Fawkes API
Fawkes Development Version
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NaoQi kick task. More...
#include "motion_kick_task.h"
Public Member Functions | |
NaoQiMotionKickTask (AL::ALPtr< AL::ALMotionProxy > almotion, fawkes::HumanoidMotionInterface::LegEnum leg) | |
Constructor. | |
virtual | ~NaoQiMotionKickTask () |
Destructor. | |
virtual void | exitTask () |
Stop the current kick task. | |
virtual void | run () |
Run the kick. |
NaoQi kick task.
This task can be used to make the robot kick in a non-blocking way. It will use (blocking) ALMotion calls to execute the move. Note that ALMotion should not be used otherwise while kicking.
NaoQiMotionKickTask::NaoQiMotionKickTask | ( | AL::ALPtr< AL::ALMotionProxy > | almotion, |
fawkes::HumanoidMotionInterface::LegEnum | leg | ||
) |
Constructor.
almotion | ALMotion proxy |
leg | leg to kick with |
Definition at line 49 of file motion_kick_task.cpp.
NaoQiMotionKickTask::~NaoQiMotionKickTask | ( | ) | [virtual] |
Destructor.
Definition at line 62 of file motion_kick_task.cpp.
void NaoQiMotionKickTask::exitTask | ( | ) | [virtual] |
Stop the current kick task.
Stops the current motion and posts a goto for the start position. This is not stable from all configurations but seems to suffices most of the time.
Definition at line 140 of file motion_kick_task.cpp.
void NaoQiMotionKickTask::run | ( | ) | [virtual] |
Run the kick.
Definition at line 150 of file motion_kick_task.cpp.
References fawkes::HumanoidMotionInterface::LEG_LEFT, fawkes::HumanoidMotionInterface::LEG_RIGHT, and fawkes::deg2rad().