VisualTargetCloseTrans.h Source File

00001 //-*-c++-*-
00002 #ifndef INCLUDED_VisualTargetCloseTrans_h_
00003 #define INCLUDED_VisualTargetCloseTrans_h_
00004 
00005 #include "Events/EventRouter.h"
00006 #include "Events/VisionEvent.h"
00007 #include "Shared/debuget.h"
00008 #include "Shared/WorldState.h"
00009 
00010 //! causes a transition when a visual object is "close"
00011 class VisualTargetCloseTrans : public Transition {
00012 public:
00013   //!constructor
00014   VisualTargetCloseTrans(StateNode* source, StateNode* destination, VisionEventNS::VisionSourceID_t source_id) : Transition(source,destination), sid(source_id) {}
00015 
00016   //!starts listening for the object specified by the source id in the constructor
00017   virtual void DoStart() { Transition::DoStart(); erouter->addListener(this,EventBase::visionEGID,sid); }
00018 
00019   //!called by StateNode when it becomes inactive - undo whatever you did in Enable()
00020   virtual void DoStop() { erouter->forgetListener(this); Transition::DoStop(); }
00021 
00022   //!if the object is "close", calls activate()
00023   virtual void processEvent(const EventBase& e) {
00024     const VisionEvent* ve=dynamic_cast<const VisionEvent*>(&e);
00025     ASSERTRET(ve!=NULL,"Casting error");
00026     float x=ve->getCenterX();
00027     float y=ve->getCenterY();
00028     if(x*x+y*y<0.02f && state->sensors[IRDistOffset]<300)
00029       activate();
00030   }
00031 
00032   virtual std::string getName() const { return "VisualTargetCloseTrans"; }
00033 
00034 protected:
00035   //!Source ID of object to track
00036   VisionEventNS::VisionSourceID_t sid;
00037 };
00038 
00039 /*! @file
00040  * @brief Defines VisualTargetCloseTrans, which causes a transition when a visual object is "close"
00041  * @author ejt (Creator)
00042  *
00043  * $Author: ejt $
00044  * $Name: tekkotsu-1_5 $
00045  * $Revision: 1.5 $
00046  * $State: Rel $
00047  * $Date: 2003/09/25 15:26:57 $
00048  */
00049 
00050 #endif