aiboheadmoves.h

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// ***************************************************************************
//                           aiboheadmoves.h
//
//    copyright            : (C) 2003 by tbaier
//    email                : tbaier@informatik.uni-hamburg.de
// ***************************************************************************
#ifndef AIBOHEADMOVES_H
#define AIBOHEADMOVES_H

#include "aibohead.h"
#include "aiboheadpositions.h"
#include "aibomoves.h"
#include <OPENR/OObject.h>
#include <OPENR/OSubject.h>


enum MOVE_STATE_HEAD{
  MOVE_IDLE,     
  MOVE_ZERO,     
  MOVE_SLEEPING, 
  MOVE_BROADBASE 
};

class AiboHeadMoves : public AiboMoves {
 public:
 
  AiboHeadMoves(AiboHead *head);

  virtual ~AiboHeadMoves(){};

  void SetHead(AiboHead *head);

  MOVE_STATUS MoveToSleeping(OSubject* subject);

  MOVE_STATUS MoveToBroadbase(OSubject* subject);
  
  MOVE_STATUS MoveToZero(OSubject* subject);
  

  
 protected:
  static const int ZERO_POS_MAX_COUNTER = 16;
  
  MOVE_STATE_HEAD State;

  int NumJoints;
  
};


#endif //AIBOHEADMOVES_H

---

Tim Baier AiboLib v0.2.4

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