wak_beh_state_combined.h

// Walk and kick: Combined behaviour state
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>
 
 // Ensure header is only included once
#ifndef WAK_BEH_STATE_COMBINED_H
#define WAK_BEH_STATE_COMBINED_H

// Includes
#include <walk_and_kick/wak_beh_state.h>
#include <boost/type_traits/is_virtual_base_of.hpp>
#include <boost/utility/enable_if.hpp>

// Walk and kick namespace
namespace walk_and_kick
{
    template<class BS1, class BS2>
    class WAKBehStateCombined : public boost::enable_if<boost::is_virtual_base_of<WAKBehState, BS1>, BS1>::type, public boost::enable_if<boost::is_virtual_base_of<WAKBehState, BS2>, BS2>::type
    {
    public:
        // Constructor
        WAKBehStateCombined(WAKConfig& config, const SensorVars& SV, const WAKBehShared& WBS, const WAKGameShared& WGS, int ID) : WAKBehState(config, SV, WBS, WGS, ID), BS1(config, SV, WBS, WGS, ID), BS2(config, SV, WBS, WGS, ID) {}
        virtual ~WAKBehStateCombined() {}

        // Execute function
        virtual void execute(ActuatorVars& AV, const ActuatorVars& lastAV, bool justActivated) { BS1::execute(AV, lastAV, justActivated); BS2::execute(AV, lastAV, justActivated); }

    protected:
        // Handle activation function
        virtual void handleActivation(bool nowActive) { BS1::handleActivation(nowActive); BS2::handleActivation(nowActive); }
    };
}

#endif
// EOF