penaltydecision.h

mersad源码 03年robocup 季军 可以研究一下大家

/*
 *  Copyright 2002-2004, Mersad Team, Allame Helli High School (NODET).
 *
 *  This program is free software, you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU Library General Public License for more details.
 *
 *  Created by: Mohammad Salehe
 *  Released on Friday 1 April 2005 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#ifndef __PENALTY_DECISION_H
#define __PENALTY_DECISION_H


#include <Defines.h>
#include <BodyDecision.h>
#include <WithoutBallPlayOnDecision.h>


class PenaltyDecision: public BodyDecision
{
protected:
	WithoutBallPlayOnDecision withoutBallPlayOnDecision;

	// Return Values: 1=not kicker , 2=kicker
	int selectBallKicker();
	bool doneFlag;

public:
	PenaltyDecision(const WorldModel *worldModel, SayDecisionFlags &sayFlags,
		   			TurnNeckMode &turnNeckMode, Positioning positioning);
	virtual ~PenaltyDecision();
	// Return Values : 0:nothing , 1:Rotate Field
	int checkPlayMode();
	
	virtual DecideType decide(int quickLevel, DecideType lastDecide);
};


#endif // __PENALTY_DECISION_H