Modules/BehaviorControl/CommonXabsl2Symbols/MotionRequestSymbols.h

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

#ifndef __MotionRequestSymbols_h_
#define __MotionRequestSymbols_h_

#include "../BehaviorControl.h"
#include "Tools/Xabsl2/Xabsl2Engine/Xabsl2Engine.h"

/**
* The Xabsl2 symbols that are defined in "motion-request-symbols.xml"
*
* @author Max Risler
*/ 
class MotionRequestSymbols : public Xabsl2FunctionProvider, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param interfaces The paramters of the BehaviorControl module.
  */
  MotionRequestSymbols(const BehaviorControlInterfaces& interfaces);
  
  /** registers the symbols at an engine */
  void registerSymbols(Xabsl2Engine& engine);
  
  /** updates the symbols */
  void update();

  /** gets the current positionInWalkCycle for motionInfo */
  double getPositionInWalkCycle();

  //!@name Input symbols
  //!@{
  /** Function for symbol "executed-motion-request.special-action-type" */
  double getExecutedSpecialActionType();
  double getSpeedX();
  double getSpeedY();
  //!@}
};


#endif // __MotionRequestSymbols_h_

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