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StareAtPawBehavior2.hGo to the documentation of this file.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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