SavePostureControl.h

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

#include "StringInputControl.h"
#include "Motion/PostureEngine.h"

//! Upon activation, saves the current position to a file name read from user (default is /ms/data/motion...)
class SavePostureControl : public StringInputControl {
 public:
  //! Constructor
  SavePostureControl() : StringInputControl("Save Posture","Saves current posture to filename read from user","Please enter name for posture file (in data/motion)...") {}
  //! Constructor
  SavePostureControl(const std::string& n) : StringInputControl(n,"Saves current posture to filename read from user","Please enter name for posture file (in data/motion)...") {}

  virtual ControlBase * takeInput(const std::string& msg) {
    if(msg.size()>0) {
      std::string filename;
      if(filename.find(".")==std::string::npos)
        filename+=".pos";
      filename=config->motion.makePath(msg);
      PostureEngine post;
      post.takeSnapshot();
      post.setWeights(1);
      post.saveFile(filename.c_str());
    }
    return StringInputControl::takeInput(msg);
  }
};

/*! @file
 * @brief Defines SavePostureControl, which when activated, saves the current position to a file name read from user (default is /ms/data/motion...)
 * @author ejt (Creator)
 */

#endif