/// <summary>
/// Returns true if the Nao is currently holding an object.
/// </summary>
/// <returns>A boolean.</returns>
public virtual bool HoldingObject()
{
//motion.getwa
//motion.setWalkArmsEnabled(false, false);
bool holdingObject;
float rad = (float)(0.25 * Math.PI);
motion.moveTo(0, 0, rad);
Eyes.Instance.LookDown();
holdingObject = processor.ObjectInSight();
Logger.Log(this, "The Nao is holding an object: " + holdingObject);
Eyes.Instance.LookStraight();
motion.moveTo(0, 0, -rad);
return(holdingObject);
}
private bool Rotate(MotionProxy motionProxy, ref float actualRotation)
{
if (actualRotation > this.MaxRotation)
{
return(false);
}
motionProxy.moveInit();
motionProxy.moveTo(0f, 0f, this.RotationAmount);
actualRotation += this.RotationAmount;
return(true);
}
/// <summary>
/// Aligns the robot with the landmark
/// </summary>
/// <param name="motionProxy"></param>
/// <param name="markInfo"></param>
private void AlignWithMark(MotionProxy motionProxy, ArrayList markInfo)
{
// get mark shape infor
var shapeInfo = LandMarkHelper.Instance.GetShapeInfo(markInfo);
// get current yaw position
var currentYawPosition = motionProxy.getAngles("HeadYaw", true);
if (!currentYawPosition.IsNullOrEmpty() && shapeInfo[1] != null)
{
// move pitch to landmark
MotionHelper.MoveHead(motionProxy, shapeInfo[2] as float?, null, false);
// calculate robot rotation
var rotation = currentYawPosition[0] + (float)shapeInfo[1];
motionProxy.moveTo(0f, 0f, rotation);
// reset yaw
MotionHelper.MoveHead(motionProxy, null, 0f, true);
}
}
private void button_hello_Click(object sender, EventArgs e)
{
/*
* this.tts.setVoice("Kenny22Enhanced");
* this.tts.setVoice("Julie22Enhanced");
*
* this.tts.setVolume(1.0F);
* this.tts.say("Hello World.");
*/
Console.Beep();
foreach (string line in this.tts.getAvailableVoices())
{
this.label_raw_output.Text += "\n" + line;
}
//RobotPostureProxy posture = new RobotPostureProxy(this.textBox_IP.Text, 9559);
//posture.goToPosture("Stand", 0.1f);
motion.moveTo(0.1f, 0f, 0f);
}
/// <summary>
/// Turn given radians.
/// </summary>
/// <param name="dir"></param>
public void Turn(float dir)
{
motion.moveTo(0, 0, dir);
}
/// <summary>
/// The Nao will walk towards given coordinates.
/// </summary>
/// <param name="x">X-coordinate.</param>
/// <param name="y">Y-coordinate.</param>
/// <param name="theta">The angle with which to move towards the destination.</param>
public void WalkTo(float x, float y, float theta)
{
InitMove();
Motion.moveTo(x, y, theta);
}
