MAAvoidObstacleMaster.cpp

/*
 *  This file is part of the AiBO+ project
 *
 *  Copyright (C) 2005-2016 Csaba Kertész (csaba.kertesz@gmail.com)
 *
 *  AiBO+ is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  AiBO+ is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
 *
 */

#include "MAAvoidObstacleMaster.hpp"

#include "types/MABodyMotion.hpp"
#include "types/MAComplexIndicators.hpp"
#include "types/MARobotState.hpp"
#include "MAAbyssWalkingTalk.hpp"
#include "MATurnAway.hpp"

MAAvoidObstacleMaster::MAAvoidObstacleMaster() : MABehavior(MCGetClassName(this))
{
  SetLifetimeExpirationTime(6000);
  SetSelfActivationDuration(1000);
}


MABehavior::StimulusLevelType MAAvoidObstacleMaster::GetCurrentStimulus()
{
  if (MA::RobotState->BodyMotion->IsBodyRollInWalkRange() &&
      MA::RobotState->BodyMotion->Flying < 20 &&
      (MA::RobotState->ComplexIndicators->NearObjectForward > 50 ||
       MA::RobotState->ComplexIndicators->AbyssWhileWalking > 90))
  {
    return MABehavior::Stimulated;
  }
  return MABehavior::NoStimulus;
}


void MAAvoidObstacleMaster::ActivatingActions()
{
  if (MA::RobotState->ComplexIndicators->AbyssWhileWalking > 80)
  {
    // There is an abyss before the robot.
    MABEHAVIOR_CREATE(MAAbyssWalkingTalk, this);
  } else {
    // There is an object before the robot.
    MABEHAVIOR_CREATE(MATurnAway, this);
  }
}