SaveWalkControl.h

Go to the documentation of this file.

#ifndef INCLUDED_SaveWalkControl_h
#define INCLUDED_SaveWalkControl_h

#include "StringInputControl.h"
#include "Motion/MotionManager.h"
#include "Motion/WalkMC.h"
#include <string>

//! When activated, saves walk parameters to a file specified from cin
class SaveWalkControl : public StringInputControl {
 public:
  //! constructor, pass the MC_ID of the walk you want to save
  SaveWalkControl(const std::string& n, MC_ID w) : StringInputControl(n,"Saves Walk parameters to filename read from user","Please enter name for posture file (in data/motion)..."), walk_id(w), thewalk(NULL) {}
  //! constructor, pass a pointer to the walk you want to save
  SaveWalkControl(const std::string& n, WalkMC * awalk) : StringInputControl(n,"Saves Walk parameters to filename read from user","Please enter name for posture file (in data/motion)..."), walk_id(invalid_MC_ID), thewalk(awalk) {}
  //! destructor
  virtual ~SaveWalkControl() {}

  virtual ControlBase * takeInput(const std::string& msg) {
    if(msg.size()>0) {
      std::string filename=config->motion.makePath(msg);
      if(filename.find(".")==std::string::npos)
        filename+=".prm";
      MC_ID id = (thewalk==NULL ? walk_id : thewalk->getID() );
      WalkMC* walk=thewalk;
      if(id!=invalid_MC_ID)
        walk = (WalkMC*)motman->checkoutMotion(id);
      if(walk==NULL)
        serr->printf("Invalid walk for saving\n");
      else {
        walk->saveFile(filename.c_str());
        if(id!=invalid_MC_ID)
          motman->checkinMotion(id);
      }
    }
    return StringInputControl::takeInput(msg);
  }

 protected:
  MC_ID walk_id; //!< MC_ID of walk to save from
  WalkMC * thewalk; //!< walk to save from

private:
  SaveWalkControl(const SaveWalkControl&); //!< don't call
  SaveWalkControl operator=(const SaveWalkControl&); //!< don't call
};

/*! @file
 * @brief Defines SaveWalkControl, which when activated, saves walk parameters to a file specified from cin
 * @author ejt (Creator)
 */
#endif