Diff: TaskWait.cpp

Revision:

0:1a79273bc3e6

diff -r 000000000000 -r 1a79273bc3e6 TaskWait.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TaskWait.cpp	Mon Apr 09 07:00:45 2018 +0000
@@ -0,0 +1,47 @@
+/*
+ * TaskWait.cpp
+ * Copyright (c) 2018, ZHAW
+ * All rights reserved.
+ */
+
+#include "TaskWait.h"
+
+using namespace std;
+
+/**
+ * Creates a task object that waits for a given duration.
+ */
+TaskWait::TaskWait(Controller& controller, float duration) : controller(controller) {
+    
+    this->duration = duration;
+    
+    time = 0.0f;
+}
+
+/**
+ * Deletes the task object.
+ */
+TaskWait::~TaskWait() {}
+
+/**
+ * This method is called periodically by a task sequencer.
+ * @param period the period of the task sequencer, given in [s].
+ * @return the status of this task, i.e. RUNNING or DONE.
+ */
+int TaskWait::run(float period) {
+    
+    controller.setTranslationalVelocity(0.0f);
+    controller.setRotationalVelocity(0.0f);
+    
+    time += period;
+    
+    if (time < duration) {
+        
+        return RUNNING;
+        
+    } else {
+        
+        return DONE;
+    }
+}
+