VisualTargetTrans.h Source File

00001 //-*-c++-*-
00002 #ifndef INCLUDED_VisualTargetTrans_h_
00003 #define INCLUDED_VisualTargetTrans_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 VisualTargetTrans : public Transition {
00012 public:
00013   //!constructor
00014   VisualTargetTrans(StateNode* source, StateNode* destination, VisionEventNS::VisionSourceID_t source_id)
00015     : Transition(source,destination), sid(source_id), count(0) {}
00016 
00017   //!starts listening for the object specified by the source id in the constructor
00018   virtual void DoStart() {
00019     serr->printf("VisualTargetTrans::DoStart() - enter\n");
00020     Transition::DoStart();
00021     count=0;
00022     erouter->addListener(this,EventBase::visionEGID,sid);
00023     serr->printf("VisualTargetTrans::DoStart() - leave\n");
00024   }
00025 
00026   //!called by StateNode when it becomes inactive - undo whatever you did in Enable()
00027   virtual void DoStop() {
00028     serr->printf("VisualTargetTrans::DoStop() - enter\n");
00029     erouter->forgetListener(this);
00030     count=0;
00031     Transition::DoStop();
00032     serr->printf("VisualTargetTrans::DoStop() - leave\n");
00033   }
00034 
00035   //!if the object is "close", calls activate()
00036   virtual void processEvent(const EventBase& e) {
00037     serr->printf("VisualTargetTrans::processEvent() - enter %d\n",get_time());
00038 
00039     if(e.getTypeID()==EventBase::deactivateETID)
00040       count=0;
00041     else
00042       count++;
00043     if(count>5)
00044       activate();
00045 
00046     serr->printf("VisualTargetTrans::processEvent() - leave %d\n",get_time());
00047   }
00048 
00049   virtual std::string getName() const { return "VisualTargetTrans"; }
00050 
00051 protected:
00052   //!Source ID of object to track
00053   VisionEventNS::VisionSourceID_t sid;
00054   unsigned int count;
00055 };
00056 
00057 /*! @file
00058  * @brief Defines VisualTargetTrans, which causes a transition when a visual object is seen for a few frames
00059  * @author ejt (Creator)
00060  *
00061  * $Author: ejt $
00062  * $Name: tekkotsu-1_5 $
00063  * $Revision: 1.5 $
00064  * $State: Rel $
00065  * $Date: 2003/10/03 03:40:23 $
00066  */
00067 
00068 #endif