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WalkNode.h Go to the documentation of this file. //-*-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("WalkNode"), walkid(MotionManager::invalid_MC_ID), walkidIsMine(true), x(0), y(0), a(0) {} //!constructor, positive @a yvel is counter-clockwise from above (to match coordinate system) WalkNode(float xvel, float yvel, float avel) : StateNode("WalkNode"), walkid(MotionManager::invalid_MC_ID), walkidIsMine(true), x(xvel), y(yvel), a(avel) {} //!constructor, positive @a yvel is counter-clockwise from above (to match coordinate system) WalkNode(const std::string& name, float xvel, float yvel, float avel) : StateNode("WalkNode",name), walkid(MotionManager::invalid_MC_ID), walkidIsMine(true), x(xvel), y(yvel), a(avel) {} //!destructor, check if we need to call our teardown ~WalkNode() { if(issetup) teardown(); } //! 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(); updateWalk(x,y,a); } virtual void DoStop() { updateWalk(0,0,0); StateNode::DoStop(); } //! removes #walkid if #walkidIsMine virtual void teardown() { if(walkidIsMine) { motman->removeMotion(walkid); walkid=MotionManager::invalid_MC_ID; } StateNode::teardown(); } //! 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->addPersistentMotion(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-2_3 $ * $Revision: 1.8 $ * $State: Exp $ * $Date: 2005/01/24 22:23:50 $ */ #endif

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