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StareAtPawBehavior2.h

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00001 //-*-c++-*-
00002 #ifndef INCLUDED_StareAtPawBehavior2_h_
00003 #define INCLUDED_StareAtPawBehavior2_h_
00004 
00005 #include "Behaviors/BehaviorBase.h"
00006 #include "Motion/MotionManager.h"
00007 
00008 //! Uses new-style ROBOOP kinematics to track the paw which last received a button press with the camera
00009 class StareAtPawBehavior2 : public BehaviorBase {
00010 public:
00011   //! constructor
00012   StareAtPawBehavior2()
00013     : BehaviorBase("StareAtPawBehavior2"), lastLeg(LFrLegOrder), pointID(MotionManager::invalid_MC_ID)
00014   { }
00015 
00016   virtual void DoStart();
00017   virtual void DoStop();
00018   virtual void processEvent(const EventBase& e);
00019 
00020   static std::string getClassDescription() { return "Uses kinematics to track the paw which last received a button press with the camera"; }
00021   virtual std::string getDescription() const { return getClassDescription(); }
00022   
00023 protected:
00024   LegOrder_t lastLeg; //!< last leg to have it's button pressed, i.e. the one we are looking at
00025   MotionManager::MC_ID pointID; //!< the HeadPointerMC we are using to do the looking
00026 };
00027 
00028 /*! @file
00029  * @brief Describes StareAtPawBehavior2, which uses new-style ROBOOP kinematics to track the paw which last received a button press with the camera
00030  * @author ejt (Creator)
00031  *
00032  * $Author: ejt $
00033  * $Name: tekkotsu-2_4_1 $
00034  * $Revision: 1.21 $
00035  * $State: Exp $
00036  * $Date: 2005/07/07 20:25:56 $
00037  */
00038 
00039 #endif

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