Fawkes API
Fawkes Development Version
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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