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# Modules/BehaviorControl/CommonXabsl2Symbols/MotionRequestSymbols.h

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    00001 /**
    00002 * @file MotionRequestSymbols.h
    00003 *
    00004 * Declaration of class MotionRequestSymbols.
    00005 *
    00006 * @author Max Risler
    00007 */
    00008
    00009 #ifndef __MotionRequestSymbols_h_
    00010 #define __MotionRequestSymbols_h_
    00011
    00012 #include "../BehaviorControl.h"
    00013 #include "Tools/Xabsl2/Xabsl2Engine/Xabsl2Engine.h"
    00014
    00015 /**
    00016 * The Xabsl2 symbols that are defined in "motion-request-symbols.xml"
    00017 *
    00018 * @author Max Risler
    00019 */
    00020 class MotionRequestSymbols : public Xabsl2FunctionProvider, public BehaviorControlInterfaces
    00021 {
    00022 public:
    00023 /*
    00024 * Constructor.
    00025 * @param interfaces The paramters of the BehaviorControl module.
    00026   */
    00027   MotionRequestSymbols(const BehaviorControlInterfaces& interfaces);
    00028
    00029   /** registers the symbols at an engine */
    00030   void registerSymbols(Xabsl2Engine& engine);
    00031
    00032   /** updates the symbols */
    00033   void update();
    00034
    00035   /** gets the current positionInWalkCycle for motionInfo */
    00036   double getPositionInWalkCycle();
    00037
    00038   //!@name Input symbols
    00039   //!@{
    00040   /** Function for symbol "executed-motion-request.special-action-type" */
    00041   double getExecutedSpecialActionType();
    00042   double getSpeedX();
    00043   double getSpeedY();
    00044   //!@}
    00045 };
    00046
    00047
    00048 #endif // __MotionRequestSymbols_h_
    00049