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motion_kick_task.h
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/***************************************************************************
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* motion_kick_task.h - Make the robot kick asses... ehm soccer balls
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*
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* Created: Fri Jan 23 18:33:41 2009
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* Copyright 2006-2011 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef __PLUGINS_NAO_MOTION_KICK_TASK_H_
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#define __PLUGINS_NAO_MOTION_KICK_TASK_H_
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#include <interfaces/HumanoidMotionInterface.h>
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#include <althread/altask.h>
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#include <alproxies/almotionproxy.h>
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#include <alcore/alptr.h>
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class
NaoQiMotionKickTask
:
public
AL::ALTask
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{
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public
:
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NaoQiMotionKickTask
(AL::ALPtr<AL::ALMotionProxy> almotion,
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fawkes::HumanoidMotionInterface::LegEnum
leg);
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virtual
~NaoQiMotionKickTask
();
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virtual
void
exitTask
();
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virtual
void
run
();
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private
:
/* methods */
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void
goto_start_pos(AL::ALValue speed,
bool
concurrent =
false
);
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private
:
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bool
__quit;
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AL::ALPtr<AL::ALMotionProxy> __almotion;
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fawkes::HumanoidMotionInterface::LegEnum
__leg;
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};
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#endif
src
plugins
nao
motion_kick_task.h
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