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RelaxBehavior Class Reference

#include <RelaxBehavior.h>

Inheritance diagram for RelaxBehavior:

Inheritance graph
[legend]
List of all members.

Detailed Description

A behavior that sets all the pids to zero for the tail and legs servos.

This should hopefully make the robot quieter and consume less power.

Definition at line 15 of file RelaxBehavior.h.

Public Member Functions

 RelaxBehavior ()
 contstructor
virtual void DoStart ()
 By default, merely adds to the reference counter (through AddReference()); Note you should still call this from your overriding methods.
virtual void DoStop ()
 By default, subtracts from the reference counter (RemoveReference()), and thus may deletex if zero; Don't forget to still call this when you override this; Warning: call this at the end of your DoStop(), not beginning (it might delete this ).
virtual std::string getDescription () const
 Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).

Static Public Member Functions

static 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 pidMCID
 the id for the pid motion command


Constructor & Destructor Documentation

RelaxBehavior::RelaxBehavior  )  [inline]
 

contstructor

Definition at line 18 of file RelaxBehavior.h.


Member Function Documentation

virtual void RelaxBehavior::DoStart  )  [inline, virtual]
 

By default, merely adds to the reference counter (through AddReference()); Note you should still call this from your overriding methods.

Reimplemented from BehaviorBase.

Definition at line 20 of file RelaxBehavior.h.

virtual void RelaxBehavior::DoStop  )  [inline, virtual]
 

By default, subtracts from the reference counter (RemoveReference()), and thus may deletex if zero; Don't forget to still call this when you override this; Warning: call this at the end of your DoStop(), not beginning (it might delete this ).

Reimplemented from BehaviorBase.

Definition at line 33 of file RelaxBehavior.h.

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

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

If you do override this, also consider overriding getDescription() to return it

Reimplemented from BehaviorBase.

Definition at line 39 of file RelaxBehavior.h.

Referenced by getDescription().

virtual std::string RelaxBehavior::getDescription  )  const [inline, virtual]
 

Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).

By default simply returns getName(), because any calls from a BehaviorBase function to getClassDescription() are going to call BehaviorBase::getClassDescription(), not ~YourSubClass~getClassDescription(), because static functions can't be virtual in C++ (doh!)

This means that getDescription called on a pointer to a BehaviorBase of unknown subtype would always return an empty string, which is pretty useless. So instead we return the name in this situation. If you want getDescription to return getClassDescription, you'll have to override it in your subclass to do so.

Reimplemented from BehaviorBase.

Definition at line 40 of file RelaxBehavior.h.


Member Data Documentation

MotionManager::MC_ID RelaxBehavior::pidMCID [protected]
 

the id for the pid motion command

Definition at line 42 of file RelaxBehavior.h.

Referenced by DoStart(), and DoStop().


The documentation for this class was generated from the following file:

Tekkotsu v2.4.1
Generated Tue Aug 16 16:35:07 2005 by Doxygen 1.4.4