Fawkes API Fawkes Development Version
motion_utils.h
1
2/***************************************************************************
3 * motion_utils.h - Motion utility functions
4 *
5 * Created: Wed Aug 17 21:51:51 2011
6 * Copyright 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_UTILS_H_
24#define _PLUGINS_NAO_MOTION_UTILS_H_
25
26#include <alcore/alptr.h>
27#include <alproxies/almotionproxy.h>
28
29#include <string>
30#include <vector>
31
32namespace motion {
33
34void fix_angles(AL::ALPtr<AL::ALMotionProxy> &almotion);
35
36void move_joints(AL::ALPtr<AL::ALMotionProxy> &almotion,
37 float head_yaw,
38 float head_pitch,
39 float l_shoulder_pitch,
40 float l_shoulder_roll,
41 float l_elbow_yaw,
42 float l_elbow_roll,
43 float l_wrist_yaw,
44 float l_hand,
45 float l_hip_yaw_pitch,
46 float l_hip_roll,
47 float l_hip_pitch,
48 float l_knee_pitch,
49 float l_ankle_pitch,
50 float l_ankle_roll,
51 float r_shoulder_pitch,
52 float r_shoulder_roll,
53 float r_elbow_yaw,
54 float r_elbow_roll,
55 float r_wrist_yaw,
56 float r_hand,
57 float r_hip_yaw_pitch,
58 float r_hip_roll,
59 float r_hip_pitch,
60 float r_knee_pitch,
61 float r_ankle_pitch,
62 float r_ankle_roll,
63 float speed);
64
65int timed_move_joints(AL::ALPtr<AL::ALMotionProxy> &almotion,
66 float head_yaw,
67 float head_pitch,
68 float l_shoulder_pitch,
69 float l_shoulder_roll,
70 float l_elbow_yaw,
71 float l_elbow_roll,
72 float l_wrist_yaw,
73 float l_hand,
74 float l_hip_yaw_pitch,
75 float l_hip_roll,
76 float l_hip_pitch,
77 float l_knee_pitch,
78 float l_ankle_pitch,
79 float l_ankle_roll,
80 float r_shoulder_pitch,
81 float r_shoulder_roll,
82 float r_elbow_yaw,
83 float r_elbow_roll,
84 float r_wrist_yaw,
85 float r_hand,
86 float r_hip_yaw_pitch,
87 float r_hip_roll,
88 float r_hip_pitch,
89 float r_knee_pitch,
90 float r_ankle_pitch,
91 float r_ankle_roll,
92 float time_sec);
93
94} // end of namespace motion
95
96#endif