Fawkes API
Fawkes Development Version
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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