Modules/BehaviorControl/CommonXabsl2BasicBehaviors/CommonBasicBehaviors.cpp

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/** 
* @file CommonBasicBehaviors.cpp
*
* Implementation of basic behaviors defined in simple-basic-behaviors.xml.
*
* @author Uwe Düffert
* @author Matthias Jüngel
* @author Martin Lötzsch
* @author Max Risler
*/

#include "CommonBasicBehaviors.h"

void CommonBasicBehaviors::registerBasicBehaviors(Xabsl2Engine& engine)
{
  engine.registerBasicBehavior(basicBehaviorDoNothing);
  engine.registerBasicBehavior(basicBehaviorShutdown);
  engine.registerBasicBehavior(basicBehaviorSpecialAction);
  engine.registerBasicBehavior(basicBehaviorStand);
  engine.registerBasicBehavior(basicBehaviorPlayDead);
  engine.registerBasicBehavior(basicBehaviorWalk);
}

void BasicBehaviorShutdown::execute()
{
  SystemCall::shutdown();
}

void BasicBehaviorDoNothing::execute()
{
  // do nothing;
}

void BasicBehaviorWalk::execute()
{
  motionRequest.motionType = MotionRequest::walk;
  motionRequest.walkRequest.walkType   = static_cast<WalkRequest::WalkType>(static_cast<int>(type));
  if(motionRequest.walkRequest.walkType >= WalkRequest::numOfWalkType || motionRequest.walkRequest.walkType < 0)
    motionRequest.walkRequest.walkType = WalkRequest::normal;
  motionRequest.walkRequest.walkParams.translation.x = speedX;
  motionRequest.walkRequest.walkParams.translation.y = speedY;
  motionRequest.walkRequest.walkParams.rotation = fromDegrees(rotationSpeed);
}

void BasicBehaviorSpecialAction::execute()
{
  motionRequest.motionType = MotionRequest::specialAction;
  motionRequest.specialActionRequest.specialActionType = static_cast<SpecialActionRequest::SpecialActionID>(static_cast<int>(specialActionID));
}

void BasicBehaviorStand::execute()
{
  /*accelerationRestrictor.saveLastWalkParameters();*/

  motionRequest.walkRequest.walkParams.translation.x = 0;
  motionRequest.walkRequest.walkParams.translation.y = 0;
  motionRequest.walkRequest.walkParams.rotation = 0;

  /*accelerationRestrictor.restrictAccelerations(250,250,150);

  if (fabs(motionRequest.walkRequest.walkParams.translation.x) < 30
    && fabs(motionRequest.walkRequest.walkParams.translation.y) < 30
    && fabs(motionRequest.walkRequest.walkParams.rotation) < fromDegrees(30))
  {
    motionRequest.motionType = MotionRequest::stand;
  }*/

  motionRequest.motionType = MotionRequest::stand;
}
void BasicBehaviorPlayDead::execute()
{
  motionRequest.motionType = MotionRequest::playDead;
}

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