23 #ifndef __PLUGINS_NAO_MOTION_UTILS_H_ 24 #define __PLUGINS_NAO_MOTION_UTILS_H_ 26 #include <alcore/alptr.h> 27 #include <alproxies/almotionproxy.h> 38 fix_angles(AL::ALPtr<AL::ALMotionProxy> &almotion);
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,
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,