Fawkes API
Fawkes Development Version
Main Page
Related Pages
Modules
Namespaces
Classes
Files
File List
All
Classes
Namespaces
Functions
Variables
Typedefs
Enumerations
Enumerator
Friends
Groups
Pages
motion_standup_task.h
1
2
/***************************************************************************
3
* motion_standup_task.h - Task for making the robot stand up
4
*
5
* Created: Mon Jan 19 14:16:54 2009
6
* Copyright 2009-2011 Tim Niemueller [www.niemueller.de]
7
*
8
****************************************************************************/
9
10
/* This program is free software; you can redistribute it and/or modify
11
* it under the terms of the GNU General Public License as published by
12
* the Free Software Foundation; either version 2 of the License, or
13
* (at your option) any later version.
14
*
15
* This program is distributed in the hope that it will be useful,
16
* but WITHOUT ANY WARRANTY; without even the implied warranty of
17
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18
* GNU Library General Public License for more details.
19
*
20
* Read the full text in the LICENSE.GPL file in the doc directory.
21
*/
22
23
#ifndef __PLUGINS_NAO_MOTION_STANDUP_TASK_H_
24
#define __PLUGINS_NAO_MOTION_STANDUP_TASK_H_
25
26
#include <interfaces/HumanoidMotionInterface.h>
27
28
#include <althread/altask.h>
29
#include <alcore/alptr.h>
30
#include <alproxies/almotionproxy.h>
31
32
class
NaoQiMotionStandupTask
:
public
AL::ALTask
33
{
34
public
:
35
NaoQiMotionStandupTask
(AL::ALPtr<AL::ALMotionProxy> almotion,
36
fawkes::HumanoidMotionInterface::StandupEnum
from_pos,
37
float
accel_x,
float
accel_y,
float
accel_z);
38
virtual
~NaoQiMotionStandupTask
();
39
40
virtual
void
run
();
41
42
private
:
/* methods */
43
void
goto_start_pos();
44
void
standup_from_back();
45
void
standup_from_front();
46
47
private
:
48
AL::ALPtr<AL::ALMotionProxy> __almotion;
49
fawkes::HumanoidMotionInterface::StandupEnum
__from_pos;
50
51
float
__accel_x;
52
float
__accel_y;
53
float
__accel_z;
54
};
55
56
#endif
src
plugins
nao
motion_standup_task.h
Generated by
1.8.3.1