Fawkes API  Fawkes Development Version
motion_kick_task.h
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