00001 /* 00002 * EmergencyLand.hpp 00003 * 00004 * Created on: Dec 14, 2011 00005 * Author: mriedel 00006 */ 00007 00008 #ifndef EMERGENCYLAND_HPP_ 00009 #define EMERGENCYLAND_HPP_ 00010 00011 #include <telekyb_defines/telekyb_defines.hpp> 00012 #include <tk_behavior/Behavior.hpp> 00013 00014 using namespace TELEKYB_NAMESPACE; 00015 00016 namespace telekyb_behavior { 00017 00022 class EmergencyLand : public Behavior { 00023 protected: 00024 Position3D landingPosition; 00025 00026 public: 00027 EmergencyLand(); 00028 00029 virtual void initialize(); 00030 virtual void destroy(); 00031 00032 // Called directly after Change Event is registered. 00033 virtual bool willBecomeActive(const TKState& currentState, const Behavior& previousBehavior); 00034 // Called after actual Switch. Note: During execution trajectoryStepCreation is used 00035 virtual void didBecomeActive(const TKState& currentState, const Behavior& previousBehavior); 00036 // Called directly after Change Event is registered: During execution trajectoryStepTermination is used 00037 virtual void willBecomeInActive(const TKState& currentState, const Behavior& nextBehavior); 00038 // Called after actual Switch. Runs in seperate Thread. 00039 virtual void didBecomeInActive(const TKState& currentState, const Behavior& nextBehavior); 00040 00041 // called everytime a new TKState is available AND it is the NEW Behavior of an active Switch 00042 virtual void trajectoryStepCreation(const TKState& currentState, TKTrajectory& generatedTrajInput); 00043 00044 // called everytime a new TKState is available. Should return false if invalid (swtich to next behavior, or Hover if undef). 00045 virtual void trajectoryStepActive(const TKState& currentState, TKTrajectory& generatedTrajInput); 00046 00047 // called everytime a new TKState is available AND it is the OLD Behavior of an active Switch 00048 virtual void trajectoryStepTermination(const TKState& currentState, TKTrajectory& generatedTrajInput); 00049 00050 // Return true if the active Behavior is (still) valid. Initiate Switch otherwise 00051 virtual bool isValid(const TKState& currentState) const; 00052 00053 }; 00054 00055 } /* namespace telekyb_behavior */ 00056 #endif /* EMERGENCYLAND_HPP_ */
