Rune Harlyk
28 lines
635 B
C++
28 lines
635 B
C++
#pragma once
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#include <kinematics.h>
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#include <message_types.h>
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#include <peripherals/peripherals.h>
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#include <motion_states/state.h>
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class Skill {
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public:
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virtual ~Skill() = default;
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virtual const char* getName() const = 0;
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virtual void begin(body_state_t& body_state, Peripherals* peripherals) {}
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virtual void execute(body_state_t& body_state, MotionState* currentState, Peripherals* peripherals, float dt) = 0;
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virtual bool isComplete() const = 0;
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virtual void reset() = 0;
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virtual MotionState* getRequiredState() = 0;
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protected:
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bool _isActive = false;
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bool _isComplete = false;
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};
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