Fawkes API
Fawkes Development Version
motion_standup_task.h
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/***************************************************************************
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* motion_standup_task.h - Task for making the robot stand up
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*
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* Created: Mon Jan 19 14:16:54 2009
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* Copyright 2009-2011 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_STANDUP_TASK_H_
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#define _PLUGINS_NAO_MOTION_STANDUP_TASK_H_
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#include <alcore/alptr.h>
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#include <alproxies/almotionproxy.h>
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#include <althread/altask.h>
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#include <interfaces/HumanoidMotionInterface.h>
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class
NaoQiMotionStandupTask
:
public
AL::ALTask
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{
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public
:
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NaoQiMotionStandupTask
(AL::ALPtr<AL::ALMotionProxy> almotion,
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fawkes::HumanoidMotionInterface::StandupEnum
from_pos,
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float
accel_x,
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float
accel_y,
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float
accel_z);
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virtual
~NaoQiMotionStandupTask
();
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virtual
void
run
();
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private
:
/* methods */
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void
goto_start_pos();
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void
standup_from_back();
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void
standup_from_front();
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private
:
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AL::ALPtr<AL::ALMotionProxy> almotion_;
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fawkes::HumanoidMotionInterface::StandupEnum
from_pos_;
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float
accel_x_;
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float
accel_y_;
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float
accel_z_;
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};
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#endif
NaoQiMotionStandupTask
NaoQi standup task.
Definition:
motion_standup_task.h:32
NaoQiMotionStandupTask::NaoQiMotionStandupTask
NaoQiMotionStandupTask(AL::ALPtr< AL::ALMotionProxy > almotion, fawkes::HumanoidMotionInterface::StandupEnum from_pos, float accel_x, float accel_y, float accel_z)
Constructor.
Definition:
motion_standup_task.cpp:49
fawkes::HumanoidMotionInterface::StandupEnum
StandupEnum
From which position to standup.
Definition:
HumanoidMotionInterface.h:49
NaoQiMotionStandupTask::run
virtual void run()
Run the standup.
Definition:
motion_standup_task.cpp:1236
NaoQiMotionStandupTask::~NaoQiMotionStandupTask
virtual ~NaoQiMotionStandupTask()
Destructor.
Definition:
motion_standup_task.cpp:67
src
plugins
nao
motion_standup_task.h
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