public bool Start() { NAOPositions curPosition = GetPosition(); if (curPosition == NAOPositions.Unknown || curPosition == NAOPositions.HeadBack) { return(false); } motionProxy.stiffnessInterpolation("Body", 1, 1); while (curPosition != NAOPositions.Stand) { switch (curPosition) { case NAOPositions.Sit: ChangePositionFromSitToCrouch(); ChangePositionFromCrouchToStand(); break; case NAOPositions.Crouch: ChangePositionFromCrouchToStand(); break; case NAOPositions.Belly: case NAOPositions.Frog: case NAOPositions.Knee: ChangePositionFromBellyToStand(); break; case NAOPositions.Back: ChangePositionFromBackToStand(); break; case NAOPositions.Right: case NAOPositions.Left: ChangePositionFromSideToBelly(); break; case NAOPositions.HeadBack: break; case NAOPositions.Unknown: return(false); default: return(false); } curPosition = GetPosition(); } return(true); }
public bool Start() { NAOPositions curPosition = GetPosition(); if (curPosition == NAOPositions.Unknown || curPosition == NAOPositions.HeadBack) { return(false); } motionProxy.stiffnessInterpolation(NAOBodyParts.Body.ToString(), 1, 1); while (curPosition != NAOPositions.Sit) { switch (curPosition) { case NAOPositions.Belly: case NAOPositions.Frog: case NAOPositions.Knee: ChangePositionFromBellyToCrouch(); break; case NAOPositions.Back: ChangePositionFromBackToSitDown(); break; case NAOPositions.Right: case NAOPositions.Left: ChangePositionFromSideToBelly(); break; case NAOPositions.Stand: case NAOPositions.Crouch: ChangePositionFromCrouchToSitDown(); break; case NAOPositions.HeadBack: return(false); case NAOPositions.Unknown: return(false); default: return(false); } curPosition = GetPosition(); } //motionProxy.stiffnessInterpolation(NAOBodyParts.Body.ToString(), 0, 1);//Release stiffness return(true); }