GrasperEvent.h

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00001 //-*-c++-*-
00002 #ifndef INCLUDED_GrasperEvent_h_
00003 #define INCLUDED_GrasperEvent_h_
00004 
00005 #include <iostream>
00006 
00007 #include "EventBase.h"
00008 #include "Crew/GrasperRequest.h"
00009 
00010 //! Event for reporting the results of a Grasper operation
00011 class GrasperEvent : public EventBase {
00012 public:
00013   
00014   bool success;
00015   std::vector<GrasperRequest::NodeValue_t> path;
00016   Point suggestedRobotLocation;
00017   Point suggestedLookAtPoint;
00018   GrasperRequest::GrasperRequestType_t requestType;
00019   GrasperRequest::GrasperErrorType_t errorType;
00020 
00021   virtual bool getSuccess() const { return success; }
00022   virtual GrasperRequest::GrasperRequestType_t getRequestType() const { return requestType; }
00023   virtual GrasperRequest::GrasperErrorType_t getErrorType() const { return errorType; }
00024   
00025   //! Constructors
00026   GrasperEvent() : EventBase(), success(false), path(), suggestedRobotLocation(), suggestedLookAtPoint(), requestType(), errorType() {}
00027   //!
00028   GrasperEvent(bool _success, EventGeneratorID_t gid, size_t sid, EventTypeID_t tid, unsigned int dur=0)
00029     : EventBase(gid,sid,tid,dur), success(_success), path(), suggestedRobotLocation(), suggestedLookAtPoint(), requestType(), errorType() {}
00030   GrasperEvent(bool _success, EventGeneratorID_t gid, size_t sid, EventTypeID_t tid, unsigned int dur, const std::string& n, float mag)
00031     : EventBase(gid,sid,tid,dur,n,mag), success(_success), path(), suggestedRobotLocation(), suggestedLookAtPoint(), requestType(), errorType() {}
00032   //! 
00033   GrasperEvent(bool _success, GrasperRequest::GrasperRequestType_t grqt, EventGeneratorID_t gid, size_t sid, EventTypeID_t tid, unsigned int dur=0)
00034     : EventBase(gid,sid,tid,dur), success(_success), path(), suggestedRobotLocation(), suggestedLookAtPoint(), requestType(grqt), errorType() {}
00035   //!
00036   //  GrasperEvent(bool _success, GrasperRequest::GrasperRequestType_t grqt, Grasper::GrasperErrorType_t grst, EventGeneratorID_t gid, size_t sid, EventTypeID_t tid, unsigned int dur=0)
00037   //    : EventBase(gid,sid,tid,dur), success(_success), path(NULL), suggestedRobotLocation(), suggestedLookAtPoint(), requestType(grqt), errorType(grst) {}
00038   //! 
00039   GrasperEvent(bool _success, GrasperRequest::GrasperRequestType_t grqt, GrasperRequest::GrasperErrorType_t grst, size_t sid)
00040     : EventBase(EventBase::grasperEGID,sid,EventBase::statusETID,0), success(_success), path(), suggestedRobotLocation(), suggestedLookAtPoint(), requestType(grqt), errorType(grst) {}
00041   
00042   virtual EventBase* clone() const { return new GrasperEvent(*this); }
00043   
00044   GrasperEvent(const GrasperEvent &other) :
00045     success(other.success), path(other.path),
00046     suggestedRobotLocation(other.suggestedRobotLocation),
00047     suggestedLookAtPoint(other.suggestedLookAtPoint),
00048     requestType(other.requestType),
00049     errorType(other.errorType) {}
00050 
00051 private:
00052   GrasperEvent& operator=(const GrasperEvent&);
00053 
00054 };
00055 
00056 /*
00057  *  GrasperEvents.h
00058  *
00059  *  Created by Glenn Nickens on 7/30/09.
00060  *
00061  */
00062 
00063 #endif