GrasperNode.h

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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