bool playRandomReactionService(nao_animation_srvs::AnimationRandomPlay::Request &req,
nao_animation_srvs::AnimationRandomPlay::Response &res)
{
string body_status = req.animation_body_status;
string type = req.animation_motion_type;
string subtype = req.animation_motion_subtype;
if(body_status.compare(motion_state::body_state::STAND) == 0)
{
if(type.compare(motion_state::motion_type::REACTION) == 0)
{
if(subtype.compare(reaction_names::reaction_subtype::TOUCH_HEAD) == 0)
{
last_touch_head_index = touch_head_index;
touch_head_index = touch_head_random.uniformInteger(0, reaction_names::reaction_motion_names::reaction_motion_lists::NUM_STAND_TOUCH_HEAD -1);
if(reaction_names::reaction_motion_names::reaction_motion_lists::NUM_STAND_TOUCH_HEAD > 1)
{
while(last_touch_head_index == touch_head_index)
{
touch_head_index = touch_head_random.uniformInteger(0, reaction_names::reaction_motion_names::reaction_motion_lists::NUM_STAND_TOUCH_HEAD -1);
}
}
string motion = reaction_names::reaction_motion_names::reaction_motion_lists::stand_touch_head_list[touch_head_index];
motionProxy->angleInterpolationBezier(reactionMotions.getMotionNames(motion), reactionMotions.getMotionTimes(motion), reactionMotions.getMotionKeys(motion));
}
else if(subtype.compare(reaction_names::reaction_subtype::BUMPER_LEFT) == 0)
{
last_bumper_left_index = bumper_left_index;
bumper_left_index = bumper_left_random.uniformInteger(0, reaction_names::reaction_motion_names::reaction_motion_lists::NUM_STAND_BUMPER_LEFT -1);
if(reaction_names::reaction_motion_names::reaction_motion_lists::NUM_STAND_BUMPER_LEFT > 1)
{
while(last_bumper_left_index == bumper_left_index)
{
bumper_left_index = bumper_left_random.uniformInteger(0, reaction_names::reaction_motion_names::reaction_motion_lists::NUM_STAND_BUMPER_LEFT -1);
}
}
string motion = reaction_names::reaction_motion_names::reaction_motion_lists::stand_bumper_left_list[bumper_left_index];
motionProxy->angleInterpolationBezier(reactionMotions.getMotionNames(motion), reactionMotions.getMotionTimes(motion), reactionMotions.getMotionKeys(motion));
}
else if(subtype.compare(reaction_names::reaction_subtype::BUMPER_RIGHT) == 0)
{
last_bumper_right_index = bumper_right_index;
bumper_right_index = bumper_right_random.uniformInteger(0, reaction_names::reaction_motion_names::reaction_motion_lists::NUM_STAND_BUMPER_RIGHT -1);
if(reaction_names::reaction_motion_names::reaction_motion_lists::NUM_STAND_BUMPER_RIGHT > 1)
{
while(last_bumper_right_index == bumper_right_index)
{
bumper_right_index = bumper_right_random.uniformInteger(0, reaction_names::reaction_motion_names::reaction_motion_lists::NUM_STAND_BUMPER_RIGHT -1);
}
}
string motion = reaction_names::reaction_motion_names::reaction_motion_lists::stand_bumper_right_list[bumper_right_index];
motionProxy->angleInterpolationBezier(reactionMotions.getMotionNames(motion), reactionMotions.getMotionTimes(motion), reactionMotions.getMotionKeys(motion));
}
}
}
return true;
}
