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

#include "Behaviors/Leapers.h"

#nodeclass MapBuilderTest: VisualRoutinesStateNode
	
	#shortnodeclass FindPinkBalls : MapBuilderNode ($, MapBuilderRequest::localMap) : constructor
		NEW_SHAPE(gazePoly, PolygonData, new PolygonData(localShS, Lookout::groundSearchPoints(), false));
		mapreq.searchArea = gazePoly;
		mapreq.motionSettleTime = 2000;
		mapreq.maxDist = 1e6;
		mapreq.clearShapes = true;
		mapreq.pursueShapes = false;
		mapreq.rawY = true;
		mapreq.addObjectColor (blobDataType, "blue");
		mapreq.addObjectColor (blobDataType, "green");
		mapreq.addObjectColor (blobDataType, "pink");
		
	#shortnodemethod setup
		#statemachine
			startnode: FindPinkBalls
			startnode =MAP=> Speak($, "done")
		#endstatemachine
		
#endnodeclass

#endif