Fawkes API  Fawkes Development Version
motion_utils.h
00001 
00002 /***************************************************************************
00003  *  motion_utils.h - Motion utility functions
00004  *
00005  *  Created: Wed Aug 17 21:51:51 2011
00006  *  Copyright  2011  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #ifndef __PLUGINS_NAO_MOTION_UTILS_H_
00024 #define __PLUGINS_NAO_MOTION_UTILS_H_
00025 
00026 #include <alcore/alptr.h>
00027 #include <alproxies/almotionproxy.h>
00028 
00029 #include <vector>
00030 #include <string>
00031 
00032 namespace motion {
00033 #if 0 /* just to make Emacs auto-indent happy */
00034 }
00035 #endif
00036 
00037 void
00038 fix_angles(AL::ALPtr<AL::ALMotionProxy> &almotion);
00039 
00040 void
00041 move_joints(AL::ALPtr<AL::ALMotionProxy> &almotion,
00042             float head_yaw, float head_pitch,
00043             float l_shoulder_pitch, float l_shoulder_roll,
00044             float l_elbow_yaw, float l_elbow_roll,
00045             float l_wrist_yaw, float l_hand,
00046             float l_hip_yaw_pitch, float l_hip_roll, float l_hip_pitch,
00047             float l_knee_pitch, float l_ankle_pitch, float l_ankle_roll,
00048             float r_shoulder_pitch, float r_shoulder_roll,
00049             float r_elbow_yaw, float r_elbow_roll,
00050             float r_wrist_yaw, float r_hand,
00051             float r_hip_yaw_pitch, float r_hip_roll, float r_hip_pitch,
00052             float r_knee_pitch, float r_ankle_pitch, float r_ankle_roll,
00053             float speed);
00054 
00055 int
00056 timed_move_joints(AL::ALPtr<AL::ALMotionProxy> &almotion,
00057                   float head_yaw, float head_pitch,
00058                   float l_shoulder_pitch, float l_shoulder_roll,
00059                   float l_elbow_yaw, float l_elbow_roll,
00060                   float l_wrist_yaw, float l_hand,
00061                   float l_hip_yaw_pitch, float l_hip_roll, float l_hip_pitch,
00062                   float l_knee_pitch, float l_ankle_pitch, float l_ankle_roll,
00063                   float r_shoulder_pitch, float r_shoulder_roll,
00064                   float r_elbow_yaw, float r_elbow_roll,
00065                   float r_wrist_yaw, float r_hand,
00066                   float r_hip_yaw_pitch, float r_hip_roll, float r_hip_pitch,
00067                   float r_knee_pitch, float r_ankle_pitch, float r_ankle_roll,
00068                   float time_sec);
00069 
00070 } // end of namespace motion
00071 
00072 #endif