Fawkes API  Fawkes Development Version
motion_standup_task.h
00001 
00002 /***************************************************************************
00003  *  motion_standup_task.h - Task for making the robot stand up
00004  *
00005  *  Created: Mon Jan 19 14:16:54 2009
00006  *  Copyright  2009-2011  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_STANDUP_TASK_H_
00024 #define __PLUGINS_NAO_MOTION_STANDUP_TASK_H_
00025 
00026 #include <interfaces/HumanoidMotionInterface.h>
00027 
00028 #include <althread/altask.h>
00029 #include <alcore/alptr.h>
00030 #include <alproxies/almotionproxy.h>
00031 
00032 class NaoQiMotionStandupTask : public AL::ALTask
00033 {
00034  public:
00035   NaoQiMotionStandupTask(AL::ALPtr<AL::ALMotionProxy> almotion,
00036                          fawkes::HumanoidMotionInterface::StandupEnum from_pos,
00037                          float accel_x, float accel_y, float accel_z);
00038   virtual ~NaoQiMotionStandupTask();
00039 
00040   virtual void run();
00041 
00042  private: /* methods */
00043   void goto_start_pos();
00044   void standup_from_back();
00045   void standup_from_front();
00046 
00047  private:
00048   AL::ALPtr<AL::ALMotionProxy>  __almotion;
00049   fawkes::HumanoidMotionInterface::StandupEnum __from_pos;
00050 
00051   float __accel_x;
00052   float __accel_y;
00053   float __accel_z;
00054 };
00055 
00056 #endif