void shoot()
{
ALValue angles;
ALValue names;
//Right Foot support
float fractionMaxSpeed = 0.07f;
names = ALValue::array("RAnkleRoll","LAnkleRoll","RHipRoll","LHipRoll");
angles = ALValue::array(-0.33f, -0.33f, 0.25f, 0.33f);
motionProxy->angleInterpolationWithSpeed(names, angles, fractionMaxSpeed);
//Rise Left Foot
names = ALValue::array("LHipPitch", "LKneePitch","LAnklePitch");
angles = ALValue::array(-0.523f, 1.398f, -0.875f);
motionProxy->angleInterpolationWithSpeed(names, angles, fractionMaxSpeed);
//Get Left Leg Position
std::string effector = "LLeg";
int space = 2;
bool useSensorValues = true;
std::vector<float> legPos = motionProxy->getPosition(effector, space, useSensorValues);
//Move Left Leg Forward
legPos[0] += 0.20f;
legPos[1] -= 0.05f;
legPos[2] -= 0.05f;
ALValue times = 0.5f; // seconds
bool isAbsolute = false;
int axisMask = 63;
motionProxy->positionInterpolation(effector, space, legPos, axisMask, times, isAbsolute);
//Get Left Leg Position
legPos = motionProxy->getPosition(effector, space, useSensorValues);
//Move Left Leg Backward
legPos[0] -= 0.2f;
legPos[2] -= 0.095f;
legPos[4] -= 0.4f;
times = 2.0f; // seconds
motionProxy->positionInterpolation(effector, space, legPos, axisMask, times, isAbsolute);
}
