//-*-c++-*-
#ifndef INCLUDED_MapBuilderTest_h_
#define INCLUDED_MapBuild
#include "Behaviors/Leapers.h"

#nodeclass MapBuilderTest: VisualRoutinesStateNode

	#shortnodeclass FindGreenBalls : 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 = true;
		mapreq.rawY = true;
		mapreq.addObjectColor(lineDataType, "pink");
		mapreq.addObjectColor(blobDataType, "green");
	
	#shortnodemethod setup
		#statemachine
			startnode: FindGreenBalls
			startnode =MAP=> Speak($, "done")
		#endstatemachine


	#endnodeclass
	#endif