magma.agent.behavior.basic.BeamHomeBehavior.java Source code

Introduction

Here is the source code for magma.agent.behavior.basic.BeamHomeBehavior.java

Source

/* Copyright 2009 Hochschule Offenburg
 * Klaus Dorer, Mathias Ehret, Stefan Glaser, Thomas Huber,
 * Simon Raffeiner, Srinivasa Ragavan, Thomas Rinklin,
 * Joachim Schilling, Ingo Schindler, Rajit Shahi
 *
 * This file is part of magmaOffenburg.
 *
 * magmaOffenburg 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.
 *
 * magmaOffenburg 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 magmaOffenburg. If not, see <http://www.gnu.org/licenses/>.
 */
package magma.agent.behavior.basic;

import java.util.logging.Level;

import magma.agent.IServerConfigFilesConstants;
import magma.agent.agentmodel.IAgentModel;
import magma.agent.behavior.ICoordinator;
import magma.agent.worldmodel.IGlobalMap;

import org.apache.commons.math.geometry.Vector3D;

/**
 * This Behavior is to beam the agent somewhere to the field
 * 
 * @author Ingo Schindler
 */
public class BeamHomeBehavior extends BeamBehavior {
    /**
     * Default constructor
     * @param name identifier for this behavior
     * @param worldModel reference to the world model information
     * @param agentModel reference to the agent's own information
     * @param coordinator handle for action sending to server
     */
    public BeamHomeBehavior(String name, IGlobalMap worldModel, IAgentModel agentModel, ICoordinator coordinator) {
        super(name, worldModel, agentModel, coordinator);
    }

    @Override
    public void perform(float intensity) {
        // the position is based on if we play left to right or right to left
        Vector3D position = worldModel.getThisPlayer().getHomePosition(worldModel.getPlaymode());
        // the z component is the rotation of the player
        setPos((float) position.getX(), (float) position.getY(), (float) position.getZ());

        super.perform(1.0f);

        // after beaming we init gyro
        agentModel.getGyroRate(IServerConfigFilesConstants.GYRORATE_NAMES[0]).initialize();
        logger.log(Level.FINER, "init gyro");
    }
}