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
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