game_positioning.h

// Walk and kick game state: Positioning
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>
 
 // Ensure header is only included once
#ifndef GAME_POSITIONING_H
#define GAME_POSITIONING_H

// Includes
#include <walk_and_kick/wak_game_state.h>
#include <rc_utils/ros_time.h>

// Walk and kick namespace
namespace walk_and_kick
{
    class GamePositioning : public WAKGameState
    {
    public:
        // Constructor
        GamePositioning(WAKConfig& config, const SensorVars& SV, const WAKGameShared& WGS, int ID);

        // Execute function
        virtual void execute(GameVars& GV, const GameVars& lastGV, bool justActivated);

    protected:
        // Handle activation function
        virtual void handleActivation(bool nowActive);

    private:
        // Set the special target pose to one that quickly makes the robot legally positioned
        void setTargetToQuickLegalPose();

        // Special target pose
        DynamicTargetPose m_specialTarget;
    };
}

#endif
// EOF