wb_switch_subsumption.h

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#ifndef wb_switch_subsumption_h
#define wb_switch_subsumption_h
 
#include <gu_util.h>
 
#define SUBSUMPTION_LEVELS  6 // number of subsumption levels
#define SUMPSUMSION_LEVELS  SUBSUMPTION_LEVELS // XXX: typo in machines 
 
enum TotoMotionCommand
{   TOTO_NO_COMMAND, // no command do not subsumme
    TOTO_STOP,
    TOTO_BACKWARDS,
    TOTO_MOVE_FORWARD,
    TOTO_TURN_LEFT,
    TOTO_TURN_RIGHT
};
 
struct wb_toto_doing_motion
{
        PROPERTY(enum TotoMotionCommand, motionCommand)
};
 
 
struct wb_switch_subsumption
{
     ARRAY_PROPERTY(enum TotoMotionCommand, theMotions, SUBSUMPTION_LEVELS)
 
#ifdef __cplusplus
    wb_switch_subsumption()
    { memset(this, 0, sizeof(*this));
    }
            
#endif
 
};
#endif //wb_switch_subsumption_h