@Override
public void update() {
if (output.getCarriedObject() == null) {
if (carryId != null) {
carryId.destroy();
carryId = null;
}
} else {
if (carryId == null) carryId = IntWme.newInstance(getRoot(), IOConstants.CARRY);
carryId.update(output.getCarriedObject().getId());
logger.trace(carryId);
}
AreaDescription a = output.getAreaDescription();
areaId.update((a != null) ? a.getId() : -1);
headlight.update(output.isHeadlightOn() ? IOConstants.ON : IOConstants.OFF);
battery.update(output.getBatteryLife() * 100);
logger.trace(areaId);
Pose p = output.getPose();
p.translate(properties.get(AgentProperties.TRANSLATION));
for (int i = 0; i < xyz.size(); ++i) {
xyz.get(i).update(p.getPos().get(i));
logger.trace(xyz.get(i));
xyzVelocity.get(i).update(p.getVel().get(i));
logger.trace(xyzVelocity.get(i));
}
yaw.update(p.getYaw());
logger.trace(yaw);
yawVelocity.update(p.getRotationRate().get(2));
logger.trace(yawVelocity);
}
