MCNodeBase Class Reference
#include <MCNode.h>
Inheritance diagram for MCNodeBase:
Detailed Description
Common parent class for all the templated MCNode, which is what you want to instantiate.
Definition at line 10 of file MCNode.h.
Public Member Functions | |
| virtual | ~MCNodeBase () |
| destructor, free mc | |
| virtual void | DoStart () |
| Adds the motion command to the motion manager, add a listener for the motion's completion event. | |
| virtual void | processEvent (const EventBase &) |
| Assumes the event is a completion event from the motion, throws a corresponding state node completion event. | |
| virtual void | DoStop () |
| Removes the motion command from the motion manager if it was our own creation. | |
| virtual void | setMC (MotionManager::MC_ID mcid) |
| Allows you to assign a previously created motion, which might be shared among several MCNodes. | |
| virtual MotionManager::MC_ID | getMC_ID () |
| reveal the MC_ID; if the motion isn't currently active, returns MotionManager::invalid_MC_ID | |
| virtual std::string | getDescription () const |
| Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis). | |
Static Public Member Functions | |
| static std::string | getClassDescription () |
| Gives a short description of what this class of behaviors does... you should override this (but don't have to). | |
Static Public Attributes | |
| static const char | defName [] = "MCNode" |
| the default name for MCNodes -- can be overridden via MCNode's template arguments | |
| static const char | defDesc [] = "A generic wrapper for any MotionCommand" |
| the default description for MCNodes -- can be overridden via MCNode's template arguments | |
Protected Member Functions | |
| MCNodeBase (const std::string &class_name, const std::string &node_name, bool expectCompletion=true) | |
| constructor for subclasses (which would need to provide a different class name) | |
| virtual SharedObjectBase & | getPrivateMC ()=0 |
| returns reference to mc or a new SharedObject<T> if mc is currently NULL (so it will always return a valid value) | |
| virtual bool | hasPrivateMC () |
| returns true if the motion command being used was created internally via getPrivateMC() | |
Protected Attributes | |
| SharedObjectBase * | mc |
| MotionCommand used by this node (may be NULL if sharing the MC with other nodes). | |
| MotionManager::MC_ID | mc_id |
| id number for the MotionCommand | |
| bool | mcCompletes |
| if true, will post a completion when the underlying MotionCommand posts a status | |
Private Member Functions | |
| MCNodeBase (const MCNodeBase &) | |
| don't call (copy constructor) | |
| MCNodeBase & | operator= (const MCNodeBase &) |
| don't call (assignment operator) | |
Member Function Documentation
| static std::string MCNodeBase::getClassDescription | ( | ) | [inline, static] |
Gives a short description of what this class of behaviors does... you should override this (but don't have to).
If you do override this, also consider overriding getDescription() to return it
Reimplemented from BehaviorBase.
Reimplemented in LedNode, MCNode< T, mcName, mcDesc, completes >, MCNode< LedMC >, MCNode< PostureMC, defPostureNodeName, defPostureNodeDesc, true >, MCNode< TailWagMC, defTailWagNodeName, defTailWagNodeDesc, false >, MCNode< W, mcName, mcDesc >, and MCNode< HeadPointerMC, defHeadPointerNodeName, defHeadPointerNodeDesc, true >.
Definition at line 34 of file MCNode.h.
Referenced by getDescription().
| virtual std::string MCNodeBase::getDescription | ( | ) | const [inline, virtual] |
Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).
By default simply returns getName(), because any calls from a BehaviorBase function to getClassDescription() are going to call BehaviorBase::getClassDescription(), not ~YourSubClass~getClassDescription(), because static functions can't be virtual in C++ (doh!)
This means that getDescription called on a pointer to a BehaviorBase of unknown subtype would always return an empty string, which is pretty useless. So instead we return the name in this situation. If you want getDescription to return getClassDescription, you'll have to override it in your subclass to do so.
Reimplemented from BehaviorBase.
Reimplemented in LedNode, MCNode< T, mcName, mcDesc, completes >, MCNode< LedMC >, MCNode< PostureMC, defPostureNodeName, defPostureNodeDesc, true >, MCNode< TailWagMC, defTailWagNodeName, defTailWagNodeDesc, false >, MCNode< W, mcName, mcDesc >, and MCNode< HeadPointerMC, defHeadPointerNodeName, defHeadPointerNodeDesc, true >.
| virtual SharedObjectBase& MCNodeBase::getPrivateMC | ( | ) | [protected, pure virtual] |
returns reference to mc or a new SharedObject<T> if mc is currently NULL (so it will always return a valid value)
if a particular motion command needs some initial setup besides the default constructor, overriding this function is a good opportunity to do so
Implemented in LedNode, MCNode< T, mcName, mcDesc, completes >, MCNode< LedMC >, MCNode< PostureMC, defPostureNodeName, defPostureNodeDesc, true >, MCNode< TailWagMC, defTailWagNodeName, defTailWagNodeDesc, false >, MCNode< W, mcName, mcDesc >, and MCNode< HeadPointerMC, defHeadPointerNodeName, defHeadPointerNodeDesc, true >.
Referenced by DoStart().
| virtual void MCNodeBase::setMC | ( | MotionManager::MC_ID | mcid | ) | [virtual] |
Allows you to assign a previously created motion, which might be shared among several MCNodes.
If this node already has an mc, then it will be freed, removing from MotionManager if necessary
The documentation for this class was generated from the following files:
