📄 initeffector.cpp
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/* -*- 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 1.5 2004/03/23 09:37:13 rollmark 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(){}boolInitEffector::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();}⌨️ 快捷键说明
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