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00032 #ifndef RCSC_ACTION_BODY_GO_TO_POINT_LOOK_BALL_H
00033 #define RCSC_ACTION_BODY_GO_TO_POINT_LOOK_BALL_H
00034
00035 #include <rcsc/player/soccer_action.h>
00036 #include <rcsc/geom/vector_2d.h>
00037
00038 namespace rcsc {
00039
00044 class Bhv_GoToPointLookBall
00045 : public SoccerBehavior {
00046 private:
00048 const Vector2D M_target_point;
00050 const double M_dist_thr;
00052 const double M_dash_power;
00054 const double M_back_power_rate;
00055
00056 public:
00064 Bhv_GoToPointLookBall( const Vector2D & target_point,
00065 const double & dist_thr,
00066 const double & dash_power,
00067 const double & back_power_rate = 0.7 )
00068 : M_target_point( target_point )
00069 , M_dist_thr( dist_thr )
00070 , M_dash_power( dash_power )
00071 , M_back_power_rate( back_power_rate )
00072 { }
00073
00079 bool execute( PlayerAgent * agent );
00080 };
00081
00082 }
00083
00084 #endif