wak_beh_state.h

// Walk and kick: Behaviour states base implementation
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>
 
 // Ensure header is only included once
#ifndef WAK_BEH_STATE_H
#define WAK_BEH_STATE_H

// Includes
#include <walk_and_kick/wak_common.h>
#include <walk_and_kick/wak_config.h>
#include <walk_and_kick/wak_beh_shared.h>
#include <walk_and_kick/wak_game_shared.h>
#include <walk_and_kick/wak_game_vars.h>
#include <walk_and_kick/wak_sensor_vars.h>
#include <walk_and_kick/wak_actuator_vars.h>
#include <walk_and_kick/wak_ros_interface.h>
#include <walk_and_kick/wak_utils.h>

// Walk and kick namespace
namespace walk_and_kick
{
    class WAKBehState
    {
    public:
        // Constructor
        WAKBehState(WAKConfig& config, const SensorVars& SV, const WAKBehShared& WBS, const WAKGameShared& WGS, int ID);
        virtual ~WAKBehState() {}

        // Config parameters
        WAKConfig& config;

        // Sensor variables
        const SensorVars& SV;

        // Shared behaviour variables
        const WAKBehShared& WBS;

        // Game variables
        const GameVars& GV;

        // Shared game variables
        const WAKGameShared& WGS;

        // Field dimensions
        const FieldDimensions& field;

        // Plot manager
        plot_msgs::PlotManagerFS& PM;

        // Marker manager
        WAKMarkerMan& MM;

        // Reset function
        void reset() { deactivate(); }

        // Get functions
        int id() const { return m_id; }
        std::string name() const { return m_name; }
        const std::string& nameRef() const { return m_name; }
        bool isActive() const { return m_active; }

        // Activation and deactivation functions
        void activate() { m_active = true; handleActivation(true); }
        void deactivate() { m_active = false; handleActivation(false); }

        // Execute function
        virtual void execute(ActuatorVars& AV, const ActuatorVars& lastAV, bool justActivated) { AV.reset(); }

    protected:
        // Handle activation function
        virtual void handleActivation(bool nowActive) {}

    private:
        // Internal variables
        int m_id;
        std::string m_name;
        bool m_active;
    };
}

#endif
// EOF