void PGRLKick::process(NUSensorsData* data, NUActionatorsData* actions) {
MotionScript* kick = new MotionScript("kick");
#ifdef USE_WALK
if (m_walk)
m_walk->kill();
#endif
kick->play(m_data, m_actions);
m_completion_time = kick->timeFinished();
m_head_completion_time = kick->timeFinishedWithHead();
m_arm_completion_time = max(kick->timeFinishedWithLArm(), kick->timeFinishedWithRArm());
delete kick
}
void Getup::playGetup()
{
if (m_walk)
m_walk->kill();
vector<float> fallen;
if (m_data->get(NUSensorsData::Fallen, fallen))
{
MotionScript* getup = m_on_front;
if (fallen[1])
getup = m_on_left;
else if (fallen[2])
getup = m_on_right;
else if (fallen[3])
getup = m_on_front;
else if (fallen[4])
getup = m_on_back;
getup->play(m_data, m_actions);
m_completion_time = getup->timeFinished();
m_head_completion_time = getup->timeFinishedWithHead();
m_arm_completion_time = max(getup->timeFinishedWithLArm(), getup->timeFinishedWithRArm());
}
}