?? generategoal.cc
字號:
#include "walkto.ih"rf<Behavior::Goal> WalkTo::generateGoal(unsigned step, unsigned slot){ Vector3D pos, straight(1,0,0); double angleToPos; rf<Goal> goal = new Goal(); rf<OrNode> dis = goal->addDisjunct(); rf<AndNode> con = dis->addConjunct(); switch (step) { case 0: pos = d_goal->getVector("Pos"); pos.setZ(0); angleToPos = pos.angle(straight) / M_PI * 180; if (pos.getY() < 0) angleToPos = -angleToPos; _debugLevel4(ident() << " " << pos << " " << angleToPos); con->addVar("Angle", angleToPos, angleToPos); return goal; case 1: return d_goal; } return 0;}
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