/* LICENSE:
  =========================================================================
    CMPack'04 Source Code Release for OPEN-R SDK 1.1.5-r2 for ERS7
    Copyright (C) 2004 Multirobot Lab [Project Head: Manuela Veloso]
    School of Computer Science, Carnegie Mellon University
    All rights reserved.
  ========================================================================= */

#ifndef INCLUDED_PostureDetector_h
#define INCLUDED_PostureDetector_h

#include "../headers/Geometry.h"
#include "../headers/Sensors.h"
#include "../Motion/MotionInterface.h"

class PostureDetector{
public:
  enum Posture{
    PosStable,
    PosFallFront,
    PosFallBack,
    PosFallLeft,
    PosFallRight
  };
private:
  vector3d down;
  bool kicking;
  Posture current;
public:
  PostureDetector();

  Posture getPosture() {return(current);}

  void update(SensorData &sensor);
  void update(Motion::MotionLocalizationUpdate &motion);
};

#endif