#include "Behaviors/StateMachine.h"

$nodeclass GraspRequest : StateNode {

  $provide Shape<CylinderData> to_grasp;

  $nodeclass TakeAPictureLocal : MapBuilderNode(MapBuilderRequest::localMap) : doStart {
	$reference GraspRequest::to_grasp;

    mapreq.addObjectColor(cylinderDataType,"red");

	NEW_SHAPEVEC(cylinders, CylinderData, select_type<CylinderData>(camShS));
	to_grasp = cylinders[0];
  }

  $setupmachine {
	TakeAPictureLocal =C=> SpeechNode("done")
  }
}
REGISTER_BEHAVIOR(GraspRequest);