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GrasperNode.hGo to the documentation of this file.00001 #ifndef INCLUDED_GrasperNode_h_ 00002 #define INCLUDED_GrasperNode_h_ 00003 00004 #include "Crew/GrasperRequest.h" 00005 #include "Behaviors/StateNode.h" 00006 00007 extern MotionManagerMsg::MC_ID motionNodesWalkMC; 00008 00009 //! Creates a GrasperRequest @a graspreq that the user can modify in their doStart() function, then executes the request when doStart() returns 00010 class GrasperNode : public StateNode { 00011 public: 00012 //! Constructor 00013 GrasperNode(GrasperRequest::GrasperRequestType_t requestType) 00014 : StateNode(), graspreq(requestType), cancelFlag(false) {} 00015 00016 //! Constructor 00017 GrasperNode(std::string const name, GrasperRequest::GrasperRequestType_t requestType) 00018 : StateNode(name), graspreq(requestType), cancelFlag(false) {} 00019 00020 virtual void cancelThisRequest(); 00021 00022 protected: 00023 virtual void preStart(); 00024 virtual void postStart(); 00025 virtual void doEvent(); 00026 00027 GrasperRequest graspreq; 00028 bool cancelFlag; 00029 00030 }; 00031 00032 #endif |
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