LoadWalkControl.h

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//-*-c++-*-
#ifndef INCLUDED_LoadWalkControl_h
#define INCLUDED_LoadWalkControl_h

#include "FileBrowserControl.h"
#include "Motion/WalkMC.h"
#include "Shared/Config.h"
#include <string>

//! When activated, loads a set of walk parameters from a file specified by user
class LoadWalkControl : public FileBrowserControl {
public:
  //! constructor, pass the MC_ID of the WalkMC which you want to save
  LoadWalkControl(const std::string& n, MC_ID w)
    : FileBrowserControl(n,"Loads a set of walk parameters from a file specified by user",config->motion.root), walk_id(w), thewalk(NULL)
  {
    setFilter("*.prm");
  }

  //! constructor, pass a pointer to the WalkMC which you want to save
  LoadWalkControl(const std::string& n, WalkMC * awalk)
    : FileBrowserControl(n,"Loads a set of walk parameters from a file specified by user",config->portPath(config->motion.root)), walk_id(invalid_MC_ID), thewalk(awalk)
  {
    setFilter("*.prm");
  }

  //! destructor
  virtual ~LoadWalkControl() {}

protected:
  //!does the actual loading of the MotionSequence
  virtual ControlBase* selectedFile(const std::string& f) {
    MC_ID id = thewalk==NULL?walk_id:thewalk->getID();
    WalkMC* walk=thewalk;
    if(id!=invalid_MC_ID)
      walk = (WalkMC*)motman->checkoutMotion(id);
    if(walk==NULL)
      serr->printf("Invalid walk for loading\n");
    else {
      walk->loadFile(f.c_str());
      if(id!=invalid_MC_ID)
        motman->checkinMotion(id);
    }
    return NULL;
  }

  MC_ID walk_id; //!< the MC_ID of the walk to load into
  WalkMC * thewalk; //!< the walk to load into (if NULL, check walk_id)

private:
  LoadWalkControl(const LoadWalkControl&); //!< don't call
  LoadWalkControl operator=(const LoadWalkControl&); //!< don't call
};

/*! @file
 * @brief Defines LoadWalkControl, which when activated, loads a set of walk parameters from a file read from cin.
 * @author ejt (Creator)
 */

#endif