Homepage Demos Overview Downloads Tutorials Reference
Credits
Main Page | Namespace List | Class Hierarchy | Alphabetical List | Class List | File List | Namespace Members | Class Members | File Members | Related Pages | Search for 

WalkToTargetMachine Class Reference

#include <WalkToTargetMachine.h>

Inheritance diagram for WalkToTargetMachine:

Inheritance graph
[legend]
List of all members.

Detailed Description

a state machine for walking towards a visual target

Definition at line 11 of file WalkToTargetMachine.h.

Public Member Functions

 WalkToTargetMachine (VisionEventNS::VisionSourceID_t obj, StateNode *c=NULL, StateNode *l=NULL, StateNode *p=NULL)
 constructor, pass success (close), failure (lost), and parent nodes, and VisionSourceID_t

void setup ()
 This is called by DoStart() when you should setup the network of subnodes.

virtual void DoStart ()
 Transitions should call this when you are entering the state, so it can enable its transitions.

virtual void DoStop ()
 Transitions should call this when you are leaving the state, so it can disable its transitions.

virtual void processEvent (const EventBase &event)
 By defining here, allows you to get away with not supplying a processEvent() function for the EventListener interface. By default, does nothing.


Static Public Member Functions

std::string getClassDescription ()
 Gives a short description of what this class of behaviors does... you should override this (but don't have to).


Protected Attributes

VisionEventNS::VisionSourceID_t tracking
 the object being tracked

TimeOutTrans * timeout
 transition in case we lose the ball

StateNode * close
 dest if we get close to the object

StateNode * lost
 dest if we get lost

MotionManager::MC_ID walker_id
 so we can walk

MotionManager::MC_ID headpointer_id
 so we can point the head at the object


Private Member Functions

 WalkToTargetMachine (const WalkToTargetMachine &)
 don't call this

WalkToTargetMachine operator= (const WalkToTargetMachine &)
 don't call this

Constructor & Destructor Documentation

WalkToTargetMachine::WalkToTargetMachine (  VisionEventNS::VisionSourceID_t  obj,
StateNode *  c = NULL,
StateNode *  l = NULL,
StateNode *  p = NULL
)  [inline]
 

constructor, pass success (close), failure (lost), and parent nodes, and VisionSourceID_t

Definition at line 14 of file WalkToTargetMachine.h.

References close, headpointer_id, lost, timeout, tracking, and walker_id.

WalkToTargetMachine::WalkToTargetMachine (  const WalkToTargetMachine &   )  [private]
 

don't call this

Member Function Documentation

void WalkToTargetMachine::DoStart (   )  [virtual]
 

Transitions should call this when you are entering the state, so it can enable its transitions.

Reimplemented from StateNode.

Definition at line 19 of file WalkToTargetMachine.cc.

References EventRouter::addListener(), MotionManager::addMotion(), StateNode::DoStart(), erouter, headpointer_id, motman, tracking, EventBase::visionEGID, and walker_id.

Here is the call graph for this function:

void WalkToTargetMachine::DoStop (   )  [virtual]
 

Transitions should call this when you are leaving the state, so it can disable its transitions.

for(int i=0; i<1000; i++)

Reimplemented from StateNode.

Definition at line 26 of file WalkToTargetMachine.cc.

References StateNode::DoStop(), erouter, EventRouter::forgetListener(), headpointer_id, motman, MotionManager::removeMotion(), and walker_id.

Here is the call graph for this function:

std::string WalkToTargetMachine::getClassDescription (   )  [inline, static]
 

Gives a short description of what this class of behaviors does... you should override this (but don't have to).

Reimplemented from BehaviorBase.

Definition at line 24 of file WalkToTargetMachine.h.

WalkToTargetMachine WalkToTargetMachine::operator= (  const WalkToTargetMachine &   )  [private]
 

don't call this

void WalkToTargetMachine::processEvent (  const EventBase &  event  )  [virtual]
 

By defining here, allows you to get away with not supplying a processEvent() function for the EventListener interface. By default, does nothing.

Reimplemented from BehaviorBase.

Definition at line 34 of file WalkToTargetMachine.cc.

References MotionManager::checkinMotion(), MotionManager::checkoutMotion(), VisionEvent::getCenterX(), VisionEvent::getCenterY(), EventBase::getTypeID(), ERS210Info::HeadOffset, headpointer_id, ERS210Info::MaxRange, ERS210Info::MinRange, motman, ERS210Info::outputRanges, WorldState::outputs, ERS210Info::PanOffset, TimeOutTrans::resetTimer(), HeadPointerMC::setJoints(), WalkMC::setTargetVelocity(), state, EventBase::statusETID, ERS210Info::TiltOffset, timeout, and walker_id.

Here is the call graph for this function:

void WalkToTargetMachine::setup (   )  [virtual]
 

This is called by DoStart() when you should setup the network of subnodes.

Reimplemented from StateNode.

Definition at line 10 of file WalkToTargetMachine.cc.

References StateNode::addTransition(), close, lost, StateNode::setup(), timeout, and tracking.

Here is the call graph for this function:

Member Data Documentation

StateNode* WalkToTargetMachine::close [protected]
 

dest if we get close to the object

Definition at line 33 of file WalkToTargetMachine.h.

MotionManager::MC_ID WalkToTargetMachine::headpointer_id [protected]
 

so we can point the head at the object

Definition at line 36 of file WalkToTargetMachine.h.

StateNode* WalkToTargetMachine::lost [protected]
 

dest if we get lost

Definition at line 34 of file WalkToTargetMachine.h.

TimeOutTrans* WalkToTargetMachine::timeout [protected]
 

transition in case we lose the ball

Definition at line 32 of file WalkToTargetMachine.h.

VisionEventNS::VisionSourceID_t WalkToTargetMachine::tracking [protected]
 

the object being tracked

Definition at line 31 of file WalkToTargetMachine.h.

MotionManager::MC_ID WalkToTargetMachine::walker_id [protected]
 

so we can walk

Definition at line 35 of file WalkToTargetMachine.h.

The documentation for this class was generated from the following files:
Tekkotsu v1.5
 		Generated Fri Oct 10 15:58:27 2003 by Doxygen 1.3.4