MABodyAdjustStandingPosture.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 "MABodyAdjustStandingPosture.hpp"

#include "types/MAComplexIndicators.hpp"
#include "types/MAGoals.hpp"
#include "types/MARobotState.hpp"
#include "controllers/MALegController.hpp"

#include "MABodyStateMaster.hpp"

MABodyAdjustStandingPosture::MABodyAdjustStandingPosture() : MABehavior(MCGetClassName(this))
{
  DesiredConnections[MCGetClassName<MABodyStateMaster>()] = -1.0;
}


MABehavior::StimulusLevelType MABodyAdjustStandingPosture::GetCurrentStimulus()
{
  return MABehavior::OverStimulated;
}


void MABodyAdjustStandingPosture::ActivatingActions()
{
  StartTransition(*MA::LegLF, MA::LegLF->AdjustStandingPostureStr);
  StartTransition(*MA::LegLH, MA::LegLH->AdjustStandingPostureStr);
  StartTransition(*MA::LegRF, MA::LegRF->AdjustStandingPostureStr);
  StartTransition(*MA::LegRH, MA::LegRH->AdjustStandingPostureStr);
}


void MABodyAdjustStandingPosture::FinishingActions()
{
  // Reset the left/right turn and walk durations here because the movement is finished when the
  // dog is back in standing position
  MA::RobotState->ComplexIndicators->ElapsedRightTurnTime = 0;
  MA::RobotState->Goals->DesiredRightTurnDuration = 0;
  MA::RobotState->ComplexIndicators->ElapsedLeftTurnTime = 0;
  MA::RobotState->Goals->DesiredLeftTurnDuration = 0;
  MA::RobotState->ComplexIndicators->ElapsedBackwardWalkTime = 0;
  MA::RobotState->Goals->DesiredBackwardWalkDuration = 0;
  MA::RobotState->ComplexIndicators->ElapsedForwardWalkTime = 0;
  MA::RobotState->Goals->DesiredForwardWalkDuration = 0;
}