LocomotionEvent.h

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

#include "EventBase.h"
#include <iostream>

//! Gives updates regarding the current movement of the robot through the world
/*! An activate event will be sent when a potential source of motion is created,
 *  and a deactivate when it is destroyed.  Status events will be sent at any
 *  change of direction/speed.
 *
 *  The source ID field will hold the MotionManager::MC_ID of the sending MotionCommand
 */
class LocomotionEvent : public EventBase {
 public:

  //! @name Constructors

  //! constructor
  LocomotionEvent() : EventBase(),x(0),y(0),a(0) {}
  LocomotionEvent(EventGeneratorID_t gid, size_t sid, EventTypeID_t tid, unsigned int dur=0) : EventBase(gid,sid,tid,dur),x(0),y(0),a(0) {}
  LocomotionEvent(EventGeneratorID_t gid, size_t sid, EventTypeID_t tid, unsigned int dur, const std::string& n, float mag) : EventBase(gid,sid,tid,dur,n,mag),x(0),y(0),a(0) {}
  virtual EventBase* clone() const { return new LocomotionEvent(*this); }
  //@}

  virtual unsigned int getClassTypeID() const { return autoRegisterLocomotionEvent; }

  //! Allows you to set the new X, Y, and A components
  LocomotionEvent& setXYA(float X, float Y, float A) {
    x=X;
    y=Y;
    a=A;
    return *this;
  }

  virtual std::string getDescription(bool showTypeSpecific=true, unsigned int verbosity=0) const;

  virtual unsigned int getBinSize() const;
  virtual unsigned int loadBinaryBuffer(const char buf[], unsigned int len);
  virtual unsigned int saveBinaryBuffer(char buf[], unsigned int len) const;
  virtual void loadXML(xmlNode* node);
  virtual void saveXML(xmlNode * node) const;

  //!< Returns true if this event indicates motion has stopped (x,y,a are all essentially zero; may not be exactly zero in Mirage)
  virtual bool isStop() const { return fabs(x) < 1e-3 && fabs(y) < 1e-3 && fabs(a) < 1e-3;}

  float x; //!< the new x component (body relative)
  float y; //!< the new y component (body relative)
  float a; //!< the new angular component (body relative)

protected:
  //! causes class type id to automatically be registered with EventBase's FamilyFactory (getTypeRegistry())
  static const EventBase::classTypeID_t autoRegisterLocomotionEvent;
};

/*! @file
 * @brief Describes LocomotionEvent, which gives updates regarding the current movement of the robot through the world
 * @author ejt (Creator)
 */

#endif