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_STOP_BALL_H 00033 #define RCSC_ACTION_BODY_STOP_BALL_H 00034 00035 #include <rcsc/player/soccer_action.h> 00036 00037 namespace rcsc { 00038 00039 class AngleDeg; 00040 00045 class Body_StopBall 00046 : public BodyAction { 00047 private: 00048 00049 public: 00053 Body_StopBall() 00054 { } 00055 00061 bool execute( PlayerAgent * agent ); 00062 00063 private: 00064 00065 void calcAccel( PlayerAgent * agent, 00066 double * accel_radius, 00067 AngleDeg * accel_angle ); 00068 }; 00069 00070 } 00071 00072 #endif