body_hold_ball.h

説明を見る。
00001 // -*-c++-*-
00002 
00008 /*
00009  *Copyright:
00010 
00011  Copyright (C) Hidehisa AKIYAMA
00012 
00013  This code is free software; you can redistribute it and/or
00014  modify it under the terms of the GNU Lesser General Public
00015  License as published by the Free Software Foundation; either
00016  version 2.1 of the License, or (at your option) any later version.
00017 
00018  This library is distributed in the hope that it will be useful,
00019  but WITHOUT ANY WARRANTY; without even the implied warranty of
00020  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00021  Lesser General Public License for more details.
00022 
00023  You should have received a copy of the GNU Lesser General Public
00024  License along with this library; if not, write to the Free Software
00025  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00026 
00027  *EndCopyright:
00028  */
00029 
00031 
00032 #ifndef RCSC_ACTION_BODY_HOLD_BALL_H
00033 #define RCSC_ACTION_BODY_HOLD_BALL_H
00034 
00035 #include <rcsc/player/soccer_action.h>
00036 #include <rcsc/geom/vector_2d.h>
00037 
00038 namespace rcsc {
00039 
00040 class PlayerObject;
00041 
00046 class Body_HoldBall
00047     : public BodyAction {
00048 private:
00050     const bool M_do_turn;
00052     const Vector2D M_turn_target_point;
00054     const Vector2D M_kick_target_point;
00055 public:
00061     Body_HoldBall( const bool do_turn = false,
00062                    const Vector2D & turn_target_point = Vector2D( 0.0, 0.0 ),
00063                    const Vector2D & kick_target_point = Vector2D::INVALIDATED )
00064         : M_do_turn( do_turn )
00065         , M_turn_target_point( turn_target_point )
00066         , M_kick_target_point( kick_target_point )
00067       { }
00068 
00074     bool execute( PlayerAgent * agent );
00075 
00076 private:
00083     bool avoidOpponent( PlayerAgent * agent,
00084                         const double & front_keep_dist );
00085 
00092     bool avoidOpponentLine( PlayerAgent * agent,
00093                             const PlayerObject * opponent );
00094 
00100     bool turnToPoint( PlayerAgent * agent );
00101 
00108     bool keepFront( PlayerAgent * agent,
00109                     const double & front_keep_dist );
00110 
00115     bool keepReverse( PlayerAgent * agent );
00116 
00117 };
00118 
00119 }
00120 
00121 #endif

librcscに対してThu May 1 15:41:20 2008に生成されました。  doxygen 1.5.0