wb_nao_state.h

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#ifndef wb_nao_state_h
#define wb_nao_state_h
 
#include <gu_util.h>
 
enum Robot_Stance {
        Standing = 0,
        FallenForward,
        FallenBack,
        FallenLeft,
        FallenRight,
        Sitting,        //NYI
        Kneeling,       //NYI
        Knitting,       //NYI to be implemented by Rene
        PickedUp,
        KickingWithLeftFoot,
        KickingWithRightFoot,
        NUM_OF_STANCES
};
 
enum Robot_Walk{
        Modded_UNSW_Walk = 0,
        ALMotion_Walk,
        NUM_OF_WALKS
};
 
struct wb_nao_state
{
    PROPERTY(enum Robot_Stance, stance)
    PROPERTY(enum Robot_Walk, walk)
    PROPERTY(bool, chest_pressed_long)      
    PROPERTY(bool, left_foot_pressed_long)  
    PROPERTY(bool, right_foot_pressed_long)  
    PROPERTY(bool, chest_pressed)      
    PROPERTY(bool, left_foot_pressed)  
    PROPERTY(bool, right_foot_pressed)  
    int16_t pad;
 
#ifdef __cplusplus
    wb_nao_state(): _stance(Standing), _walk(Modded_UNSW_Walk),_chest_pressed_long(false), _left_foot_pressed_long(false), _right_foot_pressed_long(false), _chest_pressed(0), _left_foot_pressed(0), _right_foot_pressed(0) {}
#endif
};
 
#endif //_wb_nao_state_h