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_INTERCEPT_H 00033 #define RCSC_ACTION_BODY_INTERCEPT_H 00034 00035 #include <rcsc/player/soccer_action.h> 00036 #include <rcsc/player/intercept_table.h> 00037 #include <rcsc/common/player_type.h> 00038 #include <rcsc/geom/vector_2d.h> 00039 00040 namespace rcsc { 00041 00046 class Body_Intercept2007 00047 : public BodyAction { 00048 private: 00050 const bool M_save_recovery; 00052 const Vector2D M_face_point; 00053 public: 00058 explicit 00059 Body_Intercept2007( const bool save_recovery = true, 00060 const Vector2D & face_point = Vector2D::INVALIDATED ) 00061 : M_save_recovery( save_recovery ) 00062 , M_face_point( face_point ) 00063 { } 00064 00070 bool execute( PlayerAgent * agent ); 00071 00072 00073 private: 00074 00080 bool doKickableOpponentCheck( PlayerAgent * agent ); 00081 00088 //InterceptInfo getBestIntercept( const WorldModel & wm, 00089 // const InterceptTable * table ) const; 00090 00091 InterceptInfo getBestIntercept_Test( const WorldModel & wm, 00092 const InterceptTable * table ) const; 00093 00101 bool doWaitTurn( PlayerAgent * agent, 00102 const Vector2D & target_point, 00103 const InterceptInfo & info ); 00104 00112 bool doInertiaDash( PlayerAgent * agent, 00113 const Vector2D & target_point, 00114 const InterceptInfo & info ); 00115 00116 }; 00117 00121 typedef Body_Intercept2007 Body_Intercept; 00122 00123 } 00124 00125 #endif