23#ifndef _PLUGINS_NAO_MOTION_UTILS_H_
24#define _PLUGINS_NAO_MOTION_UTILS_H_
26#include <alcore/alptr.h>
27#include <alproxies/almotionproxy.h>
34void fix_angles(AL::ALPtr<AL::ALMotionProxy> &almotion);
36void move_joints(AL::ALPtr<AL::ALMotionProxy> &almotion,
39 float l_shoulder_pitch,
40 float l_shoulder_roll,
45 float l_hip_yaw_pitch,
51 float r_shoulder_pitch,
52 float r_shoulder_roll,
57 float r_hip_yaw_pitch,
65int timed_move_joints(AL::ALPtr<AL::ALMotionProxy> &almotion,
68 float l_shoulder_pitch,
69 float l_shoulder_roll,
74 float l_hip_yaw_pitch,
80 float r_shoulder_pitch,
81 float r_shoulder_roll,
86 float r_hip_yaw_pitch,