text: /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
  
     this file is part of rcssserver3D
     Fri May 9 2003
     Copyright (C) 2002,2003 Koblenz University
     Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
  
     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; version 2 of the License.
  
     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., 675 Mass Ave, Cambridge, MA 02139, USA.
  */
  
  #include "touchperceptor.h"
  #include <string>
  
  using namespace boost;
  using namespace oxygen;
  using namespace zeitgeist;
  
  bool
  TouchPerceptor::Percept(boost::shared_ptr<PredicateList> predList)
  {
      Predicate& predicate = predList->AddPredicate();
      predicate.name = "TCH";
      predicate.parameter.Clear();
  
      ParameterList& nameElement = predicate.parameter.AddList();
      nameElement.AddValue(std::string("n"));
      nameElement.AddValue(GetName());
  
      std::string val;
  
      if (GetCollidees().size()) val = std::string("1");
      else val = std::string("0");
  
      ParameterList & valElement = predicate.parameter.AddList();
      valElement.AddValue(std::string("val"));
      valElement.AddValue(val);
       
      return true;
  }
  
  
  
  