/* *  Little Green BATS (2007), AI department, University of Groningen * *  Authors: 	Martin Klomp (martin@ai.rug.nl) *		Mart van de Sanden (vdsanden@ai.rug.nl) *		Sander van Dijk (sgdijk@ai.rug.nl) *		A. Bram Neijt (bneijt@gmail.com) *		Matthijs Platje (mplatje@gmail.com) * *	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_MOVEJOINTTO_HH_#define _BATS_MOVEJOINTTO_HH_#include "behavior.hh"#include "types.hh"#define MAXJOINTSPEED 10namespace bats{  /** Behavior: Move an arbitrary joint to an arbitrary angle   *   * Move an arbitrary joint to an arbitrary angle. The index of the joint to move is read from the behavior's parameters in the configuration:   * <code><pre>   *  \<behavior type="MoveJoint" id="moveLeftHip">	 *    \<param>	 *      \<joint>1\</joint>   *    \</param>           *  \</behavior>   * </pre></code>   */  class MoveJointTo : public Behavior  {      double d_gain;      Types::Joint d_joint;            /** Generate the current goal for a slot       *       * @param step Step number in the sequence       * @param slot Slot number in the step       * @returns goal: Speed - the angular velocity in radians needed to move the joint       */      virtual rf<Goal> generateGoal(unsigned step, unsigned slot);      virtual 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: Angle - absolute angle in radians to move the joint to, MaxSpeed (optional) - maximum angular velocity to use (negative value means double normal value)       * @returns Always medium confidence       */      virtual ConfidenceInterval getCapability(rf<State> s, rf<Goal> g) { return ConfidenceInterval(0.5, 0.2); }		public:			MoveJointTo(std::string const &id, std::string const &playerClass);  };};#endif