/// <summary>
/// The robot start to follow a human (guide phase).
/// </summary>
private int FollowHuman(int currentState, object o)
{
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> FollowHuman state reached.");
//start saving the robot's path (hansel & gretel)
cmdMan.MVN_PLN_startsavingpath();
cmdMan.HEAD_lookat(SMConfiguration.HeadHomePan, SMConfiguration.HeadHomeTilt, 10000);
//Thread.Sleep(500);
//cmdMan.HEAD_lookat(SMConfiguration.HeadFollowPan, SMConfiguration.HeadFollowTilt, 10000);
//send the arms to a position above the laser
cmdMan.ARMS_goto(SMConfiguration.ArmsFollowPosition);
brain.SayAsync(SMConfiguration.StartFollowMessage);
//start to follow a human
cmdMan.MVN_PLN_startfollowhuman();
brain.recognizedSentences.Clear();
TextBoxStreamWriter.DefaultLog.WriteLine("HAL9000.-> Waiting for location command");
return((int)States.WaitForLocationCommand);
}
