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SaveWalkControl.h

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00001 #ifndef INCLUDED_SaveWalkControl_h
00002 #define INCLUDED_SaveWalkControl_h
00003 
00004 #include "StringInputControl.h"
00005 #include "Motion/MotionManager.h"
00006 #include "Motion/WalkMC.h"
00007 #include <string>
00008 
00009 //! When activated, saves walk parameters to a file specified from cin
00010 class SaveWalkControl : public StringInputControl {
00011  public:
00012   //! constructor, pass the MC_ID of the walk you want to save
00013   SaveWalkControl(const std::string& n, MotionManager::MC_ID w) : StringInputControl(n,"Saves Walk parameters to filename read from user","Please enter name for posture file (in /ms/data/motion)..."), walk_id(w), thewalk(NULL) {}
00014   //! constructor, pass a pointer to the walk you want to save
00015   SaveWalkControl(const std::string& n, WalkMC * awalk) : StringInputControl(n,"Saves Walk parameters to filename read from user","Please enter name for posture file (in /ms/data/motion)..."), walk_id(MotionManager::invalid_MC_ID), thewalk(awalk) {}
00016   //! destructor
00017   virtual ~SaveWalkControl() {}
00018 
00019   virtual ControlBase * takeInput(const std::string& msg) {
00020     if(msg.size()>0) {
00021       std::string filename=config->motion.makePath(msg);
00022       MotionManager::MC_ID id = (thewalk==NULL ? walk_id : thewalk->getID() );
00023       WalkMC* walk=thewalk;
00024       if(id!=MotionManager::invalid_MC_ID)
00025         walk = (WalkMC*)motman->checkoutMotion(id);
00026       if(walk==NULL)
00027         serr->printf("Invalid walk for saving\n");
00028       else {
00029         walk->SaveFile(filename.c_str());
00030         motman->checkinMotion(id);
00031       }
00032     }
00033     return StringInputControl::takeInput(msg);
00034   }
00035 
00036  protected:
00037   MotionManager::MC_ID walk_id; //!< MC_ID of walk to save from
00038   WalkMC * thewalk; //!< walk to save from
00039 
00040 private:
00041   SaveWalkControl(const SaveWalkControl&); //!< don't call
00042   SaveWalkControl operator=(const SaveWalkControl&); //!< don't call
00043 };
00044 
00045 /*! @file
00046  * @brief Defines SaveWalkControl, which when activated, saves walk parameters to a file specified from cin
00047  * @author ejt (Creator)
00048  *
00049  * $Author: ejt $
00050  * $Name: tekkotsu-2_2 $
00051  * $Revision: 1.8 $
00052  * $State: Exp $
00053  * $Date: 2004/03/26 00:28:41 $
00054  */
00055 #endif

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