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 
31 class NaoQiMotionKickTask : public AL::ALTask
32 {
33 public:
34  NaoQiMotionKickTask(AL::ALPtr<AL::ALMotionProxy> almotion,
36  virtual ~NaoQiMotionKickTask();
37 
38  virtual void exitTask();
39  virtual void run();
40 
41 private: /* methods */
42  void goto_start_pos(AL::ALValue speed, bool concurrent = false);
43 
44 private:
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.