SelfIL(SoarAgent agent) {
super(agent, IOConstants.SELF, agent.getSoarAgent().GetInputLink());
this.output = agent.getRobotOutput();
properties = agent.getProperties();
areaId = IntWme.newInstance(getRoot(), IOConstants.AREA);
headlight = StringWme.newInstance(getRoot(), IOConstants.HEADLIGHT);
battery = FloatWme.newInstance(getRoot(), IOConstants.BATTERY);
Identifier pose = getRoot().CreateIdWME(IOConstants.POSE);
xyz.add(DistanceWme.newInstance(pose, IOConstants.X, properties));
xyz.add(DistanceWme.newInstance(pose, IOConstants.Y, properties));
xyz.add(DistanceWme.newInstance(pose, IOConstants.Z, properties));
yaw = YawWme.newInstance(pose, IOConstants.YAW, properties);
xyzVelocity.add(LinSpeedWme.newInstance(pose, IOConstants.X_VELOCITY, properties));
xyzVelocity.add(LinSpeedWme.newInstance(pose, IOConstants.Y_VELOCITY, properties));
xyzVelocity.add(LinSpeedWme.newInstance(pose, IOConstants.Z_VELOCITY, properties));
yawVelocity = AngSpeedWme.newInstance(pose, IOConstants.YAW_VELOCITY, properties);
update();
}
