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_NECK_TURN_TO_RELATIVE_H 00033 #define RCSC_ACTION_NECK_TURN_TO_RELATIVE_H 00034 00035 #include <rcsc/player/soccer_action.h> 00036 #include <rcsc/geom/angle_deg.h> 00037 00038 namespace rcsc { 00039 00044 class Neck_TurnToRelative 00045 : public NeckAction { 00046 private: 00048 const AngleDeg M_angle_rel_to_body; 00049 00050 public: 00055 explicit 00056 Neck_TurnToRelative( const AngleDeg & rel_angle ) 00057 : M_angle_rel_to_body( rel_angle ) 00058 { } 00059 00065 bool execute( PlayerAgent * agent ); 00066 00071 NeckAction * clone() const 00072 { 00073 return new Neck_TurnToRelative( M_angle_rel_to_body ); 00074 } 00075 }; 00076 00077 } 00078 00079 #endif