Modules/GetupEngine/GT2005GetupEngine.h

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/**
* @file GT2005GetupEngine.h
* 
* Definition of class GT2005GetupEngine
* 
* @author Max Risler
*/

#ifndef __GT2005GetupEngine_h__
#define __GT2005GetupEngine_h__

#include "GetupEngine.h"
#include "Tools/Actorics/JointDataSequencer.h"

/** angles above which getup engine will take action
* @attention adjust the angles to values in SensorDataProcessor
*/
const double gt2005GetupEngineFalldownTiltAngle = fromDegrees(50);
const double gt2005GetupEngineFalldownRollAngle = fromDegrees(35);
const double gt2005GetupEngineRollOnWallAngle = fromDegrees(17);

const double gt2005GetupEngineFalldownTiltAngle7 = fromDegrees(50);
const double gt2005GetupEngineFalldownTiltAngleBack7 = fromDegrees(-20);
const double gt2005GetupEngineFalldownRollAngle7 = fromDegrees(35);
const double gt2005GetupEngineRollOnWallAngle7 = fromDegrees(20);

/**
* The GT2005 getup engine.
*
* It executes different JointDataSequences for different body roll angles.
* Body roll angle is determined by current acceleration sensor values.
*/
class GT2005GetupEngine : public GetupEngine
{
public:
  /** Constructor */
  GT2005GetupEngine(const GetupEngineInterfaces& interfaces);
  
  /** Executes the engine */
  virtual bool executeParameterized(JointData& jointData);
  
protected:
  
  /** the JointDataSequencer */
  JointDataSequencer sequencer;
  
  /** current state */
  enum {
    unknown,
      leftSideDown,
      rightSideDown,
      getupFromUpright,
      standing,
      rollRight,
      rollLeft,
    //makeRoll,  
    //sittingUpright,
      numOfStates
  } state,lastState;


  /** current state for ERS 7*/
 /* enum {
      unknown7,
      leftSideDown7,
      rightSideDown7,
      getupFromUpright7,
      standing7,
    makeRoll7,  
    sittingUpright7,
      numOfStates7
  } stateERS7,lastStateERS7;
  
*/
  /** joint data sequence executed in each state */
  JointDataSequence sequence[numOfStates];
  
   /** joint data sequence executed in each state for ERS 7 */
  JointDataSequence sequenceERS7[numOfStates];

  unsigned long stateStartTime;
  unsigned long lastGetupTime;
  int countTry;
};

#endif // __GT2005GetupEngine_h__

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