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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN"><!--Converted with LaTeX2HTML 2002-2-1 (1.71)original version by: Nikos Drakos, CBLU, University of Leeds* revised and updated by: Marcus Hennecke, Ross Moore, Herb Swan* with significant contributions from: Jens Lippmann, Marek Rouchal, Martin Wilck and others --><HTML><HEAD><TITLE>Cerebellum</TITLE><META NAME="description" CONTENT="Cerebellum"><META NAME="keywords" CONTENT="howtorobocop"><META NAME="resource-type" CONTENT="document"><META NAME="distribution" CONTENT="global"><META NAME="Generator" CONTENT="LaTeX2HTML v2002-2-1"><META HTTP-EQUIV="Content-Style-Type" CONTENT="text/css"><LINK REL="STYLESHEET" HREF="howtorobocop.css"><LINK REL="next" HREF="node17.html"><LINK REL="previous" HREF="node15.html"><LINK REL="up" HREF="node13.html"><LINK REL="next" HREF="node17.html"></HEAD><BODY ><DIV CLASS="navigation"><!--Navigation Panel--><A NAME="tex2html272" HREF="node17.html"><IMG WIDTH="37" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="next" SRC="/usr/share/latex2html/icons/next.png"></A> <A NAME="tex2html268" HREF="node13.html"><IMG WIDTH="26" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="up" SRC="/usr/share/latex2html/icons/up.png"></A> <A NAME="tex2html262" HREF="node15.html"><IMG WIDTH="63" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="previous" SRC="/usr/share/latex2html/icons/prev.png"></A> <A NAME="tex2html270" HREF="node1.html"><IMG WIDTH="65" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="contents" SRC="/usr/share/latex2html/icons/contents.png"></A> <BR><B> Next:</B> <A NAME="tex2html273" HREF="node17.html">HumanoidAgent</A><B> Up:</B> <A NAME="tex2html269" HREF="node13.html">Tutorial</A><B> Previous:</B> <A NAME="tex2html263" HREF="node15.html">WorldModel</A> <B> <A NAME="tex2html271" HREF="node1.html">Contents</A></B> <BR><BR></DIV><!--End of Navigation Panel--><H1><A NAME="SECTION00630000000000000000"></A><A NAME="secCerebellum"></A><BR>Cerebellum</H1><P>The same way WorldModel keeps you from having to work with predicates on the input site, the Cerebellum overlays the output interface. It supplies more useful structures to define actions and the possibility to integrate actions from different sources in your agent. The Cerebellum has the Action substructure and a few of its derivatives with which you can make new actions. At the moment there are 4 different usable action types:<P><UL><LI><TT>MoveJointAction</TT> - Move a hinge joint or one axis of a universal joint</LI><LI><TT>MoveHingeJointAction</TT> - Move a hinge joint</LI><LI><TT>MoveUniversalJointAction</TT> - Move both axes of a universal joint</LI><LI><TT>BeamAction</TT> - Beam to a certain position</LI></UL><P>The Cerebellum is, also like the WorldModel, a singleton that can be retrieved by calling <TT>Cerebellum::getInstance()</TT> after which you can add actions to the Cerebellum. After all the sub parts have added their actions, you can call <TT>outputCommands()</TT> to send the collections through a SocketComm:<P><BR><IMG WIDTH="567" HEIGHT="164" ALIGN="BOTTOM" BORDER="0" SRC="img8.png" ALT="\begin{program}\begin{verbatim}Cerebellum& cer = Cerebellum::getInstance();......);cer.addAction(action);cer.outputCommands(comm);\end{verbatim}\end{program}"><BR><P>When more than 1 action is supplied for a hinge joint or part of a universal joint, the given speeds will be averaged before sending to the server.<P><DIV CLASS="navigation"><HR><!--Navigation Panel--><A NAME="tex2html272" HREF="node17.html"><IMG WIDTH="37" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="next" SRC="/usr/share/latex2html/icons/next.png"></A> <A NAME="tex2html268" HREF="node13.html"><IMG WIDTH="26" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="up" SRC="/usr/share/latex2html/icons/up.png"></A> <A NAME="tex2html262" HREF="node15.html"><IMG WIDTH="63" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="previous" SRC="/usr/share/latex2html/icons/prev.png"></A> <A NAME="tex2html270" HREF="node1.html"><IMG WIDTH="65" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="contents" SRC="/usr/share/latex2html/icons/contents.png"></A> <BR><B> Next:</B> <A NAME="tex2html273" HREF="node17.html">HumanoidAgent</A><B> Up:</B> <A NAME="tex2html269" HREF="node13.html">Tutorial</A><B> Previous:</B> <A NAME="tex2html263" HREF="node15.html">WorldModel</A> <B> <A NAME="tex2html271" HREF="node1.html">Contents</A></B> </DIV><!--End of Navigation Panel--><ADDRESS>Bram2007-11-18</ADDRESS></BODY></HTML>⌨️ 快捷键说明
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