MAWalkInitialPosition.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 "MAWalkInitialPosition.hpp"

#include "types/MAGoals.hpp"
#include "types/MARobotState.hpp"
#include "controllers/MALegController.hpp"
#include "MAHeadTurnAhead.hpp"
#include "MAWalkMaster.hpp"
#include "MAWalkSwingBackward.hpp"
#include "MAWalkSwingForward.hpp"

MAWalkInitialPosition::MAWalkInitialPosition() : MABehavior(MCGetClassName(this))
{
}


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


void MAWalkInitialPosition::ActivatingActions()
{
  MAWalkMaster* WalkMaster = MABEHAVIOR_GET(MAWalkMaster);

  if (WalkMaster)
  {
    WalkMaster->StartWalk();
  } else {
    MC_WARNING("Walk master behavior does not exist!");
  }
  // The head is turned ahead with a separate behavior to avoid stopping the walk sequence
  // if the head motion fails.
  MABEHAVIOR_CREATE(MAHeadTurnAhead, nullptr);
  StartTransition(*MA::LegLF, MA::LegLF->BalanceToLeftStr);
  StartTransition(*MA::LegLH, MA::LegLH->BalanceToLeftStr);
  StartTransition(*MA::LegRF, MA::LegRF->BalanceToLeftStr);
  StartTransition(*MA::LegRH, MA::LegRH->BalanceToLeftStr);
  StartTransition(*MA::LegLF, MA::LegLF->ToInitialWalkPositionStr);
  StartTransition(*MA::LegLH, MA::LegLH->ToInitialWalkPositionStr);
  StartTransition(*MA::LegRF, MA::LegRF->ToInitialWalkPositionStr);
  StartTransition(*MA::LegRH, MA::LegRH->ToInitialWalkPositionStr);
}


void MAWalkInitialPosition::FinishingActions()
{
  // Start walking
  if (MA::RobotState->Goals->DesiredForwardWalkDuration > 0)
  {
    MALEGBEHAVIOR_CREATE(MAWalkSwingForward, MA::Leg::LF, GetMaster());
    MALEGBEHAVIOR_CREATE(MAWalkSwingForward, MA::Leg::LH, GetMaster());
    MALEGBEHAVIOR_CREATE(MAWalkSwingForward, MA::Leg::RF, GetMaster());
    MALEGBEHAVIOR_CREATE(MAWalkSwingForward, MA::Leg::RH, GetMaster());
  } else {
    MALEGBEHAVIOR_CREATE(MAWalkSwingBackward, MA::Leg::LF, GetMaster());
    MALEGBEHAVIOR_CREATE(MAWalkSwingBackward, MA::Leg::LH, GetMaster());
    MALEGBEHAVIOR_CREATE(MAWalkSwingBackward, MA::Leg::RF, GetMaster());
    MALEGBEHAVIOR_CREATE(MAWalkSwingBackward, MA::Leg::RH, GetMaster());
  }
}