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StareAtBallBehavior Class Reference

#include <StareAtBallBehavior.h>

Inheritance diagram for StareAtBallBehavior:

Inheritance graph
[legend]
List of all members.

Detailed Description

A simple behavior to chase after any objects seen by the vision system.

Definition at line 9 of file StareAtBallBehavior.h.

Public Member Functions

 StareAtBallBehavior ()
 constructor

virtual ~StareAtBallBehavior ()
 destructor

virtual void DoStart ()
 adds a headpointer and a listens for vision events

virtual void DoStop ()
 removes motion commands and stops listening

virtual void processEvent (const EventBase &event)
 sets the head to point at the object and sets the body to move where the head points

virtual std::string getName () const
 Identifies the behavior in menus and such.


Static Public Member Functions

std::string getClassDescription ()
 Gives a short description of what this class of behaviors does... you should override this (but don't have to).


Protected Attributes

MotionManager::MC_ID headpointer_id
 a HeadPointerMC object


Constructor & Destructor Documentation

StareAtBallBehavior::StareAtBallBehavior  )  [inline]
 

constructor

Definition at line 12 of file StareAtBallBehavior.h.

References headpointer_id.

virtual StareAtBallBehavior::~StareAtBallBehavior  )  [inline, virtual]
 

destructor

Definition at line 16 of file StareAtBallBehavior.h.


Member Function Documentation

void StareAtBallBehavior::DoStart  )  [virtual]
 

adds a headpointer and a listens for vision events

Reimplemented from BehaviorBase.

Definition at line 11 of file StareAtBallBehavior.cc.

References EventRouter::addListener(), MotionManager::addMotion(), BehaviorBase::DoStart(), Vision::enableEvents(), erouter, headpointer_id, motman, vision, and EventBase::visionEGID.

void StareAtBallBehavior::DoStop  )  [virtual]
 

removes motion commands and stops listening

Reimplemented from BehaviorBase.

Definition at line 19 of file StareAtBallBehavior.cc.

References Vision::disableEvents(), BehaviorBase::DoStop(), erouter, EventRouter::forgetListener(), headpointer_id, motman, MotionManager::removeMotion(), and vision.

std::string StareAtBallBehavior::getClassDescription  )  [inline, static]
 

Gives a short description of what this class of behaviors does... you should override this (but don't have to).

Reimplemented from BehaviorBase.

Definition at line 28 of file StareAtBallBehavior.h.

virtual std::string StareAtBallBehavior::getName  )  const [inline, virtual]
 

Identifies the behavior in menus and such.

Implements BehaviorBase.

Definition at line 27 of file StareAtBallBehavior.h.

void StareAtBallBehavior::processEvent const EventBase event  )  [virtual]
 

sets the head to point at the object and sets the body to move where the head points

Reimplemented from BehaviorBase.

Definition at line 28 of file StareAtBallBehavior.cc.

References MotionManager::checkinMotion(), MotionManager::checkoutMotion(), DtoR(), EventBase::getGeneratorID(), EventBase::getTypeID(), ERS210Info::HeadOffset, headpointer_id, motman, WorldState::outputs, ERS210Info::PanOffset, HeadPointerMC::setJoints(), state, EventBase::statusETID, ERS210Info::TiltOffset, and EventBase::visionEGID.


Member Data Documentation

MotionManager::MC_ID StareAtBallBehavior::headpointer_id [protected]
 

a HeadPointerMC object

Definition at line 31 of file StareAtBallBehavior.h.


The documentation for this class was generated from the following files:
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Generated Sat Jul 19 00:09:11 2003 by Doxygen 1.3.2