magma.agent.believe.impl.LayOnSide.java Source code

Introduction

Here is the source code for magma.agent.believe.impl.LayOnSide.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.believe.impl;

import magma.agent.agentmodel.IAgentModel;
import magma.agent.believe.IBelieve;
import magma.agent.worldmodel.IGlobalMap;

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

/**
 * @author Stefan Glaser, Srinivasa Ragavan
 * 
 */
public class LayOnSide extends LayBase {

    public LayOnSide(IAgentModel agent, IGlobalMap worldModel) {
        super(IBelieve.LAY_ON_SIDE, agent, worldModel);
    }

    @Override
    public float getTruthValue() {
        Vector3D gyro = agent.getGyroRate("TorsoGyro").getTranslation();

        if (laying() && (gyro.getX() > 0.7 || gyro.getX() < -0.7)) {
            return 1.0f;
        }

        return 0.0f;
    }

}