wak_actuator_vars.h

// Walk and kick: Actuator variables
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>
 
 // Ensure header is only included once
#ifndef WAK_ACTUATOR_VARS_H
#define WAK_ACTUATOR_VARS_H

// Includes
#include <walk_and_kick/wak_common.h>

// Walk and kick namespace
namespace walk_and_kick
{
    class ActuatorVars
    {
    public:
        // Constructor
        ActuatorVars() { reset(); }

        // Reset function
        void reset();

        // Member variables
        bool halt;            // Do not walk if this is true, otherwise do
        Vec3f GCV;            // NimbRo convention: x forwards, y left, z CCW
        bool doKick;          // Trigger a kick if this is true
        bool rightKick;       // The foot to kick with if DoKick is true (true => right foot, false => left foot)
        DiveDirection doDive; // Trigger a particular dive motion if this is not DD_NONE
        float gazeYaw;        // Positive is CCW (rotation about positive z-axis)
        float gazePitch;      // Positive is downward (rotation about positive y-axis)
    };
}

#endif
// EOF