text: // Copyright 1996-2020 Cyberbotics Ltd.
  //
  // Licensed under the Apache License, Version 2.0 (the "License");
  // you may not use this file except in compliance with the License.
  // You may obtain a copy of the License at
  //
  //     http://www.apache.org/licenses/LICENSE-2.0
  //
  // Unless required by applicable law or agreed to in writing, software
  // distributed under the License is distributed on an "AS IS" BASIS,
  // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  // See the License for the specific language governing permissions and
  // limitations under the License.
  
  // Description:   Example showing how to use the gait manager
  //                and keyboard inputs
  
  #ifndef WALK_HPP
  #define WALK_HPP
  
  #define NMOTORS 20
  
  #include <webots/Robot.hpp>
  
  namespace managers {
    class RobotisOp2MotionManager;
    class RobotisOp2GaitManager;
  }  // namespace managers
  
  namespace webots {
    class Motor;
    class PositionSensor;
    class LED;
    class Camera;
    class Accelerometer;
    class Gyro;
    class Keyboard;
    class Speaker;
  };  // namespace webots
  
  class Walk : public webots::Robot {
  public:
    Walk();
    virtual ~Walk();
    void run();
    void checkIfFallen();
  
  private:
    int mTimeStep;
  
    void myStep();
    void wait(int ms);
  
    webots::Motor *mMotors[NMOTORS];
    webots::PositionSensor *mPositionSensors[NMOTORS];
    webots::Accelerometer *mAccelerometer;
    webots::Keyboard *mKeyboard;
  
    managers::RobotisOp2MotionManager *mMotionManager;
    managers::RobotisOp2GaitManager *mGaitManager;
  };
  
  #endif
  