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);
}
