VisualTargetCloseTrans.h

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

#include "Events/EventRouter.h"
#include "Events/VisionObjectEvent.h"
#include "Shared/debuget.h"
#include "Shared/WorldState.h"
#include "Shared/ERS210Info.h"
#include "Shared/ERS220Info.h"
#include "Shared/ERS7Info.h"
#include "Shared/MarkScope.h"

//! causes a transition when a visual object is "close"
class VisualTargetCloseTrans : public Transition {
public:
  //!constructor
  VisualTargetCloseTrans(StateNode* destination, unsigned int source_id, float threshold=225)
    : Transition(destination), sid(source_id), distanceThreshold(threshold) {}

  //!constructor
  VisualTargetCloseTrans(const std::string& name, StateNode* destination, unsigned int source_id, float threshold=225)
    : Transition(name,destination), sid(source_id), distanceThreshold(threshold) {}

  //!starts listening for the object specified by the source id in the constructor
  virtual void postStart() {
    Transition::postStart();
    erouter->addListener(this,EventBase::visObjEGID,sid);
  }

  //!if the object is "close", calls fire()
  virtual void doEvent() {
    const VisionObjectEvent* ve=dynamic_cast<const VisionObjectEvent*>(event);
    ASSERTRET(ve!=NULL,"Casting error");
    float x=ve->getCenterX();
    float y=ve->getCenterY();
    unsigned int IRDistOffset=::IRDistOffset;
    //The ERS-7 adds more IR distance sensors, so we have to
    //break it down so we can specify which one
    if(RobotName == ERS7Info::TargetName)
      IRDistOffset=(distanceThreshold<350) ? ERS7Info::NearIRDistOffset : ERS7Info::FarIRDistOffset;
    if(x*x+y*y<0.02f && IRDistOffset!=-1U && state->sensors[IRDistOffset]<distanceThreshold)
      fire(*event);
  }

protected:
  //!Source ID of object to track
  unsigned int sid;
  
  //!Distance at which to trigger transition, in millimeters
  float distanceThreshold;
};

/*! @file
 * @brief Defines VisualTargetCloseTrans, which causes a transition when a visual object is "close"
 * @author ejt (Creator)
 */

#endif