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walk_and_kick::WAKBehManager Class Reference

A class that manages and executes the walk and kick behaviour states. More...

#include <wak_beh_manager.h>

Public Types

enum  BehStateID {
  BS_UNKNOWN = 0, BS_STOPPED, BS_PANIC_ATTACK, BS_SEARCH_FOR_BALL,
  BS_GO_BEHIND_BALL, BS_DRIBBLE_BALL, BS_KICK_BALL, BS_DIVE_FOR_BALL,
  BS_LOOK_AROUND, BS_LOOK_AT_BALL, BS_LOOK_DOWN, BS_LOOK_FOR_BALL,
  BS_LOOK_LEFT_RIGHT, BS_WALK_TO_POSE, BS_WALK_TO_POSE_LOOK_AROUND, BS_WALK_TO_POSE_LOOK_AT_BALL,
  BS_WALK_TO_POSE_LOOK_FOR_BALL, BS_WALK_TO_POSE_LOOK_LEFT_RIGHT, BS_COUNT
}
 

Public Member Functions

 WAKBehManager (WAKConfig &config, const SensorVars &SV, const WAKRosInterface &RI, const WAKGameShared &WGS)
 
void reset ()
 
void resetVars ()
 
void resetStateMachine ()
 
void registerState (WAKBehState *state, int ID, const std::string &name)
 
const WAKBehState * currentState () const
 
const BehStopped * stoppedState () const
 
const WAKBehShared & getWBS () const
 
const ActuatorVars & AV () const
 
const ActuatorVars & lastAV () const
 
cycle_t wakCycle () const
 
cycle_t stateCycle () const
 
BAType ballAction () const
 
void updateManager (const GameVars &GV, cycle_t wakCycle)
 
void execute ()
 

Static Public Member Functions

static bool behStateValid (int BSI)
 
static bool behStateValid (BehStateID BSI)
 
static const std::string & behStateName (BehStateID BSI)
 
static const std::string & behStateName (int BSI)
 

Friends

class WalkAndKick
 
class WAKBehShared
 

Detailed Description

A class that manages and executes the walk and kick behaviour states.

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