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