Fawkes API  Fawkes Development Version
motion_standup_task.h
1 
2 /***************************************************************************
3  * motion_standup_task.h - Task for making the robot stand up
4  *
5  * Created: Mon Jan 19 14:16:54 2009
6  * Copyright 2009-2011 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef __PLUGINS_NAO_MOTION_STANDUP_TASK_H_
24 #define __PLUGINS_NAO_MOTION_STANDUP_TASK_H_
25 
26 #include <interfaces/HumanoidMotionInterface.h>
27 
28 #include <althread/altask.h>
29 #include <alcore/alptr.h>
30 #include <alproxies/almotionproxy.h>
31 
32 class NaoQiMotionStandupTask : public AL::ALTask
33 {
34  public:
35  NaoQiMotionStandupTask(AL::ALPtr<AL::ALMotionProxy> almotion,
37  float accel_x, float accel_y, float accel_z);
38  virtual ~NaoQiMotionStandupTask();
39 
40  virtual void run();
41 
42  private: /* methods */
43  void goto_start_pos();
44  void standup_from_back();
45  void standup_from_front();
46 
47  private:
48  AL::ALPtr<AL::ALMotionProxy> __almotion;
50 
51  float __accel_x;
52  float __accel_y;
53  float __accel_z;
54 };
55 
56 #endif
NaoQiMotionStandupTask(AL::ALPtr< AL::ALMotionProxy > almotion, fawkes::HumanoidMotionInterface::StandupEnum from_pos, float accel_x, float accel_y, float accel_z)
Constructor.
StandupEnum
From which position to standup.
virtual void run()
Run the standup.
virtual ~NaoQiMotionStandupTask()
Destructor.
NaoQi standup task.