speedracer.cc

该文件是包含了机器人足球比赛中的整个系统的代码

#include "SpeedRacer.h"
#include "../Common/Common.h"
#include "../TOOLS/BasicTricks.h"
#include "../Globals.h"

// walks forwards and stuff.
SpeedRacer::SpeedRacer() {
  currentTrick = new BasicTricks::NullBody();
  headTrick = new BasicTricks::NullHead();
  configuration_.ParseFile("/ms/open-r/mw/data/spdrcr.cfg");
}
SpeedRacer::~SpeedRacer() {
  delete currentTrick;
  delete headTrick;
}

void SpeedRacer::NewReadyModel() {
  if (currentTrick->Continue() < 1) {
    delete currentTrick;
    currentTrick = new BasicTricks::NullBody();
    currentTrick->Start();
  }
  utils.Head_MoveTo(10,0,0);
}

void SpeedRacer::NewPlayingModel() {
  if (currentTrick->Continue() < 1) {
    delete currentTrick;
    currentTrick = new BasicTricks::Step(configuration_.GetAsInt("SR.WalkType"),configuration_.GetAsDouble("SR.FrontStrideLength"),configuration_.GetAsDouble("SR.BackStrideLength"),configuration_.GetAsDouble("SR.Turn"),configuration_.GetAsDouble("SR.Strafe"),configuration_.GetAsDouble("SR.StepFrequency"));
//      configuration_.GetAsDouble("SR.FrontHeight"),configuration_.GetAsDouble("SR.FrontStrideHeight"),configuration_.GetAsDouble("SR.FrontForwardOffset"),configuration_.GetAsDouble("SR.FrontSideOffset"),configuration_.GetAsDouble("SR.BackHeight"),configuration_.GetAsDouble("BackStrideHeight"), configuration_.GetAsDouble("BackForwardOffset"),configuration_.GetAsDouble("BackSideOffset"));
    currentTrick->Start();
  }
  utils.Head_MoveTo(10,0,0);
}