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

#include "Behaviors/Leapers.h"

#nodeclass MiniMapTest: VisualRoutinesStateNode
	
    #shortnodeclass FindBlobs : MapBuilderNode($,MapBuilderRequest::localMap) : constructor
	std::vector<Point> pts;
	pts.push_back(Point(9000,0,0));
	pts.push_back(Point(500,0,0));
	pts.push_back(Point(2000,4000,-2000));
	pts.push_back(Point(2000,-4000,-2000));
	pts.push_back(Point(2000,0,-4000));
	NEW_SHAPE(gazePoly, PolygonData, new PolygonData(localShS, pts, false));
	mapreq.searchArea = gazePoly;
        mapreq.motionSettleTime = 2000;
        mapreq.maxDist = 1e6;
        mapreq.clearShapes = true;
        mapreq.pursueShapes = true;
        mapreq.rawY = true;
        mapreq.addObjectColor(blobDataType, "pink");
        mapreq.addObjectColor(blobDataType, "red");
	mapreq.minBlobAreas[ProjectInterface::getColorIndex("pink")] = 100;
	mapreq.minBlobAreas[ProjectInterface::getColorIndex("red")] = 100;
		
	#shortnodemethod setup
		#statemachine
			startnode: FindBlobs
			startnode =MAP=> Speak($, "done")
		#endstatemachine
		
#endnodeclass

#endif