void NaoHeadControl::AutoMode()
{
aLOG << "BallTime_SinceLastSeen : " << BallTime_SinceLastSeen() << endl;
aLOG << "BallTime_KeepSeeing: " <<BallTime_KeepSeeing() << endl;
switch (headControlState)
{
case ball_lost:
if (WM.SeeBall())
{
headControlState = ball_found_again;
}
else
{
ScanAllDirection();
}
break;
case ball_found_again:
if (!WM.SeeBall())
{
headControlState = ball_lost;
}
else if (BallTime_KeepSeeing() > 200)
{
headControlState = ball_see;
}
else
{
LookAtBall();
}
break;
case ball_see:
if (BallTime_SinceLastSeen() > 20)
headControlState = ball_lost;
else if (!WM.CanLocalize() && WM.getSelf().roleinteam != Self::forward1)
ScanAwayFromBall();
else
LookAtBall();
break;
default:
break;
}
//ScanAwayFromBall();
//lastHeadControlMode = headControlMode.headControlMode;
// LookAtBall();
//LookLeft();
//LookRight();
//LookBetweenFeetForKick()
//searchForBallLeft();
//searchForBallRight();
//RealSlowScan();
}
void NaoHeadControl::execute()
{
switch(headMotionRequest.headMotionType)
{
case HeadMotionRequest::intelligencemode:
IntelligenceMode();
break;
case HeadMotionRequest::automode:
AutoMode();
break;
case HeadMotionRequest::handmode:
HandMode();
break;
case HeadMotionRequest::lookforward:
LookForward();
break;
case HeadMotionRequest::lookleft:
LookLeft();
break;
case HeadMotionRequest::lookright:
LookRight();
break;
case HeadMotionRequest::lookatball:
LookAtBall();
break;
case HeadMotionRequest::lookatourgoal:
LookAtOurGoal();
break;
case HeadMotionRequest::lookatoppgoal:
LookAtOppGoal();
break;
default:
cerr << "There is No Such headMotionType!" << endl;
}
}
void C_SDKPlayer::UpdateClientSideAnimation()
{
m_PlayerAnimState->Update( EyeAngles()[YAW], EyeAngles()[PITCH] );
LookAtBall();
BaseClass::UpdateClientSideAnimation();
}
