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MCNode< T, mcName, mcDesc, completes > Class Template Reference

#include <MCNode.h>

Inheritance diagram for MCNode< T, mcName, mcDesc, completes >:

List of all members.


Detailed Description

template<class T, const char * mcName = MCNodeBase::defName, const char * mcDesc = MCNodeBase::defDesc, bool completes = true>
class MCNode< T, mcName, mcDesc, completes >

A generic wrapper for any MotionCommand, note that some functions are provided by the MCNodeBase common base class, namely MCNodeBase::setMC() and MCNodeBase::getMC_ID().

Definition at line 62 of file MCNode.h.


Public Member Functions

 MCNode ()
 default constructor, use type name as instance name
 MCNode (const std::string &nm)
 constructor, take an instance name
virtual ~MCNode ()
 destructor
virtual MMAccessor< T > getMC ()
 reveal the MotionCommand through an MMAccessor
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 Member Functions

 MCNode (const std::string &class_name, const std::string &node_name)
 constructor for subclasses (which would need to provide a different class name)
virtual SharedObject< T > & getPrivateMC ()
 returns reference to mc or a new SharedObject<T> if mc is currently NULL (so it will always return a valid value)

Constructor & Destructor Documentation

template<class T, const char * mcName = MCNodeBase::defName, const char * mcDesc = MCNodeBase::defDesc, bool completes = true>
MCNode< T, mcName, mcDesc, completes >::MCNode (  )  [inline]

default constructor, use type name as instance name

Definition at line 65 of file MCNode.h.

template<class T, const char * mcName = MCNodeBase::defName, const char * mcDesc = MCNodeBase::defDesc, bool completes = true>
MCNode< T, mcName, mcDesc, completes >::MCNode ( const std::string &  nm  )  [inline]

constructor, take an instance name

Definition at line 70 of file MCNode.h.

template<class T, const char * mcName = MCNodeBase::defName, const char * mcDesc = MCNodeBase::defDesc, bool completes = true>
virtual MCNode< T, mcName, mcDesc, completes >::~MCNode (  )  [inline, virtual]

destructor

Definition at line 75 of file MCNode.h.

template<class T, const char * mcName = MCNodeBase::defName, const char * mcDesc = MCNodeBase::defDesc, bool completes = true>
MCNode< T, mcName, mcDesc, completes >::MCNode ( const std::string &  class_name,
const std::string &  node_name 
) [inline, protected]

constructor for subclasses (which would need to provide a different class name)

Definition at line 86 of file MCNode.h.


Member Function Documentation

template<class T, const char * mcName, const char * mcDesc, bool completes>
MMAccessor< T > MCNode< T, mcName, mcDesc, completes >::getMC (  )  [inline, virtual]

reveal the MotionCommand through an MMAccessor

This is a no-op if the motion command hasn't been added to motion manager yet, and enforces mutual exclusion if it has

Definition at line 99 of file MCNode.h.

Referenced by WalkEngineNode< W, mcName, mcDesc >::updateWMC().

template<class T, const char * mcName = MCNodeBase::defName, const char * mcDesc = MCNodeBase::defDesc, bool completes = true>
static std::string MCNode< T, mcName, mcDesc, completes >::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 MCNodeBase.

Reimplemented in LedNode.

Definition at line 81 of file MCNode.h.

Referenced by MCNode< HeadPointerMC, defHeadPointerNodeName, defHeadPointerNodeDesc, true >::getDescription().

template<class T, const char * mcName = MCNodeBase::defName, const char * mcDesc = MCNodeBase::defDesc, bool completes = true>
virtual std::string MCNode< T, mcName, mcDesc, completes >::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 MCNodeBase.

Reimplemented in LedNode.

Definition at line 82 of file MCNode.h.

template<class T, const char * mcName, const char * mcDesc, bool completes>
SharedObject< T > & MCNode< T, mcName, mcDesc, completes >::getPrivateMC (  )  [inline, protected, virtual]

returns reference to mc or a new SharedObject<T> if mc is currently NULL (so it will always return a valid value)

if a particular motion command needs some initial setup besides the default constructor, overriding this function is a good opportunity to do so

Implements MCNodeBase.

Reimplemented in LedNode.

Definition at line 110 of file MCNode.h.

Referenced by MCNode< T, mcName, mcDesc, completes >::getMC(), and LedNode::getPrivateMC().


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

Tekkotsu v4.0
Generated Thu Nov 22 00:58:31 2007 by Doxygen 1.5.4