?? moveuniversaljoint.hh
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/* * 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_MOVEUNIVERSALJOINT_HH_#define _BATS_MOVEUNIVERSALJOINT_HH_#include "primitivebehavior.hh"#include "types.hh"namespace bats{ /** PrimitiveBehavior: Move a universal joint * * Moves a universal joint. The index of the joint to move (index of the first axis) is read from the behavior's parameters in the configuration: * <code><pre> * \<behavior type="MoveHingeJoint" id="moveLeftThigh"> * \<param> * \<joint>2\</joint> * \</param> * \</behavior> * </pre></code> */ class MoveUniversalJoint : public PrimitiveBehavior { Types::Joint d_joint; double d_lastSpeeds[2]; 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: Joint - joint index of the joint's axis to move, Speed - desired angular motor speed in radians per second */ ConfidenceInterval getCapability(rf<State> s, rf<Goal> g) { return ConfidenceInterval(1.0, 0); } virtual bool run(); public: MoveUniversalJoint(std::string const &id, std::string const &playerClass); }; };#endif
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