#ifndef __WALK_TEST_H
#define __WALK_TEST_H

#include "Behaviors/StateMachine.h"
#include "Motion/XWalkMC.h"
#include "Motion/MotionPtr.h"

class WalkTest : public StateNode{
public:

    class ResetPose : public XWalkNode {
    public:
        ResetPose() : XWalkNode() {}
        virtual void DoStart() {
            getMC()->setTargetDisplacement(200, 200, M_PI/2);
        }
    };
 
    WalkTest() : StateNode("aaa") {}

    virtual void setup() {
#statemachine
        startnode: StateNode =N=> 
        bb: XWalkNode($) [getMC()->setTargetDisplacement(0, 0, M_PI/6);]
#endstatemachine

    }
};

#endif