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ChaseBallBehavior Class Reference

#include <ChaseBallBehavior.h>

Inheritance diagram for ChaseBallBehavior:

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 ChaseBallBehavior.h.

Public Member Functions

 ChaseBallBehavior ()
 constructor

virtual ~ChaseBallBehavior ()
 destructor

virtual void DoStart ()
 adds a headpointer and a walker, 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
 returns name of behavior


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

MotionManager::MC_ID walker_id
 a WalkMC object


Constructor & Destructor Documentation

ChaseBallBehavior::ChaseBallBehavior  )  [inline]
 

constructor

Definition at line 12 of file ChaseBallBehavior.h.

References headpointer_id, and walker_id.

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

destructor

Definition at line 16 of file ChaseBallBehavior.h.


Member Function Documentation

void ChaseBallBehavior::DoStart  )  [virtual]
 

adds a headpointer and a walker, and a listens for vision events

Reimplemented from BehaviorBase.

Definition at line 12 of file ChaseBallBehavior.cc.

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

void ChaseBallBehavior::DoStop  )  [virtual]
 

removes motion commands and stops listening

Reimplemented from BehaviorBase.

Definition at line 21 of file ChaseBallBehavior.cc.

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

std::string ChaseBallBehavior::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 ChaseBallBehavior.h.

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

returns name of behavior

Implements BehaviorBase.

Definition at line 27 of file ChaseBallBehavior.h.

void ChaseBallBehavior::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 31 of file ChaseBallBehavior.cc.

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


Member Data Documentation

MotionManager::MC_ID ChaseBallBehavior::headpointer_id [protected]
 

a HeadPointerMC object

Definition at line 31 of file ChaseBallBehavior.h.

MotionManager::MC_ID ChaseBallBehavior::walker_id [protected]
 

a WalkMC object

Definition at line 32 of file ChaseBallBehavior.h.


The documentation for this class was generated from the following files:
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Generated Sat Jul 19 00:08:51 2003 by Doxygen 1.3.2