aibomoves.h

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// ***************************************************************************
//                           aibomoves.h
//
//    copyright            : (C) 2003 by tbaier
//    email                : tbaier@informatik.uni-hamburg.de
// ***************************************************************************

#ifndef AIBOMOVES_H
#define AIBOMOVES_H

#include "aibojoint.h"
#include <OPENR/OObject.h>
#include <OPENR/OSubject.h>

enum MOVE_STATUS{
  MOVING_IDLE,  
  MOVING_CONT,  
  MOVING_FINISH 
};

class AiboMoves {
 public:
 
  AiboMoves(AiboJoint *joints);

  virtual ~AiboMoves(){};

  void SetJoints(AiboJoint *joints);
  
  void OpenJointPrimitives();

  void InitJoints(OSubject *subject);

  int GetMoveCount();
  
  void ResetMoveCounter();

  //  MOVE_STATUS GetStatus();
  
  MOVE_STATUS Movement(OSubject *subject, const double *angles, int numMoves);

  virtual MOVE_STATUS MoveToSleeping(OSubject* subject) = 0;

  virtual MOVE_STATUS MoveToBroadbase(OSubject* subject) = 0;

  void MakeHandstand(OSubject* subject);
  
 protected:

  double *Delta;
 
  int MoveCounter;

  AiboJoint *Joints;

};


// ******************************************
// **                                      **
// ******************************************
inline int AiboMoves::GetMoveCount()
{
  return MoveCounter;
};


// ******************************************
// **                                      **
// ******************************************
inline void AiboMoves::ResetMoveCounter()
{ OSYSDEBUG(("AiboMoves::ResetMoveCounter()\n"));
  MoveCounter = -1;
};


// ******************************************
// **                                      **
// ******************************************
inline void AiboMoves::OpenJointPrimitives()
{
 Joints->OpenPrimitives();      
};


// ******************************************
// **                                      **
// ******************************************
inline void AiboMoves::InitJoints(OSubject *subject)
{
  Joints->NewCommandVectorData();
        
  if (subject->IsReady()){
    OSYSDEBUG(("---Joints ready to set\n"));
    Joints->RefreshCommandVectors();
    subject->SetData(Joints->Region[0]);
    subject->NotifyObservers();

    Joints->SetState(J_START);
  }

  Joints->SetJointGain();
 };

#endif //AIBOMOVES_H

---

Tim Baier AiboLib v0.2.4

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