MAWalkMaster.hpp

/*
 *  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.
 *
 */

#pragma once

#include "types/MARobotStateUpdater.hpp"
#include "MABehavior.hpp"

#include <boost/scoped_ptr.hpp>

class MCTimer;
class MASurfaceAnalyzer;

class MAWalkMaster : public MABehavior, public MARobotStateUpdater
{
public:
  MAWalkMaster();

  void StartWalk();
protected:
  virtual MABehavior::StimulusLevelType GetCurrentStimulus() override;
  virtual void ActivatingActions() override;
  virtual void ActivatedStateUpdate() override;
  virtual bool IsFailed() override;
  virtual void FinishingActions() override;

private:
  virtual void UpdateRobotState(MARobotState& state) override;

  int WalkStartTimestamp;
  boost::scoped_ptr<MASurfaceAnalyzer> SurfaceAnalyzer;
  int RecognizedSurface;
  int RecognizedCurrentSurface;
  boost::scoped_ptr<MCTimer> SurfaceRecognitionTimer;
};