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SimpleChaseBallBehavior.h

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

#include "Behaviors/BehaviorBase.h"
#include "Motion/MotionManager.h"
#include "Motion/MMAccessor.h"

#include "Events/EventRouter.h"
#include "Events/VisionEvent.h"
#include "Shared/WorldState.h"
#include "Motion/WalkMC.h"
#include "Vision/Vision.h"

//! A simple behavior to chase after any objects seen by the vision system
/*! Similar to ChaseBallBehavior, but this one doesn't try to move the head, so
 *  it's a little more... simple.  However, it does make sure to take into account
 *  which direction the head is pointing when it sees the object. */
class SimpleChaseBallBehavior : public BehaviorBase {
public:
  //!constructor
  SimpleChaseBallBehavior()
    : BehaviorBase(), walker_id(MotionManager::invalid_MC_ID)
  {}
  //!destructor
  virtual ~SimpleChaseBallBehavior() {}

  //! adds a headpointer and a walker, and a listens for vision events
  virtual void DoStart() {
    BehaviorBase::DoStart();
    walker_id = motman->addMotion(SharedObject<WalkMC>());
    erouter->addListener(this,EventBase::visionEGID);
  }

  //! removes motion commands and stops listening
  virtual void DoStop() {
    erouter->forgetListener(this);
    motman->removeMotion(walker_id);
    BehaviorBase::DoStop();
  }

  //! sets the head to point at the object and sets the body to move where the head points
  virtual void processEvent(const EventBase& event) {
    if(event.getGeneratorID()==EventBase::visionEGID && event.getTypeID()==EventBase::statusETID) {
      //in case the head isn't pointing straight forward, we'll straife
      float x=120.0f*cos(state->outputs[HeadOffset+PanOffset]);
      float y=120.0f*sin(state->outputs[HeadOffset+PanOffset]);
      float z=-static_cast<const VisionEvent*>(&event)->getCenterX();
      MMAccessor<WalkMC>(walker_id)->setTargetVelocity(x,y,z);
    }
  }
      
  virtual std::string getName() const { return "SimpleChaseBallBehavior"; } 

protected:
  MotionManager::MC_ID walker_id;      //!< a WalkMC object
};

/*! @file
 * @brief Describes SimpleChaseBallBehavior, which runs around after whatever the dog sees
 * @author ejt (Creator)
 *
 * $Author: ejt $
 * $Name: tekkotsu-1_5 $
 * $Revision: 1.4 $
 * $State: Rel $
 * $Date: 2003/07/28 18:39:18 $
 */

#endif

Tekkotsu v1.5

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