naogetup.h

agentspark 机器人模拟代码 适用robocup 机器人步态模拟仿真（机器人动作在NAOGETUP.cpp下修改）

/***************************************************************************
 *   Copyright (C) 2008 by Neil_Zhu   *
 *   [e-mail]   *
 *   Walk Test                                                             *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/
#ifndef _NAOGETUP_H
#define _NAOGETUP_H


#include "action.h"
#include "./Utilities/StaticModule.h"

#define NAOGETUP StaticModule<NaoGetUp>::getInstancePtr()

class NaoGetUp: public Action
{
public:
   	enum TPhase 
	{	GETUP1,
		GETUP2,
		GETUP3,
		GETUP4,
		GETUP5,
		GETUP6,
		GETUP7
	};

public:
    	NaoGetUp(){};
    	~NaoGetUp(){};
	virtual void Init();
    	virtual void Execute();
    	virtual void SetParam(/*boost::any param*/) ;
	void getUp1();
	void getUp2();
	void getUp3();
	void getUp4();
	void getUp5();
	void getUp6();
	void getUp7();

protected:
	void gettingUp();

	TPhase mPhase;
	 /** according to time */
    double              mPhaseTime;
    double              mPhaseStartTime;

    /** according to cycle */
    int                 mPhaseCycle;
    int                 mPhaseStartCycle;
};

#endif