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AlanBehavior.h

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

#include "Behaviors/BehaviorBase.h"
#include "Motion/MotionManager.h"
#include "Motion/MMAccessor.h"
#include "Shared/SharedObject.h"
#include "Shared/WorldState.h"
#include "Events/EventRouter.h"
#include "Motion/PostureMC.h"

//! just a little demo behavior which lifts a leg higher as more pressure is put on a head button
/*! Based on an idea from Alan Chun-ho Ho for a basic demo program */
class AlanBehavior : public BehaviorBase {
public:
  AlanBehavior()
    : BehaviorBase(), pose_id(MotionManager::invalid_MC_ID)
  {}
  
  virtual void DoStart() {
    //call superclass first for housekeeping:
    BehaviorBase::DoStart();

    //now do your code:
    
    // creates a PostureMC class to move the joint(s) and adds it to global MotionManager
    pose_id=motman->addMotion(SharedObject<PostureMC>());
    // subscribe to sensor updated events through the global EventRouter
    erouter->addListener(this,EventBase::sensorEGID,SensorSourceID::UpdatedSID);
  }
  
  virtual void DoStop() {
    //do your code first:
    motman->removeMotion(pose_id);  // removes your posture controller
    erouter->forgetListener(this); // stops getting events (and timers, if we had any)

    //but don't forget to call superclass at the end:
    BehaviorBase::DoStop();
  }
  
  virtual void processEvent(const EventBase& event) {
    // to be more general, let's check that it's the right event:
    if(event.getGeneratorID()==EventBase::sensorEGID) {

      // "checks out" the posture motion command from MotionManager
      // (this is the PostureMC we created in DoStart())
      MMAccessor<PostureMC> pose_mc(pose_id);
      
      //Joint offsets are defined in ERS210Info.h, ERS220Info.h and ERS2xxInfo.h
      unsigned int joint=LFrLegOffset+RotatorOffset;
      
      //state is a global instantiation of WorldState, kept up to date by framework;
      //pressure is in range 0 to 1 - we use the pressure on the front head button here
      float pressure=state->buttons[HeadFrButOffset];
      std::cout << "HeadFrBut Pressure: " << pressure << std::endl;
      
      //outputRanges is a constant table, also defined in ERS210Info.h or ERS220Info.h
      float angle=outputRanges[joint][MaxRange]*pressure;

      // now send the joint angle to the posture motion command
      pose_mc->setOutputCmd(joint,angle);

      //let's do the whole thing again with the other head button for the other leg:
      // (cutting out a some of the intermediary steps this time)
      joint=RFrLegOffset+RotatorOffset;
      pose_mc->setOutputCmd(joint,outputRanges[joint][MaxRange]*state->buttons[HeadBkButOffset]);

      // notice that there's no "check in" for pose_mc
      // MMAccessor's destructor does this automatically

    } else {
      //should never happen
      cout << "Unhandled Event:" << event.getName() << endl;
    }
  }
  
  virtual std::string getName() const {
    // Name is used for menus, or debugging.
    return "AlanBehavior";
  }
  
  static std::string getClassDescription() {
    // This string will be shown by the HelpControl or by the tooltips of the Controller GUI
    return "Lifts the left/right front legs higher as more pressure is applied to the front/back head buttons";
  }
  
protected:
  MotionManager::MC_ID pose_id; //!< ID of PostureMC, set up in DoStart() and used in processEvent()
};

/*! @file
 * @brief Defines AlanBehavior, a little demo behavior which lifts a leg higher as more pressure is put on the back head button
 * @author ejt (Creator)
 *
 * $Author: ejt $
 * $Name: tekkotsu-1_5 $
 * $Revision: 1.4 $
 * $State: Rel $
 * $Date: 2003/09/26 03:09:04 $
 */

#endif

Tekkotsu v1.5

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