ToggleHeadLightBehavior.cc

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00001 #if defined(TGT_ERS2xx) || defined(TGT_ERS220)
00002 
00003 #include "Behaviors/BehaviorBase.h"
00004 #include "Motion/MotionPtr.h"
00005 #include "Motion/PostureMC.h"
00006 #include "Shared/ERS220Info.h"
00007 
00008 //! opens or closes the head light on an ERS-220
00009 class ToggleHeadLightBehavior : public BehaviorBase {
00010 public:
00011   //! constructor
00012   ToggleHeadLightBehavior() : BehaviorBase("ToggleHeadLightBehavior"), light() {}
00013 
00014   //! opens the head light
00015   virtual void doStart() {
00016     BehaviorBase::doStart();
00017     if(RobotName == ERS220Info::TargetName) {
00018       unsigned int idx = ERS220Info::RetractableHeadLEDOffset;
00019       light->setOutputCmd(idx, state->outputs[idx]>0.5 ? 0 : 1);
00020       addMotion(light);
00021     }
00022   }
00023 
00024   static std::string getClassDescription() { return "Opens or closes the head light on an ERS-220"; }
00025   virtual std::string getDescription() const { return getClassDescription(); }
00026 
00027 protected:
00028   MotionPtr<PostureMC> light; //!< the PostureMC used to control the light
00029 };
00030 
00031 REGISTER_BEHAVIOR_MENU_OPT(ToggleHeadLightBehavior,"Background Behaviors",BEH_NONEXCLUSIVE);
00032 
00033 #endif
00034 
00035 /*! @file
00036  * @brief Defines ToggleHeadLightBehavior, which will open or close the head light on an ERS-220
00037  * @author ejt (Creator)
00038  */