Fawkes API  Fawkes Development Version
NaoQiMotionKickTask Class Reference

NaoQi kick task. More...

#include "motion_kick_task.h"

Inheritance diagram for NaoQiMotionKickTask:

Public Member Functions

 NaoQiMotionKickTask (AL::ALPtr< AL::ALMotionProxy > almotion, fawkes::HumanoidMotionInterface::LegEnum leg)
 Constructor. More...
 
virtual ~NaoQiMotionKickTask ()
 Destructor. More...
 
virtual void exitTask ()
 Stop the current kick task. More...
 
virtual void run ()
 Run the kick. More...
 

Detailed Description

NaoQi kick task.

This task can be used to make the robot kick in a non-blocking way. It will use (blocking) ALMotion calls to execute the move. Note that ALMotion should not be used otherwise while kicking.

Author
Tim Niemueller

Definition at line 32 of file motion_kick_task.h.

Constructor & Destructor Documentation

◆ NaoQiMotionKickTask()

NaoQiMotionKickTask::NaoQiMotionKickTask ( AL::ALPtr< AL::ALMotionProxy >  almotion,
fawkes::HumanoidMotionInterface::LegEnum  leg 
)

Constructor.

Parameters
almotionALMotion proxy
legleg to kick with

Definition at line 49 of file motion_kick_task.cpp.

◆ ~NaoQiMotionKickTask()

NaoQiMotionKickTask::~NaoQiMotionKickTask ( )
virtual

Destructor.

Definition at line 62 of file motion_kick_task.cpp.

References fawkes::deg2rad().

Member Function Documentation

◆ exitTask()

void NaoQiMotionKickTask::exitTask ( )
virtual

Stop the current kick task.

Stops the current motion and posts a goto for the start position. This is not stable from all configurations but seems to suffices most of the time.

Definition at line 140 of file motion_kick_task.cpp.

◆ run()

void NaoQiMotionKickTask::run ( )
virtual

The documentation for this class was generated from the following files: