Fawkes API Fawkes Development Version
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 <alcore/alptr.h>
27#include <alproxies/almotionproxy.h>
28#include <althread/altask.h>
29#include <interfaces/HumanoidMotionInterface.h>
30
31class NaoQiMotionStandupTask : public AL::ALTask
32{
33public:
34 NaoQiMotionStandupTask(AL::ALPtr<AL::ALMotionProxy> almotion,
36 float accel_x,
37 float accel_y,
38 float accel_z);
40
41 virtual void run();
42
43private: /* methods */
44 void goto_start_pos();
45 void standup_from_back();
46 void standup_from_front();
47
48private:
49 AL::ALPtr<AL::ALMotionProxy> almotion_;
51
52 float accel_x_;
53 float accel_y_;
54 float accel_z_;
55};
56
57#endif
NaoQi standup task.
NaoQiMotionStandupTask(AL::ALPtr< AL::ALMotionProxy > almotion, fawkes::HumanoidMotionInterface::StandupEnum from_pos, float accel_x, float accel_y, float accel_z)
Constructor.
virtual ~NaoQiMotionStandupTask()
Destructor.
virtual void run()
Run the standup.
StandupEnum
From which position to standup.