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WalkToTargetMachine Class Reference

#include <WalkToTargetMachine.h>

Inheritance diagram for WalkToTargetMachine:

Inheritance graph
[legend]
List of all members.

Detailed Description

a state machine for walking towards a visual target

Definition at line 11 of file WalkToTargetMachine.h.

Public Member Functions

 WalkToTargetMachine (VisionEventNS::VisionSourceID_t obj, StateNode *c=NULL, StateNode *l=NULL, StateNode *p=NULL)
 constructor, pass parent, success and failure nodes, and VisionSourceID_t

void setup ()
 This is called by DoStart() when you should setup the network.

virtual void DoStart ()
 Transitions should call this when you are entering the state, so it can enable its transitions.

virtual void DoStop ()
 Transitions should call this when you are leaving the state, so it can disable its transitions.

virtual void processEvent (const EventBase &)
 Doesn't do anything, supplied here so you don't have to (since events will probably be going to Transition's, not here).


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

VisionEventNS::VisionSourceID_t tracking
 the object being tracked

TimeOutTranstimeout
 transition in case we lose the ball

StateNodeclose
 dest if we get close to the object

StateNodelost
 dest if we get lost

MotionManager::MC_ID walker_id
 so we can walk

MotionManager::MC_ID headpointer_id
 so we can point the head at the object


Private Member Functions

 WalkToTargetMachine (const WalkToTargetMachine &)
 don't call this

WalkToTargetMachine operator= (const WalkToTargetMachine &)
 don't call this


Constructor & Destructor Documentation

WalkToTargetMachine::WalkToTargetMachine VisionEventNS::VisionSourceID_t  obj,
StateNode c = NULL,
StateNode l = NULL,
StateNode p = NULL
[inline]
 

constructor, pass parent, success and failure nodes, and VisionSourceID_t

Definition at line 14 of file WalkToTargetMachine.h.

References close, headpointer_id, lost, timeout, tracking, and walker_id.

WalkToTargetMachine::WalkToTargetMachine const WalkToTargetMachine  )  [private]
 

don't call this


Member Function Documentation

void WalkToTargetMachine::DoStart  )  [virtual]
 

Transitions should call this when you are entering the state, so it can enable its transitions.

Reimplemented from StateNode.

Definition at line 18 of file WalkToTargetMachine.cc.

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

void WalkToTargetMachine::DoStop  )  [virtual]
 

Transitions should call this when you are leaving the state, so it can disable its transitions.

Reimplemented from StateNode.

Definition at line 26 of file WalkToTargetMachine.cc.

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

std::string WalkToTargetMachine::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 24 of file WalkToTargetMachine.h.

WalkToTargetMachine WalkToTargetMachine::operator= const WalkToTargetMachine  )  [private]
 

don't call this

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

Doesn't do anything, supplied here so you don't have to (since events will probably be going to Transition's, not here).

Reimplemented from StateNode.

Definition at line 35 of file WalkToTargetMachine.cc.

References MotionManager::checkinMotion(), MotionManager::checkoutMotion(), DtoR(), VisionEvent::getCenterX(), VisionEvent::getCenterY(), EventBase::getTypeID(), ERS210Info::HeadOffset, headpointer_id, motman, WorldState::outputs, ERS210Info::PanOffset, TimeOutTrans::resetTimer(), HeadPointerMC::setJoints(), WalkMC::setTargetVelocity(), state, EventBase::statusETID, ERS210Info::TiltOffset, timeout, and walker_id.

void WalkToTargetMachine::setup  )  [virtual]
 

This is called by DoStart() when you should setup the network.

Reimplemented from StateNode.

Definition at line 10 of file WalkToTargetMachine.cc.

References StateNode::addTransition(), close, lost, timeout, and tracking.


Member Data Documentation

StateNode* WalkToTargetMachine::close [protected]
 

dest if we get close to the object

Definition at line 33 of file WalkToTargetMachine.h.

MotionManager::MC_ID WalkToTargetMachine::headpointer_id [protected]
 

so we can point the head at the object

Definition at line 36 of file WalkToTargetMachine.h.

StateNode* WalkToTargetMachine::lost [protected]
 

dest if we get lost

Definition at line 34 of file WalkToTargetMachine.h.

TimeOutTrans* WalkToTargetMachine::timeout [protected]
 

transition in case we lose the ball

Definition at line 32 of file WalkToTargetMachine.h.

VisionEventNS::VisionSourceID_t WalkToTargetMachine::tracking [protected]
 

the object being tracked

Definition at line 31 of file WalkToTargetMachine.h.

MotionManager::MC_ID WalkToTargetMachine::walker_id [protected]
 

so we can walk

Definition at line 35 of file WalkToTargetMachine.h.


The documentation for this class was generated from the following files:
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Generated Sat Jul 19 00:09:15 2003 by Doxygen 1.3.2