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WalkNode.h

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

#include "Behaviors/StateNode.h"
#include "Motion/MotionManager.h"
#include "Motion/WalkMC.h"
#include "Motion/MMAccessor.h"

//! A StateNode for walking in a direction
class WalkNode : public StateNode {
public:
  //!constructor
  WalkNode(StateNode * p=NULL)
    : StateNode("WalkNode",p), walkid(MotionManager::invalid_MC_ID), walkidIsMine(true), x(0), y(0), a(0)
  {
    setRetain(false);
  }

  //!constructor, positive is counter-clockwise from above (to match coordinate system)
  WalkNode(float xvel, float yvel, float avel, StateNode * p=NULL)
    : StateNode("WalkNode",p), walkid(MotionManager::invalid_MC_ID), walkidIsMine(true), x(xvel), y(yvel), a(avel)
  {
    setRetain(false);
  }

  //! sets the velocity of the walk
  void setVelocity(float xvel, float yvel, float avel) {
    x=xvel;
    y=yvel;
    a=avel;
    updateWalk(x,y,a);
  }
  
  //! sets the velocity in x direction (positive is forward)
  void setXVelocity(float xvel) { x=xvel; updateWalk(x,y,a); }

  //! returns the velocity in x direction (positive is forward)
  float getXVelocity() { return x; }

  //! sets the velocity in y direction (positive is forward)
  void setYVelocity(float yvel) { y=yvel; updateWalk(x,y,a); }

  //! returns the velocity in y direction (positive is forward)
  float getYVelocity() { return y; }

  //! sets the velocity of the turn, positive is counter-clockwise from above (to match coordinate system)
  void setAVelocity(float avel) { a=avel; updateWalk(x,y,a); }

  //! returns the velocity of the turn, positive is counter-clockwise from above (to match coordinate system)
  float getAVelocity() { return a; }

  virtual void DoStart() {
    StateNode::DoStart();
    std::cout << "WalkNode::DoStart(); " << x << ' ' << y << ' ' << a << std::endl;
    updateWalk(x,y,a);
  }

  virtual void DoStop() {
    std::cout << "WalkNode::DoStop(); " << x << ' ' << y << ' ' << a << std::endl;
    updateWalk(0,0,0);
    StateNode::DoStop();
  }

  //! removes #walkid if #walkidIsMine
  virtual void teardown() {
    if(walkidIsMine) {
      motman->removeMotion(walkid);
      walkid=MotionManager::invalid_MC_ID;
    }
  }

  //! use this to force the WalkNode to use a shared WalkMC - set to MotionManager::invalid_MC_ID to reset to internally generated walk
  virtual void setWalkID(MotionManager::MC_ID id) {
    if(walkidIsMine) {
      motman->removeMotion(walkid);
      walkid=MotionManager::invalid_MC_ID;
    }
    walkid=id;
    walkidIsMine=(id==MotionManager::invalid_MC_ID);
  }

  //! use this to access the WalkMC that the WalkNode is using
  virtual MotionManager::MC_ID getWalkID() { return walkid; }

  //! returns true if #walkid was created (and will be destroyed) by this WalkNode - false if assigned by setWalkID()
  virtual bool ownsWalkID() { return walkidIsMine; }

protected:
  //!if the walk is invalid, create; then set xya
  void updateWalk(float xvel, float yvel, float avel) {
    if(walkid==MotionManager::invalid_MC_ID) {
      SharedObject<WalkMC> walk;
      walk->setTargetVelocity(xvel,yvel,avel);
      walkid=motman->addMotion(walk);
      walkidIsMine=true;
    } else {
      MMAccessor<WalkMC> walk(walkid);
      walk->setTargetVelocity(xvel,yvel,avel);
    }
  }

  MotionManager::MC_ID walkid; //!< the current WalkMC
  bool walkidIsMine; //!< true if the walk was created in updateWalk (instead of assigned externally)
  float x; //!< velocity in x direction (positive is forward)
  float y; //!< velocity in y direction (positive is dog's left)
  float a; //!< velocity of the turn, positive is counter-clockwise from above (to match coordinate system)
};

/*! @file
 * @brief Describes WalkNode, a  StateNode for walking in a direction
 * @author ejt (Creator)
 *
 * $Author: ejt $
 * $Name: tekkotsu-1_5 $
 * $Revision: 1.2 $
 * $State: Rel $
 * $Date: 2003/10/10 17:46:04 $
 */

#endif

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