basicdash.h

RoboCup 2D 仿真组老牌强队Mersad 2005的完整源代码

/*
 *  Copyright 2002-2005, Mersad Team, Allameh 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.
 *
 *  This file is created by: Meisam Vosoughpour, Mohammad Salehe
 *
 *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team.
 *  For more information please read README file.
*/

#ifndef __BASIC_DASH_H
#define __BASIC_DASH_H

#include <BasicAction.h>
#include <WorldModel.h>
#include <Types.h>
#include <Config.h>

#ifndef NULL
#	define NULL 0
#endif // NULL

class DashDribbleGotoBall: public BasicAction
{
protected:
	Command *command;
	
public:
	DashDribbleGotoBall(ActionType creator, const Ball &ball, const Body &body);
	virtual Command *getCommand();
};

class DashNormalGotoPoint: public BasicAction
{
protected:
	Command *command;
	CommandType mode;	
public:
	DashNormalGotoPoint(ActionType creator, const Point &target, float distance, const Body &body,
		float maxDashPower = 100);

	DashNormalGotoPoint(ActionType creator, const Point &target, float distance, const Body &body, float idealBodyDir,
		float maxDashPower);

	CommandType getMode();
	virtual Command *getCommand();
};

class ExactGotoPoint: public BasicAction
{
protected:
	Command *command;
	CommandType mode;

public:
	ExactGotoPoint::ExactGotoPoint(ActionType creator, Point targetPoint, float deltaDistance, 
			const Body &body, bool negDashFlag = false);

	void setDashPower(const Body &body, Point targetPoint, 
			float defaultDashPower, float &dashPower);

	CommandType getMode();

	virtual Command *getCommand();
};

class PreciseGotoPoint: public BasicAction
{
protected:
	Command *command;
	CommandType mode;

public:
	PreciseGotoPoint::PreciseGotoPoint(ActionType creator, Point targetPoint, float deltaDistance, 
			const Body &body, bool negDashFlag = false, float minTurnAngle = 20);

	void setDashPower(const Body &body, Point targetPoint, 
			float defaultDashPower, float &dashPower);

	CommandType getMode();

	virtual Command *getCommand();
};

/*
class DashFarNormalGotoPoint: BasicAction
{
protected:
	Point target;
	float distance;
	Body *body;
	GotoPointMode mode;

public:
	DashFarNormalGotoPoint(const Point &target, float distance, Body *body,
		GotoPointMode mode);
	virtual Command *getCommand();
};
*/

/*
class DashClear: BasicAction
{
protected:
	Ball *ball;
	Body *body;
	bool isOpp;

public:
	DashClear(Ball *ball, Body *body, bool isOpp);
	virtual Command *getCommand();
};
*/

class FreeKickGotoPoint: public BasicAction
{
protected:
	Command *command;
	int status;
	
public:
	FreeKickGotoPoint(ActionType creator, const Point &point, float standDirection,float collisionDistance,
			const Body &body);
	
	// Return Value = 0:arrived; 1:not arrived 
	int getStatus() const;
	
	virtual Command *getCommand();
};

class ForbiddenAreaGotoPoint: public BasicAction
{
protected:
	Command *command;
	int status;
	bool forbiddenSourceFlag;
	bool forbiddenTargetFlag;
	int realTargetPlace;
	Point realTargetPoint;
	bool clockwiseFlag;
	bool goAroundFlag;
	
public:
	ForbiddenAreaGotoPoint(ActionType creator, const Point &point, float rectX1,
			float rectY1, float rectY2,	const Body &body);
	ForbiddenAreaGotoPoint(ActionType creator, const Point &point, Point &rectNW,
		 Point &rectSE, const Body &body);
	ForbiddenAreaGotoPoint(ActionType creator, const Point &point, Point circleCenter,
			float circleRadius, const Body &body, bool forbiddenX = false);
	
	virtual Command *getCommand();
	bool isForbiddenSource() const;
	bool isForbiddenTarget() const;
	int getRealTargetPlace() const;
	Point getRealTargetPoint() const;
	bool isClockwise() const;
	bool isGoAround() const;

	// Return Value = 0:arrived; 1:not arrived 
	int getStatus() const;
	
};
#endif // __BASIC_DASH_H