MAGoals.hpp

/*
 *  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.
 *
 */

#pragma once

#include "core/MANum.hpp"
#include "MARobotStateUpdater.hpp"

struct MAGoals : public MARobotStateUpdater
{
  MAGoals();

  bool IsLocomotionDesired() const;

  void ResetLocomotionGoals();

private:
  virtual void UpdateRobotState(MARobotState& state) override;

  void GenerateHeadTurnDesires(MARobotState& state);
  void GenerateDiscoverSoundSource(MARobotState& state);

public:
  MANum<int> SitPostureDesire;
  MANum<int> StandPostureDesire;
  MANum<int> LiePostureDesire;
  MANum<int> DesiredForwardWalkDuration;
  MANum<int> DesiredBackwardWalkDuration;
  MANum<int> DesiredLeftTurnDuration;
  MANum<int> DesiredRightTurnDuration;
  MANum<int> DesireLyingOnTheFloor;
  MANum<int> ArousalFeedbackNeeded;
  MANum<int> ListenToAudioDesire;
  MANum<int> DiscoverSoundSource;
  MANum<int> DesiredAudioCaptureDuration;
  MANum<int> HappyOnCarpetFeedback;
  MANum<int> TurnHeadToLeft;
  MANum<int> TurnHeadToRight;
  MANum<int> MotionControl;
};