Modules/BehaviorControl/CommonXabsl2Symbols/MotionRequestSymbols.cpp

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/** 
* @file MotionRequestSymbols.cpp
*
* Declaration of class MotionRequestSymbols.
*
* @author Max Risler
*/

#include "MotionRequestSymbols.h"
#include "Tools/Math/Geometry.h"
#include "Tools/StringFunctions.h"

MotionRequestSymbols::MotionRequestSymbols(const BehaviorControlInterfaces& interfaces)
: BehaviorControlInterfaces(interfaces)
{
}

void MotionRequestSymbols::registerSymbols(Xabsl2Engine &engine)
{
  char s[256];
  int i;
  
  
  // "executed-motion-request.motion-type"
  engine.registerEnumeratedInputSymbol("executed-motion-request.motion-type",(const int*)&(motionInfo.executedMotionRequest.motionType));
  for (i=0;i<MotionRequest::numOfMotion;i++)
  {
    getXmlString(s,MotionRequest::getMotionName((MotionRequest::MotionID)i));
    engine.registerEnumeratedInputSymbolEnumElement("executed-motion-request.motion-type",s,i);
  }

  // "executed-motion-request.walk-type"
  engine.registerEnumeratedInputSymbol("executed-motion-request.walk-type",(const int*)&(motionInfo.executedMotionRequest.walkRequest.walkType));
  for (i=0;i<WalkRequest::numOfWalkType;i++)
  {
    getXmlString(s,WalkRequest::getWalkTypeName((WalkRequest::WalkType)i));
    engine.registerEnumeratedInputSymbolEnumElement("executed-motion-request.walk-type",s,i);
  }

  // "executed-motion-request.special-action-type"
  engine.registerDecimalInputSymbol("executed-motion-request.special-action-type",this,
    (double (Xabsl2FunctionProvider::*)())&MotionRequestSymbols::getExecutedSpecialActionType);

  engine.registerDecimalInputSymbol("executed-motion-request.position-in-walk-cycle",this,
    (double (Xabsl2FunctionProvider::*)())&MotionRequestSymbols::getPositionInWalkCycle);
  engine.registerDecimalInputSymbol("executed-motion-request.speed-x",this,
    (double (Xabsl2FunctionProvider::*)())&MotionRequestSymbols::getSpeedX);
  engine.registerDecimalInputSymbol("executed-motion-request.speed-y",this,
    (double (Xabsl2FunctionProvider::*)())&MotionRequestSymbols::getSpeedY);
}

double MotionRequestSymbols::getExecutedSpecialActionType()
{
  return (double)motionInfo.executedMotionRequest.specialActionRequest.specialActionType;
}

double MotionRequestSymbols::getSpeedX()
{
  return (double)motionInfo.executedMotionRequest.walkRequest.walkParams.translation.x;
}
double MotionRequestSymbols::getSpeedY()
{
  return (double)motionInfo.executedMotionRequest.walkRequest.walkParams.translation.y;
}
double MotionRequestSymbols::getPositionInWalkCycle()
{
  return motionInfo.positionInWalkCycle;
}

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