balltricks.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 BALLTRICKS_H
#define BALLTRICKS_H
// Bag of ball tricks
#include "../Common/LocomotionCommand.h"
#include "../Common/HeadCommand.h"
#include "Trick.h"

class BallTricks {
public :

  class WaitForKick : public Trick {
  public: 
    WaitForKick();
    virtual int Start();
    virtual int Abort();
    virtual int Continue();
    virtual bool IsUsingHead();
    virtual char* GetErrorMsg(int);
    virtual char* GetName();
  public :
    Utilities utils;
  };

  class WaitForGrab : public Trick {
  public: 
    WaitForGrab();
    virtual int Start();
    virtual int Abort();
    virtual int Continue();
    virtual bool IsUsingHead();
    virtual char* GetErrorMsg(int);
    virtual char* GetName();
  public :
    Utilities utils;
  };

  class CheckForBall : public Trick {
  public: 
    CheckForBall();
    virtual ~CheckForBall();
    virtual int Start();
    virtual int Abort();
    virtual int Continue();
    virtual bool IsUsingHead();
    virtual char* GetErrorMsg(int);
    virtual char* GetName();
    virtual Trick* GetCurrentTrick() {return currentTrick;}
  public :
    bool sentGrabTest;
    bool sentGrabComplete;
    Trick* currentTrick;
    Utilities utils;
  };

  class TurnWithBallUntilGoal : public Trick {
  public:
    TurnWithBallUntilGoal(double _normalAmount, double _maxAmount);
    TurnWithBallUntilGoal(int _headUpDelay, double _normalAmount, double _maxAmount);
    TurnWithBallUntilGoal(double _normalAmount, double _maxAmount, int _maxSteps);
    TurnWithBallUntilGoal(double _normalAmount, double _maxAmount, int _maxSteps, double _quitAngle);
    TurnWithBallUntilGoal(int _headUpDelay, double _normalAmount, double _maxAmount, int _maxSteps);
    virtual int Start();
    virtual int Abort();
    virtual int Continue();
    virtual bool IsUsingHead();
    virtual char* GetErrorMsg(int);
    virtual char* GetName();
  private:
    bool isTurningLeft;
    bool sawGoal;
    double maxAmount;
    double turnAmount;
    double absCurTurnAmount;
    long startFrame;
    int numStepsTaken;
    int maxSteps;
    int headUpDelay;
    double quitAngle;
    Utilities utils;
  };

  class TurnWithBall : public Trick {
  public:
    TurnWithBall(double _normalAmount);
    virtual int Start();
    virtual int Abort();
    virtual int Continue();
    virtual bool IsUsingHead();
    virtual char* GetErrorMsg(int);
    virtual char* GetName();
  private:
    double turnAmount;
    double curTurnAmount;
    Utilities utils;
  };

  class TurnWithBallHeadDown : public Trick {
  public:
    TurnWithBallHeadDown(double _normalAmount);
    virtual int Start();
    virtual int Abort();
    virtual int Continue();
    virtual bool IsUsingHead();
    virtual char* GetErrorMsg(int);
    virtual char* GetName();
  private:
    double turnAmount;
    double curTurnAmount;
    Utilities utils;
  };

  class StrafeWithBall : public Trick {
  public:
    StrafeWithBall(double _strafeAmount);
    virtual int Start();
    virtual int Abort();
    virtual int Continue();
    virtual bool IsUsingHead();
    virtual char* GetErrorMsg(int);
    virtual char* GetName();
  private:
    double strafeAmount;
    double curStrafeAmount;
    Utilities utils;
  };

  class TurnKick : public Trick {
  public:
    TurnKick(double _normalAmount, bool _hard, bool _didGrab);
    virtual ~TurnKick();
    virtual int Start();
    virtual int Abort();
    virtual int Continue();
    virtual bool IsUsingHead();
    virtual char* GetErrorMsg(int);
    virtual char* GetName();
    
    double turnAmount;
  private:
    double frames;
    bool hard;
    bool didGrab;
    Trick* headTrick;
    Utilities utils;
  };

  class GrabTrick : public Trick {
  public: 
    GrabTrick();
    virtual ~GrabTrick();
    virtual int Start();
    virtual int Abort();
    virtual int Continue();
    virtual bool IsUsingHead();
    virtual char* GetErrorMsg(int);
    virtual char* GetName();
    virtual Trick* GetCurrentTrick() {return NULL;}
    double frames;
    Trick* headTrick;
    Trick* currentTrick;
    Utilities utils;
    double startPan;
  };

 class SlapTrick : public Trick {
  public: 
    SlapTrick(int _kickType);
    SlapTrick(int _kickType, bool _grab);
    virtual ~SlapTrick();
    virtual int Start();
    virtual int Abort();
    virtual int Continue();
    virtual bool IsUsingHead();
    virtual char* GetErrorMsg(int);
    virtual char* GetName();
    virtual Trick* GetCurrentTrick() {return NULL;}
    int frames;
    int far;
    bool grab;
    int kickType_;
    Trick* headTrick;
    Trick* currentTrick;
    Utilities utils;
  };
};
#endif // BALLTRICKS_H