MABodyStandUpFromSitting.cpp

/*
 *  This file is part of the AiBO+ project
 *
 *  Copyright (C) 2005-2016 Csaba Kertész (csaba.kertesz@gmail.com)
 *
 *  AiBO+ is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  AiBO+ is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
 *
 */

#include "MABodyStandUpFromSitting.hpp"

#include "core/MARandomness.hpp"
#include "types/MAComplexIndicators.hpp"
#include "types/MARobotState.hpp"
#include "controllers/MAHeadController.hpp"
#include "controllers/MALegController.hpp"
#include "MABodyStateMaster.hpp"
#include "MABodyStroked.hpp"
#include "MASittingFreefall.hpp"

MABodyStandUpFromSitting::MABodyStandUpFromSitting() : MABodyPoseTransition(MCGetClassName(this))
{
  DesiredConnections[MCGetClassName<MABodyStateMaster>()] = -1.0;
  DesiredConnections[MCGetClassName<MABodyStroked>()] = -1.0;
  SetLifetimeExpirationTime(20000);
}


MABehavior::StimulusLevelType MABodyStandUpFromSitting::GetCurrentStimulus()
{
  return MABehavior::OverStimulated;
}


void MABodyStandUpFromSitting::ActivatingActions()
{
  MA_RANDOM_POINT_1(SkitDurationScale, 100, 140);
  std::string ScaleStr(':'+MCToStr((float)SkitDurationScale / 100));

  StartTransition(*MA::Head, "SKIT:sit_to_stand"+ScaleStr);
  StartTransition(*MA::LegLF, "SKIT:sit_to_stand"+ScaleStr);
  StartTransition(*MA::LegLH, "SKIT:sit_to_stand"+ScaleStr);
  StartTransition(*MA::LegRF, "SKIT:sit_to_stand"+ScaleStr);
  StartTransition(*MA::LegRH, "SKIT:sit_to_stand"+ScaleStr);
}


void MABodyStandUpFromSitting::FinishingActions()
{
  if (!MA::RobotState->ComplexIndicators->IsStandingPosture)
  {
    MABEHAVIOR_CREATE(MASittingFreefall, nullptr);
    return;
  }
  // Note: The LegLF and LegRF are not switched off to preserve the posture stability at the cost of
  // ~1.5 W additional power consumption, but the final consumption is still much lower compared to
  // the normal conditions (14 W -> ~6.5 W).
  // TODO: Enable power savings
//  MA::LegLH->SetPower(MA::LegJoint1, false);
//  MA::LegRH->SetPower(MA::LegJoint1, false);
}