Fawkes API  Fawkes Development Version
position_mapper.cpp
1 
2 /***************************************************************************
3  * position_mapper.cpp - Mapper Position2dProxy to ObjectPositionInterface
4  *
5  * Created: Tue Sep 30 00:53:38 2008
6  * Copyright 2006-2008 Tim Niemueller [www.niemueller.de]
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #include "position_mapper.h"
23 
24 #include <interfaces/ObjectPositionInterface.h>
25 #include <libplayerc++/playerc++.h>
26 
27 /** @class PlayerPositionMapper "position_mapper.h"
28  * Position mapper for player integration.
29  * This class is used to map a Player position2d proxy to a Fawkes
30  * ObjectPositionInterface.
31  * @author Tim Niemueller
32  */
33 
34 /** Constructor.
35  * @param varname variable name
36  * @param interface Fawkes interface instance
37  * @param proxy Player proxy instance
38  */
39 PlayerPositionMapper::PlayerPositionMapper(const std::string & varname,
41  PlayerCc::Position2dProxy * proxy)
43 {
44  interface_ = interface;
45  proxy_ = proxy;
46 }
47 
48 void
50 {
51  if (proxy_->IsFresh()) {
52  //printf("Setting %s to (%f, %f, %f)\n", varname().c_str(), proxy_->GetXPos(),
53  // proxy_->GetYPos(), proxy_->GetYaw());
54  interface_->set_relative_x(proxy_->GetXPos());
55  interface_->set_relative_y(proxy_->GetYPos());
56  interface_->set_relative_z(proxy_->GetYaw());
57  interface_->write();
58  proxy_->NotFresh();
59  }
60 }
61 
62 void
64 {
65 }
PlayerPositionMapper::sync_fawkes_to_player
virtual void sync_fawkes_to_player()
Definition: position_mapper.cpp:63
PlayerPositionMapper::PlayerPositionMapper
PlayerPositionMapper(const std::string &varname, fawkes::ObjectPositionInterface *interface, PlayerCc::Position2dProxy *proxy)
Constructor.
Definition: position_mapper.cpp:39
PlayerPositionMapper::sync_player_to_fawkes
virtual void sync_player_to_fawkes()
Definition: position_mapper.cpp:49
fawkes::ObjectPositionInterface::set_relative_y
void set_relative_y(const float new_relative_y)
Set relative_y value.
Definition: ObjectPositionInterface.cpp:842
fawkes::ObjectPositionInterface::set_relative_z
void set_relative_z(const float new_relative_z)
Set relative_z value.
Definition: ObjectPositionInterface.cpp:877
PlayerProxyFawkesInterfaceMapper
Definition: mapper.h:28
fawkes::Interface::write
void write()
Write from local copy into BlackBoard memory.
Definition: interface.cpp:499
fawkes::ObjectPositionInterface::set_relative_x
void set_relative_x(const float new_relative_x)
Set relative_x value.
Definition: ObjectPositionInterface.cpp:807
fawkes::ObjectPositionInterface
Definition: ObjectPositionInterface.h:39