Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * motion_kick_task.h - Make the robot kick asses... ehm soccer balls 00004 * 00005 * Created: Fri Jan 23 18:33:41 2009 00006 * Copyright 2006-2011 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_KICK_TASK_H_ 00024 #define __PLUGINS_NAO_MOTION_KICK_TASK_H_ 00025 00026 #include <interfaces/HumanoidMotionInterface.h> 00027 00028 #include <althread/altask.h> 00029 #include <alproxies/almotionproxy.h> 00030 #include <alcore/alptr.h> 00031 00032 class NaoQiMotionKickTask : public AL::ALTask 00033 { 00034 public: 00035 NaoQiMotionKickTask(AL::ALPtr<AL::ALMotionProxy> almotion, 00036 fawkes::HumanoidMotionInterface::LegEnum leg); 00037 virtual ~NaoQiMotionKickTask(); 00038 00039 virtual void exitTask(); 00040 virtual void run(); 00041 00042 private: /* methods */ 00043 void goto_start_pos(AL::ALValue speed, bool concurrent = false); 00044 00045 private: 00046 bool __quit; 00047 AL::ALPtr<AL::ALMotionProxy> __almotion; 00048 fawkes::HumanoidMotionInterface::LegEnum __leg; 00049 }; 00050 00051 #endif