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Grasper::PlanBodyApproach Class Reference

Plan body motion to approach the object. More...

Inheritance diagram for Grasper::PlanBodyApproach:

Detailed Description

Plan body motion to approach the object.

Definition at line 120 of file Grasper.h.

List of all members.

Public Member Functions

 PlanBodyApproach (const std::string &nodename="PlanBodyApproach")
virtual void doStart ()
 Delegate function for subclasses to be notified when the behavior starts up.

Static Public Member Functions

static float getBodyApproachRadius ()

Constructor & Destructor Documentation

Grasper::PlanBodyApproach::PlanBodyApproach ( const std::string &  nodename = "PlanBodyApproach"  ) 

Definition at line 122 of file Grasper.h.

Member Function Documentation

void Grasper::PlanBodyApproach::doStart (  )  [virtual]

Delegate function for subclasses to be notified when the behavior starts up.

Should be overridden by subclasses to subscribe to events, install motion commands, etc.

doStart() is basically a hook to allow subclasses to jump in and do some customization of behavior parameters while the behavior is starting. If you are writing a behavior class and do not expect further derivation, just override doStart() yourself. However, if you do expect further derivation of your class, consider using preStart() or postStart() instead, and leave doStart() for the 'leaf' classes.

Reimplemented from BehaviorBase.

Definition at line 158 of file Grasper.cc.

float Grasper::PlanBodyApproach::getBodyApproachRadius (  )  [static]

Definition at line 147 of file Grasper.cc.

Referenced by doStart().

The documentation for this class was generated from the following files:

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