Fawkes API  Fawkes Development Version
motion_utils.h
1 
2 /***************************************************************************
3  * motion_utils.h - Motion utility functions
4  *
5  * Created: Wed Aug 17 21:51:51 2011
6  * Copyright 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_UTILS_H_
24 #define __PLUGINS_NAO_MOTION_UTILS_H_
25 
26 #include <alcore/alptr.h>
27 #include <alproxies/almotionproxy.h>
28 
29 #include <vector>
30 #include <string>
31 
32 namespace motion {
33 #if 0 /* just to make Emacs auto-indent happy */
34 }
35 #endif
36 
37 void
38 fix_angles(AL::ALPtr<AL::ALMotionProxy> &almotion);
39 
40 void
41 move_joints(AL::ALPtr<AL::ALMotionProxy> &almotion,
42  float head_yaw, float head_pitch,
43  float l_shoulder_pitch, float l_shoulder_roll,
44  float l_elbow_yaw, float l_elbow_roll,
45  float l_wrist_yaw, float l_hand,
46  float l_hip_yaw_pitch, float l_hip_roll, float l_hip_pitch,
47  float l_knee_pitch, float l_ankle_pitch, float l_ankle_roll,
48  float r_shoulder_pitch, float r_shoulder_roll,
49  float r_elbow_yaw, float r_elbow_roll,
50  float r_wrist_yaw, float r_hand,
51  float r_hip_yaw_pitch, float r_hip_roll, float r_hip_pitch,
52  float r_knee_pitch, float r_ankle_pitch, float r_ankle_roll,
53  float speed);
54 
55 int
56 timed_move_joints(AL::ALPtr<AL::ALMotionProxy> &almotion,
57  float head_yaw, float head_pitch,
58  float l_shoulder_pitch, float l_shoulder_roll,
59  float l_elbow_yaw, float l_elbow_roll,
60  float l_wrist_yaw, float l_hand,
61  float l_hip_yaw_pitch, float l_hip_roll, float l_hip_pitch,
62  float l_knee_pitch, float l_ankle_pitch, float l_ankle_roll,
63  float r_shoulder_pitch, float r_shoulder_roll,
64  float r_elbow_yaw, float r_elbow_roll,
65  float r_wrist_yaw, float r_hand,
66  float r_hip_yaw_pitch, float r_hip_roll, float r_hip_pitch,
67  float r_knee_pitch, float r_ankle_pitch, float r_ankle_roll,
68  float time_sec);
69 
70 } // end of namespace motion
71 
72 #endif