Fawkes API Fawkes Development Version
motion_kick_task.h
1
2/***************************************************************************
3 * motion_kick_task.h - Make the robot kick asses... ehm soccer balls
4 *
5 * Created: Fri Jan 23 18:33:41 2009
6 * Copyright 2006-2011 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_KICK_TASK_H_
24#define _PLUGINS_NAO_MOTION_KICK_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 NaoQiMotionKickTask : public AL::ALTask
32{
33public:
34 NaoQiMotionKickTask(AL::ALPtr<AL::ALMotionProxy> almotion,
36 virtual ~NaoQiMotionKickTask();
37
38 virtual void exitTask();
39 virtual void run();
40
41private: /* methods */
42 void goto_start_pos(AL::ALValue speed, bool concurrent = false);
43
44private:
45 bool quit_;
46 AL::ALPtr<AL::ALMotionProxy> almotion_;
48};
49
50#endif
NaoQi kick task.
NaoQiMotionKickTask(AL::ALPtr< AL::ALMotionProxy > almotion, fawkes::HumanoidMotionInterface::LegEnum leg)
Constructor.
virtual void exitTask()
Stop the current kick task.
virtual void run()
Run the kick.
virtual ~NaoQiMotionKickTask()
Destructor.
LegEnum
Type to determinate leg side.