(Joint::AI_SECOND));
!     }
  }