body_clear_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_CLEAR_BALL_H
00033 #define RCSC_ACTION_BODY_CLEAR_BALL_H
00034 
00035 #include <rcsc/player/soccer_action.h>
00036 #include <rcsc/geom/angle_deg.h>
00037 #include <rcsc/game_time.h>
00038 
00039 namespace rcsc {
00040 
00045 class Body_ClearBall
00046     : public BodyAction {
00047 private:
00048     static const double S_SEARCH_ANGLE;
00049 
00050     static GameTime S_last_calc_time;
00051     static AngleDeg S_cached_best_angle;
00052 
00053 public:
00057     Body_ClearBall()
00058       { }
00059 
00064     bool execute( PlayerAgent * agent );
00065 
00074     static
00075     AngleDeg get_best_angle( const PlayerAgent * agent,
00076                              const double & lower_angle,
00077                              const double & upper_angle,
00078                              const bool clear_mode = true );
00079 
00086     static
00087     double calc_score( const PlayerAgent * agent,
00088                        const AngleDeg & target_angle );
00089 };
00090 
00091 }
00092 
00093 #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