aibolegmoves.h

Go to the documentation of this file.

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

#include "aiboleg.h"
#include "aibolegpositions.h"

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

class AiboLegMoves : public AiboMoves {
 public:
  
  AiboLegMoves(AiboLeg *leg);

  virtual ~AiboLegMoves(){};

  void SetLeg(AiboLeg *leg);

  MOVE_STATUS MoveToSleeping(OSubject* subject);

  MOVE_STATUS MoveToBroadbase(OSubject* subject);
  
 protected:

  static const int BROADBASE_MAX_COUNTER = 48; // 128ms * 48 = 6144ms
  
  static const int SLEEPING_MAX_COUNTER  = 48; // 128ms * 48 = 6144ms

  int NumJoints;
  
};


#endif //AIBOLEGMOVES_H

---

Tim Baier AiboLib v0.2.4

Generated Thu Jan 19 11:54:29 2006 by 1.4.3