moveuniversaljoint.hh

The Little Green BATS is the first and so far only Dutch team in the 3D simulation league. We are a

/*
 *  Little Green BATS (2007), AI department, University of Groningen
 *
 *  Authors: 	Martin Klomp ([e-mail])
 *		Mart van de Sanden ([e-mail])
 *		Sander van Dijk ([e-mail])
 *		A. Bram Neijt ([e-mail])
 *		Matthijs Platje ([e-mail])
 *
 *	All students of AI at the University of Groningen
 *  at the time of writing. See: http://www.ai.rug.nl/
 *
 *  Date: 	July 27, 2007
 *
 *  Website:	http://www.littlegreenbats.nl
 *
 *  Comment:	Please feel free to contact us if you have any 
 *		problems or questions about the code.
 *
 *
 *  License: 	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; either version 3 of the License, or (at 
 *		your option) any later version.
 *
 *   		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., 59 Temple Place - 
 *		Suite 330, Boston, MA  02111-1307, USA.
 *
 */










#ifndef _BATS_MOVEUNIVERSALJOINT_HH_
#define _BATS_MOVEUNIVERSALJOINT_HH_

#include "primitivebehavior.hh"
#include "types.hh"

namespace bats
{
  /** PrimitiveBehavior: Move a universal joint
   *
   * Moves a universal joint. The index of the joint to move (index of the first axis) is read from the behavior's parameters in the configuration:
   * <code><pre>
   *  \<behavior type="MoveHingeJoint" id="moveLeftThigh">
	 *    \<param>
	 *      \<joint>2\</joint>
   *    \</param>        
   *  \</behavior>
   * </pre></code>
   */
  class MoveUniversalJoint : public PrimitiveBehavior
  {
    Types::Joint d_joint;
    
    double d_lastSpeeds[2];
    
    rf<State> getCurrentState() { return 0; }

    /** Get the capability of the behavior to achieve goal g from state s
     *
     *
     * @param s Expected state: none
     * @param g Expected goal: Joint - joint index of the joint's axis to move, Speed - desired angular motor speed in radians per second
     */
    ConfidenceInterval getCapability(rf<State> s, rf<Goal> g) { return ConfidenceInterval(1.0, 0); }

    virtual bool run();
    
  public:
    MoveUniversalJoint(std::string const &id, std::string const &playerClass);
  };
  
};

#endif