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(); }