void NaoHeadControl::ScanAwayFromBall()
{
float neckYaw, headPitch;
if ( headPathPlanner.isLastPathFinished())
{
if (lastScanWasLeft)
{
Vector3f centerTop(0.0,45.0,headPathPlanner.lastNeckYaw), rightTop(0.0,45.0,-120.0), rightBottom(0.0,-45.0,-120.0);
Vector3f points[4]={centerTop,rightTop, rightBottom, headDown};
headPathPlanner.oldInit(points, sizeof(points)/sizeof(Vector3f), 600);
}
else
{
Vector3f centerTop(0.0,45.0,headPathPlanner.lastNeckYaw), leftTop(0.0,45.0,120.0), leftBottom(0.0,-45.0,120.0);
Vector3f points[4]={centerTop,leftTop, leftBottom, headDown};
headPathPlanner.oldInit(points, sizeof(points)/sizeof(Vector3f), 600);
}
lastScanWasLeft = !lastScanWasLeft;
}
headPathPlanner.getAngles(neckYaw, headPitch);
setJointsDirect(neckYaw, headPitch);
}
void ScreenManager::moveLogo()
{
if( activeScreen == screenMap[SCREEN_NAME::GAMEBOARD] /*TODO: Make this GAME*/ )
logoWidget->setVisible(false);
else
logoWidget->setVisible(true);
if( activeScreen == screenMap[SCREEN_NAME::LOGIN] )
{
QPoint centerTop( mainWindow->width() * 0.5 - logoWidget->width() * 0.5, 0 );
logoWidget->SlideTo(centerTop, ScreenTransitionSpeed);
}
else
{
QPoint centerBottom( mainWindow->width() * 0.5 - logoWidget->width() * 0.5,
mainWindow->height() - logoWidget->height() );
logoWidget->SlideTo(centerBottom, ScreenTransitionSpeed);
}
}
