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 
31 class NaoQiMotionStandupTask : public AL::ALTask
32 {
33 public:
34  NaoQiMotionStandupTask(AL::ALPtr<AL::ALMotionProxy> almotion,
36  float accel_x,
37  float accel_y,
38  float accel_z);
39  virtual ~NaoQiMotionStandupTask();
40 
41  virtual void run();
42 
43 private: /* methods */
44  void goto_start_pos();
45  void standup_from_back();
46  void standup_from_front();
47 
48 private:
49  AL::ALPtr<AL::ALMotionProxy> almotion_;
51 
52  float accel_x_;
53  float accel_y_;
54  float accel_z_;
55 };
56 
57 #endif
NaoQiMotionStandupTask
Definition: motion_standup_task.h:30
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:58
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