//-*-c++-*-
#ifndef _Mtest_h_
#define _Mtest_h_

#include "Behaviors/StateMachine.h"
#include "Motion/DynamicMotionSequence.h"
#include "Motion/MotionManager.h"

class Mtest : public TinyMotionSequenceNode {
public:
	Mtest() : TinyMotionSequenceNode("Mtest") {}

	virtual void DoStart() {
		MMAccessor<TinyMotionSequenceMC> dm(getMC_ID());
		dm->clear();
		dm->advanceTime(50);
		dm->setOutputCmd(RobotInfo::HeadOffset, 0.0);
		dm->advanceTime(50);
		dm->setOutputCmd(RobotInfo::HeadOffset, 0.0);
		dm->advanceTime(50);
		dm->setOutputCmd(RobotInfo::HeadOffset, 0.0);
	}

};

#endif