private int GoToHumanLocation(int currentState, object o)
{
//this.cmdMan.ARMS_goto("standby", 8000);
if (!cmdMan.MVN_PLN_getclose(currentOrder.x, currentOrder.y, 240000))
{
if (!cmdMan.MVN_PLN_getclose(currentOrder.x, currentOrder.y, 240000))
{
cmdMan.MVN_PLN_getclose(currentOrder.x, currentOrder.y, 240000);
}
}
double x, y, angle;
cmdMan.MVN_PLN_position(out x, out y, out angle, 2000);
cmdMan.MVN_PLN_move(0.0, currentOrder.angle - angle, 60000);
string foundHuman;
if (currentOrder.wasAbleToRememberFace)
{
if (cmdMan.ST_PLN_findhuman(currentOrder.personName, "hdtilt hdpan", 7000, out foundHuman))
{
brain.SayAsync("Here is your " + currentOrder.objectName + ", " + currentOrder.personName);
}
else
{
//cmdMan.HEAD_lookat(0.0, 0.0);
brain.SayAsync(currentOrder.personName + ", please stand in front of me to take your " + currentOrder.objectName);
}
}
else
{
if (cmdMan.ST_PLN_findhuman("human", "hdtilt hdpan", 7000, out foundHuman))
{
brain.SayAsync("Here is your " + currentOrder.objectName);
}
else
{
//cmdMan.HEAD_lookat(0.0, 0.0);
brain.SayAsync("Please stand in front of me to take your " + currentOrder.objectName);
}
}
TextBoxStreamWriter.DefaultLog.WriteLine("Got back to " + currentOrder.personName + "'s position.");
return((int)States.DeliverDrink);
}
