WalkToTargetNode.h

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

#include "Behaviors/StateNode.h"
#include "Motion/MotionManager.h"

//! a state node for walking towards a visual target
class WalkToTargetNode : public StateNode {
public:
  //!constructor, pass VisionObjectSourceID_t
  WalkToTargetNode(unsigned int obj)
    : StateNode(),tracking(obj),
      walker_id(MotionManager::invalid_MC_ID), headpointer_id(MotionManager::invalid_MC_ID) 
  {}
  
  //!constructor, pass instance name and VisionObjectSourceID_t
  WalkToTargetNode(const std::string& nodename, unsigned int obj)
    : StateNode(nodename),tracking(obj),
      walker_id(MotionManager::invalid_MC_ID), headpointer_id(MotionManager::invalid_MC_ID) 
  {}
  
  static std::string getClassDescription() { return "walks towards a visual target, using some basic logic for moving the head to track it"; }
  virtual std::string getDescription() const { return getClassDescription(); }

  virtual Transition* newDefaultLostTrans(StateNode* dest);  //!< returns a suggested transition for detecting "lost" condition, but you don't have to use it
  virtual Transition* newDefaultCloseTrans(StateNode* dest); //!< returns a suggested transition for detecting "close to target" condition, but you don't have to use it

protected:
  virtual void doStart();
  virtual void doStop();
  //! uses head to watch ball, walks towards it
  virtual void doEvent();
  
  unsigned int tracking; //!< the object being tracked
  MotionManager::MC_ID walker_id; //!< so we can walk
  MotionManager::MC_ID headpointer_id; //!< so we can point the head at the object

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

/*! @file
 * @brief Describes WalkToTargetNode, a state node for walking towards a visual target
 * @author ejt (Creator)
 */

#endif