locomotioncommand.h

该文件是包含了机器人足球比赛中的整个系统的代码

#ifndef LOCOMOTIONCOMMAND_H
#define LOCOMOTIONCOMMAND_H

class LocomotionCommand {
  public:
    enum {
      TP_ENDKICK = -1,
      TP_WALK = 0,
      TP_WALKWITHOUTFRONT = 1,
      TP_SINGLEWALK = 2,
      TP_SINGLEWALKWITHOUTFRONT = 3,
      TP_WALKTURNKICK = 4,
      TP_SINGLEWALKTURNKICK = 5,
      TP_DONOTHING = 10,
      TP_CHEST_PUSH = 11,
      TP_CHEST_DIVE = 12,
      TP_PAW_KICK = 13,
      TP_HEAD_LUNGE = 14,
      TP_HEAD_LUNGE_RIGHT = 15,
      TP_HEAD_LUNGE_LEFT = 16,
      TP_HEAD_KICK_RIGHT = 17,
      TP_HEAD_KICK_LEFT = 18,
      TP_HEAD_KICK_FORWARDS = 19,
      TP_HEAD_KICK_BACK_RIGHT= 20,
      TP_HEAD_KICK_BACK_LEFT= 21,
      TP_GRAB = 22,
      TP_SPIN_KICK_RIGHT = 23,
      TP_SPIN_KICK_LEFT = 24,  
      TP_BACK_KICK_RIGHT = 25,
      TP_BACK_KICK_LEFT = 26,
      TP_JESUS = 27,
      TP_GRAB_TEST = 28,
      TP_POST_GRAB_POSITION = 29,
      TP_BACK_LEFT_150 = 30,
      TP_BACK_RIGHT_150 = 31,
      TP_BACK_LEFT_110 = 32,
      TP_BACK_RIGHT_110 = 33,
      TP_MINI_HEAD_LUNGE = 34,
      TP_SUPER_HEAD_LUNGE = 35,
      TP_UTS = 36,
      TP_GOALIE_BLOCK = 40,
      TP_GOALIE_RIGHT = 41,
      TP_GOALIE_LEFT = 42,
      TP_GETUP_FRONT = 50,
      TP_GETUP_LEFT = 51,
      TP_GETUP_RIGHT = 52,
      TP_GETUP_BACK = 53,
      TP_SLAP_RIGHT_LOW = 64,
      TP_SLAP_LEFT_LOW = 65,
      TP_SLAP_RIGHT = 114,
      TP_SLAP_LEFT = 115,
      TP_TURN_RIGHT = 116,
      TP_TURN_LEFT = 117,
      TP_GETUP = 99
    };
    enum {
      L_TRAPEZOID = 0,
      L_RECTANGLE = 1,
      L_ELLIPSE = 2,
      L_ARBITRARY = 3
    };

    // 'basic' parameters
    int motionType;
    double stepFrequency;
    double frontStrideLength;
    double backStrideLength;
    double turn;
    double strafe;
    double odomTurn;

    // 'advanced' parameters
    double frontStrideHeight;
    double frontForwardOffset;
    double frontSideOffset;
    double frontHeight;

    double backStrideHeight;
    double backForwardOffset;
    double backSideOffset;
    double backHeight;

    int locusType;

    // very advanced parameter :)
    // used so left and right turns can be made symmetric...
    bool offsetWalk;

    // !?? deprecated i think
    bool allowHeadUse;

    void Reset() {Set(LocomotionCommand::TP_WALK,0.0,0.0,0.0,0.0,1.0); odomTurn = -1000;};
    void Set(int _type, double  _frontStrideLength, double _backStrideLength, double _turn, double _strafe, double _stepFrequency, double _frontHeight, double _frontStrideHeight, double _frontForwardOffset, double _frontSideOffset, double _backHeight, double _backStrideHeight, double _backForwardOffset, double _backSideOffset);
    void Set(int _type, double _frontStrideLength, double _backStrideLength, double _turn, double _strafe, double _stepFrequency);
    void SetKick(int _type, bool allowHeadUse);
    void CombineLocomotionCommands(LocomotionCommand* first, LocomotionCommand* second, double x);

    static void SetDefaults(double _frontHeight, double _frontStrideHeight, double _frontForwardOffset, double _frontSideOffset, double _backHeight, double _backStrideHeight, double _backForwardOffset, double _backSideOffset, int _locusType);

  public:
    static double defaultFrontStrideHeight;
    static double defaultFrontForwardOffset;
    static double defaultFrontSideOffset;
    static double defaultFrontHeight;

    static double defaultBackStrideHeight;
    static double defaultBackForwardOffset;
    static double defaultBackSideOffset;
    static double defaultBackHeight;

    static int defaultLocusType;
};
#endif // LOCOMOTIONCOMMAND_H