Ground.hpp
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00001 /*
00002  * Ground.hpp
00003  *
00004  *  Created on: Nov 11, 2011
00005  *      Author: mriedel
00006  */
00007 
00008 #ifndef GROUND_HPP_
00009 #define GROUND_HPP_
00010 
00011 #include <telekyb_defines/telekyb_defines.hpp>
00012 
00013 #include <tk_behavior/Behavior.hpp>
00014 
00015 // plugin stuff
00016 //#include <pluginlib/class_list_macros.h>
00017 
00018 // ground has direct access to Trajectory Controller can toggle MassEstimation
00019 #include <tk_trajctrl/TrajectoryController.hpp>
00020 
00021 using namespace TELEKYB_NAMESPACE;
00022 
00023 namespace telekyb_behavior {
00024 
00025 class Ground : public Behavior {
00026 protected:
00027         TrajectoryController* controller;
00028         Option<bool>* tDoMassEstimation;
00029 
00030 public:
00031         Ground();
00032 
00033         virtual void initialize();
00034         virtual void destroy();
00035 
00036         // Called directly after Change Event is registered.
00037         virtual bool willBecomeActive(const TKState& currentState, const Behavior& previousBehavior);
00038         // Called after actual Switch. Note: During execution trajectoryStepCreation is used
00039         virtual void didBecomeActive(const TKState& currentState, const Behavior& previousBehavior);
00040         // Called directly after Change Event is registered: During execution trajectoryStepTermination is used
00041         virtual void willBecomeInActive(const TKState& currentState, const Behavior& nextBehavior);
00042         // Called after actual Switch. Runs in seperate Thread.
00043         virtual void didBecomeInActive(const TKState& currentState, const Behavior& nextBehavior);
00044 
00045         // called everytime a new TKState is available AND it is the NEW Behavior of an active Switch
00046         virtual void trajectoryStepCreation(const TKState& currentState, TKTrajectory& generatedTrajInput);
00047 
00048         // called everytime a new TKState is available. Should return false if invalid (swtich to next behavior, or Hover if undef).
00049         virtual void trajectoryStepActive(const TKState& currentState, TKTrajectory& generatedTrajInput);
00050 
00051         // called everytime a new TKState is available AND it is the OLD Behavior of an active Switch
00052         virtual void trajectoryStepTermination(const TKState& currentState, TKTrajectory& generatedTrajInput);
00053 
00054         // Return true if the active Behavior is (still) valid. Initiate Switch otherwise
00055         virtual bool isValid(const TKState& currentState) const;
00056 };
00057 
00058 }
00059 
00060 #endif /* GROUND_HPP_ */
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tk_behavior
Author(s): Dr. Antonio Franchi and Martin Riedel
autogenerated on Mon Nov 11 2013 11:13:36