touchperceptor.cpp

来自「rcssserver3d Robocup 3D比赛官方指定平台」· C++ 代码 · 共 54 行

/* -*- 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

   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 "touchperceptor.h"
#include <string>

using namespace boost;
using namespace oxygen;
using namespace zeitgeist;

bool
TouchPerceptor::Percept(shared_ptr<PredicateList> predList)
{
    Predicate& predicate = predList->AddPredicate();
    predicate.name = "TCH";
    predicate.parameter.Clear();

    ParameterList& nameElement = predicate.parameter.AddList();
    nameElement.AddValue(std::string("n"));
    nameElement.AddValue(GetName());

    std::string val;

    if (GetCollidees().size()) val = std::string("1");
    else val = std::string("0");

    ParameterList & valElement = predicate.parameter.AddList();
    valElement.AddValue(std::string("val"));
    valElement.AddValue(val);
     
    return true;
}